混合动力汽车动力电池容量预测模型及抗扰策略的研究
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摘要
动力电池为混合动力汽车、电动汽车的电气设备供电。影响估算电池续航里程的因素有两个，一个是使用的电池容量预测模型是否可以准确地估算在不同工况下动力电池的容量，并且能够预测动力电池的持续工作时间；另一个因素是车载供电系统是否具备抑制外界干扰的能力。
首先，从两方面分析了限制动力电池容量准确估算的因素。即一方面，动力电池的制造材料、工艺以及结构导致实际容量与理论容量不符；另一方面，动力电池的工作环境、客观因素导致电池的容量是动态变化的。
针对电池进行单独分析，或者是针对电池为某一电阻负载供电的情况下进行分析，都无法与车载动力电池的实际运行状况相匹配。动力电池的容量随混合动力汽车的运行状况“动态”地发生变化。动力电池的电流、电压、温度以及持续工作时间之间呈现出动态对应关系。因此，本文提出基于电化学分析的方式推导镍氢动力电池容量预测模型，结合电池温度、工作电流、端电压以及电池工作截止时间的测试数据基础上完成的。
在镍氢动力电池的使用寿命内，考虑电池的电解质损耗较小，即扩散系数不发生变化的前提下，推导了动力电池的端电压、温度、工作电流与电池工作截止时间之间的对应关系。
对于动力电池发生的实际可逆反应，采用热力学公式进行分析，得到电池反应电势的表达式。表达式可以完全描述动力电池中电化学反应的平衡状态。但是，热力学平衡方程式无法描述各种状态下的电流。采用电极反应动力学可以描述的是整个反应的过程。根据电极反应动力学，进一步推导出电流、电解质浓度与过电势之间的关系式。在这种平衡情况下，电极反应由动力学控制，而与物质传递无关。
当电池的平衡状态被打破，电池内部出现过电势时，反应的加速将导致电解液中反应物的浓度出现偏差。这时，物质传递将控制反应的进行。基于物质传递过程，完成了电池反应时电流与浓度关系的分析与推导；并且完成了动力电池阻抗模型的推导。进一步结合对某镍氢单体电池、电池组多种放电率放电试验数据的分析，建立了镍氢电池放电模型。经过测量数据与模型仿真数据的对比，验证了模型的正确性以及准确性。
当动力电池对负载供电时，尤其是为变负载供电时，端电压测量结果要比理论值低，而且随着时间变化。电解液的浓度扩散、物质迁移、对流、温度以及双电层电容等电化学因素造成电池内阻是变化的；同时，回路中的负荷存在许多非线性元件，既有整流、逆变回路的开关元件，又有电动机以及滤波、平波元件。因此，当电阻增加或电流增大时，端电压会加速下降，提前下降至截止电压，并终止放电。电池容量估算的具体过程如下：
（1）在输出电流波动不大的范围内，可以近似认为电池处于恒电流放电工况，根据恒电流放电的持续时间得出已经放出的A h容量。
（2）测量电池的输出电流，当输出电流发生较大变化时，等待输出电流稳定于新的状态时，更新模型参数，调整放电率。从稳定时开始采用新的电压随时间变化的曲线来估测电池的容量。
（3）当某个参数变化较大（温度、扩散系数、浓度等）直至稳定于新的状态时，更新参数，从稳定时开始采用新的电压随时间变化的曲线来估测容量。
（4）各个放电阶段放出A h容量总和就是已经放出的容量，截止至放电终止电压，根据曲线可以预测出当前放电倍率下放电持续时间。
根据混合动力汽车镍氢电池经常处于变负荷工况下工作，以至经常处于不同倍率工作电流下的特点，采用电压随时间变化的曲线来估计电池剩余容量，结合电池初始容量预测模型，对并不同倍率下放出的电量进行积分，得到电池的计算容量。通过对镍氢动力电池的充、放电试验证明，电池容量预测模型是准确、有效的。
限制动力电池容量准确估算的另一个因素是外界干扰。当车载电池工作在为电动机供电的状态时，系统中出现的各种不确定因素将影响到电池系统运行状态的稳定性、效率。混合动力汽车驱动电动机的输出轴端受到的扰动最具代表性，并且对系统的干扰效果也最明显。当驱动电动机的输出轴端受到扰动时，相应的干扰转矩将导致车载动力电池输出的电量产生波动。
基于广义系统的框架分析。进一步提出了采用H理论来实现系统的几乎干扰解耦的控制策略，使系统具有较好的鲁棒性。结合试验数据，建立了电动机的功率模型。在H控制理论的基础上，设计了对电动机轴间扰动的抑制策略。进一步将电动机的具体参数代入，完成了实际控制策略的计算，使供电系统对特定的干扰实现了几乎干扰解耦。
Hybrid electric vehicles, electric vehicles use battery to power for motor all. There aretwo factors effect the system estimates endurance mileage. One factor is whether the modelcan accurately estimate power battery capacity in different conditions and is able to predictthe continuous working time of battery. Another factor is whether the vehicle power supplysystem has the ability of interference suppression.
First of all, there are two aspects to limit the battery capacity prediction accurately.
On the one hand, battery manufacturing materials, process and structure producedeviation in capacity and theoretical capacity. On the other hand, power battery workingenvironment, objective factors lead the battery capacity to be dynamic change.
According to the battery analysis separately or the battery power for a resistive load tocarry on the analysis, can't with the practical operation of power battery matching condition.
The capacity of power battery changes dynamically accompanying hybrid electricvehicle operation status.
There is a corresponding relationship between dynamic current, voltage, temperatureand the continuous working time of the power battery. Therefore, can't use theveninequivalent circuit to describe the relationship between battery's voltage and output currentsimply. It is on the basis of the principle of electrochemical and the analysis combinedbattery's temperature, current, voltage and battery work cut-off time test data that the Ni-MHbattery's capacity forecast model can be established.
Deduced the power battery terminal voltage, temperature, working current and batterywork by the corresponding relations with the time in the battery life, in considering thebattery electrolyte loss is lesser, namely diffusion coefficient under the premise of notchanging.
Get the expression of cell reaction potential based the analysis on thermodynamics formulathat for the battery's actual reversible reaction. The expression can fully describe the power cellelectrochemical reaction balance. However, the potential balance equation basedthermodynamic cannot accurately describe the balance condition of the size of the current.The electrode reaction kinetics can describe the entire reaction process. The relationshipbetween battery's current, electrolyte concentration, and over-potential can be derived whichaccording to the electrode kinetics. In this balance situation, the electrode reaction is controlled by the kinetics, and has nothing to do with the material transfer.
Once the balance is broken, battery internal appeared potential, reaction speed will leadto the electrolyte concentration of reactant appeared deviation. At this time, mass transfer willcontrol the reaction.
On the basis of the material transfer process, complete the cell reaction current andconcentration relationship analysis and derivation. And complete the power cell impedancemodel is derived.
With a further to cell and battery various discharge rate discharge test data analysis,derived a batteries discharge model. Through the measured data and the model simulationdata contrast, verified the accuracy of model and accuracy.
The testing figure of battery's voltage is lower than the theoretical value and changesover time when battery provides power to the load, especially for variable load.
There are some electrochemical factors causing changes of internal resistance of thebattery such as diffusion of the electrolyte solution, mass transferring, convection,temperature and capacity of the double electrical layer.
At the same time, there are many nonlinear elements in the load circuits, such asrectifier, inverter circuit switch element, the motor and filtering, and flat wave components.
Therefore, when resistance increases or current increases, the terminal voltage willaccelerate drop, early fall to cut-off voltage, and terminate discharge. The specific process isas follows:
(1) If the output current fluctuation is not in big range, it can approximate think cell is ina constant current discharge condition, according to the constant current discharge durationthat the A.H capacity can be obtained by capacity of the release.
(2) Measuring the battery output current, when the output current have taken place greatchanges, waiting for the output current stability in the new state, updating model parameters,adjust the discharge rate. From stable time, assess the capacity of the battery at the start ofthe new voltage curve.
(3) When a certain parameter changes a lot (temperature, diffusion coefficient, density,etc.) until it stables at a new balanced state, updating its parameter, and using a newvoltage-time curve to estimate the capacity.
(4) Each discharge stage discharge capacity is the capacity of the total has been released,until discharge termination voltage, according to the curve can predict the current dischargeratio lower electric duration.
According to the work characteristics of hybrid cars batteries often in varying load conditions, through in different ratio under the premise of discharge current, use the curve ofvoltage changing with time to estimate the residual capacity of battery.
Combined with the battery initial capacity prediction model and under the powerintegration for different ratio, get the battery capacity calculation.
The battery's charge and discharge experiment proves that the prediction model isaccurate and efficient.
Finally, complete the trickle charge experiment of battery and describe the terminalvoltage, current and temperature of the corresponding curve with the data accurately. All thatproof the battery capacity prediction model is accurate and efficient.
Another factor of limited power battery capacity accurate estimation is the interference.
When the battery work for motor, the system appeared in various uncertain factors willaffect the battery system in the running state of stability and efficiency.
Hybrid cars drive motor output torque is the most representative of the disturbance, andthe interference effect of torque is the most obvious.
The corresponding interference torque will cause fluctuation to the output electricquantity of the battery when driving motor output shaft endures disturbed.
On the basis of the analysis of a generalized framework, use the almost disturbancedecoupling control strategy to realize system that make the system have good robustness.
Establish motor’s power model with the experiment data. On the basis of the H∞control theory, complete the strategy of permanent magnet synchronous motor shaft restraindisturbance.
Complete the actual control strategy calculation with motor specific parameter thatmake power system realize almost disturbance decoupling for specific interference.
首先，从两方面分析了限制动力电池容量准确估算的因素。即一方面，动力电池的制造材料、工艺以及结构导致实际容量与理论容量不符；另一方面，动力电池的工作环境、客观因素导致电池的容量是动态变化的。
针对电池进行单独分析，或者是针对电池为某一电阻负载供电的情况下进行分析，都无法与车载动力电池的实际运行状况相匹配。动力电池的容量随混合动力汽车的运行状况“动态”地发生变化。动力电池的电流、电压、温度以及持续工作时间之间呈现出动态对应关系。因此，本文提出基于电化学分析的方式推导镍氢动力电池容量预测模型，结合电池温度、工作电流、端电压以及电池工作截止时间的测试数据基础上完成的。
在镍氢动力电池的使用寿命内，考虑电池的电解质损耗较小，即扩散系数不发生变化的前提下，推导了动力电池的端电压、温度、工作电流与电池工作截止时间之间的对应关系。
对于动力电池发生的实际可逆反应，采用热力学公式进行分析，得到电池反应电势的表达式。表达式可以完全描述动力电池中电化学反应的平衡状态。但是，热力学平衡方程式无法描述各种状态下的电流。采用电极反应动力学可以描述的是整个反应的过程。根据电极反应动力学，进一步推导出电流、电解质浓度与过电势之间的关系式。在这种平衡情况下，电极反应由动力学控制，而与物质传递无关。
当电池的平衡状态被打破，电池内部出现过电势时，反应的加速将导致电解液中反应物的浓度出现偏差。这时，物质传递将控制反应的进行。基于物质传递过程，完成了电池反应时电流与浓度关系的分析与推导；并且完成了动力电池阻抗模型的推导。进一步结合对某镍氢单体电池、电池组多种放电率放电试验数据的分析，建立了镍氢电池放电模型。经过测量数据与模型仿真数据的对比，验证了模型的正确性以及准确性。
当动力电池对负载供电时，尤其是为变负载供电时，端电压测量结果要比理论值低，而且随着时间变化。电解液的浓度扩散、物质迁移、对流、温度以及双电层电容等电化学因素造成电池内阻是变化的；同时，回路中的负荷存在许多非线性元件，既有整流、逆变回路的开关元件，又有电动机以及滤波、平波元件。因此，当电阻增加或电流增大时，端电压会加速下降，提前下降至截止电压，并终止放电。电池容量估算的具体过程如下：
（1）在输出电流波动不大的范围内，可以近似认为电池处于恒电流放电工况，根据恒电流放电的持续时间得出已经放出的A h容量。
（2）测量电池的输出电流，当输出电流发生较大变化时，等待输出电流稳定于新的状态时，更新模型参数，调整放电率。从稳定时开始采用新的电压随时间变化的曲线来估测电池的容量。
（3）当某个参数变化较大（温度、扩散系数、浓度等）直至稳定于新的状态时，更新参数，从稳定时开始采用新的电压随时间变化的曲线来估测容量。
（4）各个放电阶段放出A h容量总和就是已经放出的容量，截止至放电终止电压，根据曲线可以预测出当前放电倍率下放电持续时间。
根据混合动力汽车镍氢电池经常处于变负荷工况下工作，以至经常处于不同倍率工作电流下的特点，采用电压随时间变化的曲线来估计电池剩余容量，结合电池初始容量预测模型，对并不同倍率下放出的电量进行积分，得到电池的计算容量。通过对镍氢动力电池的充、放电试验证明，电池容量预测模型是准确、有效的。
限制动力电池容量准确估算的另一个因素是外界干扰。当车载电池工作在为电动机供电的状态时，系统中出现的各种不确定因素将影响到电池系统运行状态的稳定性、效率。混合动力汽车驱动电动机的输出轴端受到的扰动最具代表性，并且对系统的干扰效果也最明显。当驱动电动机的输出轴端受到扰动时，相应的干扰转矩将导致车载动力电池输出的电量产生波动。
基于广义系统的框架分析。进一步提出了采用H理论来实现系统的几乎干扰解耦的控制策略，使系统具有较好的鲁棒性。结合试验数据，建立了电动机的功率模型。在H控制理论的基础上，设计了对电动机轴间扰动的抑制策略。进一步将电动机的具体参数代入，完成了实际控制策略的计算，使供电系统对特定的干扰实现了几乎干扰解耦。
Hybrid electric vehicles, electric vehicles use battery to power for motor all. There aretwo factors effect the system estimates endurance mileage. One factor is whether the modelcan accurately estimate power battery capacity in different conditions and is able to predictthe continuous working time of battery. Another factor is whether the vehicle power supplysystem has the ability of interference suppression.
First of all, there are two aspects to limit the battery capacity prediction accurately.
On the one hand, battery manufacturing materials, process and structure producedeviation in capacity and theoretical capacity. On the other hand, power battery workingenvironment, objective factors lead the battery capacity to be dynamic change.
According to the battery analysis separately or the battery power for a resistive load tocarry on the analysis, can't with the practical operation of power battery matching condition.
The capacity of power battery changes dynamically accompanying hybrid electricvehicle operation status.
There is a corresponding relationship between dynamic current, voltage, temperatureand the continuous working time of the power battery. Therefore, can't use theveninequivalent circuit to describe the relationship between battery's voltage and output currentsimply. It is on the basis of the principle of electrochemical and the analysis combinedbattery's temperature, current, voltage and battery work cut-off time test data that the Ni-MHbattery's capacity forecast model can be established.
Deduced the power battery terminal voltage, temperature, working current and batterywork by the corresponding relations with the time in the battery life, in considering thebattery electrolyte loss is lesser, namely diffusion coefficient under the premise of notchanging.
Get the expression of cell reaction potential based the analysis on thermodynamics formulathat for the battery's actual reversible reaction. The expression can fully describe the power cellelectrochemical reaction balance. However, the potential balance equation basedthermodynamic cannot accurately describe the balance condition of the size of the current.The electrode reaction kinetics can describe the entire reaction process. The relationshipbetween battery's current, electrolyte concentration, and over-potential can be derived whichaccording to the electrode kinetics. In this balance situation, the electrode reaction is controlled by the kinetics, and has nothing to do with the material transfer.
Once the balance is broken, battery internal appeared potential, reaction speed will leadto the electrolyte concentration of reactant appeared deviation. At this time, mass transfer willcontrol the reaction.
On the basis of the material transfer process, complete the cell reaction current andconcentration relationship analysis and derivation. And complete the power cell impedancemodel is derived.
With a further to cell and battery various discharge rate discharge test data analysis,derived a batteries discharge model. Through the measured data and the model simulationdata contrast, verified the accuracy of model and accuracy.
The testing figure of battery's voltage is lower than the theoretical value and changesover time when battery provides power to the load, especially for variable load.
There are some electrochemical factors causing changes of internal resistance of thebattery such as diffusion of the electrolyte solution, mass transferring, convection,temperature and capacity of the double electrical layer.
At the same time, there are many nonlinear elements in the load circuits, such asrectifier, inverter circuit switch element, the motor and filtering, and flat wave components.
Therefore, when resistance increases or current increases, the terminal voltage willaccelerate drop, early fall to cut-off voltage, and terminate discharge. The specific process isas follows:
(1) If the output current fluctuation is not in big range, it can approximate think cell is ina constant current discharge condition, according to the constant current discharge durationthat the A.H capacity can be obtained by capacity of the release.
(2) Measuring the battery output current, when the output current have taken place greatchanges, waiting for the output current stability in the new state, updating model parameters,adjust the discharge rate. From stable time, assess the capacity of the battery at the start ofthe new voltage curve.
(3) When a certain parameter changes a lot (temperature, diffusion coefficient, density,etc.) until it stables at a new balanced state, updating its parameter, and using a newvoltage-time curve to estimate the capacity.
(4) Each discharge stage discharge capacity is the capacity of the total has been released,until discharge termination voltage, according to the curve can predict the current dischargeratio lower electric duration.
According to the work characteristics of hybrid cars batteries often in varying load conditions, through in different ratio under the premise of discharge current, use the curve ofvoltage changing with time to estimate the residual capacity of battery.
Combined with the battery initial capacity prediction model and under the powerintegration for different ratio, get the battery capacity calculation.
The battery's charge and discharge experiment proves that the prediction model isaccurate and efficient.
Finally, complete the trickle charge experiment of battery and describe the terminalvoltage, current and temperature of the corresponding curve with the data accurately. All thatproof the battery capacity prediction model is accurate and efficient.
Another factor of limited power battery capacity accurate estimation is the interference.
When the battery work for motor, the system appeared in various uncertain factors willaffect the battery system in the running state of stability and efficiency.
Hybrid cars drive motor output torque is the most representative of the disturbance, andthe interference effect of torque is the most obvious.
The corresponding interference torque will cause fluctuation to the output electricquantity of the battery when driving motor output shaft endures disturbed.
On the basis of the analysis of a generalized framework, use the almost disturbancedecoupling control strategy to realize system that make the system have good robustness.
Establish motor’s power model with the experiment data. On the basis of the H∞control theory, complete the strategy of permanent magnet synchronous motor shaft restraindisturbance.
Complete the actual control strategy calculation with motor specific parameter thatmake power system realize almost disturbance decoupling for specific interference.
引文
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