WO2019085561A1 - Battery voltage filtering method and apparatus - Google Patents

Battery voltage filtering method and apparatus Download PDF

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Publication number
WO2019085561A1
WO2019085561A1 PCT/CN2018/098127 CN2018098127W WO2019085561A1 WO 2019085561 A1 WO2019085561 A1 WO 2019085561A1 CN 2018098127 W CN2018098127 W CN 2018098127W WO 2019085561 A1 WO2019085561 A1 WO 2019085561A1
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Prior art keywords
current
voltage
compensation
output
filtering
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PCT/CN2018/098127
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French (fr)
Chinese (zh)
Inventor
邹锦林
谷韬
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深圳市道通智能航空技术有限公司
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Publication of WO2019085561A1 publication Critical patent/WO2019085561A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05F—SYSTEMS FOR REGULATING ELECTRIC OR MAGNETIC VARIABLES
    • G05F1/00—Automatic systems in which deviations of an electric quantity from one or more predetermined values are detected at the output of the system and fed back to a device within the system to restore the detected quantity to its predetermined value or values, i.e. retroactive systems
    • G05F1/10—Regulating voltage or current
    • G05F1/46—Regulating voltage or current wherein the variable actually regulated by the final control device is dc
    • G05F1/56—Regulating voltage or current wherein the variable actually regulated by the final control device is dc using semiconductor devices in series with the load as final control devices
    • G05F1/561—Voltage to current converters

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  • the invention relates to battery technology, in particular to a battery voltage filtering method and device.
  • the current intelligent power management solutions are mostly based on Texas Instruments' (TI, Texas Instruments) models such as BQ30Z55, BQ40Z50, BQ34Z100, etc., and are complemented by peripheral devices such as processors.
  • the electrical parameters such as the voltage, current, and remaining capacity of the battery are mainly provided by the power metering chip.
  • the voltage of the battery cell directly reflects the current discharge capacity of the battery. In order to ensure the safe flight of the drone, the flight control system needs to obtain continuous, smooth and accurate battery voltage information for further analysis and processing.
  • Embodiments of the present invention provide a battery voltage filtering method and apparatus, which can obtain a continuous, smooth, and accurate voltage, thereby providing a basis for voltage analysis for a flight control system, and improving flight safety.
  • Embodiments of the present invention provide a battery voltage filtering method, including:
  • the performing current compensation on the output voltage according to the output current to obtain the first compensation voltage includes:
  • the weighting and filtering the output current according to the output current and the last filtering current to obtain the current filtering current includes:
  • I 1 is the current filter current
  • K 0 and K are weighting coefficients
  • I is the output current of the cell
  • I' is the last filtered current.
  • the performing current compensation on the output voltage according to the current filter current to obtain the first compensation voltage includes:
  • V 1 is the first compensation voltage
  • K 1 is a compensation coefficient.
  • K 1 is a theoretical internal resistance value of the battery core
  • I 1 is the current filter current
  • V is an output voltage of the battery. .
  • the weighting and filtering the first compensation voltage according to the first compensation voltage and the last first filtering voltage to obtain the current first filtering voltage includes:
  • V 2 is the first filtered voltage
  • K 2 and K 3 are weighting coefficients
  • V 1 is The first compensation voltage, V 2 ', is the last first filtered voltage.
  • the embodiment of the invention provides a battery voltage filtering method, including:
  • the second compensation voltage is obtained by current compensation of the second filtered voltage according to the output current.
  • the weighting and filtering the output voltage according to the last second compensation voltage to obtain the second filtered voltage includes:
  • V 3 is the second filtered voltage
  • K 2 and K 3 are weighting coefficients
  • V is the output of the battery. Voltage.
  • the current compensation of the second filtered voltage according to the output current to obtain the second compensation voltage comprises:
  • the performing current compensation on the second filtered voltage according to the current filter current to obtain the second compensation voltage comprises:
  • V 4 is the second compensation voltage of the current time
  • K 1 is a compensation coefficient.
  • K 1 is a theoretical internal resistance value of the battery core
  • I 1 is the secondary filtering current
  • V 3 is the second current. Filter voltage.
  • the embodiment of the invention provides a battery voltage filtering device, including:
  • a first obtaining module configured to acquire an output voltage and an output current of the battery
  • a first compensation module configured to perform current compensation on the output voltage according to the output current to obtain a first compensation voltage
  • the first filtering module is configured to perform weighting filtering on the compensation voltage according to the first compensation voltage and the last first filtering voltage to obtain the current first filtering voltage.
  • the first compensation module is specifically configured to:
  • the first compensation module is specifically configured to:
  • I 1 is the current filter current
  • K 0 and K are weighting coefficients
  • I is the output current of the cell
  • I' is the last filter current
  • the first compensation module is specifically configured to:
  • V 1 is the first compensation voltage
  • K 1 is a compensation coefficient.
  • K 1 is a theoretical internal resistance value of the battery core
  • I 1 is the current filter current or the output current
  • V is The output voltage of the battery.
  • the first filtering module is specifically configured to:
  • V 2 is the first filtered voltage
  • K 2 and K 3 are weighting coefficients
  • V 1 is The first compensation voltage, V 2 ', is the last first filtered voltage.
  • the embodiment of the invention provides a battery voltage filtering device, including:
  • a second obtaining module configured to acquire an output voltage and an output current of the battery
  • a second filtering module configured to perform weighting filtering on the output voltage according to the last second compensation voltage to obtain a second filtered voltage
  • the second compensation module is configured to perform current compensation on the second filtered voltage according to the output current to obtain the second compensation voltage.
  • the second filtering module is specifically configured to:
  • V 3 is the second filtered voltage
  • K 2 and K 3 are weighting coefficients
  • V is the output of the battery. Voltage.
  • the second compensation module is specifically configured to:
  • the second compensation module is specifically configured to:
  • V 4 is the second compensation voltage of the current time
  • K 1 is a compensation coefficient.
  • K 1 is a theoretical internal resistance value of the battery core
  • I 1 is the secondary filtering current
  • V 3 is the second current. Filter voltage.
  • Embodiments of the present invention provide a battery voltage filtering apparatus including a processor and a computer readable storage medium, wherein the computer readable storage medium stores instructions for implementing the foregoing when the instructions are executed by the processor A battery voltage filtering method.
  • Embodiments of the present invention provide a computer readable storage medium having stored thereon a computer program that, when executed by a processor, implements the steps of any of the battery voltage filtering methods described above.
  • the embodiment of the present invention includes: acquiring an output voltage and an output current of all the cells of the battery; and performing current compensation on the output voltage according to the output current to obtain a first compensation voltage; according to the first compensation voltage and the first time The filter voltage weights the first compensation voltage to obtain the first filtered voltage.
  • the output voltage of the battery cell is compensated and filtered to obtain a continuous, smooth and accurate voltage, thereby providing a basis for voltage analysis for the flight control system and improving flight safety.
  • FIG. 1 is a flow chart of a battery voltage filtering method according to an embodiment of the present invention.
  • FIG. 2 is a flowchart of another battery voltage filtering method according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a battery voltage filtering effect according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a battery voltage filtering device according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of another battery voltage filtering device according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of still another battery voltage filtering device according to an embodiment of the present invention.
  • an embodiment of the present invention provides a battery voltage filtering method, including:
  • Step 100 Obtain an output voltage and an output current of the battery.
  • the battery may be a single-cell battery, that is, one battery, and the battery may also be a multi-core battery, that is, two or more batteries.
  • the battery is a multi-cell battery, the output voltages of the different cells of the battery are different, and the output currents are the same.
  • the output voltage of the battery is the output voltage of the battery
  • the output voltage of the battery is the sum of the output voltages of all the cells in the battery. It can be understood that in some special applications, the battery output voltage that needs to be acquired may be other. If it is necessary to calculate the remaining capacity of the battery pack, it is necessary to obtain the smallest one of the output voltages of all the cells in the battery (because of the discharge of the battery pack) The capability is determined by the lowest voltage cell. If only a single cell in a multi-cell battery needs to be analyzed for related data, the output voltage of either cell or the average of the output voltage of all cells can be obtained.
  • the power metering chip can be used to obtain the output voltage and the output current of all the cells of the battery, and the output voltage and output current of all the cells of the battery can be obtained by using a controller, or an A/D conversion device, etc., in the embodiment of the present invention. This is not limited.
  • Step 101 Perform current compensation on the output voltage according to the output current to obtain a first compensation voltage.
  • the output current is weighted and filtered to obtain the current filter current; according to the current filter current, the output voltage is current compensated to obtain the first compensation voltage.
  • the output current is weighted and filtered according to the output current and the last filter current to obtain the current filter current:
  • I 1 is the current filter current
  • K 0 and K are weighting coefficients
  • K 0 +K 1
  • I is the output current of the cell
  • I′ is the last filter current
  • the value of K is related to the actual circuit system.
  • the smoothness of the current filtered current obtained after processing is higher. It has good inhibition and is very suitable for high fluctuation frequencies.
  • the output voltage is current compensated to obtain the first compensation voltage, including:
  • V 1 is the first compensation voltage
  • K 1 is the compensation coefficient
  • I 1 is the current filter current
  • V is the output voltage of the battery.
  • K 1 depends on the current internal resistance of the cell.
  • K 1 can be taken as the theoretical internal resistance of the cell.
  • Step 102 Perform weighting filtering on the compensation voltage according to the first compensation voltage and the last first filtering voltage to obtain the current first filtered voltage.
  • weighting and filtering the first compensation voltage according to the first compensation voltage and the last first filtering voltage to obtain the current first filtering voltage including:
  • V 2 is the first filtered voltage
  • K 2 and K 3 are weighting coefficients
  • K 2 +K 3 1
  • V 1 is the first compensation voltage
  • V 2 ' is the last first filtered voltage
  • the first filtered voltage obtained by filtering the first compensation voltage by using the above formula is smoother, and considering the weighting filtering process of the output current in step 101 causes the delay of the output current in the time domain, and the power metering chip
  • an embodiment of the present invention further provides a battery voltage filtering method, including:
  • Step 200 Obtain an output voltage and an output current of the battery.
  • the battery may be a single-cell battery, that is, one battery, and the battery may also be a multi-core battery, that is, two or more batteries.
  • the battery is a multi-cell battery, the output voltages of the different cells of the battery are different, and the output currents are the same.
  • the output voltage of the battery is the output voltage of the battery
  • the output voltage of the battery is the sum of the output voltages of all the cells in the battery. It can be understood that in some special applications, the battery output voltage that needs to be acquired may be other. If it is necessary to calculate the remaining capacity of the battery pack, it is necessary to obtain the smallest one of the output voltages of all the cells in the battery (because of the discharge of the battery pack) The capability is determined by the lowest voltage cell. If only a single cell in a multi-cell battery needs to be analyzed for related data, the output voltage of either cell or the average of the output voltage of all cells can be obtained.
  • the power metering chip can be used to obtain the output voltage and the output current of all the cells of the battery, and the output voltage and output current of all the cells of the battery can be obtained by using a controller, or an A/D conversion device, etc., in the embodiment of the present invention. This is not limited.
  • Step 201 Perform weighting filtering on the output voltage according to the last second compensation voltage to obtain a second filtered voltage.
  • V 3 is the second filtered voltage
  • K 2 and K 3 are weighting coefficients
  • K 2 +K 3 1
  • V is the output voltage of the battery
  • V 4 ' is the last second compensation Voltage
  • Step 202 Perform current compensation on the second filtered voltage according to the output current to obtain the second compensation voltage.
  • the output current is weighted and filtered according to the output current and the last filter current to obtain the current filter current:
  • I 1 is the current filter current
  • K 0 and K are weighting coefficients
  • K 0 +K 1
  • I is the output current of the cell
  • I′ is the last filter current
  • the value of K is related to the actual circuit system.
  • the smoothness of the current filtered current obtained after processing is higher. It has good inhibition and is very suitable for high fluctuation frequencies.
  • the second filter voltage is current-compensated to obtain the second compensation voltage:
  • V 4 is the second compensation voltage of the current time
  • K 1 is a compensation coefficient
  • I 1 is the secondary filtering current
  • V 3 is the second filtering voltage.
  • FIG. 3 is a schematic diagram of a battery voltage filtering effect according to an embodiment of the present invention.
  • the abscissa is time T
  • the ordinate is the first filtered voltage or the second compensated voltage obtained each time.
  • curve 31 is an output voltage curve
  • curve 32 is a first filtered voltage curve or a second compensated voltage curve.
  • the first filtered voltage curve or the second compensated voltage curve is more continuous, smooth and accurate with respect to the output voltage curve.
  • an embodiment of the present invention further provides a battery voltage filtering apparatus, including:
  • a first obtaining module configured to acquire an output voltage and an output current of the battery
  • a first compensation module configured to perform current compensation on the output voltage according to the output current to obtain a first compensation voltage
  • the first filtering module is configured to perform weighting filtering on the first compensation voltage according to the first compensation voltage and the last first filtering voltage to obtain the current first filtering voltage.
  • the first compensation module is specifically configured to:
  • the output current is weighted and filtered according to the output current and the last filter current to obtain the current filter current;
  • the first compensation voltage is obtained by performing current compensation on the output voltage according to the current filter current.
  • the first compensation module is specifically configured to:
  • I 1 is the current filter current
  • K 0 and K are weighting coefficients
  • I is the output current of the cell
  • I′ is the last time Filter current
  • the first compensation voltage is obtained by performing current compensation on the output voltage according to the current filter current.
  • the compensation module is specifically used to:
  • V 1 is the first compensation voltage
  • K 1 is the compensation coefficient.
  • K 1 is the theoretical internal resistance value of the battery core
  • I 1 is the current filter current or output current
  • V is the output voltage of the battery.
  • the filtering module is specifically configured to:
  • V 2 is the first filtered voltage
  • K 2 and K 3 are weighting coefficients
  • V 1 is the first compensation voltage
  • V 2 ' is the last first filtered voltage.
  • an embodiment of the present invention further provides a battery voltage filtering apparatus, including:
  • a second obtaining module configured to acquire an output voltage and an output current of the battery
  • a second filtering module configured to perform weighting filtering on the output voltage according to the last second compensation voltage to obtain a second filtered voltage
  • the second compensation module is configured to perform current compensation on the second filtered voltage according to the output current to obtain the second compensation voltage.
  • the second filtering module is specifically configured to:
  • V 3 is the second filtered voltage
  • K 2 and K 3 are weighting coefficients
  • V is the output of the battery.
  • the voltage, V 4 ', is the last second compensation voltage.
  • the second compensation module is specifically configured to:
  • the second compensation module is specifically configured to:
  • V 4 is the second compensation voltage of the current time
  • K 1 is a compensation coefficient.
  • K 1 is a theoretical internal resistance value of the battery core
  • I 1 is the secondary filtering current
  • V 3 is the second current. Filter voltage.
  • an embodiment of the present invention further provides a battery voltage filtering apparatus, including a processor and a computer readable storage medium, wherein the computer readable storage medium stores instructions, wherein when the instructions are executed by the processor, A battery voltage filtering method of any of the above is implemented.
  • the readable storage medium includes at least one of the following: a flash memory, a hard disk, a multimedia card, and a card type memory (for example, a Secure Digital Memory Card (SD card) or a Data Register (DX) memory).
  • SD card Secure Digital Memory Card
  • DX Data Register
  • RAM Random Access Memory
  • SRAM Static Random Access Memory
  • ROM Read Only Memory
  • EEPROM Electrically Erasable Programmable Read-Only Memory
  • PROM Programmable Read-Only Memory
  • Magnetic Memory Disk, Optical Disk, etc.
  • the processor can be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chip.
  • CPU central processing unit
  • controller a controller
  • microcontroller a microcontroller
  • microprocessor a microprocessor
  • Embodiments of the present invention also provide a computer readable storage medium having stored thereon a computer program that, when executed by a processor, implements the steps of any of the battery voltage filtering methods described above.
  • the above battery voltage filtering method can be used to filter the voltage of various batteries, such as a lithium battery, a nickel cadmium battery or other storage batteries.
  • the battery can be used to power various electronic devices such as drones, automobiles, terminal devices, wearable devices, and the like. In this embodiment, the battery is used to power a drone.
  • the battery voltage filtering method can be performed by any suitable type of chip or controller having a certain logic operation capability and capable of realizing battery voltage filtering, such as a battery control chip (such as an MCU).

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Abstract

A battery voltage filtering method and apparatus, the method comprising: acquiring an output voltage and an output current of a battery (100); performing current compensation on the output voltage according to the output current, so as to obtain a first compensation voltage (101); and performing weighting filtering on the compensation voltage according to the first compensation voltage and a previous first filtering voltage, so as to obtain a current first filtering voltage (102). An output voltage of a battery cell is compensated and filtered to obtain a continuous, smooth and accurate voltage, such that a voltage analysis basis is provided for a flight control system, and flight safety is improved.

Description

一种电池电压滤波方法和装置Battery voltage filtering method and device
申请要求于2017年10月30日申请的、申请号为201711039483.6、申请名称为“一种电池电压滤波方法和装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。The priority of the Chinese Patent Application No. 201711039483.6, filed on Jan. 30,,,,,,,,,,,,,,,,,,,,
技术领域Technical field
本发明涉及电池技术，尤指一种电池电压滤波方法和装置。The invention relates to battery technology, in particular to a battery voltage filtering method and device.
背景技术Background technique
随着锂电池在无人机、航模视场的广泛应用，电量管理方案已经成为了主流。目前的智能电量管理方案多以德州仪器(TI，Texas Instruments)的型号为BQ30Z55、BQ40Z50、BQ34Z100等的芯片为核心，再辅以处理器等外围器件实现。其中电池的电压、电流、剩余容量等电气参数主要由电量计量芯片来提供。电池的电芯的电压直接反应了电池的当前放电能力，为了保证无人机的安全飞行，飞行控制系统需要获取连续、平滑、准确的电池电压信息来做进一步分析和处理。但是飞行过程中，由于电机转速的调整导致负载的波动，从而导致电池输出电流的波动，进而导致电芯的电压波动非常剧烈，无法直接使用电芯的输出电压做进一步分析和处理。With the widespread use of lithium batteries in the field of drones and aircraft models, power management solutions have become mainstream. The current intelligent power management solutions are mostly based on Texas Instruments' (TI, Texas Instruments) models such as BQ30Z55, BQ40Z50, BQ34Z100, etc., and are complemented by peripheral devices such as processors. The electrical parameters such as the voltage, current, and remaining capacity of the battery are mainly provided by the power metering chip. The voltage of the battery cell directly reflects the current discharge capacity of the battery. In order to ensure the safe flight of the drone, the flight control system needs to obtain continuous, smooth and accurate battery voltage information for further analysis and processing. However, during the flight process, the fluctuation of the load caused by the adjustment of the motor speed causes fluctuations in the output current of the battery, which in turn causes the voltage fluctuation of the battery core to be extremely severe, and the output voltage of the battery core cannot be directly used for further analysis and processing.
发明内容Summary of the invention
本发明实施例提供了一种电池电压滤波方法和装置，能够获得连续、平滑、准确的电压，从而为飞行控制系统提供电压分析基础，提高飞行的安全性。Embodiments of the present invention provide a battery voltage filtering method and apparatus, which can obtain a continuous, smooth, and accurate voltage, thereby providing a basis for voltage analysis for a flight control system, and improving flight safety.
本发明实施例提供了一种电池电压滤波方法，包括：Embodiments of the present invention provide a battery voltage filtering method, including:
获取电池的输出电压和输出电流；Obtain the output voltage and output current of the battery;
根据输出电流对输出电压进行电流补偿得到第一补偿电压；Performing current compensation on the output voltage according to the output current to obtain a first compensation voltage;
根据第一补偿电压和上一次第一滤波电压对第一补偿电压进行加权滤波得到本次第一滤波电压。And weighting the first compensation voltage according to the first compensation voltage and the last first filtering voltage to obtain the current first filtering voltage.
可选的，所述根据输出电流对输出电压进行电流补偿得到第一补偿电压包括：Optionally, the performing current compensation on the output voltage according to the output current to obtain the first compensation voltage includes:
根据所述输出电流和上一次滤波电流对所述输出电流进行加权滤波得到本次滤波电流；And filtering the output current according to the output current and the last filter current to obtain the current filter current;
根据所述本次滤波电流对所述输出电压进行电流补偿得到第一补偿电压。And performing current compensation on the output voltage according to the current filter current to obtain a first compensation voltage.
可选的，所述根据输出电流和上一次滤波电流对输出电流进行加权滤波得到本次滤波电流包括：Optionally, the weighting and filtering the output current according to the output current and the last filtering current to obtain the current filtering current includes:
按照公式I 1＝K 0I+KI'计算所述本次滤波电流； Calculating the current filter current according to the formula I 1 =K 0 I+KI';
其中，I 1为所述本次滤波电流，K 0和K为加权系数，且K 0+K＝1，具体的，K＝0.8，K 0＝0.2，I为所述电芯的输出电流，I’为所述上一次滤波电流。 Where I 1 is the current filter current, K 0 and K are weighting coefficients, and K 0 +K=1, specifically, K=0.8, K 0 =0.2, I is the output current of the cell, I' is the last filtered current.
可选的，所述根据本次滤波电流对输出电压进行电流补偿得到第一补偿电压包括：Optionally, the performing current compensation on the output voltage according to the current filter current to obtain the first compensation voltage includes:
按照公式V 1＝K 1I 1+V计算所述第一补偿电压； Calculating the first compensation voltage according to the formula V 1 =K 1 I 1 +V;
其中，V 1为所述第一补偿电压，K 1为补偿系数，具体的，K 1为电芯的理论内阻值，I 1为所述本次滤波电流，V为所述电池的输出电压。 Wherein, V 1 is the first compensation voltage, and K 1 is a compensation coefficient. Specifically, K 1 is a theoretical internal resistance value of the battery core, I 1 is the current filter current, and V is an output voltage of the battery. .
可选的，所述根据第一补偿电压和上一次第一滤波电压对第一补偿电压进行加权滤波得到本次第一滤波电压包括：Optionally, the weighting and filtering the first compensation voltage according to the first compensation voltage and the last first filtering voltage to obtain the current first filtering voltage includes:
按照公式V 2＝K 2V 1+K 3V 2'计算所述本次第一滤波电压； Calculating the current first filtered voltage according to the formula V 2 = K 2 V 1 + K 3 V 2 ';
其中，V 2为所述本次第一滤波电压，K 2和K 3为加权系数，且K 2+K 3＝1，具体的，K 3＝0.98，K 2＝0.02，V 1为所述第一补偿电压，V 2'为所述上一次第一滤波电压。 Wherein, V 2 is the first filtered voltage, K 2 and K 3 are weighting coefficients, and K 2 + K 3 =1, specifically, K 3 =0.98, K 2 = 0.02, and V 1 is The first compensation voltage, V 2 ', is the last first filtered voltage.
本发明实施例提出了一种电池电压滤波方法，包括：The embodiment of the invention provides a battery voltage filtering method, including:
获取电池的输出电压和输出电流；Obtain the output voltage and output current of the battery;
根据上一次第二补偿电压对输出电压进行加权滤波得到第二滤波电压；Performing weighted filtering on the output voltage according to the last second compensation voltage to obtain a second filtered voltage;
根据输出电流对第二滤波电压进行电流补偿得到本次第二补偿电压。The second compensation voltage is obtained by current compensation of the second filtered voltage according to the output current.
可选的，所述根据上一次第二补偿电压对输出电压进行加权滤波得到第二滤波电压包括：Optionally, the weighting and filtering the output voltage according to the last second compensation voltage to obtain the second filtered voltage includes:
按照公式V 3＝K 2V+K 3V 4'计算所述第二滤波电压； Calculating the second filtered voltage according to the formula V 3 = K 2 V+K 3 V 4 ';
其中，V 3为所述第二滤波电压，K 2和K 3为加权系数，且K 2+K 3＝1，具体的，K 3＝0.98，K 2＝0.02，V为所述电池的输出电压。 Wherein V 3 is the second filtered voltage, K 2 and K 3 are weighting coefficients, and K 2 + K 3 =1, specifically, K 3 =0.98, K 2 = 0.02, and V is the output of the battery. Voltage.
可选的，所述根据输出电流对第二滤波电压进行电流补偿得到本次第二补偿电压包括：Optionally, the current compensation of the second filtered voltage according to the output current to obtain the second compensation voltage comprises:
根据所述输出电流和上一次滤波电流对所述输出电流进行加权滤波得到本次滤波电流；And filtering the output current according to the output current and the last filter current to obtain the current filter current;
根据所述本次滤波电流对所述第二滤波电压进行电流补偿得到所述本次第二补偿电压。And performing current compensation on the second filtered voltage according to the current filter current to obtain the current second compensation voltage.
可选的，所述根据本次滤波电流对第二滤波电压进行电流补偿得到本次第二补偿电压包括：Optionally, the performing current compensation on the second filtered voltage according to the current filter current to obtain the second compensation voltage comprises:
按照公式V 4＝K 1I 1+V 3计算所述本次第二补偿电压； Calculating the current second compensation voltage according to the formula V 4 = K 1 I 1 + V 3 ;
其中，V 4为所述本次第二补偿电压，K 1为补偿系数，具体的，K 1为电芯的理论内阻值，I 1为所述次滤波电流，V 3为所述第二滤波电压。 Wherein, V 4 is the second compensation voltage of the current time, and K 1 is a compensation coefficient. Specifically, K 1 is a theoretical internal resistance value of the battery core, I 1 is the secondary filtering current, and V 3 is the second current. Filter voltage.
本发明实施例提出了一种电池电压滤波装置，包括：The embodiment of the invention provides a battery voltage filtering device, including:
第一获取模块，用于获取电池的输出电压和输出电流；a first obtaining module, configured to acquire an output voltage and an output current of the battery;
第一补偿模块，用于根据输出电流对输出电压进行电流补偿得到第一补偿电压；a first compensation module, configured to perform current compensation on the output voltage according to the output current to obtain a first compensation voltage;
第一滤波模块，用于根据第一补偿电压和上一次第一滤波电压对补偿电压进行加权滤波得到本次第一滤波电压。The first filtering module is configured to perform weighting filtering on the compensation voltage according to the first compensation voltage and the last first filtering voltage to obtain the current first filtering voltage.
可选的，所述第一补偿模块具体用于：Optionally, the first compensation module is specifically configured to:
根据所述输出电流和上一次滤波电流对所述输出电流进行加权滤波得到本次滤波电流；And filtering the output current according to the output current and the last filter current to obtain the current filter current;
根据所述本次滤波电流对所述输出电压进行电流补偿得到第一补偿电压。And performing current compensation on the output voltage according to the current filter current to obtain a first compensation voltage.
可选的，所述第一补偿模块具体用于：Optionally, the first compensation module is specifically configured to:
按照公式I 1＝K 0I+KI'计算所述本次滤波电流； Calculating the current filter current according to the formula I 1 =K 0 I+KI';
其中，I 1为所述本次滤波电流，K 0和K为加权系数，且K 0+K＝1，具体的，K＝0.8，K 0＝0.2，I为所述电芯的输出电流，I’为所述上一次滤波电流； Where I 1 is the current filter current, K 0 and K are weighting coefficients, and K 0 +K=1, specifically, K=0.8, K 0 =0.2, I is the output current of the cell, I' is the last filter current;
根据所述本次滤波电流对所述输出电压进行电流补偿得到第一补偿电压。And performing current compensation on the output voltage according to the current filter current to obtain a first compensation voltage.
可选的，所述第一补偿模块具体用于：Optionally, the first compensation module is specifically configured to:
根据所述输出电流和上一次滤波电流对所述输出电流进行加权滤波得到本 次滤波电流；And weighting the output current according to the output current and the last filter current to obtain the current filter current;
按照公式V 1＝K 1I 1+V计算所述第一补偿电压； Calculating the first compensation voltage according to the formula V 1 =K 1 I 1 +V;
其中，V 1为所述第一补偿电压，K 1为补偿系数，具体的，K 1为电芯的理论内阻值，I 1为所述本次滤波电流或所述输出电流，V为所述电池的输出电压。 Wherein, V 1 is the first compensation voltage, and K 1 is a compensation coefficient. Specifically, K 1 is a theoretical internal resistance value of the battery core, and I 1 is the current filter current or the output current, and V is The output voltage of the battery.
可选的，所述第一滤波模块具体用于：Optionally, the first filtering module is specifically configured to:
按照公式V 2＝K 2V 1+K 3V 2'计算所述本次第一滤波电压； Calculating the current first filtered voltage according to the formula V 2 = K 2 V 1 + K 3 V 2 ';
其中，V 2为所述本次第一滤波电压，K 2和K 3为加权系数，且K 2+K 3＝1，具体的，K 3＝0.98，K 2＝0.02，V 1为所述第一补偿电压，V 2'为所述上一次第一滤波电压。 Wherein, V 2 is the first filtered voltage, K 2 and K 3 are weighting coefficients, and K 2 + K 3 =1, specifically, K 3 =0.98, K 2 = 0.02, and V 1 is The first compensation voltage, V 2 ', is the last first filtered voltage.
本发明实施例提出了一种电池电压滤波装置，包括：The embodiment of the invention provides a battery voltage filtering device, including:
第二获取模块，用于获取电池的输出电压和输出电流；a second obtaining module, configured to acquire an output voltage and an output current of the battery;
第二滤波模块，用于根据上一次第二补偿电压对输出电压进行加权滤波得到第二滤波电压；a second filtering module, configured to perform weighting filtering on the output voltage according to the last second compensation voltage to obtain a second filtered voltage;
第二补偿模块，用于根据输出电流对第二滤波电压进行电流补偿得到本次第二补偿电压。The second compensation module is configured to perform current compensation on the second filtered voltage according to the output current to obtain the second compensation voltage.
可选的，所述第二滤波模块具体用于：Optionally, the second filtering module is specifically configured to:
按照公式V 3＝K 2V+K 3V 4'计算所述第二滤波电压； Calculating the second filtered voltage according to the formula V 3 = K 2 V+K 3 V 4 ';
其中，V 3为所述第二滤波电压，K 2和K 3为加权系数，且K 2+K 3＝1，具体的，K 3＝0.98，K 2＝0.02，V为所述电池的输出电压。 Wherein V 3 is the second filtered voltage, K 2 and K 3 are weighting coefficients, and K 2 + K 3 =1, specifically, K 3 =0.98, K 2 = 0.02, and V is the output of the battery. Voltage.
可选的，所述第二补偿模块具体用于：Optionally, the second compensation module is specifically configured to:
根据所述输出电流和上一次滤波电流对所述输出电流进行加权滤波得到本次滤波电流；And filtering the output current according to the output current and the last filter current to obtain the current filter current;
根据所述本次滤波电流对所述第二滤波电压进行电流补偿得到所述本次第二补偿电压。And performing current compensation on the second filtered voltage according to the current filter current to obtain the current second compensation voltage.
可选的，所述第二补偿模块具体用于：Optionally, the second compensation module is specifically configured to:
根据所述输出电流和上一次滤波电流对所述输出电流进行加权滤波得到本次滤波电流；And filtering the output current according to the output current and the last filter current to obtain the current filter current;
按照公式V 4＝K 1I 1+V 3计算所述本次第二补偿电压； Calculating the current second compensation voltage according to the formula V 4 = K 1 I 1 + V 3 ;
其中，V 4为所述本次第二补偿电压，K 1为补偿系数，具体的，K 1为电芯的理论内阻值，I 1为所述次滤波电流，V 3为所述第二滤波电压。 Wherein, V 4 is the second compensation voltage of the current time, and K 1 is a compensation coefficient. Specifically, K 1 is a theoretical internal resistance value of the battery core, I 1 is the secondary filtering current, and V 3 is the second current. Filter voltage.
本发明实施例提出了一种电池电压滤波装置，包括处理器和计算机可读存储介质，所述计算机可读存储介质中存储有指令，当所述指令被所述处理器执行时，实现上述任意一种电池电压滤波方法。Embodiments of the present invention provide a battery voltage filtering apparatus including a processor and a computer readable storage medium, wherein the computer readable storage medium stores instructions for implementing the foregoing when the instructions are executed by the processor A battery voltage filtering method.
本发明实施例提出了一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现上述任意一种电池电压滤波方法的步骤。Embodiments of the present invention provide a computer readable storage medium having stored thereon a computer program that, when executed by a processor, implements the steps of any of the battery voltage filtering methods described above.
与相关技术相比，本发明实施例包括：获取电池的所有电芯的输出电压和输出电流；根据输出电流对输出电压进行电流补偿得到第一补偿电压；根据第一补偿电压和上一次第一滤波电压对第一补偿电压进行加权滤波得到本次第一滤波电压。通过本发明实施例的方案，通过对电池的电芯的输出电压进行补偿和滤波，得到连续、平滑、准确的电压，从而为飞行控制系统提供了电压分析基础，提高了飞行的安全性。Compared with the related art, the embodiment of the present invention includes: acquiring an output voltage and an output current of all the cells of the battery; and performing current compensation on the output voltage according to the output current to obtain a first compensation voltage; according to the first compensation voltage and the first time The filter voltage weights the first compensation voltage to obtain the first filtered voltage. Through the solution of the embodiment of the invention, the output voltage of the battery cell is compensated and filtered to obtain a continuous, smooth and accurate voltage, thereby providing a basis for voltage analysis for the flight control system and improving flight safety.
本发明的其它特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明而了解。本发明的目的和其他优点可通过在说明书、权利要求书以及附图中所特别指出的结构来实现和获得。Other features and advantages of the invention will be set forth in the description which follows, The objectives and other advantages of the invention may be realized and obtained by means of the structure particularly pointed in the appended claims.
附图说明DRAWINGS
附图用来提供对本发明技术方案的进一步理解，并且构成说明书的一部分，与本申请的实施例一起用于解释本发明的技术方案，并不构成对本发明技术方案的限制。对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他实施例的附图。The drawings are used to provide a further understanding of the technical solutions of the present invention, and constitute a part of the specification, which together with the embodiments of the present application are used to explain the technical solutions of the present invention, and do not constitute a limitation of the technical solutions of the present invention. For those of ordinary skill in the art, the drawings of other embodiments may be obtained from the drawings without departing from the scope of the invention.
图1为本发明实施例电池电压滤波方法的流程图；1 is a flow chart of a battery voltage filtering method according to an embodiment of the present invention;
图2为本发明实施例另一种电池电压滤波方法的流程图；2 is a flowchart of another battery voltage filtering method according to an embodiment of the present invention;
图3为本发明实施例电池电压滤波效果示意图；3 is a schematic diagram of a battery voltage filtering effect according to an embodiment of the present invention;
图4为本发明实施例电池电压滤波装置的结构组成示意图；4 is a schematic structural diagram of a battery voltage filtering device according to an embodiment of the present invention;
图5为本发明实施例另一种电池电压滤波装置的结构组成示意图；FIG. 5 is a schematic structural diagram of another battery voltage filtering device according to an embodiment of the present invention; FIG.
图6为本发明实施例再一种电池电压滤波装置的结构组成示意图。FIG. 6 is a schematic structural diagram of still another battery voltage filtering device according to an embodiment of the present invention.
具体实施方式Detailed ways
下文中将结合附图对本发明的实施例进行详细说明。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互任意组合。Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that, in the case of no conflict, the features in the embodiments and the embodiments in the present application may be arbitrarily combined with each other.
在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行。并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。The steps illustrated in the flowchart of the figures may be executed in a computer system such as a set of computer executable instructions. Also, although logical sequences are shown in the flowcharts, in some cases the steps shown or described may be performed in a different order than the ones described herein.
参见图1，本发明实施例提出了一种电池电压滤波方法，包括：Referring to FIG. 1, an embodiment of the present invention provides a battery voltage filtering method, including:
步骤100、获取电池的输出电压和输出电流。Step 100: Obtain an output voltage and an output current of the battery.
本步骤中，电池可以是单芯电池，即包含一个电芯，电池也可以是多芯电池，即包含两个或两个以上电芯。当电池为多芯电池时，电池的不同电芯的输出电压各不相同，输出电流均相同。In this step, the battery may be a single-cell battery, that is, one battery, and the battery may also be a multi-core battery, that is, two or more batteries. When the battery is a multi-cell battery, the output voltages of the different cells of the battery are different, and the output currents are the same.
当电池为单芯电池时，电池的输出电压即为电芯的输出电压；When the battery is a single-cell battery, the output voltage of the battery is the output voltage of the battery;
当电池为多芯电池时，电池的输出电压为电池中所有电芯的输出电压的累加和。可以理解，在一些特殊应用场合，需要获取的电池输出电压还可能为其他，如需要计算电池组的剩余电量，则需要获取电池中所有电芯的输出电压中最小的一个(因为电池包的放电能力是由电压最低的电芯来决定的)，若只需要对多芯电池中单个电芯做相关数据分析，则可以获取任一电芯的输出电压或所有电芯的输出电压的平均值。When the battery is a multi-cell battery, the output voltage of the battery is the sum of the output voltages of all the cells in the battery. It can be understood that in some special applications, the battery output voltage that needs to be acquired may be other. If it is necessary to calculate the remaining capacity of the battery pack, it is necessary to obtain the smallest one of the output voltages of all the cells in the battery (because of the discharge of the battery pack) The capability is determined by the lowest voltage cell. If only a single cell in a multi-cell battery needs to be analyzed for related data, the output voltage of either cell or the average of the output voltage of all cells can be obtained.
可以采用电量计量芯片来获取电池的所有电芯的输出电压和输出电流，也可以采用控制器、或A/D转换器件等来获取电池的所有电芯的输出电压和输出电流，本发明实施例对此不作限定。The power metering chip can be used to obtain the output voltage and the output current of all the cells of the battery, and the output voltage and output current of all the cells of the battery can be obtained by using a controller, or an A/D conversion device, etc., in the embodiment of the present invention. This is not limited.
步骤101、根据输出电流对输出电压进行电流补偿得到第一补偿电压。包括：Step 101: Perform current compensation on the output voltage according to the output current to obtain a first compensation voltage. include:
根据输出电流和上一次滤波电流对输出电流进行加权滤波得到本次滤波电流；根据本次滤波电流对输出电压进行电流补偿得到第一补偿电压。According to the output current and the last filter current, the output current is weighted and filtered to obtain the current filter current; according to the current filter current, the output voltage is current compensated to obtain the first compensation voltage.
其中，根据输出电流和上一次滤波电流对输出电流进行加权滤波得到本次滤波电流包括：Wherein, the output current is weighted and filtered according to the output current and the last filter current to obtain the current filter current:
按照公式I 1＝K 0I+KI'计算本次滤波电流； Calculate the current filter current according to the formula I 1 =K 0 I+KI';
其中，I 1为本次滤波电流，K 0和K为加权系数，且K 0+K＝1，I为电芯的输 出电流，I’为上一次滤波电流。 Wherein, I 1 is the current filter current, K 0 and K are weighting coefficients, and K 0 +K=1, I is the output current of the cell, and I′ is the last filter current.
上述公式中，K的取值与实际的电路系统有关，输出电流波动越大，K取值也越大，这样处理后得到的本次滤波电流的平滑度也越高，该方法对周期性干扰有良好的抑制作用，且非常适用于波动频率较高的情况。In the above formula, the value of K is related to the actual circuit system. The larger the output current fluctuation is, the larger the value of K is. The smoothness of the current filtered current obtained after processing is higher. It has good inhibition and is very suitable for high fluctuation frequencies.
可选的，取K＝0.8，K 0＝0.2。 Alternatively, K = 0.8 and K 0 = 0.2.
其中，根据本次滤波电流对输出电压进行电流补偿得到第一补偿电压包括：Wherein, according to the current filtering current, the output voltage is current compensated to obtain the first compensation voltage, including:
按照公式V 1＝K 1I 1+V计算第一补偿电压； Calculating the first compensation voltage according to the formula V 1 =K 1 I 1 +V;
其中，V 1为第一补偿电压，K 1为补偿系数，I 1为本次滤波电流，V为所述电池的输出电压。 Wherein, V 1 is the first compensation voltage, K 1 is the compensation coefficient, I 1 is the current filter current, and V is the output voltage of the battery.
其中，K 1的取值取决于电芯的当前内阻。 Among them, the value of K 1 depends on the current internal resistance of the cell.
可选的，可以取K 1为电芯的理论内阻值。 Alternatively, K 1 can be taken as the theoretical internal resistance of the cell.
步骤102、根据第一补偿电压和上一次第一滤波电压对补偿电压进行加权滤波得到本次第一滤波电压。包括：Step 102: Perform weighting filtering on the compensation voltage according to the first compensation voltage and the last first filtering voltage to obtain the current first filtered voltage. include:
根据第一补偿电压和上一次第一滤波电压对第一补偿电压进行加权滤波得到本次第一滤波电压包括：And weighting and filtering the first compensation voltage according to the first compensation voltage and the last first filtering voltage to obtain the current first filtering voltage, including:
按照公式V 2＝K 2V 1+K 3V 2'计算本次第一滤波电压； Calculating the first filtered voltage according to the formula V 2 =K 2 V 1 +K 3 V 2 ';
其中，V 2为本次第一滤波电压，K 2和K 3为加权系数，且K 2+K 3＝1，V 1为第一补偿电压，V 2'为上一次第一滤波电压。 Wherein, V 2 is the first filtered voltage, K 2 and K 3 are weighting coefficients, and K 2 +K 3 =1, V 1 is the first compensation voltage, and V 2 ' is the last first filtered voltage.
其中，采用上述公式对第一补偿电压进行滤波后得到的本次第一滤波电压更加平滑，同时考虑步骤101中对输出电流的加权滤波处理造成输出电流在时域上的延迟，以及电量计量芯片输出电流相对于输出电压的迟滞性，K 3的取值应非常接近K，且略大于K，例如，取K 3＝0.98，K 2＝0.02。 Wherein, the first filtered voltage obtained by filtering the first compensation voltage by using the above formula is smoother, and considering the weighting filtering process of the output current in step 101 causes the delay of the output current in the time domain, and the power metering chip The hysteresis of the output current with respect to the output voltage, K 3 should be very close to K and slightly larger than K, for example, take K 3 = 0.98, K 2 = 0.02.
参见图2，本发明实施例还提出了一种电池电压滤波方法，包括：Referring to FIG. 2, an embodiment of the present invention further provides a battery voltage filtering method, including:
步骤200、获取电池的输出电压和输出电流。Step 200: Obtain an output voltage and an output current of the battery.
本步骤中，电池可以是单芯电池，即包含一个电芯，电池也可以是多芯电池，即包含两个或两个以上电芯。当电池为多芯电池时，电池的不同电芯的输出电压各不相同，输出电流均相同。In this step, the battery may be a single-cell battery, that is, one battery, and the battery may also be a multi-core battery, that is, two or more batteries. When the battery is a multi-cell battery, the output voltages of the different cells of the battery are different, and the output currents are the same.
当电池为单芯电池时，电池的输出电压即为电芯的输出电压；When the battery is a single-cell battery, the output voltage of the battery is the output voltage of the battery;
当电池为多芯电池时，电池的输出电压为电池中所有电芯的输出电压的累加和。可以理解，在一些特殊应用场合，需要获取的电池输出电压还可能为其他，如需要计算电池组的剩余电量，则需要获取电池中所有电芯的输出电压中最小的一个(因为电池包的放电能力是由电压最低的电芯来决定的)，若只需要对多芯电池中单个电芯做相关数据分析，则可以获取任一电芯的输出电压或所有电芯的输出电压的平均值。When the battery is a multi-cell battery, the output voltage of the battery is the sum of the output voltages of all the cells in the battery. It can be understood that in some special applications, the battery output voltage that needs to be acquired may be other. If it is necessary to calculate the remaining capacity of the battery pack, it is necessary to obtain the smallest one of the output voltages of all the cells in the battery (because of the discharge of the battery pack) The capability is determined by the lowest voltage cell. If only a single cell in a multi-cell battery needs to be analyzed for related data, the output voltage of either cell or the average of the output voltage of all cells can be obtained.
可以采用电量计量芯片来获取电池的所有电芯的输出电压和输出电流，也可以采用控制器、或A/D转换器件等来获取电池的所有电芯的输出电压和输出电流，本发明实施例对此不作限定。The power metering chip can be used to obtain the output voltage and the output current of all the cells of the battery, and the output voltage and output current of all the cells of the battery can be obtained by using a controller, or an A/D conversion device, etc., in the embodiment of the present invention. This is not limited.
步骤201、根据上一次第二补偿电压对输出电压进行加权滤波得到第二滤波电压。包括：Step 201: Perform weighting filtering on the output voltage according to the last second compensation voltage to obtain a second filtered voltage. include:
按照公式V 3＝K 2V+K 3V 4'计算所述第二滤波电压； Calculating the second filtered voltage according to the formula V 3 = K 2 V+K 3 V 4 ';
其中，V 3为所述第二滤波电压，K 2和K 3为加权系数，且K 2+K 3＝1，V为所述电池的输出电压，V 4'为所述上一次第二补偿电压。 Where V 3 is the second filtered voltage, K 2 and K 3 are weighting coefficients, and K 2 +K 3 =1, V is the output voltage of the battery, and V 4 ' is the last second compensation Voltage.
步骤202、根据输出电流对第二滤波电压进行电流补偿得到本次第二补偿电压。包括：Step 202: Perform current compensation on the second filtered voltage according to the output current to obtain the second compensation voltage. include:
根据所述输出电流和上一次滤波电流对所述输出电流进行加权滤波得到本次滤波电流；根据所述本次滤波电流对所述第二滤波电压进行电流补偿得到所述本次第二补偿电压。And filtering the output current according to the output current and the last filter current to obtain the current filter current; performing current compensation on the second filter voltage according to the current filter current to obtain the current second compensation voltage .
其中，根据输出电流和上一次滤波电流对输出电流进行加权滤波得到本次滤波电流包括：Wherein, the output current is weighted and filtered according to the output current and the last filter current to obtain the current filter current:
按照公式I 1＝K 0I+KI'计算本次滤波电流； Calculate the current filter current according to the formula I 1 =K 0 I+KI';
其中，I 1为本次滤波电流，K 0和K为加权系数，且K 0+K＝1，I为电芯的输出电流，I’为上一次滤波电流。 Wherein, I 1 is the current filter current, K 0 and K are weighting coefficients, and K 0 +K=1, I is the output current of the cell, and I′ is the last filter current.
上述公式中，K的取值与实际的电路系统有关，输出电流波动越大，K取值也越大，这样处理后得到的本次滤波电流的平滑度也越高，该方法对周期性干扰有良好的抑制作用，且非常适用于波动频率较高的情况。In the above formula, the value of K is related to the actual circuit system. The larger the output current fluctuation is, the larger the value of K is. The smoothness of the current filtered current obtained after processing is higher. It has good inhibition and is very suitable for high fluctuation frequencies.
可选的，取K＝0.8，K0＝0.2。Optionally, take K=0.8 and K0=0.2.
其中，根据本次滤波电流对第二滤波电压进行电流补偿得到本次第二补偿电压包括：Wherein, according to the current filter current, the second filter voltage is current-compensated to obtain the second compensation voltage:
按照公式V 4＝K 1I 1+V 3计算所述本次第二补偿电压； Calculating the current second compensation voltage according to the formula V 4 = K 1 I 1 + V 3 ;
其中，V 4为所述本次第二补偿电压，K 1为补偿系数，I 1为所述次滤波电流，V 3为所述第二滤波电压。 Wherein, V 4 is the second compensation voltage of the current time, K 1 is a compensation coefficient, I 1 is the secondary filtering current, and V 3 is the second filtering voltage.
图3为本发明实施例电池电压滤波效果示意图。如图3所示，横坐标为时间T，纵坐标为每一次得到的第一滤波电压或第二补偿电压。图中，曲线31为输出电压曲线，曲线32为第一滤波电压曲线或第二补偿电压曲线。从图中可以看出，第一滤波电压曲线或第二补偿电压曲线相对于输出电压曲线来说更加连续、平滑和准确。FIG. 3 is a schematic diagram of a battery voltage filtering effect according to an embodiment of the present invention. As shown in FIG. 3, the abscissa is time T, and the ordinate is the first filtered voltage or the second compensated voltage obtained each time. In the figure, curve 31 is an output voltage curve, and curve 32 is a first filtered voltage curve or a second compensated voltage curve. As can be seen from the figure, the first filtered voltage curve or the second compensated voltage curve is more continuous, smooth and accurate with respect to the output voltage curve.
参见图4，本发明实施例还提出了一种电池电压滤波装置，包括：Referring to FIG. 4, an embodiment of the present invention further provides a battery voltage filtering apparatus, including:
第一获取模块，用于获取电池的输出电压和输出电流；a first obtaining module, configured to acquire an output voltage and an output current of the battery;
第一补偿模块，用于根据输出电流对输出电压进行电流补偿得到第一补偿电压；a first compensation module, configured to perform current compensation on the output voltage according to the output current to obtain a first compensation voltage;
第一滤波模块，用于根据第一补偿电压和上一次第一滤波电压对第一补偿电压进行加权滤波得到本次第一滤波电压。The first filtering module is configured to perform weighting filtering on the first compensation voltage according to the first compensation voltage and the last first filtering voltage to obtain the current first filtering voltage.
可选的，第一补偿模块具体用于：Optionally, the first compensation module is specifically configured to:
根据输出电流和上一次滤波电流对输出电流进行加权滤波得到本次滤波电流；The output current is weighted and filtered according to the output current and the last filter current to obtain the current filter current;
根据本次滤波电流对输出电压进行电流补偿得到第一补偿电压。The first compensation voltage is obtained by performing current compensation on the output voltage according to the current filter current.
可选的，第一补偿模块具体用于：Optionally, the first compensation module is specifically configured to:
按照公式I 1＝K 0I+KI'计算本次滤波电流； Calculate the current filter current according to the formula I 1 =K 0 I+KI';
其中，I 1为本次滤波电流，K 0和K为加权系数，且K 0+K＝1，具体的，K＝0.8，K0＝0.2，I为电芯的输出电流，I’为上一次滤波电流； Where I 1 is the current filter current, K 0 and K are weighting coefficients, and K 0 +K=1, specifically, K=0.8, K0=0.2, I is the output current of the cell, I′ is the last time Filter current
根据本次滤波电流对输出电压进行电流补偿得到第一补偿电压。The first compensation voltage is obtained by performing current compensation on the output voltage according to the current filter current.
可选的，补偿模块具体用于：Optionally, the compensation module is specifically used to:
根据所述输出电流和上一次滤波电流对所述输出电流进行加权滤波得到本次滤波电流；And filtering the output current according to the output current and the last filter current to obtain the current filter current;
按照公式V 1＝K 1I 1+V计算第一补偿电压； Calculating the first compensation voltage according to the formula V 1 =K 1 I 1 +V;
其中，V 1为第一补偿电压，K 1为补偿系数，具体的，K 1为电芯的理论内阻值，I 1为本次滤波电流或输出电流，V为所述电池的输出电压。 Wherein, V 1 is the first compensation voltage, and K 1 is the compensation coefficient. Specifically, K 1 is the theoretical internal resistance value of the battery core, I 1 is the current filter current or output current, and V is the output voltage of the battery.
可选的，滤波模块具体用于：Optionally, the filtering module is specifically configured to:
按照公式V 2＝K 2V 1+K 3V 2'计算本次第一滤波电压； Calculating the first filtered voltage according to the formula V 2 =K 2 V 1 +K 3 V 2 ';
其中，V 2为本次第一滤波电压，K 2和K 3为加权系数，且K 2+K 3＝1，具体的，K 3＝0.98，K 2＝0.02，V 1为第一补偿电压，V 2'为上一次第一滤波电压。 Wherein, V 2 is the first filtered voltage, K 2 and K 3 are weighting coefficients, and K 2 +K 3 =1, specifically, K 3 =0.98, K 2 = 0.02, and V 1 is the first compensation voltage. , V 2 ' is the last first filtered voltage.
参见图5，本发明实施例还提出了一种电池电压滤波装置，包括：Referring to FIG. 5, an embodiment of the present invention further provides a battery voltage filtering apparatus, including:
第二获取模块，用于获取电池的输出电压和输出电流；a second obtaining module, configured to acquire an output voltage and an output current of the battery;
第二滤波模块，用于根据上一次第二补偿电压对输出电压进行加权滤波得到第二滤波电压；a second filtering module, configured to perform weighting filtering on the output voltage according to the last second compensation voltage to obtain a second filtered voltage;
第二补偿模块，用于根据输出电流对第二滤波电压进行电流补偿得到本次第二补偿电压。The second compensation module is configured to perform current compensation on the second filtered voltage according to the output current to obtain the second compensation voltage.
可选的，所述第二滤波模块具体用于：Optionally, the second filtering module is specifically configured to:
按照公式V 3＝K 2V+K 3V 4'计算所述第二滤波电压； Calculating the second filtered voltage according to the formula V 3 = K 2 V+K 3 V 4 ';
其中，V 3为所述第二滤波电压，K 2和K 3为加权系数，且K 2+K 3＝1，具体的，K 3＝0.98，K 2＝0.02，V为所述电池的输出电压，V 4'为所述上一次第二补偿电压。 Wherein V 3 is the second filtered voltage, K 2 and K 3 are weighting coefficients, and K 2 + K 3 =1, specifically, K 3 =0.98, K 2 = 0.02, and V is the output of the battery. The voltage, V 4 ', is the last second compensation voltage.
可选的，所述第二补偿模块具体用于：Optionally, the second compensation module is specifically configured to:
根据所述输出电流和上一次滤波电流对所述输出电流进行加权滤波得到本次滤波电流；And filtering the output current according to the output current and the last filter current to obtain the current filter current;
根据所述本次滤波电流对所述第二滤波电压进行电流补偿得到所述本次第二补偿电压。And performing current compensation on the second filtered voltage according to the current filter current to obtain the current second compensation voltage.
可选的，所述第二补偿模块具体用于：Optionally, the second compensation module is specifically configured to:
根据所述输出电流和上一次滤波电流对所述输出电流进行加权滤波得到本次滤波电流；And filtering the output current according to the output current and the last filter current to obtain the current filter current;
按照公式V 4＝K 1I 1+V 3计算所述本次第二补偿电压； Calculating the current second compensation voltage according to the formula V 4 = K 1 I 1 + V 3 ;
其中，V 4为所述本次第二补偿电压，K 1为补偿系数，具体的，K 1为电芯的理论内阻值，I 1为所述次滤波电流，V 3为所述第二滤波电压。 Wherein, V 4 is the second compensation voltage of the current time, and K 1 is a compensation coefficient. Specifically, K 1 is a theoretical internal resistance value of the battery core, I 1 is the secondary filtering current, and V 3 is the second current. Filter voltage.
参见图6，本发明实施例还提出了一种电池电压滤波装置，包括处理器和计算机可读存储介质，计算机可读存储介质中存储有指令，其特征在于，当指令被处理器执行时，实现上述任意一种电池电压滤波方法。Referring to FIG. 6, an embodiment of the present invention further provides a battery voltage filtering apparatus, including a processor and a computer readable storage medium, wherein the computer readable storage medium stores instructions, wherein when the instructions are executed by the processor, A battery voltage filtering method of any of the above is implemented.
其中，可读存储介质至少包括以下一种：闪存、硬盘、多媒体卡、卡型存储器(例如，安全数码卡(SD卡，Secure Digital Memory Card)或数据寄存器(DX，Data Register)存储器等)、随机访问存储器(RAM，Random Access Memory)、静态随机访问存储器(SRAM，Static Random Access Memory)、只读存储器(ROM，Read Only Memory)、电可擦除可编程只读存储器(EEPROM，Electrically Erasable Programmable Read-Only Memory)、可编程只读存储器(PROM，Programmable Read-Only Memory)、磁性存储器、磁盘、光盘等。The readable storage medium includes at least one of the following: a flash memory, a hard disk, a multimedia card, and a card type memory (for example, a Secure Digital Memory Card (SD card) or a Data Register (DX) memory). Random Access Memory (RAM), Static Random Access Memory (SRAM), Read Only Memory (ROM), EEPROM (Electrically Erasable Programmable) Read-Only Memory), Programmable Read-Only Memory (PROM), Magnetic Memory, Disk, Optical Disk, etc.
处理器可以是中央处理器(CPU，Central Processing Unit)、控制器、微控制器、微处理器、或其他数据处理芯片等。The processor can be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chip.
本发明实施例还提出了一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时实现上述任意一种电池电压滤波方法的步骤。Embodiments of the present invention also provide a computer readable storage medium having stored thereon a computer program that, when executed by a processor, implements the steps of any of the battery voltage filtering methods described above.
可以理解，上述的电池电压滤波方法可用于对各种电池的电压进行滤波处理，如锂电池、镍镉电池或其他蓄电池等。该电池可用于为各种电子设备提供电力，如无人机、汽车、终端设备、可穿戴设备等。在本实施例中，该电池用于为无人机供电。该电池电压滤波方法可由任何合适类型的，具有一定逻辑运算能力，能够实现电池电压滤波的功能的芯片或控制器等执行，如电池的主控芯片(如MCU)等。It can be understood that the above battery voltage filtering method can be used to filter the voltage of various batteries, such as a lithium battery, a nickel cadmium battery or other storage batteries. The battery can be used to power various electronic devices such as drones, automobiles, terminal devices, wearable devices, and the like. In this embodiment, the battery is used to power a drone. The battery voltage filtering method can be performed by any suitable type of chip or controller having a certain logic operation capability and capable of realizing battery voltage filtering, such as a battery control chip (such as an MCU).
虽然本发明所揭露的实施方式如上，但所述的内容仅为便于理解本发明而采用的实施方式，并非用以限定本发明。任何本发明所属领域内的技术人员，在不脱离本发明所揭露的精神和范围的前提下，可以在实施的形式及细节上进行任何的修改与变化，但本发明的专利保护范围，仍须以所附的权利要求书所界定的范围为准。While the embodiments of the present invention have been described above, the described embodiments are merely for the purpose of understanding the invention and are not intended to limit the invention. Any modification and variation in the form and details of the embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention. The scope defined by the appended claims shall prevail.

Claims (20)

  1. 一种电池电压滤波方法，其特征在于，包括：A battery voltage filtering method, comprising:
    获取电池的输出电压和输出电流；Obtain the output voltage and output current of the battery;
    根据输出电流对输出电压进行电流补偿得到第一补偿电压；Performing current compensation on the output voltage according to the output current to obtain a first compensation voltage;
    根据第一补偿电压和上一次第一滤波电压对第一补偿电压进行加权滤波得到本次第一滤波电压。And weighting the first compensation voltage according to the first compensation voltage and the last first filtering voltage to obtain the current first filtering voltage.
  2. 根据权利要求1所述的电池电压滤波方法，其特征在于，所述根据输出电流对输出电压进行电流补偿得到第一补偿电压包括：The battery voltage filtering method according to claim 1, wherein the current compensation of the output voltage according to the output current to obtain the first compensation voltage comprises:
    根据所述输出电流和上一次滤波电流对所述输出电流进行加权滤波得到本次滤波电流；And filtering the output current according to the output current and the last filter current to obtain the current filter current;
    根据所述本次滤波电流对所述输出电压进行电流补偿得到第一补偿电压。And performing current compensation on the output voltage according to the current filter current to obtain a first compensation voltage.
  3. 根据权利要求2所述的电池电压滤波方法，其特征在于，所述根据输出电流和上一次滤波电流对输出电流进行加权滤波得到本次滤波电流包括：The battery voltage filtering method according to claim 2, wherein the weighting filtering of the output current according to the output current and the last filtering current to obtain the current filtering current comprises:
    按照公式I 1＝K 0I+KI'计算所述本次滤波电流； Calculating the current filter current according to the formula I 1 =K 0 I+KI';
    其中，I 1为所述本次滤波电流，K 0和K为加权系数，且K 0+K＝1，具体的，K＝0.8，K 0＝0.2，I为所述电芯的输出电流，I’为所述上一次滤波电流。 Where I 1 is the current filter current, K 0 and K are weighting coefficients, and K 0 +K=1, specifically, K=0.8, K 0 =0.2, I is the output current of the cell, I' is the last filtered current.
  4. 根据权利要求2所述的电池电压滤波方法，其特征在于，所述根据本次滤波电流对输出电压进行电流补偿得到第一补偿电压包括：The battery voltage filtering method according to claim 2, wherein the current compensation of the output voltage according to the current filter current to obtain the first compensation voltage comprises:
    按照公式V 1＝K 1I 1+V计算所述第一补偿电压； Calculating the first compensation voltage according to the formula V 1 =K 1 I 1 +V;
    其中，V 1为所述第一补偿电压，K 1为补偿系数，具体的，K 1为电芯的理论内阻值，I 1为所述本次滤波电流，V为所述电池的输出电压。 Wherein, V 1 is the first compensation voltage, and K 1 is a compensation coefficient. Specifically, K 1 is a theoretical internal resistance value of the battery core, I 1 is the current filter current, and V is an output voltage of the battery. .
  5. 根据权利要求1所述的电池电压滤波方法，其特征在于，所述根据第一补偿电压和上一次第一滤波电压对第一补偿电压进行加权滤波得到本次第一滤波电压包括：The battery voltage filtering method according to claim 1, wherein the weighting and filtering the first compensation voltage according to the first compensation voltage and the last first filtering voltage to obtain the current first filtering voltage comprises:
    按照公式V 2＝K 2V 1+K 3V 2'计算所述本次第一滤波电压； Calculating the current first filtered voltage according to the formula V 2 = K 2 V 1 + K 3 V 2 ';
    其中，V 2为所述本次第一滤波电压，K 2和K 3为加权系数，且K 2+K 3＝1，具 体的，K 3＝0.98，K 2＝0.02，V 1为所述第一补偿电压，V 2'为所述上一次第一滤波电压。 Wherein, V 2 is the first filtered voltage, K 2 and K 3 are weighting coefficients, and K 2 + K 3 =1, specifically, K 3 =0.98, K 2 = 0.02, and V 1 is The first compensation voltage, V 2 ', is the last first filtered voltage.
  6. 一种电池电压滤波方法，其特征在于，包括：A battery voltage filtering method, comprising:
    获取电池的输出电压和输出电流；Obtain the output voltage and output current of the battery;
    根据上一次第二补偿电压对输出电压进行加权滤波得到第二滤波电压；Performing weighted filtering on the output voltage according to the last second compensation voltage to obtain a second filtered voltage;
    根据输出电流对第二滤波电压进行电流补偿得到本次第二补偿电压。The second compensation voltage is obtained by current compensation of the second filtered voltage according to the output current.
  7. 根据权利要求6所述的电池电压滤波方法，其特征在于，所述根据上一次第二补偿电压对输出电压进行加权滤波得到第二滤波电压包括：The battery voltage filtering method according to claim 6, wherein the weighting and filtering the output voltage according to the last second compensation voltage to obtain the second filtered voltage comprises:
    按照公式V 3＝K 2V+K 3V 4'计算所述第二滤波电压； Calculating the second filtered voltage according to the formula V 3 = K 2 V+K 3 V 4 ';
    其中，V 3为所述第二滤波电压，K 2和K 3为加权系数，且K 2+K 3＝1，具体的，K 3＝0.98，K 2＝0.02，V为所述电池的输出电压。 Wherein V 3 is the second filtered voltage, K 2 and K 3 are weighting coefficients, and K 2 + K 3 =1, specifically, K 3 =0.98, K 2 = 0.02, and V is the output of the battery. Voltage.
  8. 根据权利要求6所述的电池电压滤波方法，其特征在于，所述根据输出电流对第二滤波电压进行电流补偿得到本次第二补偿电压包括：The battery voltage filtering method according to claim 6, wherein the current compensation of the second filtered voltage according to the output current to obtain the current second compensation voltage comprises:
    根据所述输出电流和上一次滤波电流对所述输出电流进行加权滤波得到本次滤波电流；And filtering the output current according to the output current and the last filter current to obtain the current filter current;
    根据所述本次滤波电流对所述第二滤波电压进行电流补偿得到所述本次第二补偿电压。And performing current compensation on the second filtered voltage according to the current filter current to obtain the current second compensation voltage.
  9. 根据权利要求8所述的电池电压滤波方法，其特征在于，所述根据本次滤波电流对第二滤波电压进行电流补偿得到本次第二补偿电压包括：The battery voltage filtering method according to claim 8, wherein the current compensation of the second filtered voltage according to the current filter current to obtain the second compensation voltage comprises:
    按照公式V 4＝K 1I 1+V 3计算所述本次第二补偿电压； Calculating the current second compensation voltage according to the formula V 4 = K 1 I 1 + V 3 ;
    其中，V 4为所述本次第二补偿电压，K 1为补偿系数，具体的，K 1为电芯的理论内阻值，I 1为所述次滤波电流，V 3为所述第二滤波电压。 Wherein, V 4 is the second compensation voltage of the current time, and K 1 is a compensation coefficient. Specifically, K 1 is a theoretical internal resistance value of the battery core, I 1 is the secondary filtering current, and V 3 is the second current. Filter voltage.
  10. 一种电池电压滤波装置，其特征在于，包括：A battery voltage filtering device, comprising:
    第一获取模块，用于获取电池的输出电压和输出电流；a first obtaining module, configured to acquire an output voltage and an output current of the battery;
    第一补偿模块，用于根据输出电流对输出电压进行电流补偿得到第一补偿电压；a first compensation module, configured to perform current compensation on the output voltage according to the output current to obtain a first compensation voltage;
    第一滤波模块，用于根据第一补偿电压和上一次第一滤波电压对补偿电压进行加权滤波得到本次第一滤波电压。The first filtering module is configured to perform weighting filtering on the compensation voltage according to the first compensation voltage and the last first filtering voltage to obtain the current first filtering voltage.
  11. 根据权利要求10所述的电池电压滤波装置，其特征在于，所述第一补偿模块具体用于：The battery voltage filtering device according to claim 10, wherein the first compensation module is specifically configured to:
    根据所述输出电流和上一次滤波电流对所述输出电流进行加权滤波得到本次滤波电流；And filtering the output current according to the output current and the last filter current to obtain the current filter current;
    根据所述本次滤波电流对所述输出电压进行电流补偿得到第一补偿电压。And performing current compensation on the output voltage according to the current filter current to obtain a first compensation voltage.
  12. 根据权利要求11所述的电池电压滤波装置，其特征在于，所述第一补偿模块具体用于：The battery voltage filtering device according to claim 11, wherein the first compensation module is specifically configured to:
    按照公式I 1＝K 0I+KI'计算所述本次滤波电流； Calculating the current filter current according to the formula I 1 =K 0 I+KI';
    其中，I 1为所述本次滤波电流，K 0和K为加权系数，且K 0+K＝1，具体的，K＝0.8，K 0＝0.2，I为所述电芯的输出电流，I’为所述上一次滤波电流； Where I 1 is the current filter current, K 0 and K are weighting coefficients, and K 0 +K=1, specifically, K=0.8, K 0 =0.2, I is the output current of the cell, I' is the last filter current;
    根据所述本次滤波电流对所述输出电压进行电流补偿得到第一补偿电压。And performing current compensation on the output voltage according to the current filter current to obtain a first compensation voltage.
  13. 根据权利要求11所述的电池电压滤波装置，其特征在于，所述第一补偿模块具体用于：The battery voltage filtering device according to claim 11, wherein the first compensation module is specifically configured to:
    根据所述输出电流和上一次滤波电流对所述输出电流进行加权滤波得到本次滤波电流；And filtering the output current according to the output current and the last filter current to obtain the current filter current;
    按照公式V 1＝K 1I 1+V计算所述第一补偿电压； Calculating the first compensation voltage according to the formula V 1 =K 1 I 1 +V;
    其中，V 1为所述第一补偿电压，K 1为补偿系数，具体的，K 1为电芯的理论内阻值，I 1为所述本次滤波电流或所述输出电流，V为所述电池的输出电压。 Wherein, V 1 is the first compensation voltage, and K 1 is a compensation coefficient. Specifically, K 1 is a theoretical internal resistance value of the battery core, and I 1 is the current filter current or the output current, and V is The output voltage of the battery.
  14. 根据权利要求10所述的电池电压滤波装置，其特征在于，所述第一滤波模块具体用于：The battery voltage filtering device according to claim 10, wherein the first filtering module is specifically configured to:
    按照公式V 2＝K 2V 1+K 3V 2'计算所述本次第一滤波电压； Calculating the current first filtered voltage according to the formula V 2 = K 2 V 1 + K 3 V 2 ';
    其中，V 2为所述本次第一滤波电压，K 2和K 3为加权系数，且K 2+K 3＝1，具体的，K 3＝0.98，K 2＝0.02，V 1为所述第一补偿电压，V 2'为所述上一次第一滤波电压。 Wherein, V 2 is the first filtered voltage, K 2 and K 3 are weighting coefficients, and K 2 + K 3 =1, specifically, K 3 =0.98, K 2 = 0.02, and V 1 is The first compensation voltage, V 2 ', is the last first filtered voltage.
  15. 一种电池电压滤波装置，其特征在于，包括：A battery voltage filtering device, comprising:
    第二获取模块，用于获取电池的输出电压和输出电流；a second obtaining module, configured to acquire an output voltage and an output current of the battery;
    第二滤波模块，用于根据上一次第二补偿电压对输出电压进行加权滤波得到第二滤波电压；a second filtering module, configured to perform weighting filtering on the output voltage according to the last second compensation voltage to obtain a second filtered voltage;
    第二补偿模块，用于根据输出电流对第二滤波电压进行电流补偿得到本次第二补偿电压。The second compensation module is configured to perform current compensation on the second filtered voltage according to the output current to obtain the second compensation voltage.
  16. 根据权利要求15所述的电池电压滤波装置，其特征在于，所述第二滤波模块具体用于：The battery voltage filtering device according to claim 15, wherein the second filtering module is specifically configured to:
    按照公式V 3＝K 2V+K 3V 4'计算所述第二滤波电压； Calculating the second filtered voltage according to the formula V 3 = K 2 V+K 3 V 4 ';
    其中，V 3为所述第二滤波电压，K 2和K 3为加权系数，且K 2+K 3＝1，具体的，K 3＝0.98，K 2＝0.02，V为所述电池的输出电压，V 4'为所述上一次第二补偿电压。 Wherein V 3 is the second filtered voltage, K 2 and K 3 are weighting coefficients, and K 2 + K 3 =1, specifically, K 3 =0.98, K 2 = 0.02, and V is the output of the battery. The voltage, V 4 ', is the last second compensation voltage.
  17. 根据权利要求15所述的电池电压滤波装置，其特征在于，所述第二补偿模块具体用于：The battery voltage filtering device according to claim 15, wherein the second compensation module is specifically configured to:
    根据所述输出电流和上一次滤波电流对所述输出电流进行加权滤波得到本次滤波电流；And filtering the output current according to the output current and the last filter current to obtain the current filter current;
    根据所述本次滤波电流对所述第二滤波电压进行电流补偿得到所述本次第二补偿电压。And performing current compensation on the second filtered voltage according to the current filter current to obtain the current second compensation voltage.
  18. 根据权利要求17所述的电池电压滤波装置，其特征在于，所述第二补偿模块具体用于：The battery voltage filtering device according to claim 17, wherein the second compensation module is specifically configured to:
    根据所述输出电流和上一次滤波电流对所述输出电流进行加权滤波得到本次滤波电流；And filtering the output current according to the output current and the last filter current to obtain the current filter current;
    按照公式V 4＝K 1I 1+V 3计算所述本次第二补偿电压； Calculating the current second compensation voltage according to the formula V 4 = K 1 I 1 + V 3 ;
    其中，V 4为所述本次第二补偿电压，K 1为补偿系数，具体的，K 1为电芯的理论内阻值，I 1为所述次滤波电流，V 3为所述第二滤波电压。 Wherein, V 4 is the second compensation voltage of the current time, and K 1 is a compensation coefficient. Specifically, K 1 is a theoretical internal resistance value of the battery core, I 1 is the secondary filtering current, and V 3 is the second current. Filter voltage.
  19. 一种电池电压滤波装置，包括处理器和计算机可读存储介质，所述计算机可读存储介质中存储有指令，其特征在于，当所述指令被所述处理器执行 时，实现如权利要求1～9任意一项所述的电池电压滤波方法。A battery voltage filtering apparatus comprising a processor and a computer readable storage medium, wherein the computer readable storage medium stores instructions, wherein when the instructions are executed by the processor, implementing the claim 1 The battery voltage filtering method according to any one of the preceding claims.
  20. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1～9任意一项所述的电池电压滤波方法的步骤。A computer readable storage medium having stored thereon a computer program, wherein the computer program is executed by a processor to implement the steps of the battery voltage filtering method according to any one of claims 1 to 9.
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