CN111289906A - Power battery SOC estimation method - Google Patents
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- 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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- 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
- G01R31/387—Determining ampere-hour charge capacity or SoC
- G01R31/388—Determining ampere-hour charge capacity or SoC involving voltage measurements
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Abstract
The invention relates to a power battery SOC estimation method, which comprises the following steps: 1) two SOC values, SOC, are set in the programTrueAnd SOCDisplay(ii) a 2) Power-down time storage SOCTrueAnd SOCDisplayBMS corrects SOC by using SOC-OCV curve at power-on timeTrueAt the moment, the SOC is continuously sent to the whole vehicle controllerDisplay(ii) a 3) When the current collected by the BMS is less than or equal to the current threshold A1Correcting SOC through SOC-OCV curveTrue(ii) a The current collected by BMS is larger than current threshold A1Calculating SOC by ampere-hour integrationTrue(ii) a 4) In the process of charging and discharging, the rate K is dynamically adjusted in real time2(k) So that SOC isDisplayFollow-up SOCTrue. The estimation method leads the SOC to be in the charging and discharging processDisplayGradually approaching SOC without jumpingTrueAn SOC dynamic following strategy is formulated, and user experience is improved.
Description
Technical Field
The invention relates to a method for estimating the SOC of a power battery, and belongs to the field of batteries of electric vehicles.
Background
Soc (state of charge), i.e. the state of charge of the battery, also called the remaining capacity of the battery. And represents the ratio of the remaining capacity to the total available capacity of the battery, expressed as a percentage, after use or long standing for a period of time. The accurate estimation of the SOC of the battery has important significance for the electric automobile, because the electric automobile estimates the endurance mileage of the vehicle according to the SOC value, and meanwhile, the accurate estimation of the SOC also has important significance for improving the utilization rate and the safety of the battery. A common definition of SOC is:
the concept of the remaining capacity and the concept of the battery capacity are particularly important for accurately estimating the SOC. The remaining capacity is, in a broad sense, the amount of charge released by chemical reaction of all chemical substances inside the lithium ion battery without damaging the battery. The remaining capacity is defined in a narrow sense as the amount of charge that can be discharged from the battery at a certain temperature and a certain discharge rate without damaging the battery.
Therefore, the temperature and the discharge rate directly influence the calculation of the residual capacity.
The capacity of a battery is not the nominal capacity of the battery when the battery leaves factory because the actual capacity that the battery can deliver is greatly reduced as the battery ages. The aging factor is typically taken into account when calculating the capacity of the battery.
The mainstream algorithm for calculating SOC mainly includes: open circuit voltage, ampere-hour integral, Kalman filtering, neural network algorithm, etc.
The Kalman filtering algorithm comprises Kalman deformation modes such as linear Kalman Filtering (KF), Extended Kalman (EKF), adaptive Kalman (AEKF) and Unscented Kalman (UKF). The linear Kalman filter aims at a linear system, and the practical application process generally linearizes a nonlinear system. If the state equation and the observation equation of the nonlinear discrete system are developed by a first-order Taylor formula, a linearized system equation can be obtained, and the EKF is used for estimating the required variables. And the Kalman filtering calculates to obtain a current optimal value according to the current measured value, the predicted value at the last moment and the error. The method has the advantages that errors are included in calculation, exist independently and are not influenced by measured data. The Kalman filtering method is suitable for various batteries in different aging stages, the accuracy of the Kalman filtering method depends on the establishment of a battery model to a large extent, and the calculated amount is large.
And (II) the neural network autonomously summarizes the internal rules of the nonlinear system mainly by analyzing and learning a large amount of data, and prejudges the state of the system according to the summarized internal rules in practical application. For non-linear systems such as batteries, the neural network can approximate any complex dynamic parameter, including of course the SOC, with any degree of accuracy.
The neural network takes the discharge current value and the discharge voltage value of a large number of experimental battery samples as input, and takes the SOC value calculated by actual test as the basis for judging the neural network. The neural network finds potential mathematical relationships between input voltage, current, and SOC through iterative calculations. When the error precision of the input result and the output result is lower than the preset value through the ceaseless iterative operation of the neural network, the neural network model is completed. The neural network method simulates human brain and neurons to process a nonlinear novel algorithm, the internal structure of the battery does not need to be studied deeply, and only input and output samples which accord with the working characteristics are extracted from the battery in advance and input into the building system, so that the SOC value in operation can be obtained. Although the post-processing of the neural network method is relatively simple, a large amount of sample data is required for supporting, and the workload is large.
Compared with the first two calculation methods, the most commonly used calculation method in the market is a combination of an ampere-hour integration method and an open-circuit voltage method.
The open circuit voltage method (iii), also called OCV method, estimates the SOC of the battery by measuring the open circuit voltage of the power battery when the battery is not in a charge-discharge state, i.e., when the operating current is zero. Shown in fig. 1 is an SOC-OCV curve of the LG battery: the abscissa is the SOC value and the ordinate is the open circuit voltage value of the battery, i.e. one SOC value for each voltage value. The SOC was 0% at an open circuit voltage of 3.287V, and 100% at an open circuit voltage of 4.186V. And the curve is a steep stage at SOC of 0% -5%. In the specific application of the electric automobile, the SOC value of the battery can be inversely obtained by collecting the cell voltage and according to the SOC-OCV curve chart. However, there are many disadvantages in calculating the SOC value by the open circuit voltage method.
Firstly, due to the characteristics of the lithium ion battery, when a large current flows through the battery, the open-circuit voltage of the battery is suddenly changed, and after the battery is kept still for a period of time, the voltage of the battery is restored to a normal state. Therefore, when the SOC is calculated by using the open-circuit voltage method, the working current of the SOC is small enough not to cause the sudden change of the open-circuit voltage. However, when the electric vehicle is running or charging, i.e. when the working current is not zero, the SOC value also needs to be known, and the open-circuit voltage method is obviously not suitable, and other methods can be selected to estimate the SOC.
And (IV) an ampere-hour integration method is an algorithm for obtaining the current battery charge state by counting the charge amount of the power battery during a period of time and adding the count and the charge amount at the previous moment. The equation of the ampere-hour integral method is shown as the formula (2):
wherein η is the coulombic efficiencyQNIs the available capacity of the battery. SOCkIs the SOC value at the initial time k, ikAnd delta T is the bus current at the moment k, and is the sampling time of the system.
The ampere-hour integration method has three problems:
dependence on the initial value SOC. The ampere-hour integration method can only solve the problem of electric quantity change within a period of time, and the accuracy of the initial value SOC is required to be obtained when the accurate residual electric quantity SOC is required to be obtained. If the initial value SOC has errors, the SOC value can not be estimated correctly. This design is saved SOC to the time of will cutting off the power supply to the on-chip flash in, even BMS cuts off the power supply like this, data in the flash can not lose yet, and when the car was electrified, the BMS read out SOC data in the flash, and as SOC initial value.
The problem of accumulated errors. Due to the reasons of insufficient precision of the current sensor, low sampling frequency, signal interference and the like, the acquired current value has certain error compared with the true value, the accumulated charge calculated by the formula for a period of time has error, and the error of the current time can be brought to the error of the next moment, so that the error of the residual electric quantity is larger and larger. The direct method for solving the problem is to improve the sampling precision and the sampling frequency, and in addition, the open-circuit voltage method can be used for correcting the sampling precision and the sampling frequency.
Available capacity estimation problem. The estimation of the available capacity is greatly influenced by the temperature and the discharge rate, wherein the available capacity of the battery is different at different temperatures. As shown in table 1, it can be seen that the available capacity at low temperature is lower than the normal temperature, and if the battery capacity is calculated at the rated capacity without considering the temperature change, even if there is no initial error and the current collection accuracy is high, the battery may still be under-charged and the SOC estimation is not accurate, so the capacity change is also a factor to be considered.
TABLE 12.5 Ah available Capacity at different temperatures
The SOC is calculated by an ampere-hour integration method, and the jump problem of the SOC usually occurs when the SOC is corrected by utilizing the open-circuit voltage. SOC jump refers to a large change in charge over a short period of time. The jump of the SOC can directly influence the control strategy of the whole vehicle, and safety accidents can be seriously caused. For example, when the SOC of the vehicle suddenly decreases from 50% to 10% or even 0% during driving, the vehicle controller stops the vehicle according to the SOC of the battery, which may cause a serious accident if the vehicle is driven at a high speed. It is important to solve the SOC trip problem.
The main reason for the SOC jump is to correct the ampere-hour integral using the OCV. The SOC is calculated in real time by using ampere-hour integration, and the SOC is corrected in real time by using an OCV curve, so that the SOC cannot be calculated inaccurately due to the accumulation of errors of current sampling precision and sampling frequency. If the SOC obtained by the voltage value estimation is used for correcting the SOC calculated by the integration algorithm at intervals, so that the integration algorithm obtains a correct starting point again, the subsequent integration calculation result is closer to the true value. However, the SOC value calculated by the open-circuit voltage is not equal to the SOC value calculated by the ampere-hour integration, and the problem of SOC jump occurs at this time.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an estimation method of the SOC of a power battery, wherein the estimation method prevents the influence of the SOC jump problem on user experience, and two SOC values are set in a program, wherein one SOC value is a real SOC valueTrueAnd the other is the displayed SOC value SOCDisplayIn order to let SOC charge and dischargeDisplayGradually approaching SOC without jumpingTrueAnd an SOC dynamic following strategy is established.
In order to solve the above problems, the specific technical scheme of the invention is as follows: a method for estimating the SOC of a power battery comprises the following steps:
1) two SOC values are set in the program, one is the real SOC value SOCTrueI.e. the actual SOC state of the battery; the other is the displayed SOC value SOCDisplayNamely the SOC value which is output by the BMS to the user;
2) power-down time storage SOCTrueAnd SOCDisplayBMS corrects SOC by using SOC-OCV curve at power-on timeTrueAt the moment, the SOC is continuously sent to the whole vehicle controllerDisplay;
3) When the current collected by the BMS is less than or equal to the current threshold A1And for 10S, correcting SOC through SOC-OCV curveTrue(ii) a The current collected by BMS is larger than current threshold A1Calculating the SOC through an ampere-hour integral method formula (3)True;
4) In the process of charging and discharging, the rate K is dynamically adjusted in real time2(k) So that SOC isDisplayFollow-up SOCTrue;SOCDisplayThe calculation formula (4):
coefficient K2(k) Calculating according to the error between the real value and the display value, calculating by using a formula (5) during discharging, and calculating by using a formula (6) during charging;
when SOC is reachedTrueAnd SOCDisplayEqual time K2When the value is 1, the SOC is at the momentDisplayEstimated according to the ampere-hour integration method.
In the discharging process, the BMS collects the voltage of the battery terminal, and when the collected voltage is less than or equal to the inflection point voltage V1After-starting discharge end zero calibration strategy of SOC (system on chip), accelerating or reducing SOCDisplayIs the rate of change of (i.e. SOC)DisplayAnd a dynamic zero correction factor K1(k) Equations (7) and (8), respectively, make SOCDisplayFollow-up SOCTrue
In the formulaError (k) is the error between the true value of SOC and the displayed value for the capacity discharged from the knee voltage to the discharge cutoff voltage.
The method for estimating the SOC of the power battery has the beneficial effects that: one aspect is dynamic following: the problem of jump of the SOC in the estimation process can be solved, and potential safety hazards of the electric automobile caused by SOC estimation jump are eliminated; on the other hand, zero calibration of discharge end: the problem that the SOC is not zero under the condition that the electric quantity of the battery is zero can be avoided, and the experience of a user is improved.
Drawings
FIG. 1 is a graph of the SOC-OCV curve of LG monomer at room temperature.
Fig. 2 is a flow chart of estimation of true SOC value.
Fig. 3 is a flow chart of SOC display value estimation.
Fig. 4 is a dynamic following curve 1.
Fig. 5 is a dynamic following curve 2.
Fig. 6 is a dynamic following curve 3.
Fig. 7 is a dynamic following curve 4.
FIG. 8 is a SOC end calibration strategy graph.
FIG. 9 is a graph showing discharge curves at different temperatures.
Fig. 10 is a discharge curve for different discharge rates.
FIG. 11 is a SOC-OCV curve at different temperatures.
Detailed Description
A method for estimating the SOC of a power battery comprises the following steps:
1) two SOC values are set in the program, one is the real SOC value SOCTrueI.e. the actual SOC state of the battery; the other is the displayed SOC value SOCDisplayThe SOC value that is visible to the user from the Battery Management System (BMS);
2) power-down time storage SOCTrueAnd SOCDisplayBMS corrects SOC by using SOC-OCV curve at power-on timeTrueAt the moment, the SOC is continuously sent to the whole vehicle controllerDisplay(ii) a Wherein the SOC-OCV curve is a relation curve of SOC and open-circuit voltage, and is drawn by experimental data, as shown in FIG. 11, the SOC can be obtained by directly passing the voltage value in this stepTrueA value of (d);
3) as shown in fig. 2, when the current collected by the BMS is equal to or less than the current threshold a1And for 10S, correcting the SOC through an SOC-OCV curveTrue(ii) a When the current collected by the BMS is larger than the current threshold A1Calculating the SOC through an ampere-hour integral method formula (3)True;
Wherein, SOC (k +1)TrueRepresenting the true value of SOC for the battery at time k + 1, SOC (k)TrueRepresenting the true value of the SOC of the battery at the time k, i representing the current value collected by the BMS, η representing the charge-discharge efficiency, delta T representing the sampling period of the BMS, and QN(T) represents the capacity of the battery at a temperature T ℃;
4) in the charging and discharging process, as shown in fig. 3, the BMS collects the terminal voltage of the battery, and when the terminal voltage is greater than the knee voltage V of the power battery1(inflection point voltage V1Derived from experimental data or given by the battery manufacturer), the rate K is dynamically adjusted in real time2(k) So that SOC isDisplayFollow-up SOCTrue;SOCDisplayThe calculation formula (4):
SOC(k+1)Dispalydisplay value representing SOC of battery at time k + 1, SOC (k)DispalyIndicating the value of the SOC of the battery at time K, K2(k) Indicating that the rate is dynamically adjusted at time k. Coefficient K2(k) The error between the real value and the display value is calculated, the formula (5) is used for calculation during discharging, and the formula (6) is used for calculation during charging.
when SOC is reachedTrueAnd SOCDisplayEqual time K2When the value is 1, the SOC is at the momentDisplayEstimated according to the ampere-hour integration method.
As shown in fig. 4, the battery is in a charged condition: SOCDisplay>SOCTrue. The battery pack is charged with a charging current of 5A by a load, and the upper computer stores data such as current and average voltage transmitted from the BMS as input of the SOC modelAmount by adjusting SOC at power-down timeDisplayValue realization initial time SOCDisplay>SOCTrueThe conditions of (1). SOC at the beginning of simulationDisplayGreater than SOCTrueIf only one SOC value is used in the program, the SOC will jump inevitably. As the charging time increases, the cell voltage increases and the SOC value of the battery also increases, but the SOCDisplayIs significantly lower than the SOCTrueAt the rising rate of (C), at this time, SOCDisplayOn standby SOCTrue. And SOC at 1300sDisplayAnd SOCTrueMeet, then SOCTrueThere was a brief fluctuation and after 3000s both values leveled off.
As shown in fig. 5, the battery is in a charged condition: SOCDisplay<SOCTrue. Charging the battery pack with a charging current of 5A by using a load, storing data such as current and average voltage transmitted from the BMS by the upper computer as input amounts of an SOC model, and adjusting the SOC at the power-off timeDisplayValue realization initial time SOCDisplay<SOCTrueThe conditions of (1). SOC at the beginning of simulationDisplayLess than SOCTrueIf only one SOC value is used in the program, the SOC will jump inevitably. As the charging time increases, the cell voltage increases and the SOC value of the battery also increases, but the SOCDisplayIs significantly higher than the SOCTrueAt the rising rate of (C), at this time, SOCDisplayIn pursuit of SOCTrue. And SOC at 3500s point in timeDisplayAnd SOCTrueMeet, and then both values increase smoothly.
As shown in fig. 6, the cell was in a discharged condition: SOCDisplay<SOCTrue. Discharging the battery pack with a discharge current of 10A by using a load, storing data such as current and average voltage transmitted by the BMS by the upper computer as input quantities of the SOC model, and adjusting the SOC at the power-off timeDisplayValue realization initial time SOCDisplay<SOCTrueThe conditions of (1). SOC at the beginning of simulationDisplayLess than SOCTrueIf only one is used in the programSOC value, then the SOC will jump inevitably. As the discharge time increases, the cell voltage decreases, and the SOC value of the battery also decreases, but the SOC value is reducedDisplayIs significantly less than SOCTrueAt the rate of decrease of SOCDisplayOn standby SOCTrue. And SOC at 1900sDisplayAnd SOCTrueMeet each other.
As shown in fig. 7, the cell was in a discharged condition: SOCDisplay>SOCTrue. Discharging the battery pack with a discharge current of 10A by using a load, storing data such as current and average voltage transmitted by the BMS by the upper computer as input quantities of the SOC model, and adjusting the SOC at the power-off timeDisplayValue realization initial time SOCDisplay>SOCTrueThe conditions of (1). SOC at the beginning of simulationDisplayGreater than SOCTrueIf only one SOC value is used in the program, the SOC will jump inevitably. As the discharge time increases, the cell voltage decreases, and the SOC value of the battery also decreases, but the SOC value is reducedDisplayIs significantly greater than SOCTrueAt the rate of decrease of SOCDisplayIn pursuit of SOCTrue. And SOC at 1900sDisplayAnd SOCTrueMeet each other.
In conclusion, the SOC can be realized through the algorithm of the application in the charging and discharging process of the batteryDisplayReal-time following SOCTrueAnd the jump of the SOC value is reduced or avoided, and the user experience is improved.
According to SOC mentioned in the above dynamic following strategyTrueAnd SOCDisplayA certain follow-up time is required. In the actual use process, if the battery reaches the discharge cut-off voltage and lasts for a certain time, the BMS considers that an undervoltage alarm occurs and turns off the relay to stop discharging. While SOCTrueMay have reached 0%, but the SOCDisplayThe value has not yet followed 0%, at which point it occurs that the cell voltage has reached the discharge cutoff voltage, but the SOCDisplayBut the situation is not 0%, namely, the phenomenon of no light emission seriously affects the user experience. Additional batteryWhen the voltage passes through a specific voltage point, the discharging speed can be changed, and the discharging speed of the battery is accelerated. This is one of the reasons why the SOC value of the battery at the end of discharge is not 0%. Therefore, the design adds a discharge end zero calibration strategy:
at different environmental temperatures, discharge cut-off voltage and inflection point voltage V1The values of (a) and (b) are different from each other, and as shown in fig. 9, the inflection point voltages at different temperatures are not uniform. The lower the temperature, the lower the knee voltage, and the higher the temperature, the higher the knee voltage. For example, at a temperature of 55 deg.C, the knee voltage is about 3.4V. And when the temperature is-10 ℃, the inflection point voltage is about 3.1V. As shown in fig. 10, the discharge curves at different discharge rates have substantially the same inflection point voltage at different rates at the same temperature. Only the effect of temperature on the knee voltage is considered. The discharge cut-off voltage and the inflection point voltage at which the correction of the SOC was started of the 2.5Ah battery are shown in table 2.
Table 2: 2.5Ah charge-discharge cut-off voltage and inflection point voltage
Tab.5.5 2.5Ah cut-off voltage and turning point voltage
During discharging, when the voltage collected by the BMS is less than or equal to the inflection point voltage V1Post-turn on SOC correction, as shown in FIG. 3, speeds up SOCDisplayIs the rate of change of (i.e. SOC)DisplayAnd a dynamic zero correction factor K1Are respectively expressed by the formulas (7) and (8) so that SOC isDisplayFollow-up SOCTrue。
In the formulaCutting off electricity from knee point voltage to dischargeThe released capacity, error (k), represents the error between the real value of SOC at the time k and the displayed value; k1(k) Representing the battery SOC dynamic zero correction factor at the time k. Through the adjustment of the formula, the acceleration of the SOC is realizedDisplayUntil it returns to zero, to prevent the occurrence of battery light discharge and SOCDisplayThe condition of not being zero affects the user experience.
As shown in table 3, the cell supplier provided the capacity fraction discharged from the inflection point voltage to the set cut-off voltage at different temperatures of the 2.5Ah battery. (wherein T is more than or equal to 0 ℃, the cut-off voltage of monomer discharge is 3.0 V.T < 0 ℃, and the cut-off voltage of monomer discharge is 2.8V).
Table 3: discharge capacity at different temperatures
Tab.5.6Charging capacity at different temperatures
Temperature/. degree.C | -20 | -10 | 0 | 25 |
3.3-3.0V capacity to volume ratio | / | / | 15.59% | 2.88% |
Capacity ratio of 3.0-2.8V | 32.56% | 5.41% | / | / |
Calculating the correction rate K according to the discharge capacity ratio data from the inflection point voltage to the cut-off voltage of different temperatures1. The SOC was shown as 1% when the SOC was 0% -1%, and 0% until the cutoff voltage was reached and continued for 10 s.
As shown in FIG. 8, the battery is at the initialization stage, setting SOCDisplaySpecific SOCTrue5% greater, at which time the condition for starting the end calibration strategy, SOC, is not reachedAh_correct_zero_no=SOCAh_correct_zero。SOCAh_correct_zero_noRepresenting SOC display values, SOC, without a zero-checking strategyAh_correct_zeroRepresenting SOC display value with zero-correcting strategy, within the error range, the SOC display value changes slowly and waits for SOCTrue. After the cell voltage reaches the inflection point voltage value, starting a terminal calibration strategy, and controlling the SOCAh_correct_zero_noAnd SOCAh_correct_zeroStart of separation, SOCAh_correct_zeroAnd SOCTrueMeet at the ends and equal to 0%. While SOCAh_correct_zero_noAlthough also dropping, the rate does not catch up with the SOCTrueWhen the battery reaches the cut-off voltage, the SOC display value is about 10%, and the battery is not discharged. Therefore, through the algorithm, the accurate estimation of the residual electric quantity of the battery is realized, the potential safety hazard that the SOC jump possibly causes in the driving process of the electric automobile is avoided, the problem that the SOC does not display zero under the condition of battery electric discharge is avoided, and the user experience is improved.
Claims (2)
1. A power battery SOC estimation method is characterized by comprising the following steps:
1) two SOC values are set in the program, one is the real SOC value SOCTrueI.e. the actual SOC state of the battery; the other is the displayed SOC value SOCDisplayNamely the SOC value which is output by the BMS to the user;
2) storing SO at power-off timeCTrueAnd SOCDisplayBMS corrects SOC by using SOC-OCV curve at power-on timeTrueAt the moment, the SOC is continuously sent to the whole vehicle controllerDisplay;
3) When the current collected by the BMS is less than or equal to the current threshold A1Correcting SOC through SOC-OCV curveTrue(ii) a The current collected by BMS is larger than current threshold A1Calculating the SOC through an ampere-hour integral method formula (3)True;
4) In the process of charging and discharging, the rate K is dynamically adjusted in real time2(k) So that SOC isDisplayFollow-up SOCTrue;SOCDisplayThe calculation formula (4):
coefficient K2(k) Calculating according to the error between the real value and the display value, calculating by using a formula (5) during discharging, and calculating by using a formula (6) during charging;
when SOC is reachedTrueAnd SOCDisplayEqual time K2When the value is 1, the SOC is at the momentDisplayEstimated according to the ampere-hour integration method.
2. The method for estimating the SOC of a power battery according to claim 1, wherein: in the charging and discharging process, the BMS collects the voltage of the battery terminal, and when the collected voltage is less than or equal to the inflection point voltage V1After-starting discharge end zero calibration strategy of SOC (system on chip), accelerating or reducing SOCDisplaySpeed of change ofRate, i.e. SOCDisplayAnd a dynamic zero correction factor K1(k) Equations (7) and (8), respectively, make SOCDisplayFollow-up SOCTrue。
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