Kalman算法在纯电动汽车SOC估算中的应用误差分析

©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(32)3AutomotiveEngineering2010(Vol.32)No.32010039KalmanSOC2009320,2009727,,,(,100044)[],KalmanKalmanSOC,Kal2man,:;Kalman;;SOC;ErrorAnalysisofKalmanAlgorithminItsApplicationtoSOCEstimationinPEVWenJiapeng,JiangJiuchun,WenFeng&ZhangWeigeSchoolofElectricalEngineering,BeijingJiaotongUniversity,Beijing100044[Abstract]Basedontheoperatingconditionsandoutputcharacteristicsofbatterypackinpureelectricvehi2cle(PEV),theeffectsofmodelparametersvariationontheestimationaccuracyofKalmanfilteralgorithmareana2lyzed.ThefactorsthatshouldbeconsideredinapplyingKalmanfilteralgorithmtoSOCestimationarepointedout,andthecorrectionschemesofKalmanequationsaccordingtothechangesinbatterymodelparametersareproposed.FinallythesimulationtestwithFUDScycleverifiesthecorrectnessandfeasibilityoftheanalyses.Keywords:PEV;Kalmanfilteralgorithm;batterypack;SOCestimation;modelparameters,,SOC,SOC,,SOC,,SOC[1]Kalman,,OCV(opencircuitvolt2age)SOC,SOC[2-3]1111,,SOCSOC0,,SOC(t),SOC(t)=SOC0+1CNtt0I()d(1),1,©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(Vol.32)No.3,:KalmanSOC189SOC(t)=SOC0+1CNtt0I()d(2):CN,I(),,,SOC112SOC,,,,11211,,KalmanRd1Rd2,11,2212,,,,Kalman11212SOC,,,,,KalmanSOC,2Kalman211KalmanKalmanSOC,,,3,E,R,Up,Uo3,Kalman,:3SOC(t)=SOC(t0)+1CNtt0I()d+w(t)(3)Uo=fOCV2SOC(SOC)-IR+Up+v(t)(4)fOCV2SOCOCVSOCw(t)v(t),OCV2SOCfOCV2SOC=H(0)SOC+B(0),0SOC10H(1)SOC+B(1),10SOC20H(8)SOC+B(8),80SOC90H(9)SOC+B(9);90SOC100(5):H,B,,,RR=Rd,I0Rc,I0(6)©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(32)3,,,,,Up=0,tt0Cp,tt0(7)Cp(3)(4)SOC(k)^-=SOC(k^-1)++1CNI(k)t+w(k)(8)Uo(k)=fOCV2SOC(SOC(k)^-)-I(k)R+Up+v(k)(9)KalmanLk=-x^,kCk[Ck-x^,kCk+Rk]-1(10)SOC(k)^+=SOC(k)^k-+Lk[Uo(k)-fOCV2SOC(SOC(k)^-)-IkR+Up](11)+x^,k=(1-LkCk)-x^,k(12)Ck=9fOCV2SOC(k)9SOC(k)=H(k),LkKalman,Rk212SOCKalman,(federalur2bandrivingschedule,FUDS),DSOCSOC,21211Kalman,,OCV2SOCSOC4OCV2SOC4OCV2SOC,(15Ah),55OCV2SOCSOC,50%,,12%;,1500s,SOC5%Kalman,OCV,SOC,,Kalman,,,SOC,OCV2SOC,,,SOC,,OCV2SOC,SOC21212(3),CNSOC(),[4]6SOC,CNKalman6,,90Ah,,,©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(Vol.32)No.3,:KalmanSOC191600,72Ah,SOC,:SOC(tend)=1-1CNtend0I()d(13)CNSOC,:(SOC=100%),,(UDE=310V),1CN1tend0I()d1CN600tend0I()d,SOC1(tend)SOC600(tend),,,,tend0I()d=CN,SOC(tend)=0;,tend0I()dCN,SOC(tend)0,,,SOC,,SOC,,CA(3)CN,KalmanSOCSOC(t)=SOC(t0)+1CA(t,T)tt0I()d+w(t)(14)CA(t,T),,,SOC,7,,100%0,SOC7SOC,SOC8SOC88SOC(15Ah),SOC5%;SOC,,tt0I1()d=tt0I2()d(14):CA1(t,T)CA2(t,T),SOC1(t)SOC2(t),SOC1(t),,,SOC,21213,,,Rd(T),Rd(T+t),Rd(T)Rd(T+t),(11):SOC(k)^+TSOC(k)^+(T+t),,,,,,,100%,SOC9SOC9SOC9,SOC;SOC,©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(32)35%,SOC21214,KalmanSOC[5]1010,,,(90mV);SOC,,;SOC20%70%,Up;,SOC80%,,101111,,;SOC20%70%,Up,,UpSOC,,,,[6],SOC,,Kalman,,Up,Up=f(I,T,SOC),KalmanSOC,3,,(3)(4):SOC(t)=SOC(t0)+1CA(t,T)tt0I()d+w(t)(15)Uo=fOCV2SOC(SOC)-IR(t,T)+Up(t,T,I,SOC(t-0))+v(t)(16)12,,,,SOC311,,12R(t,T)=(U0-U1)/I(17),SOC312SOC1SOC2CACA=CA(t,T)(SOC2-SOC1)(18):CA(t,T)=CA/(SOC2-SOC1)(19)SOC1SOC2,,SOC(227)©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(Vol.32)No.3,:227(3),33/s/s/%11284210468212-6315421346617476612-6416131336712565213-5717241340810492219-6312851303115495010-621023(1),,,,(2)(3),[1].[R].:,2008.4.[2],,.[J].,2008,30(11):975-978.[3]WuJianping,BeaudetBrian.OptimizationofHeadImpactWave2formtoMinimizeHIC[C].SAEPaper2003-01-0759.[4]CliffordCChou,GeraldWNyquist.AnalyticalStudiesoftheHeadInjuryCriterion(HIC)[C].SAEPaper740082.[5].[M].:,2005.[6],.[M].:,2003.[7]TetsuoMaki,ToshiyukiAsai.DevelopmentofFuturePedestrianProtectionTechnologies[C].The18thESVConference,PaperNo.165.[8]Directive2003/102/ECoftheEuropeanParliamentandoftheCouncilof17November2003[S].OfficialJournaloftheEuropeanUnion,2003.(192),,,FUDS,KalmanSOC,1313FUDSSOC13,SOC50%,Kalman,,600s,5%,SOC,,KalmanSOC,SOC,[1]GregWelch,GaryBishop.AnIntroductiontotheKalmanFilter[C].SIGGRAPH2001.[2],,,.KalmanSOC[J].,2007,33(8):945-948.[3]GregoryLPlett.ExtendedKalmanFilteringforBatteryManage2mentSystemsofLiPB2basedHEVBatteryPacks:Part2.ModelingandIdentification[J].JournalofPowerSources,2004,134(2):262-276.[4]RamadassP,HaranBala,WhiteRalph,etal.MathematicalMod2elingoftheCapacityFadeofLi2ionCells[J].JournalofPowerSources,2003,123(2):230-240.[5]SabinePiller,MarionPerion,AndreasJossen.MethodsforState2of2chargeDeterminationandTheirApplications[J].JournalofPowerSources,2001,96(1):113-120.[6],,.[J].(),2008,36(2):231-235.