CN110161298A - A kind of redundant current acquisition method based on weighted least-squares method - Google Patents
A kind of redundant current acquisition method based on weighted least-squares method Download PDFInfo
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- CN110161298A CN110161298A CN201910597568.9A CN201910597568A CN110161298A CN 110161298 A CN110161298 A CN 110161298A CN 201910597568 A CN201910597568 A CN 201910597568A CN 110161298 A CN110161298 A CN 110161298A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/0092—Arrangements for measuring currents or voltages or for indicating presence or sign thereof measuring current only
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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]
- G01R31/385—Arrangements for measuring battery or accumulator variables
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- Tests Of Electric Status Of Batteries (AREA)
- Measurement Of Current Or Voltage (AREA)
Abstract
A kind of redundant current acquisition method based on weighted least-squares method of the present invention, pass through battery, the multiple current dividers being electrically connected with the battery, it is connected respectively to the gathering line of current divider, and the single-chip microcontroller being connect by gathering line with current divider, it further include video terminal equipment, it is uncertain that general measuring method bring can be eliminated using the method that least square method carries out data fusion, obtain more reliable measurement data, this method estimates the measurement variance of sensor from measured data, processing is weighted to the data obtained after the weight for obtaining sensor, to obtain optimum measurement data.
Description
Technical field
The present invention relates to battery detecting technical fields more particularly to a kind of redundant current based on weighted least-squares method to adopt
Set method.
Background technique
The Real-time Measuring Technique of Prospect of EVS Powered with Batteries state is one of the key technology that electric car promotes and applies.
While the car is driving, it is overcharged or the damage of over-discharge state to protect a battery from, while car owner being given to provide reliable vapour
The information such as vehicle mileage, it would be desirable to which accurately estimation is made in real time to the state-of-charge of battery.Battery charge state is estimated
In survey method, current integration method and open circuit voltage method are easy to use, but estimation error is larger；Closed loop estimation side based on model
Method such as opens Kalman Filtering method, and estimation accuracy is high, but calculating process is complicated, is not easy to practical implementation.
It discloses in the prior art, a kind of measurement of application number CN201610372849.0 Authorization Notice No. CN105929338B
The method and its application of battery status, in conjunction with the electric current and voltage of the running battery of least square method (1) real-time measurement；
(2) according to the electric current of measurement and voltage value, using least square method extract single order RC equivalent-circuit model series resistance value,
Parallel resistance resistance value and parallel capacitance of value；(3) SOH is tentatively judged according to section where the series resistance value of extraction, according to simultaneously
Interval judgement SOH where joining resistance and parallel capacitance of value, but new problem occurs, this method is used to single battery
Data acquisition is carried out, and only acquires single point value, obtained numerical parameter is excessively single, it is easy to cause error, battery
Current data is unable to get validity test, and existing battery check device has large error in the detection process.
Summary of the invention
A kind of redundant current acquisition method based on weighted least-squares method of the present invention, including battery, electrically connect with battery
The multiple current dividers connect are connected respectively to the gathering line of current divider, and the single-chip microcontroller connecting by gathering line with current divider, also
Including video terminal equipment；
The step of being used according to above-mentioned apparatus are as follows:
Step 1: including the current acquisition system of n current divider, all current dividers therein are mutually indepedent, then the electric current
The observational equation of acquisition system are as follows: z=Hx+ δ；
Step 2: wherein, z=[z1,…zi,…zn]T, it is the measurement vector of current divider；H=[H1,…Hi…Hn]T, to divide
Flow the calculation matrix of device；δ=[δ1,…δi,…δn]T, it is the noise vector of current divider, internal noise and ring comprising current divider
Border noise；
Step 3: wherein, measuring the covariance matrix of noise are as follows:IfWherein,For the estimated value of quantity of state x.
Further, it is obtained from measurement vector z with least square methodThe quadratic sum of each current divider error of system
Are as follows:
When the quadratic sum of error reaches minimum, optimum value can be obtainedThat is, working asWhen, it can obtain:
Further, when having n independent current dividers mutually, the output state of each current divider in current acquisition system
Are as follows:
Wherein,For the error vector of corresponding current divider,For sytem matrix,For the square of appropriate dimension
Battle array,For system noise,For the output of i-th of current divider,For the measurement noise of current divider,For
The converting vector of current divider sensitivity axis direction, uk(acceleration or angular speed) is inputted for the measurement of current divider,With
It is row vector.
Further, the output state expression formula of each current divider is carried out simplifying arrangement, is merged into a state expression formula,
Then,It may be expressed as: Xk+1=AkXk+Bkwk、Zk=HkXk+Ckuk+vk,
Wherein,For current divider state vector in system,To be shunted in system
Device configuring matrix,For the covariance of current divider observation noise in system.
Further, matrix Ak、Bk、CkRespectively byIt is composed, it may be assumed thatIt can then be calculated according to formula
Current maxima and minimum value that n current divider acquires respectively out, take its average value, then obtain closest to current value.
A kind of redundant current acquisition method based on weighted least-squares method of the present invention carries out data using least square method
It is uncertain that the method for fusion can eliminate general measuring method bring, obtains more reliable measurement data, and this method is from being surveyed
The data obtained estimate the measurement variance of sensor, are weighted processing to the data obtained after the weight for obtaining sensor, from
And obtain optimum measurement data.
Specific embodiment
The invention will be further described below.
A kind of redundant current acquisition method based on weighted least-squares method of the present invention, including battery, electrically connect with battery
The multiple current dividers connect are connected respectively to the gathering line of current divider, and the single-chip microcontroller connecting by gathering line with current divider, also
Including video terminal equipment；
The step of being used according to above-mentioned apparatus are as follows:
Step 1: including the current acquisition system of n current divider, all current dividers therein are mutually indepedent, then the electric current
The measurement model of acquisition system are as follows: z=Hx+ δ；
Step 2: wherein, z=[z1,…zi,…zn]T, it is the measurement vector of current divider；H=[H1,…Hi…Hn]T, to divide
Flow the calculation matrix of device；δ=[δ1,…δi,…δn]T, it is the noise vector of current divider, internal noise and ring comprising current divider
Border noise；
Step 3: wherein, measuring the covariance matrix of noise are as follows:IfWherein,For the estimated value of quantity of state x.
Further, it is obtained from measurement vector z with least square methodThe quadratic sum of each current divider error of system are as follows:
When the quadratic sum of error reaches minimum, optimum value can be obtainedThat is, working asWhen, it can obtain:
Further, when having n independent current dividers mutually, the output state of each current divider in current acquisition system
Are as follows:
Wherein,For the error vector of corresponding current divider,For sytem matrix,For the square of appropriate dimension
Battle array,For system noise,For the output of i-th of current divider,For the measurement noise of current divider,For
The converting vector of current divider sensitivity axis direction, uk(acceleration or angular speed) is inputted for the measurement of current divider,With
It is row vector.
Further, the output state expression formula of each current divider is carried out simplifying arrangement, is merged into a state expression formula,
Then,It may be expressed as: Xk+1=AkXk+Bkwk、Zk=HkXk+Ckuk+vk,
Wherein,For current divider state vector in system,To be shunted in system
Device configuring matrix,For the covariance of current divider observation noise in system.
Further, matrix Ak、Bk、CkRespectively byIt is composed, it may be assumed thatIt can then be calculated according to formula
Current maxima and minimum value that n current divider acquires respectively out, take its average value, then obtain closest to current value.
A kind of redundant current acquisition method based on weighted least-squares method of the present invention carries out data using least square method
It is uncertain that the method for fusion can eliminate general measuring method bring, obtains more reliable measurement data, and this method is from being surveyed
The data obtained estimate the measurement variance of sensor, are weighted processing to the data obtained after the weight for obtaining sensor, from
And obtain optimum measurement data.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For the those of ordinary skill of technical field of the present invention,
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (5)
1. a kind of redundant current acquisition method based on weighted least-squares method, it is characterised in that: including battery, with battery electrical property
Multiple current dividers of connection, are connected respectively to the gathering line of current divider, and the single-chip microcontroller connecting by gathering line with current divider,
It further include video terminal equipment；
The step of being used according to above-mentioned apparatus are as follows:
Step 1: including the current acquisition system of n current divider, all current dividers therein are mutually indepedent, then the current acquisition
The observational equation of system are as follows: z=Hx+ δ；
Step 2: wherein, z=[z1,…zi,…zn]T, it is the measurement vector of current divider；H=[H1,…Hi…Hn]T, it is current divider
Calculation matrix；δ=[δ1,…δi,…δn]T, it is the noise vector of current divider, internal noise and environment comprising current divider are made an uproar
Sound；
Step 3: wherein, measuring the covariance matrix of noise are as follows:IfWherein,For
The estimated value of quantity of state x.
2. the redundant current acquisition method according to claim 1 based on weighted least-squares method, it is characterised in that: use
Least square method is obtained from measurement vector zThe quadratic sum of each current divider error of system are as follows:
When the quadratic sum of error reaches minimum, optimum value can be obtainedThat is, working asWhen, it can obtain:
3. the redundant current acquisition method according to claim 1 based on weighted least-squares method, it is characterised in that: work as electricity
Flowing in acquisition system has n independent current dividers mutually, the output state of each current divider are as follows:
Wherein,For the error vector of corresponding current divider,For sytem matrix,For the matrix of appropriate dimension,For system noise,For the output of i-th of current divider,For the measurement noise of current divider,To divide
Flow the converting vector of device sensitivity axis direction, uk(acceleration or angular speed) is inputted for the measurement of current divider,With?
For row vector.
4. the redundant current acquisition method according to claim 3 based on weighted least-squares method, it is characterised in that: to each
The output state expression formula of a current divider carries out simplifying arrangement, is merged into a state expression formula, then,It may be expressed as: Xk+1=AkXk+Bkwk、Zk=HkXk+Ckuk+vk,
In,For current divider state vector in system,For current divider in system
Configuring matrix,For the covariance of current divider observation noise in system.
5. the redundant current acquisition method according to claim 4 based on weighted least-squares method, it is characterised in that: matrix
Ak、Bk、CkRespectively byIt is composed, it may be assumed thatIt can then be calculated according to formula
Current maxima and minimum value that n current divider acquires respectively out, take its average value, then obtain closest to current value.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101598769A (en) * | 2009-06-29 | 2009-12-09 | 杭州电子科技大学 | A kind of estimation method of battery dump energy based on sampling point Kalman filtering |
| KR20110006266A (en) * | 2009-07-14 | 2011-01-20 | 기아자동차주식회사 | Method for measuring internal resistance of a high voltage battery cell of automobile |
| CN103454592A (en) * | 2013-08-23 | 2013-12-18 | 中国科学院深圳先进技术研究院 | Method and system for estimating charge state of power battery |
| CN105929338A (en) * | 2016-05-30 | 2016-09-07 | 北京大学深圳研究生院 | Method for measuring states of battery and application of method |
| CN107205268A (en) * | 2017-04-24 | 2017-09-26 | 广西大学 | A kind of 3-D positioning method based on radio communication base station |
-
2019
- 2019-07-04 CN CN201910597568.9A patent/CN110161298B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101598769A (en) * | 2009-06-29 | 2009-12-09 | 杭州电子科技大学 | A kind of estimation method of battery dump energy based on sampling point Kalman filtering |
| KR20110006266A (en) * | 2009-07-14 | 2011-01-20 | 기아자동차주식회사 | Method for measuring internal resistance of a high voltage battery cell of automobile |
| CN103454592A (en) * | 2013-08-23 | 2013-12-18 | 中国科学院深圳先进技术研究院 | Method and system for estimating charge state of power battery |
| CN105929338A (en) * | 2016-05-30 | 2016-09-07 | 北京大学深圳研究生院 | Method for measuring states of battery and application of method |
| CN107205268A (en) * | 2017-04-24 | 2017-09-26 | 广西大学 | A kind of 3-D positioning method based on radio communication base station |
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