WO2020162675A1 - 배터리 관리 장치, 배터리 관리 방법 및 배터리 팩 - Google Patents
배터리 관리 장치, 배터리 관리 방법 및 배터리 팩 Download PDFInfo
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- WO2020162675A1 WO2020162675A1 PCT/KR2020/001522 KR2020001522W WO2020162675A1 WO 2020162675 A1 WO2020162675 A1 WO 2020162675A1 KR 2020001522 W KR2020001522 W KR 2020001522W WO 2020162675 A1 WO2020162675 A1 WO 2020162675A1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
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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]
- G01R31/382—Arrangements for monitoring battery or accumulator variables, e.g. SoC
- G01R31/3842—Arrangements for monitoring battery or accumulator variables, e.g. SoC combining voltage and current measurements
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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]
- G01R31/367—Software therefor, e.g. for battery testing using modelling or look-up tables
-
- 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]
- G01R31/382—Arrangements for monitoring battery or accumulator variables, e.g. SoC
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/007—Regulation of charging or discharging current or voltage
- H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Definitions
- the present invention relates to a technique for estimating the state of charge of a battery.
- the state of charge is a parameter representing the relative ratio of the current remaining capacity to the maximum capacity representing the electric energy stored in the battery when the battery is fully charged, and can be expressed as 0-1 or 0%-100%. have. For example, if the maximum capacity of the battery is 1000Ah (ampere-hour) and the capacity currently remaining in the battery is 750Ah, the state of charge of the battery is 0.75 (or 75%).
- Ampere counting and equivalent circuit models are typically used to estimate the state of charge of a battery.
- Ampere counting estimates the state of charge of the battery based on the accumulated current value accumulated over time of the current flowing through the battery.
- the equivalent circuit model is designed to simulate the electrochemical characteristics of a battery.
- a battery has a nonlinear characteristic according to an operating state, and it is very difficult to design an equivalent circuit model to perfectly simulate the nonlinear characteristic of a battery.
- the extended Kalman filter can estimate the state of charge more accurately than when only one of the amperage counting and the equivalent circuit model is used by combining the amperage counting and the equivalent circuit model.
- the present invention has been devised to solve the above problems, and it is possible to determine a plurality of candidate values for the state of charge of the battery every cycle, and then determine the state of charge of the battery based on the relationship between the plurality of candidate values. It is an object to provide a battery management device, a battery management method, and a battery pack.
- the present invention based on the value of each of the two components included in the Kalman gain of the extended Kalman filter determined every cycle, the battery management capable of adjusting the reliability of each of the amperage counting and the equivalent circuit model in the extended Kalman filter It is an object to provide an apparatus, a battery management method, and a battery pack.
- a battery management apparatus includes: a sensing unit configured to detect current, voltage, and temperature of a battery; And a control unit.
- the control unit is configured to generate a data set including a current value representing the detected current, a voltage value representing the detected voltage, and a temperature value representing the detected temperature.
- the control unit is configured to determine a first candidate value for a state of charge of the battery based on the current value by using amperage counting.
- the control unit is configured to determine a Kalman gain and a second candidate value for the state of charge based on the data set using an extended Kalman filter.
- the control unit is configured to determine the first candidate value as the charging state when a difference value between the first candidate value and the second candidate value is greater than a threshold value.
- the control unit is configured to provide a second process noise for the first process noise of the extended Kalman filter.
- the ratio of is configured to be set equal to the predetermined reference ratio.
- the first process noise is related to the reliability of the amperage counting.
- the second process noise is related to the reliability of the equivalent circuit model of the battery.
- the control unit sets the first process noise equal to a predetermined first reference value, It may be configured to set the second process noise to a predetermined second reference value.
- the reference ratio may be equal to a value obtained by dividing the second reference value by the first reference value.
- control unit When the first component is less than the first lower limit value and the second component is greater than or equal to the second lower limit value, the control unit is configured to reduce a ratio of the second process noise to the first process noise than the reference ratio. Can be configured.
- the control unit determines a value greater than the first reference value as the first process noise or less than the second reference value. May be configured to determine a value as the second process noise.
- the control unit When the first component is greater than or equal to the first lower limit value and the second component is less than the second lower limit value, the control unit increases a ratio of the second process noise to the first process noise than the reference ratio.
- the control unit determines a value smaller than the first reference value as the first process noise or is less than the second reference value. It may be configured to determine a large value as the second process noise.
- the control unit uses the following Equations 1 and 2 to determine the first process noise and the second It can be configured to determine process noise.
- D 1 is the absolute value of the difference between the first component and the first lower limit value
- D 2 is the absolute value of the difference between the second component and the second lower limit value
- M W1 is the first reference value
- M W2 is the second A reference value
- M 1 is a first weight
- M 2 is a second weight
- M 3 is a third weight
- M 4 is a fourth weight
- W1 k is the first process noise
- W2 k is the second process noise.
- control unit may be configured to determine the second candidate value as the charging state instead of the first candidate value.
- the controller may be configured to selectively output a switching signal for controlling a switch installed in a current path of the battery.
- the control unit may be configured to limit the duty ratio of the switching signal to a reference duty ratio or less.
- a battery pack according to another aspect of the present invention includes the battery management device.
- a battery management method includes the steps of detecting current, voltage, and temperature of the battery; Generating a data set including a current value representing the detected current, a voltage value representing the detected voltage, and a temperature value representing the detected temperature; Determining a first candidate value for the state of charge of the battery based on the current value using amperage counting; Determining a Kalman gain and a second candidate value for the state of charge based on the data set using an extended Kalman filter; Determining the first candidate value as the charging state when a difference value between the first candidate value and the second candidate value is greater than a threshold value; And when the first component of the Kalman gain is greater than or equal to a predetermined first lower limit value and the second component of the Kalman gain is greater than or equal to a predetermined second lower limit value, the ratio of the second process noise to the first process noise of the extended Kalman filter is determined. And setting the same as the predetermined reference ratio.
- the first process noise is related to the reliability of the amperage counting.
- a ratio of the second process noise to the first process noise is reduced than the reference ratio. It may further include the step of.
- a ratio of the second process noise to the first process noise is greater than the reference ratio. It may further include the step of increasing.
- the charging state of the battery may be more accurately determined based on a relationship between the plurality of candidate values.
- each of the amperage counting and the equivalent circuit model in the extended Kalman filter based on the values of each of two components included in the Kalman gain of the extended Kalman filter determined every period, each of the amperage counting and the equivalent circuit model in the extended Kalman filter The reliability of the can be adjusted.
- FIG. 1 is a diagram illustrating a configuration of a battery pack according to an embodiment of the present invention.
- FIG. 2 is a diagram showing an exemplary circuit configuration of an equivalent circuit model of a battery.
- FIG. 3 is a diagram illustrating an OCV-SOC curve of a battery by way of example.
- FIG. 4 and 5 are flow charts illustrating a battery management method executed by the battery management apparatus of FIG. 1 by way of example.
- control unit> means a unit that processes at least one function or operation, and may be implemented as hardware, software, or a combination of hardware and software.
- FIG. 1 is a diagram illustrating an exemplary configuration of a battery pack according to an embodiment of the present invention
- FIG. 2 is a diagram illustrating a circuit configuration of an equivalent circuit model of a battery
- FIG. 3 is an OCV-SOC of a battery. The curve is shown as an example.
- the battery pack 10 is for providing electric energy required for a power driving device such as an electric vehicle 1 and the like, and a battery 20, a switch 30, and a battery management apparatus 100 Includes.
- the battery 20 includes at least one battery cell.
- Each battery cell may be, for example, a lithium ion cell.
- the type of the battery cell is not limited to the lithium ion cell, and is not particularly limited as long as it can be repeatedly charged and discharged.
- Each battery cell included in the battery 20 is electrically connected to other battery cells in series or parallel.
- the switch 30 is installed in a current path for charging and discharging the battery 20.
- the control terminal of the switch 30 is provided to be electrically connected to the control unit 120.
- the switch 30 is controlled on and off according to the duty ratio of the switching signal SS in response to the switching signal SS output by the controller 120 being applied to the control terminal.
- the switch 30 may be turned on when the switching signal SS is at a high level, and may be turned off when the switching signal SS is at a low level.
- the battery management apparatus 100 is provided to be electrically connected to the battery 20 in order to periodically determine the state of charge of the battery 20.
- the battery management apparatus 100 includes a sensing unit 110, a control unit 120, a memory unit 130, and a communication unit 140.
- the sensing unit 110 is configured to detect voltage, current, and temperature of the battery 20.
- the sensing unit 110 includes a current sensor 111, a voltage sensor 112, and a temperature sensor 113.
- the current sensor 111 is provided to be electrically connected to the charge/discharge path of the battery 20.
- the current sensor 111 is configured to detect a current flowing through the battery 20 and to output a signal SI representing the detected current to the control unit 120.
- the voltage sensor 112 is provided to be electrically connected to the positive terminal and the negative terminal of the battery 20.
- the voltage sensor 112 is configured to detect a voltage across the positive terminal and the negative terminal of the battery 20 and to output a signal SV representing the detected voltage to the controller 120.
- the temperature sensor 113 is configured to detect a temperature in a region within a predetermined distance from the battery 20 and output a signal ST indicating the detected temperature to the controller 120.
- the control unit 120 is operatively coupled to the sensing unit 110, the memory unit 130, the communication unit 140, and the switch 30.
- the control unit 120 includes application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), and microprocessors. It may be implemented using at least one of (microprocessors) and electrical units for performing other functions.
- ASICs application specific integrated circuits
- DSPs digital signal processors
- DSPDs digital signal processing devices
- PLDs programmable logic devices
- FPGAs field programmable gate arrays
- microprocessors It may be implemented using at least one of (microprocessors) and electrical units for performing other functions.
- the controller 120 is configured to periodically receive a signal SI, a signal SV, and a signal ST output by the sensing unit 110.
- the control unit 120 uses an analog-to-digital converter (ADC) included in the control unit 120 to obtain a current value, a voltage value, and a temperature value from each of a signal SI, a signal SV, and a signal ST. And then, a data set including a current value, a voltage value, and a temperature value is stored in the memory unit 130.
- ADC analog-to-digital converter
- the memory unit 130 is operatively coupled to the control unit 120.
- the memory unit 130 may store programs and various data necessary for executing steps to be described later.
- the memory unit 130 is, for example, a flash memory type, a hard disk type, a solid state disk type, an SDD type, a multimedia card micro type (multimedia card micro type), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM) ) May include at least one type of storage medium.
- the communication unit 140 may be communicatively coupled with an external device 2 such as an ECU (Electronic Control Unit) of the electric vehicle 1.
- the communication unit 140 may receive a command message from the external device 2 and provide the received command message to the controller 130.
- the command message may be a message requesting activation of a specific function of the battery management apparatus 100 (eg, estimating a state of charge, and controlling on/off of the switch 30 ).
- the communication unit 140 may transmit a notification message from the control unit 130 to the external device 2.
- the notification message may be a message for informing the external device 2 of a result of a function executed by the controller 130 (eg, an estimated state of charge).
- the communication unit 140, the external device 2 and a wired network such as a local area network (LAN), a controller area network (CAN), and a daisy chain, and/or a short-range wireless network such as Bluetooth, ZigBee, and Wi-Fi. Can communicate through.
- a wired network such as a local area network (LAN), a controller area network (CAN), and a daisy chain
- a short-range wireless network such as Bluetooth, ZigBee, and Wi-Fi.
- the control unit 120 is configured to determine a state of health (SOH) or maximum capacity of the battery 20.
- SOH state of health
- the controller 120 may calculate the internal resistance of the battery 20 and then determine the SOH or the maximum capacity of the battery 20 based on the difference between the calculated internal resistance and the reference resistance. .
- the controller 120 uses Equation 1 below, based on the state of charge at each of two different times when the battery 20 is charged and discharged, and the accumulated current value accumulated during the period between the two times, The SOH or maximum capacity of the battery 20 can be determined. Let's say that the first of the two viewpoints is t 1 and the latter is t 2 .
- Equation 1 Q ref is the reference capacity
- SOC 1 is the state of charge estimated at time t 1
- SOC 2 is the state of charge estimated at time t 2
- ⁇ SOC is the difference between SOC 1 and SOC 2
- i t is the time t 1
- Current value representing the current detected at time t between time t and time t 2
- ⁇ C is the accumulated current value accumulated during the period from time t 1 to time t 2
- Q est is the estimated value of the maximum capacity at time t 2
- SOH new represents the estimate of SOH at time t 2
- Q ref is a predetermined value representing the maximum capacity when the SOH of the battery 20 is 1, and may be stored in advance in the memory unit 130.
- the controller 120 may be configured to determine the SOH or maximum capacity of the battery 20 using Equation 1, only when ⁇ SOC is equal to or greater than a predetermined value (eg, 0.5).
- a predetermined value eg, 0.5
- the control unit 120 determines a first candidate value based on a current value using amperage counting.
- the first candidate value represents an estimated value of the state of charge of the battery 20 in the current period.
- the following Equation 2 may be used.
- Equation 2 The symbols used in Equation 2 are as follows.
- ⁇ t represents the length of time per cycle.
- k is a time index that increases by 1 each time ⁇ t elapses, and represents the number of periods that have elapsed from the time when a predetermined event occurs to the present.
- the event may be, for example, an event in which charging and discharging of the battery 20 is started while the voltage of the battery 20 is stabilized.
- the state in which the voltage of the battery 20 is stabilized may be a no-load state in which the voltage of the battery 20 is kept constant while no current flows through the battery 20.
- SOC e [0] is the correspondence between the open circuit voltage (OCV) of the battery 20 and the state of charge by using the open circuit voltage of the battery 20 at the time the event occurs as an index. Can be determined from the OCV-SOC curve defining The OCV-SOC curve is stored in the memory unit 130.
- Equation 2 i[k+1] denotes the current detected in the current cycle, and SOC e [k] denotes the state of charge determined in the previous cycle by amperage counting or the extended Kalman filter. SOC[k+1] is a first candidate value. In Equation 2, i[k+1] may be replaced by i[k].
- the controller 120 determines a second candidate value using the extended Kalman filter.
- the second candidate value represents an estimated value of the state of charge of the battery 20 in the current period. From now on, the extended Kalman filter will be described.
- the extended Kalman filter is an algorithm for periodically updating the state of charge of the battery 20 by additionally utilizing the equivalent circuit model 200 of the battery 20 along with the amperage counting represented by Equation 2.
- the equivalent circuit model 200 includes an open circuit voltage source 210, an ohmic resistor R 1 , and an RC pair 220.
- the open-circuit voltage source 210 simulates an open-circuit voltage, which is a voltage between the positive electrode and the negative electrode of the battery 20 that has been electrochemically stabilized for a long time.
- the open-circuit voltage (OCV) output by the open-circuit voltage source 210 may be predetermined for various charging states and temperatures through a pre-experiment.
- the ohmic resistance R 1 is related to the IR drop V 1 of the battery 20.
- the IR drop refers to an instantaneous change in voltage across both ends of the battery 20 when the battery 20 switches from a no-load state to a charge/discharge state or when the battery 20 transitions from a charge-discharge state to a no-load state.
- the voltage of the battery 20 measured when charging the battery 20 in the no-load state is started is greater than the open circuit voltage.
- the voltage of the battery 20 measured when discharging the battery 20 in the no-load state starts is less than the open-circuit voltage.
- the resistance value of the ohmic resistance R 1 may also be predetermined for various charging states and temperatures through a pre-experiment.
- the RC pair 220 outputs an over potential (which may also be referred to as a'polarization voltage') V 2 induced by an electric double layer of the battery 20 and the like, and is a resistor R connected in parallel with each other. 2 ) and a capacitor (C 2 ).
- the over potential (V 2 ) may also be referred to as a'polarization voltage'.
- the time constant of the RC pair 220 is a product of the resistance value of the resistance R 2 and the capacitance of the capacitor C 2 , and may be predetermined for various charging states and temperatures through a preliminary experiment.
- V ecm is the output voltage of the equivalent circuit model 200, which is caused by the open-circuit voltage (OCV) by the open-circuit voltage source 210, the IR drop (V 1 ) by the ohmic resistance (R 1 ), and the RC pair 220. It is equal to the sum of the over potential (V 2 ).
- the over potential of the current period may be defined as in Equation 3 below.
- Equation 3 R 2 [k+1] is the resistance value of the resistance (R 2 ) of the current period, ⁇ [k+1] is the time constant of the RC pair 220 of the current period, and V 2 [k] is the previous period.
- the over potential of V 2 [k+1] represents the over potential of the current period.
- i[k+1] may be replaced by i[k].
- the over potential V 2 [0] at the time when the event occurs may be 0 V (volt).
- Equation 4 is a first equation of state related to the temporal update process of the extended Kalman filter, which is derived from a combination of Equations 2 and 3.
- a symbol ⁇ denoted by a superscript is a symbol indicating a value predicted by time update.
- a symbol - indicated by a superscript is a symbol indicating a value before correction by a measurement update to be described later.
- Equation 5 is a second equation of state related to the time update process of the extended Kalman filter.
- Equation 5 P k is the error corvariance matrix corrected in the previous period, Q k is the process noise covariance matrix in the previous period, T is the transpose matrix operator, and P - k+1 Represents the error covariance matrix for the current period.
- P 0 [ 1 0; May be 0 1 ].
- W1 k is the first process noise set in the previous period, and is related to the reliability of amperage counting. That is, W1 k is a positive number representing the inaccuracy of the accumulated current value calculated using amperage counting.
- W2 k is the second process noise set in the previous period and is related to the reliability of the equivalent circuit model 200.
- W2 k is a positive number representing the inaccuracy of parameters related to the equivalent circuit model 200. Accordingly, the controller 120 may increase the first process noise as the inaccuracy of the amperage counting increases. The controller 120 may increase the second process noise as the inaccuracy of the equivalent circuit model 200 increases.
- the controller 120 executes the measurement update process.
- Equation 6 is a first observation equation related to the measurement update process of the extended Kalman filter.
- K k+1 represents the Kalman gain of the current period.
- K (1,1)k+1 is the first component of Kalman gain
- K (2,1)k+1 is the second component of Kalman gain.
- R is a measurement noise covariance matrix, and has predetermined components.
- H k+1 is a system matrix and is for reflecting a change trend of the open circuit voltage of the battery 20 according to the OCV-SOC curve when estimating the state of charge of the battery 20.
- n is a predetermined positive integer (eg, 1).
- Equation 7 is a second observation equation related to the measurement update process of the extended Kalman filter.
- Equation 7 z k+1 is the voltage of the battery 20 measured in the current period, and V ecm [k+1] indicates the output voltage of the equivalent circuit model 200 in the current period.
- f 1 (SOC[k+1]) represents the open-circuit voltage of the current period (refer to the description of Fig. 2).
- V 1 [k+1] represents the voltage across the ohmic resistance (R 1 ) in the current period, and the product of any one of i[k+1] and i[k] and R 1 [k+1] It can be the same.
- R 1 [k+1] is the resistance value of the ohmic resistance R 1 in the current period.
- the controller 120 may determine R 1 [k+1] based on the temperature value.
- a first lookup table in which a correspondence relationship between a temperature value and a resistance value of the ohmic resistance R 1 is defined is recorded in the memory unit 130.
- the controller 120 may obtain a resistance value mapped to a specific temperature value from the first lookup table by using a specific temperature value (eg, a temperature value of a data set) as an index.
- SOC[k+1] and V 2 [k+1] obtained from Equation 4 are respectively corrected by Equation 7.
- Equation 4 in correcting SOC[k+1] obtained from Equation 4, as the value of K (1,1)k+1 approaches 0, z k+1 and V ecm [k The effect of the difference between +1] is reduced.
- One of the reasons for the decrease in K (1,1)k+1 is the incompleteness of the amperage counting (see Equation 2).
- the decrease in K (1,1)k+1 causes a decrease in the learning ability of the extended Kalman filter based on the difference between z k+1 and V ecm [k+1].
- Equation 4 in correcting V 2 [k+1] obtained from Equation 4, as the value of K (2,1)k+1 approaches 0, z k+1 and V The influence of the difference between ecm [k+1] is reduced.
- One of the causes of the decrease in K (2,1)k+1 is the incompleteness of the equivalent circuit model 200.
- the decrease in K (2,1)k+1 results in a decrease in the learning ability of the extended Kalman filter based on the difference between z k+1 and V ecm [k+1].
- the control unit 120 in estimating the state of charge of the battery 20 using the extended Kalman filter, the significant reduction of at least one of K (1,1)k+1 and K (2,1)k+1 In order to prevent the accuracy of estimation due to deterioration, a ratio between the first process noise and the second process noise may be adjusted.
- Equation 8 is a third observation equation related to the measurement update process of the extended Kalman filter.
- Equation 8 E represents an identity matrix. P - k+1 obtained from Equation 5 is corrected to P k+1 by Equation 8.
- the control unit 120 periodically updates the state of charge of the battery 20 by executing each calculation step according to Equations 4 to 8 at least once each time the time index k increases by one.
- the control unit 120 determines a second candidate value based on the data set. It has been described above that the data set includes current values, voltage values and temperature values. The controller 120 determines R 2 [k+1] and ⁇ [k+1] of Equation 4 based on the temperature value and the state of charge determined in the previous cycle. To this end, a second lookup table in which a correspondence relationship between a state of charge, a temperature value, and a resistance value of the resistance R 2 is defined may be recorded in the memory unit 130. The controller 120 uses the temperature value of the data set and the state of charge determined in the previous period as an index, and calculates the temperature value of the data set and the resistance value mapped to the state of charge determined in the previous period from the second lookup table as an index.
- a third lookup table in which a correspondence relationship between a state of charge, a temperature value, and a time constant is defined may be recorded.
- the controller 120 uses the temperature value of the data set and the state of charge determined in the previous period as an index, and calculates the temperature value of the data set and the time constant mapped to the state of charge determined in the previous period from the third lookup table as an index. It can be obtained as ⁇ [k+1].
- the control unit 120 sets i[k+1] (or i[k]) in Equation 4 to be equal to the current value of the data set, and z k+1 in Equation 7 to be the same as the voltage value of the data set. Set. Accordingly, the control unit 120 may determine the SOC[k+1] corrected by Equation 7 as the second candidate value.
- control unit 120 proceeds through a process to be described from now on, among the first and second candidate values.
- One is configured to determine the state of charge of the battery 20 in the current period.
- the controller 120 determines a difference value, which is an absolute value of the difference between the first candidate value and the second candidate value. For example, when the first candidate value is 0.51 and the second candidate value is 0.52, the difference value is 0.01. As another example, when the first candidate value is 0.77 and the second candidate value is 0.75, the difference value is 0.02.
- the controller 120 may compare the difference value with a predetermined threshold value.
- the threshold value is stored in the memory unit 130 and may be, for example, 0.03.
- the controller 120 may determine the first candidate value as the state of charge of the battery 20.
- the controller 120 determines a second candidate value instead of the first candidate value as the state of charge of the battery 20.
- the Kalman gain K k + 1, the first component K (1,1) + k 1 is a predetermined first lower limit value (for example, 0.01) or more, the Kalman gain K k + 1 of the second component of K
- a predetermined second lower limit eg, 0.001
- the ratio of the second process noise to the first process noise can be set equal to a predetermined reference ratio (eg, 0.1).
- the first process noise may be set equal to a predetermined first reference value (eg, 0.1)
- the second process noise may be set equal to a predetermined second reference value (eg, 0.01). That is, the reference ratio may be equal to a value obtained by dividing the second reference value by the first reference value.
- the Kalman gain K k + first component K (1,1) k + 1 second component K (2,1) is smaller than the first lower limit value
- the ratio of the second process noise to the first process noise may be reduced than the reference ratio.
- the first process noise may be set equal to the first reference value
- the second process noise may be set to a value smaller than the second reference value.
- the first process noise may be set to a value greater than the first reference value
- the second process noise may be set equal to the second reference value.
- the first process noise may be set to a value larger than the first reference value
- the second process noise may be set to a value smaller than the second reference value.
- the Kalman gain K k + first component K (1,1) k + 1 second component K (2,1) is smaller than the first lower limit value
- the first component K (1,1)k+1 and the difference between the reference ratio and the ratio of the second process noise to the first process noise are proportional to the difference between the first lower limit and the first lower limit.
- a ratio of the second process noise to the process noise may be determined.
- the ratio of the second process noise to the first process noise is determined to be 0.09, and the first component K (1, 1)
- a ratio of the second process noise to the first process noise may be determined as 0.085.
- the Kalman gain K k + first component K (1,1) + k is 1 more than the first lower limit value
- the Kalman gain K k + second component K (2,1) of one of the k + 1 When 1 is less than the second lower limit value, the ratio of the second process noise to the first process noise may be increased than the reference ratio.
- the first process noise may be set equal to the first reference value
- the second process noise may be set to a value greater than the second reference value.
- the first process noise may be set to a value smaller than the first reference value
- the second process noise may be set equal to the second reference value.
- the first process noise may be set to a value smaller than the first reference value
- the second process noise may be set to a value larger than the second reference value.
- the Kalman gain K k + first component K (1,1) + k is 1 more than the first lower limit value
- the Kalman gain K k + second component K (2,1) of one of the k + 1 If 1 is less than the second lower limit, the difference between the ratio of the second process noise to the first process noise and the reference ratio is proportional to the difference between the second component K (2,1)k+1 and the second lower limit.
- a ratio of the second process noise to the first process noise may be determined.
- the ratio of the second process noise to the first process noise is determined to be 0.115, and the second component K (2, 1)
- a ratio of the second process noise to the first process noise may be determined as 0.121.
- the controller 120 may determine the first process noise using Equation 9 below.
- the controller 120 may determine the second process noise using Equation 10 below.
- D 1 is the absolute value of the difference between the first component K (1,1)k+1 and the first lower limit
- D 2 is the second component K (2,1)k+1 and the second
- M W1 is the first reference value
- M W2 is the second reference value
- M 1 is the first weight
- M 2 is the second weight
- M 3 is the third weight
- M 4 is the fourth weight
- W1 k denotes the first process noise
- W2 k denotes the second process noise
- M 1 , M 2 M 3 and M 4 may be the same or different predetermined positive numbers.
- each of the first process noise and the second process noise may be set equal to W1 k by Equation 9 and W2 k by Equation 10.
- the first process noise and the second process noise set as described above may be respectively assigned to W1 k and W2 k in Equation 5 in the process of estimating the state of charge of the next cycle.
- the controller 120 may selectively output a switching signal SS in order to control the switch 30.
- the control unit 120, the control unit 120, the first component K (1,1) k+1 is less than the first lower limit value, or the second component K (2,1) k+1 is less than the second lower limit value.
- the duty ratio of the switching signal SS may be limited to a predetermined reference duty ratio (eg, 0.2) or less. When the duty ratio of the switching signal SS is limited to less than the reference duty ratio, as the maximum value of current that can flow through the battery 20 decreases, a sudden change in voltage and temperature of the battery 20 may be suppressed. .
- FIGS. 4 and 5 are flowcharts illustrating a battery management method executed by the battery management apparatus of FIG. 1 of FIG. 1 by way of example.
- the methods of FIGS. 4 and 5 may be periodically executed from a point in time when an event occurs.
- the methods of FIGS. 4 and 5 may be terminated when charging/discharging of the battery 20 is stopped.
- step S400 the controller 120 determines the maximum capacity (or SOH) of the battery 20 (see Equation 1).
- step S405 the control unit 120 detects the current, voltage, and temperature of the battery 20 using the sensing unit 110.
- the sensing unit 110 outputs a signal SI representing the detected current, a signal SV representing the detected voltage, and a signal ST representing the detected temperature to the controller 120.
- step S410 the controller 120 receives a signal SI, a signal SV, and a signal ST, a current value representing the current of the battery 20, a voltage value representing the voltage of the battery 20, and A data set including temperature values representing the temperature of the battery 20 is generated.
- step S420 the controller 120 determines a first candidate value for the state of charge of the battery 20 based on the current value using amperage counting (see Equation 2).
- step S430 the controller 120 determines a Kalman gain K k+1 and a second candidate value for the state of charge of the battery 20 based on the data set using the extended Kalman filter (Equations 3 to See Equation 8).
- steps S420 and S430 may be executed simultaneously, or step S430 may be executed before step S420.
- step S440 the controller 120 determines a difference value between the first candidate value and the second candidate value.
- step S500 the control unit 120 determines whether the difference value is greater than the threshold value. When the value of step S500 is "YES”, step S510 proceeds. If the value of step S500 is "NO”, step S520 proceeds.
- step S510 the controller 120 determines the first candidate value as the state of charge of the battery 20.
- step S520 the controller 120 determines the second candidate value as the state of charge of the battery 20.
- step S530 control unit 120, the Kalman gain K first component of the k + 1 K (1,1) k + 1 is less than or equal to the first lower limit value, the Kalman gain K k + 1 of the second component K (2 ,1) It is determined whether k+1 is less than the second lower limit.
- a value of "NO" in step S530 indicates that the first component K (1,1)k+1 is equal to or greater than the first lower limit value, and that the second component K (2,1)k+1 is equal to or greater than the second lower limit value. If the value of step S530 is "NO”, step S540 proceeds. If the value of step S530 is "YES", at least one of step S550 and step S560 proceeds.
- step S540 the control unit 120 sets the ratio of the second process noise to the first process noise equal to the reference ratio.
- the first process noise may be set equal to the first reference value
- the second process noise may be set equal to the second reference value.
- the reference ratio is a value obtained by dividing the second reference value by the first reference value.
- step S550 the control unit 120 decreases or increases the ratio of the second process noise to the first process noise compared to the reference ratio (refer to Equations 9 and 10).
- step S560 the controller 120 limits the duty ratio of the switching signal SS output to the switch 30 to less than or equal to the reference duty ratio.
- the difference between the limited duty ratio and the reference duty ratio is the absolute value of the difference between the first component K (1,1)k+1 and the first lower limit and between the second component K (2,1)k+1 and the second lower limit. It can be proportional to any one of the absolute values of the difference (eg, the larger one).
- step S550 and step S560 may be executed simultaneously, step S560 may be executed before step S550, or only one of step S550 and step S560 may be executed.
- the embodiments of the present invention described above are not implemented only through an apparatus and a method, but may be implemented through a program realizing a function corresponding to the configuration of the embodiment of the present invention or a recording medium in which the program is recorded. Implementation can be easily implemented by an expert in the technical field to which the present invention belongs from the description of the above-described embodiment.
Abstract
Description
Claims (13)
- 배터리의 전류, 전압 및 온도를 검출하도록 구성된 센싱부; 및상기 검출된 전류를 나타내는 전류값, 상기 검출된 전압을 나타내는 전압값 및 상기 검출된 온도를 나타내는 온도값을 포함하는 데이터 세트를 생성하도록 구성된 제어부를 포함하되,상기 제어부는,암페어 카운팅을 이용하여, 상기 전류값을 기초로, 상기 배터리의 충전 상태에 대한 제1 후보값을 결정하도록 구성되고,확장 칼만 필터를 이용하여, 상기 데이터 세트를 기초로, 칼만 게인 및 상기 충전 상태에 대한 제2 후보값을 결정하도록 구성되고,상기 제1 후보값과 상기 제2 후보값 간의 차이값이 임계값보다 큰 경우, 상기 제1 후보값을 상기 충전 상태로서 결정하도록 구성되고,상기 칼만 게인의 제1 성분이 소정의 제1 하한값 이상이고 상기 칼만 게인의 제2 성분이 소정의 제2 하한값 이상인 경우, 상기 확장 칼만 필터의 제1 프로세스 노이즈에 대한 제2 프로세스 노이즈의 비율을 소정의 기준 비율과 동일하게 설정하도록 구성되되,상기 제1 프로세스 노이즈는, 상기 암페어 카운팅의 신뢰도에 연관되고,상기 제2 프로세스 노이즈는, 상기 배터리의 등가 회로 모델의 신뢰도에 연관되는 배터리 관리 장치.
- 제1항에 있어서,상기 제어부는,상기 칼만 게인의 제1 성분이 상기 제1 하한값 이상이고 상기 칼만 게인의 제2 성분이 상기 제2 하한값 이상인 경우, 상기 제1 프로세스 노이즈를 소정의 제1 기준값과 동일하게 설정하고, 상기 제2 프로세스 노이즈를 소정의 제2 기준값과 동일하게 설정하도록 구성되되,상기 기준 비율은, 상기 제2 기준값을 상기 제1 기준값으로 나눈 값인 배터리 관리 장치.
- 제2항에 있어서,상기 제어부는,상기 제1 성분이 상기 제1 하한값보다 작고, 상기 제2 성분이 상기 제2 하한값 이상인 경우, 상기 제1 프로세스 노이즈에 대한 상기 제2 프로세스 노이즈의 비율을 상기 기준 비율보다 감소시키도록 구성되는 배터리 관리 장치.
- 제3항에 있어서,상기 제어부는,상기 제1 성분이 상기 제1 하한값보다 작고, 상기 제2 성분이 상기 제2 하한값 이상인 경우, 상기 제1 기준값보다 큰 값을 상기 제1 프로세스 노이즈로 결정하거나 상기 제2 기준값보다 작은 값을 상기 제2 프로세스 노이즈로 결정하도록 구성되는 배터리 관리 장치.
- 제2항에 있어서,상기 제어부는,상기 제1 성분이 상기 제1 하한값 이상이고, 상기 제2 성분이 상기 제2 하한값보다 작은 경우, 상기 제1 프로세스 노이즈에 대한 상기 제2 프로세스 노이즈의 비율을 상기 기준 비율보다 증가시키도록 구성되는 배터리 관리 장치.
- 제5항에 있어서,상기 제어부는,상기 제1 성분이 상기 제1 하한값 이상이고, 상기 제2 성분이 상기 제2 하한값보다 작은 경우, 상기 제1 기준값보다 작은 값을 상기 제1 프로세스 노이즈로 결정하거나 상기 제2 기준값보다 큰 값을 상기 제2 프로세스 노이즈로 결정하도록 구성되는 배터리 관리 장치.
- 제2항에 있어서,상기 제어부는,상기 제1 성분이 상기 제1 하한값보다 작거나, 상기 제2 성분이 상기 제2 하한값보다 작은 경우, 하기의 수식 1 및 수식 2를 이용하여, 상기 제1 프로세스 노이즈 및 상기 제2 프로세스 노이즈를 결정하도록 구성되되,<수식 1><수식 2>D 1은 상기 제1 성분과 상기 제1 하한값 간의 차이의 절대값, D 2은 상기 제2 성분과 상기 제2 하한값 간의 차이의 절대값, M W1은 상기 제1 기준값, M W2은 상기 제2 기준값, M 1은 제1 가중치, M 2은 제2 가중치, M 3은 제3 가중치, M 4은 제4 가중치, W1 k은 상기 제1 프로세스 노이즈, W2 k은 상기 제2 프로세스 노이즈를 나타내는 배터리 관리 장치.
- 제1항에 있어서,상기 제어부는,상기 차이값이 상기 임계값 이하인 경우, 상기 제1 후보값 대신 상기 제2 후보값을 상기 충전 상태로서 결정하도록 구성되는 배터리 관리 장치.
- 제1항에 있어서,상기 제어부는,상기 배터리의 전류 경로에 설치된 스위치를 제어하기 위한 스위칭 신호를 선택적으로 출력하도록 구성되고,상기 제1 성분이 상기 제1 하한값보다 작거나, 상기 제2 성분이 상기 제2 하한값보다 작은 경우, 상기 스위칭 신호의 듀티비를 기준 듀티비 이하로 제한하도록 구성되는 배터리 관리 장치.
- 제1항 내지 제9항 중 어느 한 항에 따른 상기 배터리 관리 장치를 포함하는 배터리팩.
- 배터리의 전류, 전압 및 온도를 검출하는 단계;상기 검출된 전류를 나타내는 전류값, 상기 검출된 전압을 나타내는 전압값 및 상기 검출된 온도를 나타내는 온도값을 포함하는 데이터 세트를 생성하는 단계;암페어 카운팅을 이용하여, 상기 전류값을 기초로, 상기 배터리의 충전 상태에 대한 제1 후보값을 결정하는 단계;확장 칼만 필터를 이용하여, 상기 데이터 세트를 기초로, 칼만 게인 및 상기 충전 상태에 대한 제2 후보값을 결정하는 단계;상기 제1 후보값과 상기 제2 후보값 간의 차이값이 임계값보다 큰 경우, 상기 제1 후보값을 상기 충전 상태로서 결정하는 단계; 및상기 칼만 게인의 제1 성분이 소정의 제1 하한값 이상이고 상기 칼만 게인의 제2 성분이 소정의 제2 하한값 이상인 경우, 상기 확장 칼만 필터의 제1 프로세스 노이즈에 대한 제2 프로세스 노이즈의 비율을 소정의 기준 비율과 동일하게 설정하는 단계를 포함하되,상기 제1 프로세스 노이즈는, 상기 암페어 카운팅의 신뢰도에 연관되고,상기 제2 프로세스 노이즈는, 상기 배터리의 등가 회로 모델의 신뢰도에 연관되는 배터리 관리 방법.
- 제11항에 있어서,상기 제1 성분이 상기 제1 하한값보다 작고, 상기 제2 성분이 상기 제2 하한값 이상인 경우, 상기 제1 프로세스 노이즈에 대한 상기 제2 프로세스 노이즈의 비율을 상기 기준 비율보다 감소시키는 단계를 더 포함하는 배터리 관리 방법.
- 제11항에 있어서,상기 제1 성분이 상기 제1 하한값 이상이고, 상기 제2 성분이 상기 제2 하한값보다 작은 경우, 상기 제1 프로세스 노이즈에 대한 상기 제2 프로세스 노이즈의 비율을 상기 기준 비율보다 증가시키는 단계를 더 포함하는 배터리 관리 방법.
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Also Published As
Publication number | Publication date |
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JP2021531456A (ja) | 2021-11-18 |
JP7172013B2 (ja) | 2022-11-16 |
KR20200097170A (ko) | 2020-08-18 |
CN112470017A (zh) | 2021-03-09 |
US20210167616A1 (en) | 2021-06-03 |
EP3828568A4 (en) | 2021-12-08 |
US11923710B2 (en) | 2024-03-05 |
EP3828568A1 (en) | 2021-06-02 |
CN112470017B (zh) | 2023-12-01 |
EP3828568B1 (en) | 2024-03-06 |
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