動(dòng)力電池組管理系統(tǒng)關(guān)鍵技術(shù)研究博士論文

1、<p>　　動(dòng)力電池組管理系統(tǒng)關(guān)鍵技術(shù)研究</p><p>　　重慶大學(xué)博士學(xué)位論文</p><p><b>　　學(xué)生姓名：胡銀全</b></p><p>　　指導(dǎo)教師：劉和平教授</p><p><b>　　專</b></p><p><b>　　業(yè)：電

2、氣工程</b></p><p><b>　　學(xué)科門類：工</b></p><p><b>　　學(xué)</b></p><p>　　重慶大學(xué)電氣工程學(xué)院</p><p><b>　　二 O一三年四月</b></p><p>　　Key Techno

3、logies Research of Power Battery</p><p>　　Pack Management System</p><p>　　A Thesis Submitted to Chongqing University</p><p>　　in Partial Fulfillment of the Requirement for the</p

4、><p>　　Doctor’s Degree of Engineering</p><p><b>　　By</b></p><p>　　Hu Yin Quan</p><p>　　Supervised by Prof. Liu He Ping</p><p>　　Specialty: Electri

5、cal Engineering</p><p>　　School of Electrical Engineering of Chongqing University,</p><p>　　Chongqing, China</p><p>　　April, 2013</p><p><b>　　中文摘要</b></p

6、><p><b>　　摘</b></p><p><b>　　要</b></p><p>　　動(dòng)力電池組管理系統(tǒng)是電動(dòng)汽車中必備的重要零部件，與動(dòng)力電池組共同構(gòu)</p><p>　　成電池系統(tǒng)，為電動(dòng)汽車提供動(dòng)力。然而，在動(dòng)力電池組管理系統(tǒng)方面仍然存在</p><p>　　許多亟

7、待解決的問題，比如充放電過程管理不當(dāng)、荷電狀態(tài)（SOC）估計(jì)精度低、</p><p>　　均衡充電速度慢等，也是目前電動(dòng)汽車動(dòng)力電池組管理系統(tǒng)的研究熱點(diǎn)。動(dòng)力電</p><p>　　池組管理系統(tǒng)只有解決這些問題，才能推動(dòng)電動(dòng)汽車的快速發(fā)展。因此，系統(tǒng)深</p><p>　　入地開展動(dòng)力電池組管理系統(tǒng)的關(guān)鍵技術(shù)研究，具有重要的理論意義和工程實(shí)用</p>

8、<p>　　價(jià)值。論文以磷酸鐵鋰（LiFePO4）動(dòng)力電池為研究對(duì)象，主要從電池充電特性與</p><p>　　充電結(jié)束判定、電池模型建立與參數(shù)辨識(shí)、電池 SOC在線估計(jì)算法和電池組均衡</p><p>　　充電控制策略等方面進(jìn)行了系統(tǒng)研究。論文取得的主要研究成果如下：</p><p>　　針對(duì)截止電壓對(duì)電池充電速度、循環(huán)壽命的影響問題，建立了動(dòng)力電池充放

9、</p><p>　　電實(shí)驗(yàn)平臺(tái)，進(jìn)行了大量理論分析和充放電特性實(shí)驗(yàn)研究，分析了現(xiàn)有充電方式</p><p>　　各充電階段對(duì)電池充電容量的貢獻(xiàn)大小，分析了初始 SOC、充電電流對(duì)電池充電</p><p>　　截止電壓的影響，提出一種根據(jù)初始 SOC、充電電流來智能的設(shè)定充電截止電壓、</p><p>　　充電方式轉(zhuǎn)換的充電結(jié)束動(dòng)態(tài)判據(jù)。通

10、過實(shí)驗(yàn)驗(yàn)證，結(jié)果表明：基于多參數(shù)充電</p><p>　　結(jié)束動(dòng)態(tài)判據(jù)能夠有效減小動(dòng)力電池?fù)p壞的危險(xiǎn)，延長(zhǎng)動(dòng)力電池的循環(huán)壽命。這</p><p>　　種充電結(jié)束動(dòng)態(tài)判據(jù)既可以滿足動(dòng)力電池常規(guī)充電的需要也可以滿足快速充電的</p><p>　　需要，具有重要的工程實(shí)用價(jià)值。</p><p>　　為保證等效模型能夠準(zhǔn)確描述動(dòng)力電池工作外特性，在動(dòng)

11、力電池充放電特性</p><p>　　研究基礎(chǔ)上，分析了動(dòng)力電池幾種等效模型的優(yōu)缺點(diǎn)，提出 LiFePO4動(dòng)力電池的二</p><p>　　階 RC等效電路模型是比較精確、易于參數(shù)辨識(shí)和工程應(yīng)用的等效模型，并對(duì)二階</p><p>　　RC等效電路模型進(jìn)行了改進(jìn)，采用最小二乘法對(duì)模型參數(shù)進(jìn)行了辨識(shí)。實(shí)驗(yàn)研究</p><p>　　證實(shí)了采用改進(jìn)

12、二階 RC等效電路模型能夠準(zhǔn)確模擬動(dòng)力電池充放電特性，為采用</p><p>　　等效電路模型的動(dòng)力電池 SOC在線估計(jì)奠定了基礎(chǔ)。</p><p>　　針對(duì)常規(guī) SOC定義中 SOC值可能出現(xiàn)負(fù)值的問題，提出相對(duì)最大可用容量概</p><p>　　念，并對(duì) SOC進(jìn)行了重新定義。分析了幾種常用 SOC估計(jì)算法的優(yōu)缺點(diǎn)，分析了</p><p&

13、gt;　　擴(kuò)展卡爾曼濾波（EKF）算法的不足，并對(duì) EKF 算法進(jìn)行了改進(jìn)，分析了自適應(yīng)</p><p>　　擴(kuò)展卡爾曼濾波（AEKF）算法的優(yōu)點(diǎn)，提出一種根據(jù)改進(jìn)二階 RC等效電路模型</p><p>　　利用改進(jìn) AEKF算法對(duì)動(dòng)力電池 SOC進(jìn)行精確在線估計(jì)的算法。研究結(jié)果表明：</p><p>　　該算法能夠解決常規(guī) SOC估計(jì)算法精度低、抗干擾性差的問

14、題，對(duì) SOC在線估計(jì)</p><p>　　的工程應(yīng)用具有重要的參考價(jià)值。</p><p>　　為解決電池組常規(guī)均衡充電方法均衡速度慢、能量損耗大、影響循環(huán)壽命等</p><p><b>　　I</b></p><p>　　重慶大學(xué)博士學(xué)位論文</p><p>　　問題，歸納了幾種常用均衡充電裝

15、置的優(yōu)缺點(diǎn)，分析了根據(jù)電壓實(shí)施均衡充電方</p><p>　　法的不足，在對(duì)動(dòng)力電池 SOC進(jìn)行精確估計(jì)的基礎(chǔ)上，提出一種通過能量非耗散</p><p>　　型電路和能量耗散型電路相結(jié)合，依據(jù)電池 SOC進(jìn)行電池組均衡充電控制的算法。</p><p>　　實(shí)驗(yàn)結(jié)果表明：該均衡充電控制算法能夠保證電池組中各單節(jié)電池 SOC基本一致，</p><p&

16、gt;　　縮短均衡充電時(shí)間，提高均衡充電效率。</p><p>　　針對(duì)動(dòng)力電池間連接導(dǎo)線松動(dòng)造成電池溫度過高、自燃等問題，提出一種動(dòng)</p><p>　　力電池間連接導(dǎo)線松動(dòng)檢測(cè)的方法。該檢測(cè)方法能提高電池組供電的可靠性，避</p><p>　　免電池間連接導(dǎo)線因接觸電阻過大引起的局部高溫或電池自燃的發(fā)生。為減小大</p><p>　　功率

17、充放電對(duì)動(dòng)力電池組循環(huán)壽命的影響，分析了幾種電池組最大可充放電功率</p><p>　　估計(jì)方法的優(yōu)缺點(diǎn)，在通過電池組均衡充電，改善電池組不一致性的基礎(chǔ)上，提</p><p>　　出一種改進(jìn)的動(dòng)力電池組最大可充放電功率估計(jì)方法。該估計(jì)方法能夠估計(jì)動(dòng)力</p><p>　　電池組在約束條件下的最大可充放電功率，為極限加速、爬坡、快速充放電和再</p>&

18、lt;p>　　生制動(dòng)等運(yùn)行狀態(tài)提供電池的安全控制依據(jù)，避免動(dòng)力電池的損壞。</p><p>　　關(guān)鍵詞：電動(dòng)汽車；動(dòng)力電池組；電池組管理系統(tǒng)；荷電狀態(tài)估計(jì)；均衡充電</p><p><b>　　II</b></p><p><b>　　英文摘要</b></p><p><b>　　A

19、BSTRACT</b></p><p>　　Battery management system (BMS) is an important prerequisite component in</p><p>　　electric vehicle (EV), with battery pack together to form the battery sy

20、stem, to provide</p><p>　　power for EV. However, there are still many urgent problems in BMS, such as improper</p><p>　　management of charge and discharge process, low state of charge (S

21、OC) estimation</p><p>　　accuracy, slow equalizing charge speed, and so on; which are also research hotspots in</p><p>　　BMS. Only by solving these problems of BMS, can the deve

22、lopment of EV be</p><p>　　promoted. Therefore, in-depth research of key technologies has important theoretical</p><p>　　significance and practical value in BMS. In this paper, LiFeP

23、O4 batteries are set as the</p><p>　　object of current study, battery charge characteristics and charge end determination,</p><p>　　battery mathematic model and parameters identificati

24、on, battery SOC online estimation</p><p>　　algorithm, and battery pack equalizing charge control strategy have been systematically</p><p>　　studied. The primary achievements of this paper are

25、 as follow:</p><p>　　Based on the effect of cut-off voltage on charge speed and cycle life of the battery,</p><p>　　charge and discharge experimental platforms are established; a

26、large number of</p><p>　　theoretical analysis and experimental research has been done; charge capacity</p><p>　　contribution of each charge stage is discussed in the

27、 existing charge methods; the</p><p>　　influence of initial SOC and charge current on charge cut-off voltage is analyzed. A</p><p>　　charge end dynamic criterion of power battery i

28、s proposed, that charge cut-off voltage</p><p>　　and charge mode conversion are intelligently set according to initial SOC and charge</p><p>　　current. In the end, the correctness and a

29、pplication value is verified by test results. This</p><p>　　charge end dynamic criterion not only guaranties the charge rate but also limits the risk</p><p>　　of damaging power battery, whi

30、ch means the cycle life of power battery is prolonged.</p><p>　　In order to ensure equivalent model can accurately describe external characteristics</p><p>　　of power battery work, many eq

31、uivalent models of battery are discussed based on</p><p>　　charge and discharge characteristics researches of power battery, proposed that the</p><p>　　second-order RC equivalen

32、t circuit model of LiFePO4 power battery is more accurate,</p><p>　　easy parameter identification and engineering applications, and for the lack of</p><p>　　second-order RC

33、 equivalent circuit model, the model has been improved, and the</p><p>　　improved model’s parameters are accurately identified by the method of least squares.</p><p>　　The experim

34、ental results show: charge and discharge characteristics of power battery</p><p>　　are accurately simulated by improved second-order RC equivalent circuit model, and</p><p><b>

35、　　III</b></p><p>　　重慶大學(xué)博士學(xué)位論文</p><p>　　the foundation of power battery SOC estimation using equivalent circuit model is laid.</p><p>　　Battery SOC is redefined to solve some

36、 problems in conventional SOC definition,</p><p>　　and concept of relative maximum available capacity is proposed. The advantages and</p><p>　　disadvantages of several SOC estimation al

37、gorithms are discussed, EKF algorithm has</p><p>　　been improved for the lack of EKF algorithm, the advantages of AEKF algorithm is</p><p>　　analyzed, and a method of accurate SOC onlin

38、e estimation of power battery is proposed,</p><p>　　that according to improved second-order RC equivalent circuit model, improved AEKF</p><p>　　algorithm is applied to estimate power battery

39、 SOC. The experimental results show: the</p><p>　　SOC estimation method solves low accuracy and poor anti-jamming problems of</p><p>　　conventional SOC estimation and has an

40、 accurate reference value in engineering</p><p>　　applications of the SOC online estimation.</p><p>　　In order to solve low equalizing charge speed and large energy loss of conventional<

41、/p><p>　　equalizing charge methods, the advantages and disadvantages of several equalizing</p><p>　　charge devices are summarized, the lack of equalizing charge methods based on th

42、e</p><p>　　batteries voltages is analyzed, on the basis of accurate estimation of power battery SOC,</p><p>　　a control algorithm of active equalizing charge of power battery pack is propose

43、d, that</p><p>　　is combined by the energy non-dissipative type circuit and the energy dissipation type</p><p>　　circuit, meanwhile the equalizing charge process is controlled according to

44、 battery SOC.</p><p>　　The experimental results show: the equalizing charge control algorithm to ensure that all</p><p>　　batteries SOC is basically the same, shorten the equalizing charge time

45、.</p><p>　　A detection method of connecting wires loose between the batteries is proposed for</p><p>　　connecting wires loose problems. The detection method can improve the reliability of&

46、lt;/p><p>　　batteries supply, to avoid the high temperature of batteries connecting wires and</p><p>　　spontaneous combustion of the batteries. In order to reduce the effect of the l

47、arge power</p><p>　　charge and discharge on the cycle life of battery pack, on the basis of equalizing charge</p><p>　　of battery pack, a method of the maximum charge and discharge power

48、 estimation of</p><p>　　battery pack is proposed. The proposed estimation method can estimate the maximum</p><p>　　charge and discharge power of power battery pack under the constrain

49、conditions, and</p><p>　　provide the control basis for limit acceleration, climbing, fast charge discharge and</p><p>　　regenerative braking, and avoid the damage of power battery.<

50、/p><p>　　Keywords: Electric vehicles; Power battery pack; Battery pack management system;</p><p>　　SOC estimation; Equalizing charge</p><p><b>　　IV</b></p><

51、;p><b>　　目</b></p><p><b>　　錄</b></p><p><b>　　目</b></p><p><b>　　錄</b></p><p>　　中文摘要....................................

52、..............................................................................................I</p><p>　　英文摘要..................................................................................................

53、............................. III</p><p>　　1 緒 論................................................................................................................................. 1</p><p>　　1.

54、1 論文研究的目的和意義................................................................................................... 1</p><p>　　1.2 車載動(dòng)力電池組管理系統(tǒng)相關(guān)研究綜述 ..............................................................

55、......... 2</p><p>　　1.2.1 動(dòng)力電池組管理系統(tǒng)的研究現(xiàn)狀 ........................................................................... 2</p><p>　　1.2.2 目前存在的主要問題..................................................

56、............................................. 4</p><p>　　1.3 論文研究的主要內(nèi)容....................................................................................................... 6</p><p>　　2 動(dòng)力電池充電結(jié)

57、束判定方法................................................................................. 9</p><p>　　2.1 引言.....................................................................................................

58、.............................. 9</p><p>　　2.2 磷酸鐵鋰電池的反應(yīng)原理及容量衰減 ........................................................................... 9</p><p>　　2.2.1 電池的反應(yīng)原理...............................

59、........................................................................ 9</p><p>　　2.2.2 電池的容量衰減機(jī)理............................................................................................. 11</p>

60、<p>　　2.3 實(shí)驗(yàn)方法與儀器............................................................................................................. 12</p><p>　　2.4 磷酸鐵鋰電池性能測(cè)試................................................

61、................................................. 14</p><p>　　2.4.1 電池電壓與倍率特性............................................................................................. 14</p><p>　　2.4.2 放電深度對(duì)

62、電池充電的影響................................................................................. 18</p><p>　　2.4.3 截止電壓與電池充電容量..................................................................................... 21&

63、lt;/p><p>　　2.4.4 溫度對(duì)電池性能的影響......................................................................................... 22</p><p>　　2.5 動(dòng)力電池充電結(jié)束的動(dòng)態(tài)判定..................................................

64、................................... 23</p><p>　　2.5.1 充電結(jié)束動(dòng)態(tài)判定方法的提出............................................................................. 24</p><p>　　2.5.2 充電結(jié)束動(dòng)態(tài)判定方法的驗(yàn)證..................

65、........................................................... 29</p><p>　　2.6 本章小結(jié)......................................................................................................................... 31<

66、;/p><p>　　3 動(dòng)力電池模型的建立與參數(shù)辨識(shí) .................................................................... 33</p><p>　　3.1 引言..................................................................................

67、............................................... 33</p><p>　　3.2 等效電路模型的建立..................................................................................................... 33</p><p>　　3.2.1 幾

68、種電池模型的對(duì)比............................................................................................. 33</p><p>　　3.2.2 二階 RC等效電路模型的提出.........................................................................

69、..... 37</p><p>　　3.3 等效電路模型的參數(shù)辨識(shí)............................................................................................. 42</p><p>　　3.3.1 開路電壓的快速估計(jì).......................................

70、...................................................... 42</p><p>　　3.3.2 歐姆內(nèi)阻和極化參數(shù)辨識(shí)..................................................................................... 47</p><p><b>　　V&l

71、t;/b></p><p>　　重慶大學(xué)博士學(xué)位論文</p><p>　　3.4 等效電路模型的實(shí)驗(yàn)驗(yàn)證............................................................................................. 50</p><p>　　3.4.1 充電仿真電壓與實(shí)驗(yàn)電壓對(duì)比...

72、.......................................................................... 50</p><p>　　3.4.2 放電仿真電壓與實(shí)驗(yàn)電壓對(duì)比............................................................................. 51</p><p>

73、　　3.5 本章小結(jié)......................................................................................................................... 54</p><p>　　4 動(dòng)力電池 SOC在線估計(jì)算法..............................................

74、.............................. 55</p><p>　　4.1 引言................................................................................................................................. 55</p><p>　　4

75、.2 SOC的定義方法 ............................................................................................................ 55</p><p>　　4.2.1 SOC的傳統(tǒng)定義...........................................................

76、.......................................... 55</p><p>　　4.2.2 SOC的重新定義..................................................................................................... 57</p><p>　　4.2.3 電

77、池組 SOC的確定............................................................................................... 58</p><p>　　4.3 幾種 SOC估計(jì)算法的比較 .....................................................................

78、..................... 58</p><p>　　4.4 卡爾曼濾波算法分析..................................................................................................... 60</p><p>　　4.4.1 擴(kuò)展卡爾曼濾波原理..................

79、........................................................................... 61</p><p>　　4.4.2 可變?cè)鲆嬉蜃? 的引入.......................................................................................... 63</p>

80、;<p>　　4.4.3 改進(jìn)自適應(yīng)擴(kuò)展卡爾曼濾波算法......................................................................... 64</p><p>　　4.5 新的 SOC在線估計(jì)算法 .....................................................................

81、......................... 65</p><p>　　4.5.1 系統(tǒng)的狀態(tài)空間表達(dá)............................................................................................. 65</p><p>　　4.5.2 系統(tǒng)穩(wěn)定性分析......................

82、............................................................................... 67</p><p>　　4.5.3 基于電池模型的改進(jìn) AEKF算法 SOC在線估計(jì)............................................... 69</p><p>　　4.6 新的 SOC

83、在線估計(jì)算法的實(shí)驗(yàn)驗(yàn)證........................................................................... 70</p><p>　　4.6.1 初始 SOC為 1的 SOC估計(jì)分析 ......................................................................... 70<

84、;/p><p>　　4.6.2 魯棒性測(cè)試分析..................................................................................................... 71</p><p>　　4.6.3 脈沖干擾測(cè)試分析..............................................

85、................................................... 72</p><p>　　4.6.4 車載放電實(shí)驗(yàn)分析................................................................................................. 74</p><p>　　4.7 本章

86、小結(jié)......................................................................................................................... 76</p><p>　　5 動(dòng)力電池組均衡充電控制策略 ......................................................

87、................... 77</p><p>　　5.1 引言................................................................................................................................. 77</p><p>　　5.2 兩種均衡充電電路對(duì)比

88、................................................................................................. 77</p><p>　　5.2.1 能量耗散型電路....................................................................................

89、................. 77</p><p>　　5.2.2 能量非耗散型電路................................................................................................. 78</p><p>　　5.3 電池組均衡充電方法探討.........................

90、.................................................................... 79</p><p>　　5.3.1 根據(jù)電壓均衡充電方法......................................................................................... 79</p><p&

91、gt;　　5.3.2 根據(jù) SOC均衡充電方法....................................................................................... 80</p><p>　　5.3.3 不同運(yùn)行狀態(tài)下電池組均衡充電..............................................................

92、........... 80</p><p><b>　　VI</b></p><p><b>　　目</b></p><p><b>　　錄</b></p><p>　　5.4 動(dòng)力電池組不一致性分析......................................

93、....................................................... 81</p><p>　　5.4.1 電壓分散性實(shí)驗(yàn)..................................................................................................... 81</p><p>　

94、　5.4.2 補(bǔ)充充電實(shí)驗(yàn)......................................................................................................... 82</p><p>　　5.4.3 實(shí)驗(yàn)結(jié)果分析................................................................

95、......................................... 83</p><p>　　5.5 均衡充電裝置的改進(jìn)..................................................................................................... 84</p><p>　　5.6 均衡充電控制策略分

96、析................................................................................................. 85</p><p>　　5.6.1 電池組充電系統(tǒng)的硬件設(shè)計(jì)..............................................................................

97、... 85</p><p>　　5.6.2 新均衡充電控制算法............................................................................................. 86</p><p>　　5.6.3 新均衡充電控制算法驗(yàn)證........................................

98、............................................. 90</p><p>　　5.7 本章小結(jié)......................................................................................................................... 93</p><p

99、>　　6管理系統(tǒng)設(shè)計(jì)與最大充放電功率估計(jì)........................................................... 95</p><p>　　6.1 引言........................................................................................................

100、......................... 95</p><p>　　6.2 電池組管理系統(tǒng)設(shè)計(jì)..................................................................................................... 95</p><p>　　6.2.1 管理系統(tǒng)硬件設(shè)計(jì)...............

101、.................................................................................. 95</p><p>　　6.2.2 管理系統(tǒng)軟件設(shè)計(jì).................................................................................................

102、98</p><p>　　6.3 電池間連接導(dǎo)線松動(dòng)檢測(cè)........................................................................................... 100</p><p>　　6.4 最大可充放電功率估計(jì)................................................

103、............................................... 102</p><p>　　6.4.1 常用最大可充放電功率估計(jì)方法 ....................................................................... 102</p><p>　　6.4.2 新的最大可充放電功率估計(jì)方法的提出 ...

104、........................................................ 104</p><p>　　6.4.3 仿真結(jié)果分析....................................................................................................... 105</p><p&

105、gt;　　6.5 本章小結(jié)....................................................................................................................... 107</p><p>　　7 總結(jié)及展望......................................................

106、............................................................ 109</p><p>　　7.1 論文結(jié)論及創(chuàng)新點(diǎn)....................................................................................................... 109</p>

107、<p>　　7.2 論文后續(xù)工作展望....................................................................................................... 111</p><p>　　致 謝.............................................................

108、................................................................ 113</p><p>　　參考文獻(xiàn)............................................................................................................................