CN105093114B - The combined estimation method and system of a kind of battery line modeling and state-of-charge - Google Patents
The combined estimation method and system of a kind of battery line modeling and state-of-charge Download PDFInfo
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Abstract
The present invention relates to a kind of battery line modeling and the combined estimation method and system of state-of-charge, wherein method includes, the open-circuit voltage OCV included in battery model and state-of-charge SOC non-linear relation is subjected to piece-wise linearization using threshold model, and the piece-wise linearization relation of battery terminal voltage and state-of-charge SOC can be mapped as；The battery terminal voltage and current data obtained merely with on-line measurement, ARMA model is established in each piecewise interval；Obtained ARMA model is converted into the battery model of corresponding state space description, structural regime observer, the state-of-charge as state variable estimated.Sliding time window, gather next Battery pack terminal voltage and current data and participate in calculating.Method provided by the invention, the model parameter to any time lithium ion battery and state-of-charge can all have higher precision online, and be easily achieved.
Description
Technical field
The present invention relates to a kind of battery line modeling and the combined estimation method and system of state-of-charge, belong to lithium-ion electric
Pond administrative skill field.
Background technology
To solve energy security and problem of environmental pollution, in recent years, electric automobile is in national governments and automaker
Quick development is achieved under promotion.As the main energetic carrier and power resources of electric automobile, battery and its management system
It is one of most crucial technology of electric automobile.Wherein, lithium ion battery with its high energy ratio, low self-discharge rate, memory-less effect,
High working voltage platform, long life and the advantages such as manufacturing cost is low are used widely.And it is matched, lithium ion moves
Power battery management system (BMS) also earns widespread respect and studied application.
BMS Core Feature is the dynamic behaviour by accurately tracking battery, is had to battery working
The management of effect ground and control, this requires the mathematical modeling that must be set up accurate description battery dynamic behaviour.For to electric automobile
The angle of economy, safety and reasonable employment electrokinetic cell is set out, the state-of-charge using battery model parameter to electrokinetic cell
(SOC) carry out estimation and seem more crucial.In recent years, the battery model identification method developed along with battery emerges in an endless stream.
During the business application of electric automobile, too high battery price is people the main reason for hindering its Rapid Popularization
By finding more preferable battery burst mode, make full use of battery electric quantity, reduce battery cost.The burst mode of battery is main
Relevant with battery with two side terminals, this depends on the raising of the identification efficiency and SOC estimated accuracies of battery parameter, so helps
In battery reasonable utilization and extend the physical life of battery.Therefore, it is necessary to find it is a kind of accurately and fast, obtain electricity online
The method of pond parameter and SOC.It is exactly full the invention provides a kind of modeling of lithium-ion-power cell and SOC combined estimation methods
The method of sufficient above-mentioned requirements.
The content of the invention
The technical problems to be solved by the invention are, in view of the shortcomings of the prior art, there is provided a kind of battery line modeling with
The combined estimation method and system of state-of-charge, for simultaneously obtain battery parameter and SOC, and realize battery parameter it is accurate,
Quickly, on-line identification and SOC accurate estimation.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of battery line modeling is combined with state-of-charge
Method of estimation, specifically include following steps：
Step 1：Gather the battery terminal voltage Value Data and battery-end electric current Value Data in actual time window；
Step 2：Codomain division is carried out according to different voltage value datas, obtains multiple piecewise intervals, to each segmentation
ARMA model is established in section, ARMA model is converted into battery model, and recognize battery model
Parameter；
Step 3：Structural regime observer, the state-of-charge SOC as state variable is estimated, obtains state-of-charge
SOC estimate；
Step 4：The time window of non-gathered data is judged whether, next time window is obtained if it is, sliding,
Using obtained time window as actual time window, step 1 is performed；Otherwise, step 5 is performed；
Step 5：Complete line modeling and the state-of-charge estimation of the battery model of lithium ion battery.
Time window used in the present invention is set time window, with 1 data instance of collection in 1 second, 500 numbers
According to width of the collection point as the time window, but this is not limited in the case where ensureing institute's established model validity.
The beneficial effects of the invention are as follows：The present invention is used to obtain battery parameter and SOC simultaneously, and realizes the essence of battery parameter
Really, quickly, on-line identification and SOC accurate estimation；Can the model parameter to any time lithium ion battery and charged online
State all has higher precision, and is easily achieved.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, the step 2 specifically includes following steps：
Step 2.1：Codomain division is carried out according to different voltage value datas, multiple piecewise intervals are obtained, to each point
The battery terminal voltage Value Data and battery-end electric current Value Data that section section is obtained using on-line measurement establish auto regressive moving average
Model；
Step 2.2：ARMA model is converted into the battery model of corresponding state space description, and recognized
Battery model parameter.
Further, the step 3 specifically includes following steps：
Step 3.1：Using threshold model by the non-of the open-circuit voltage OCV included in battery model and state-of-charge SOC
Linear relationship carries out piece-wise linearization, and can be mapped as the piece-wise linearization relation of battery terminal voltage and state-of-charge SOC；
Step 3.2：Linear relationship structural regime observer in battery model, to the charged shape as state variable
State SOC is estimated, obtains state-of-charge SOC estimate.
Further, it is described using threshold model by the open-circuit voltage OCV included in battery model and state-of-charge SOC
Non-linear relation carry out piece-wise linearization it is crucial that according to the linear of open-circuit voltage OCV and charge states of lithium ion battery SOC
Change model parameter, determine battery model parameter.
Further, the determination of next time window can be according to non-linear degree of strength, to the length of time window
It is short to zoom in and out.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of battery line modeling is combined with state-of-charge
Estimating system, including acquisition module, battery model module, state variable estimation module and judge module；
The acquisition module is used to gather the battery terminal voltage Value Data and battery-end current value number in actual time window
According to；
The battery model module is used to carry out codomain division according to different voltage value datas, obtains multiple segment identifiers
Between, ARMA model is established to each piecewise interval, ARMA model is converted into battery model,
And recognize battery model parameter；
The estimation module is used for structural regime observer, and the state-of-charge SOC as state variable is estimated, obtained
To state-of-charge SOC estimate；
The judge module is used for the time window for judging whether non-gathered data, if it is, it is next to slide acquisition
Individual time window, using obtained time window as actual time window, gather next Battery pack terminal voltage and current data ginseng
With calculating；Otherwise, line modeling and the state-of-charge estimation of the battery model of lithium ion battery are completed.
The beneficial effects of the invention are as follows：The present invention is used to obtain battery parameter and SOC simultaneously, and realizes the essence of battery parameter
Really, quickly, on-line identification and SOC accurate estimation；Can the model parameter to any time lithium ion battery and charged online
State all has higher precision, and is easily achieved.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, the battery model module includes modeling module and model conversion module；
The modeling module is used to carry out codomain division according to different voltage value datas, obtains multiple piecewise intervals, right
The battery terminal voltage Value Data and battery-end electric current Value Data that each piecewise interval is obtained using on-line measurement establish autoregression
Moving average model(MA model)；
ARMA model is converted into the battery mould of corresponding state space description by the model conversion module
Type, and recognize battery model parameter.
Further, the state variable estimation module includes linearization block and estimate module；
The linearization block is used to utilize threshold model by the open-circuit voltage OCV included in battery model and charged shape
State SOC non-linear relation carries out piece-wise linearization, and can be mapped as the piece-wise linearization of battery terminal voltage and state-of-charge SOC
Relation；
The estimate module is used for the linear relationship structural regime observer in battery model, to becoming as state
The state-of-charge SOC of amount is estimated, obtains state-of-charge SOC estimate.
Further, it is described using threshold model by the open-circuit voltage OCV included in battery model and state-of-charge SOC
Non-linear relation carry out piece-wise linearization it is crucial that according to the linear of open-circuit voltage OCV and charge states of lithium ion battery SOC
Change model parameter, determine battery model parameter.
Further, the determination of next time window can be according to non-linear degree of strength, to the length of time window
It is short to zoom in and out.
Brief description of the drawings
Fig. 1 is the combined estimation method flow chart of a kind of battery line modeling of the present invention and state-of-charge；
Fig. 2 is the schematic diagram of lithium-ion-power cell of the present invention modeling and SOC combined estimation methods；
Fig. 3 is battery model equivalent circuit diagram of the present invention；
Fig. 4 is SOC estimated results under FUDS operating modes of the present invention；
Fig. 5 is SOC evaluated errors under FUDS operating modes of the present invention；
Fig. 6 is the Combined estimator system architecture diagram of a kind of battery line modeling of the present invention and state-of-charge.
In accompanying drawing, the list of parts representated by each label is as follows：
1st, acquisition module, 2, battery model module, 3, state variable estimation module, 4, judge module, 21, modeling module,
22nd, model conversion module, 31, linearization block, 32, estimate module.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
As shown in figure 1, it is a kind of battery line modeling of the present invention and the combined estimation method of state-of-charge, specifically
Comprise the following steps：
Step 1：Gather the battery terminal voltage Value Data and battery-end electric current Value Data in actual time window；
Step 2：Codomain division is carried out according to different voltage value datas, obtains multiple piecewise intervals, to each segmentation
ARMA model is established in section, ARMA model is converted into battery model, and recognize battery model
Parameter；
Step 3：Structural regime observer, the state-of-charge SOC as state variable is estimated, obtains state-of-charge
SOC estimate；
Step 4：The time window of non-gathered data is judged whether, next time window is obtained if it is, sliding,
Using obtained time window as actual time window, step 1 is performed；Otherwise, step 5 is performed；
Step 5：Complete line modeling and the state-of-charge estimation of the battery model of lithium ion battery.
Fig. 2 is the schematic diagram of lithium-ion-power cell modeling and SOC combined estimation methods.It is as shown in Fig. 2 of the present invention
A kind of battery line modeling and state-of-charge combined estimation method, specifically include following steps：
Step 1：Using threshold model by the non-thread of the open-circuit voltage OCV included in battery model and state-of-charge SOC
Sexual intercourse carries out piece-wise linearization, and can be mapped as the piece-wise linearization relation of battery terminal voltage and state-of-charge SOC.Lithium ion
The open-circuit voltage (OCV) and charge states of lithium ion battery SOC relation functions of electrokinetic cell be：Voc=f (SOC), f () are to open
Non-linear relation between road voltage OCV and battery charge state SOC.It can carry out piecewise linearity by a threshold model and force
Closely, i.e.
λ1,…,λkFor constant coefficient, r1,…,rk-1Threshold value is represented for constant, k is sectional area number.The battery-end mapped
The piece-wise linearization relation of voltage and state-of-charge SOC is represented by,
V and I represents to measure obtained battery terminal voltage and current data, V respectivelyp1For first group of polarization in lithium ion battery
Voltage, Vp2For second group of polarizing voltage, R in lithium ion battery0The load resistance changed for response current in lithium ion battery.
Step 2：In selected time window, the battery terminal voltage obtained to on-line measurement carries out the division in codomain,
The battery terminal voltage and current data obtained merely with on-line measurement, arma modeling is established in each piecewise interval.It can represent
For,
VtAnd ItRepresent to measure obtained battery terminal voltage and current data time series respectively；φj,iAnd θl,iRepresent respectively
The coefficient of arma modeling is built in i-th of sectional area, wherein j and l are expressed as the exponent number of model, and i=1 ... k；
φ0,1,…,φ0,kFor the constant term of built arma modeling；et,kRepresent prediction error.
Step 3：Arma modeling is converted into the battery model of corresponding state space description, recognizes battery model parameter.
The present embodiment utilizes battery model equivalent circuit as shown in Figure 3.The foundation can be with each sectional area arma modeling equivalence
State space equation, and establish coefficient and solve equation, for i-th of sectional area, the electric circuit model of battery can be established
State-space expression is expressed as
Wherein,
State X=[the SOC V of lithium ion batteryp1 Vp2]T.Following solution under continuous system be present with arma modeling in it
Equation
m3,i=R0.Wherein, RsdFor lithium ion battery certainly
Discharge energy loses resistance, CcFor lithium ion battery full capacity electric capacity, Rp1For first group of polarization resistance, R in lithium ion batteryp2For
Second group of polarization resistance, C in lithium ion batteryp1For first group of polarization capacity, C in lithium ion batteryp2For in lithium ion battery
Two groups of polarization capacities.The arma modeling form of i-th of sectional area is：Utilize
Corresponding transform method, such as bilinear transformationDeng continuous system being converted to discrete system, and then can build
Vertical φj,iAnd θl,iParameter each with inside lithium ion cell, which is established, solves equation.Changed using corresponding numerical analysis method, such as newton
For method etc., the battery parameter R that needs can be recognized0、Rsd、Rp1、Rp2、Cp1、Cp2Solution obtains.
Step 4：Structural regime observer, the state-of-charge as state variable is estimated.The state side of lithium ion
Cheng Caiyong
Wherein, L=[L1 L2 L3]T, L1For the gain system of the error feedback quantity to charge states of lithium ion battery first derivative
Number；L2For the gain coefficient of the error feedback quantity to first group of polarizing voltage first derivative of lithium ion battery；L3For to lithium-ion electric
The gain coefficient of the error feedback quantity of second group of pond polarizing voltage first derivative；V is the terminal voltage actual value of lithium ion battery；
For the terminal voltage estimated value of lithium ion battery.Gain coefficient is solved using Method of Pole Placement or Linear-Quadratic Problem method.
Step 5：Sliding time window, gather next Battery pack terminal voltage and current data and participate in calculating.
Choose 1 section LiMn2O4Battery, the nominal voltage of cell is 3.6V, nominal capacity 15Ah.In FUDS operating modes
Under, battery model parameter is obtained using methods described, and then obtain SOC estimated results as shown in figure 4, evaluated error such as Fig. 5 institutes
Show.
As shown in fig. 6, be a kind of battery line modeling of the present invention and the Combined estimator system of state-of-charge, including
Acquisition module 1, battery model module 2, state variable estimation module 3 and judge module 4；
The acquisition module 1 is used to gather the battery terminal voltage Value Data and battery-end current value number in actual time window
According to；
The battery model module 2 is used to carry out codomain division according to different voltage value datas, obtains multiple segment identifiers
Between, ARMA model is established to each piecewise interval, ARMA model is converted into battery model,
And recognize battery model parameter；
The estimation module 3 is used for structural regime observer, and the state-of-charge SOC as state variable is estimated,
Obtain state-of-charge SOC estimate；
The judge module 4 is used for the time window for judging whether non-gathered data, if it is, it is next to slide acquisition
Individual time window, using obtained time window as actual time window, gather next Battery pack terminal voltage and current data ginseng
With calculating；Otherwise, line modeling and the state-of-charge estimation of the battery model of lithium ion battery are completed.
The battery model module 2 includes modeling module 21 and model conversion module 22；
The modeling module 21 is used to carry out codomain division according to different voltage value datas, obtains multiple piecewise intervals,
The battery terminal voltage Value Data and battery-end electric current Value Data obtained to each piecewise interval using on-line measurement is established to return certainly
Return moving average model(MA model)；
ARMA model is converted into the battery of corresponding state space description by the model conversion module 22
Model, and recognize battery model parameter.
The state variable estimation module 3 includes linearization block 31 and estimate module 32；
The linearization block 31 be used for using threshold model by the open-circuit voltage OCV included in battery model with it is charged
State SOC non-linear relation carries out piece-wise linearization, and can be mapped as the piecewise linearity of battery terminal voltage and state-of-charge SOC
Change relation；
The estimate module 32 is used for the linear relationship structural regime observer in battery model, to as state
The state-of-charge SOC of variable is estimated, obtains state-of-charge SOC estimate.
It is described using threshold model by the non-linear of the open-circuit voltage OCV included in battery model and state-of-charge SOC
Relation carry out piece-wise linearization it is crucial that according to open-circuit voltage OCV and charge states of lithium ion battery SOC inearized model
Parameter, determine battery model parameter.
The determination of next time window can be contracted according to non-linear degree of strength to the length of time window
Put.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (10)
1. the combined estimation method of a kind of battery line modeling and state-of-charge, it is characterised in that specifically include following steps：
Step 1：Gather the battery terminal voltage Value Data and battery-end electric current Value Data in actual time window；
Step 2：Codomain division is carried out according to different voltage value datas, multiple piecewise intervals are obtained, to each piecewise interval
ARMA model is established, ARMA model is converted into battery model, and recognize battery model parameter；
Step 3：Structural regime observer, the state-of-charge SOC as state variable is estimated, obtains state-of-charge SOC
Estimate；
Step 4：The time window of non-gathered data is judged whether, next time window is obtained if it is, sliding, will
The time window arrived performs step 1 as actual time window；Otherwise, step 5 is performed；
Step 5：Complete line modeling and the state-of-charge estimation of the battery model of lithium ion battery.
2. the combined estimation method of a kind of battery line modeling according to claim 1 and state-of-charge, it is characterised in that
The step 2 specifically includes following steps：
Step 2.1：Codomain division is carried out according to different voltage value datas, multiple piecewise intervals are obtained, to each segment identifier
Between the battery terminal voltage Value Data that is obtained using on-line measurement and battery-end electric current Value Data establish ARMA model；
Step 2.2：ARMA model is converted into the battery model of corresponding state space description, and recognizes battery
Model parameter.
3. the combined estimation method of a kind of battery line modeling according to claim 1 or 2 and state-of-charge, its feature exist
In the step 3 specifically includes following steps：
Step 3.1：Using threshold model by the non-linear of the open-circuit voltage OCV included in battery model and state-of-charge SOC
Relation carries out piece-wise linearization, and can be mapped as the piece-wise linearization relation of battery terminal voltage and state-of-charge SOC；
Step 3.2：Linear relationship structural regime observer in battery model, to the state-of-charge as state variable
SOC is estimated, obtains state-of-charge SOC estimate.
4. the combined estimation method of a kind of battery line modeling according to claim 3 and state-of-charge, it is characterised in that
It is described to be carried out the open-circuit voltage OCV included in battery model and state-of-charge SOC non-linear relation using threshold model
Piece-wise linearization it is crucial that according to open-circuit voltage OCV and charge states of lithium ion battery SOC inearized model parameter, really
Determine battery model parameter.
5. the combined estimation method of a kind of battery line modeling according to claim 1 and state-of-charge, it is characterised in that
The determination of next time window can zoom in and out according to non-linear degree of strength to the length of time window.
6. the Combined estimator system of a kind of battery line modeling and state-of-charge, it is characterised in that including acquisition module, battery mould
Pattern block, state variable estimation module and judge module；
The acquisition module is used to gather the battery terminal voltage Value Data and battery-end electric current Value Data in actual time window；
The battery model module is used to carry out codomain division according to different voltage value datas, obtains multiple piecewise intervals, right
Each piecewise interval establishes ARMA model, ARMA model is converted into battery model, and distinguish
Know battery model parameter；
The state variable estimation module is used for structural regime observer, and the state-of-charge SOC as state variable is estimated
Meter, obtains state-of-charge SOC estimate；
The judge module is used for the time window for judging whether non-gathered data, if it is, when slip obtains next
Between window, using obtained time window as actual time window, gather next Battery pack terminal voltage and current data and participate in meter
Calculate；Otherwise, line modeling and the state-of-charge estimation of the battery model of lithium ion battery are completed.
7. the Combined estimator system of a kind of battery line modeling according to claim 6 and state-of-charge, it is characterised in that
The battery model module includes modeling module and model conversion module；
The modeling module is used to carry out codomain division according to different voltage value datas, multiple piecewise intervals is obtained, to each
The battery terminal voltage Value Data and battery-end electric current Value Data that individual piecewise interval is obtained using on-line measurement establish autoregression movement
Averaging model；
ARMA model is converted into the battery model of corresponding state space description by the model conversion module, and
Recognize battery model parameter.
8. the Combined estimator system of a kind of battery line modeling and state-of-charge according to claim 6 or 7, its feature exist
In the state variable estimation module includes linearization block and estimate module；
The linearization block is used to utilize threshold model by the open-circuit voltage OCV and state-of-charge included in battery model
SOC non-linear relation carries out piece-wise linearization, and the piece-wise linearization that can be mapped as battery terminal voltage and state-of-charge SOC is closed
System；
The estimate module is used for the linear relationship structural regime observer in battery model, to as state variable
State-of-charge SOC is estimated, obtains state-of-charge SOC estimate.
9. the Combined estimator system of a kind of battery line modeling according to claim 8 and state-of-charge, it is characterised in that
It is described to be carried out the open-circuit voltage OCV included in battery model and state-of-charge SOC non-linear relation using threshold model
Piece-wise linearization it is crucial that according to open-circuit voltage OCV and charge states of lithium ion battery SOC inearized model parameter, really
Determine battery model parameter.
10. the Combined estimator system of a kind of battery line modeling according to claim 6 and state-of-charge, its feature exist
In the determination of next time window can zoom in and out according to non-linear degree of strength to the length of time window.
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