• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A method for testing electrical energy storage systems for the drive of vehicles provides that the load current of the energy storage system is tracked by means of a control loop according to predetermined test cycles temporally variable reference current as possible without delay time. In this case, the control loop is created by means of a model-based controller design method in which a model of the impedance of the energy storage system is integrated into the model of the controlled system.
    公开号:AT511270A2
    申请号:T50201/2012
    申请日:2012-05-24
    公开日:2012-10-15
    发明作者:
    申请人:Avl List Gmbh；
    IPC主号:
    专利说明:

    Printed: 25-05-2012 E014.1 _ _ _ 10 2012/50201 AV-J4ou too. 1
    Method and device for testing electric energy storage systems for driving vehicles
    The invention relates to a method and a device, with which in the course of Stroin control in Hatterietester the actual load current as possible, exactly and without delay time nacligeführt a time-varying reference current.
    In the testing of hybrid vehicles or fully electrically powered vehicles is. the testing of traction batteries of particular importance. At the same time, the test current should follow predetermined test cycles with highly dynamic transients as exactly as possible and with an olme delay. This can be achieved via a corresponding control loop, which is designed via a model-based controller design method.
    The current regulation should, if possible, not be influenced by the test object. However, since the countervoltage of the device under test substantially depends on the impressed current, i. of the controlled variable, this has a significant influence on the dynamic properties of the control loop.
    To reduce this influence, there are several possibilities. On the one hand, the power electronics can be designed with the highest possible output impedance. However, this leads to a reduction of the achievable control bandwidth and has increased material costs and increased space requirements result, because this larger inductances are necessary. In the case of the strain gauge connection, the measured reverse voltage of the test object is regarded as a disturbance variable and used to compensate for the fault. However, it is assumed that the disturbance variable is independent of the controlled variable. In fact, however, the terminal voltage of a battery is dependent on the impressed current due to the finite battery impedance. The behavior of the disturbance variable in response to changes in the impressed current can thus not be compensated in advance.
    The object of the present invention was therefore to improve the method and the device as stated at the beginning in such a way that the load no longer represents an unknown disturbance, but can be explicitly taken into account in the control.
    The problem with the previous systems is that the behavior of the current regulation depends on the impedance of the battery (UUT). An unfavorable impedance leads to slow conduction and strong overshoot of the test current. The impedance also changes with the age and state of charge of the battery and depends on the point of view (load current).
    The object of the present invention was therefore an improved method and an improved apparatus, with. which in the course of the current control in Battcrietester the actual load current as accurately as possible and oluie delay time, a time-varying reference current can be tracked to perform the desired test cycles. ! 24-05-2Q12
    Printed: 25-05-2012 E014.1 10 2012/50201
    AV-3480 AT 2
    To solve this problem, the method according to the invention is characterized in that the control loop is created by means of an inodellbasierten controller design process, in which in the model of the controlled system, a model of the impedance of the energy storage system is involved. The counter voltage of the battery is in principle a disturbance for the current control. The model of the battery impedance allows an approximate prediction of the course of this disturbance in response to the cingeprägten current. This allows a faster and more robust response of the actual current to changes in the reference current.
    According to an advantageous variant of the method, it is provided that the parameters for a generic model of the battery impedance are identified by at least one brief excitation sequence and measurement of the resulting values of current and voltage.
    The device for testing electrical Energiespeiehersystemen for the on-drive of vehicles, with a control circuit for tracking the Last.stroines the energy storage system according to predetermined test cycles after a time-varying reference current as possible without delay time is to solve the task characterized thereby marked in that a mode 11 based control is implemented in the control loop and in whose model a model of the battery impedance is integrated.
    An advantageous Ausfülirungsform of the invention is characterized in that a dependent of the operating point of the battery model of the battery impedance is involved.
    Alternatively, a model of the battery impedance that is dependent on the state of charge of the battery can also be integrated.
    As a further alternative, a device according to the invention could be characterized in that a model of the battery impedance dependent on the age of the battery is integrated. For all of the mentioned variants is. An advantageous embodiment is gc-characterized in that a model-based predictive control is realized in the control loop. The integration is possible in principle with any model-based regulator design method. Model-based predictive control (MPC) also makes it possible to explicitly consider physical constraints (such as manipulated variable limitations or current limits to protect the semiconductor switches in the battery simulator) when optimizing the manipulated variable response.
    Preferably, the battery impedance model is shown as a second or higher order transfer function.
    In the following description, the invention will be explained in more detail.
    1 is a schematic representation of a battery tester, FIG. 2 is a block diagram of the procedure for designing a current regulator with an integrated load model, FIG. 3 shows a block diagram of the controlled system, FIG. 3
    AV-3480 AT 4 represents a block diagram of the controlled system with included load model. FIG. 5 shows a circuit diagram of the power electronics. 6 shows a system response according to the invention to an excitation sequence, showing the predetermined excitation sequence and the resulting measured values for current and voltage during operation with the provisional controller without a load model. FIG. 7 shows a diagram for the simulated system response. Fig. 8 is a representation of the simulated Systemant.word with optimized parameters compared to the recorded Systemant.word, and Fig. 9 finally shows a comparison of the system responses to a leading index jump of 40A 80 A at current regulation with and olme load model.
    A system exemplified in FIG. 1 exists. a.us the specimen, i. the tract batteries, and the battery tester. The battery tester is in turn. a.us power electronics and preferably digital controller. The terminal voltage of the battery is here with. v2, the load current to be impressed with i2 and the current reference marked with. The power electronics are controlled by the specification of a pulse width modulated signal (PWM) with the duty cycle d. The measured quantities are in the measured variable vector d. summarized. The controller is preferably as a model predictive controller (MPC) with. Consideration of manipulated variable restrictions executed. A state observer processes the measured data as well as the most recently output manipulated variable and uses this to estimate the state vector required by the controller.
    Model predictive controller design techniques have been chosen because they allow the design to be automated based on a model of the controlled system, and thus, account for the inherent power electronics skew (the duty cycle is variable only in the range of 0 <d <1) ,
    With the help of a model of the Bat.terietester a temporary regulator without model of the load is designed. The battery tester is then operated with the DUT connected to the temporary controller. A suitable excitation sequence (for example a pseudo-random binary sequence (PR.BS)) is used as the reference signal i * 2. The actual load current i2 and the terminal voltage v2 are recorded at the sampling rate of the controller. Based on the measured data, a model of the load is identified and finally the model of the battery tester is extended by the model of the load. With the extended model of the entire system, a regulator is again designed that can then be used to apply highly dynamic test sequences to the device under test. This process is summarized in FIG. 2. For the above-mentioned controller design, a model of the controlled system is necessary. In Fig. 3, the control system without consideration of the load is shown as a block diagram. The duty cycle
    Printed: 25-05-2012 EÖ14.1 10 2012/50201 4
    AV-3480 AT d acts as manipulated variable, load current ii is the controlled variable and terminal voltage v2 of the battery is interpreted as a disturbance variable. The future course of this disturbance is unknown, d.li. the controller can not react until the disturbance has already changed.
    If a model of the battery is present, this can be integrated into the model of the controlled system. become. The resulting block diagram is shown in FIG. The terminal voltage is no longer considered as a disturbance but as a new state variable of the extended system. Thus, at least those future changes in the terminal voltage caused by changes in the impressed test current can be estimated, provided that the load model is sufficiently accurate. Measurement errors and errors in the load model are still regarded as a disturbance variable. Consequently, two separate models are needed, one from the load and one from the battery tester.
    The battery tester used consists of a regulated buck converter with three offset, switching 1GBT half-bridges. A simplified circuit diagram of the output stage with. the relevant components are shown in Fig. 5.
    The dynamics of the system is determined by the passive output filter. This consists of the three storage chokes Llo, Lu, and L r. the filter capacitor C and Siebdrosscl L2. If all three storage chokes have the same inductance L a = Lu, - L Cl, then the dynamic behavior of the output stage can be determined using a model of a single-phase buck converter consisting of only one half-bridge and one storage choke L = l / 3Li "= IfZLu, = 1 / 3Α1 (-approximated) For the single-phase output filter, a continuous-time state ramming model can now be
    r 1T, with. the state vector x, | L «j i2 .Ευ. Lt 1 £ 1 0 1 £ 1 0 1 Ci 0 1 c, xc + 0 Mb-t 0 0 _L fij.2 l2. 0 1. La. Χς -
    cc
    The duty cycle d and the terminal voltage v2 are the model inputs (as manipulated variable or disturbance variable). The sizes L, * 2 tmd v2 are your controller as measured variables available. If the capacitor voltage vi is not measured, a state observer is needed to continually reconstruct the current state vector. For the discrete-time digital controller, a corresponding, discrete model of the battery
    Printed: 25-05-2012 E014.1 10 2012/50201 5
    AV-3480 AT rietestera necessary. For this, the PWM is approximated by a sample zero element (zero order hold, ZOII). The resulting model can with. the transition matrix Ad, the input matrix Bri, the disturbance matrix 1¾ and the output matrix Cd are represented as a state roughness model: (2) * dt + 1 = -4-d xck - + B <1 * dfcVo 1-Ed * V 2k, = Cd
    The index * denotes the current time.
    The conversion to the discrete-time model is done via standard steps, for example with. the matlab command c2d.m. Due to the required cooling time of the controller, the calculated new value of the manipulated variable can not be changed immediately, but always only at the next sampling time. This fact is taken into account by extending the state space model by an additional delay of one sample period. The resulting model of the battery tester is therefore dependent on the connected load and therefore only has to be set up once for each battery tester and remains unchanged thereafter.
    Batteries generally have a very complex dynamic behavior, which depends on many factors, in particular the state of charge, the cell temperatures and the charging or discharging current. Accordingly, complex models are necessary in order to be able to simulate or predict this behavior.
    The electrical and electrochemical effects responsible for the dynamic behavior of a battery have different time constants. To control the battery tester, the effects with small time constants are important. These are in particular the lead and contact resistances, the inductances of the leads and contacts as well as capacitive effects. Effects with large time constants represent slowly changing disturbances that can be well compensated by a fast controller.
    For this reason, a very simplified model is sufficient for the regulation of the test current, in which only the fast effects are formed. become. In addition, the order of the embedded load model has an impact on the amount of rework that must be run for the control at runtime. Consequently, the recoverable. Model order severely limited by the available computing power and the sampling rate. For the experiments described, a model of order 2 was selected, which is used as a general discrete-time transfer function Z {z) with the z-transformed test current / 2 (-2) as input and the z-transformed terminal voltage V2 (z) as output: V2 (z) b0 + biz 1 + b2z 2
    (3)
    Printed: 25-05-2012 E014.1 10 2012/50201
    AV-3480 AT
    The free parameters of the transfer function are stored in the parameter vectors θα - | θ | a2 and 8b = jt> 0 bi.
    This overtone function with the control normal form is to be put into an equivalent state representation: 0 1 0 ®Lfc + 1 - a2 - oi 1 S. V / N, 'h k Αχ. Bl - ^ 62 ~ ^ 2¾ bi - ai6o] 'X ^ k 1 ^ (1 1 «2k (4) (5) C - l
    Now the unknown parameters have to be determined by means of an identification method. In the following, a possible method will be described by way of example.
    With the aid of a regulator based on the model of the battery tester without a load model, the test object is subjected to a load current excitation sequence. The spamnmg and current values recorded in the meantime are combined in the measurement data vectors i2 (input data) and v-2 (output data). Let N be the number of elements of the two vectors (= length of the excitation sequence in sampling steps).
    As a starting point, a rough estimate of model parameters is generated with the tool ident.m from the Matlab identification toolbox. First of all, the respective mean value is subtracted from the measured data vectors. In addition, the data is filtered with a low-pass filter to eliminate high-frequency interference. Gut the tool is used around the parameter vectors θα. βι for an ARX model with denominator and counter grade 2 to estimate.
    The estimated parameter set can then be used to simulate the model's response v-2 to the measured current profile i2 and to compare it with the measured profile V2. If a large difference between the measured and simulated voltage curve is detected, the parameters can be improved by means of optimization.
    The aim of the optimization is to minimize the sum of the error squares J as a function of the Modcllpa-rametem θ ", 6b: min J (0o, 0i,)
    With J (9a, eb) = e (0a, 0fc) T · e (9 (l, eb) / N and e (6u, 6b) = v2 v2 (0a, eb) where ν2 (θα, θι) is the respective simulation result for the parameters θ ", 6b with the input signal i2.
    Alternatively, other identification methods (eg, output-error methods (OE)) that provide a model with the structure described above can also be used.
    The two previously described subnodes still have to be grouped together to form a model of the re-alignment route.
    Printed: 25-05-2012 E014.1 10 2012/50201 7
    AV-3480 AT
    For this an extended state vector is composed of the state vectors of the submodels X j ;. = used. By connecting the output v'2 *. = Cd - ari of the battery test diode with the input * 2fc of the load model and the connection of the output = Cl · Xhit I i> n · «2jt of the load model with the fault input -1.¾ * of the battery tester results in the following extended state'space mode! 1: t EdbQC <x BbCd EaCi Ai Xdk au -f B d 0 dkVn -Ϊ EA 0 A B E t'2k k Xhk V'lk
    asd / t + i
    Xi.k + (G)
    This extended model can also be created in Matlab with the cormect.m command.
    The illustrated model was used for the experiments described below. However, it should be noted that this model applies only approximately to the case bo φ 0. A better description of the behavior of the extended controlled system could be achieved if f> o were already being tested in the continuous-time model of the battery. Because of the extension of the state vector, both the controller and the observer must be designed for the extended model.
    The described method was tested on a pilot plant. There was no traction battery available for the test, so a battery simulator was used as the test load. It should be noted that the battery simulator was operated with a relatively slow regulator as a constant voltage source. Its dynamic behavior differs significantly from that of a battery. Defiance Cathedral at least the principle feasibility could be shown. The upper diagram of FIG. 6 shows the PRB sequence, the middle the regulated test current and the lower the resulting terminal voltage.
    As can be seen from FIG. 7, which represents the simulated output voltage for the parameters which, for example, is determined by the Ma t Lab command, .mu., The system behavior is thus insufficiently reproduced. The parameters used here served as starting values for the optimization of the parameters.
    After optimization of the parameters, however, the simulated system response results. of FIG. 8, wherein for the simulated Ausgangspamiung a much better Üzuststim-mnng could be achieved with the measurement data. The parameters used here were used to design the controller with "load model".
    Finally, FIG. 9 shows the measured response of the test current to a nominal value when the controller is used without (blue) and with. (red) load model. The regulator with load model
    Printed: 25-05-2012 E014.1 10 2012/50201
    g AV-3480 AT reaches the setpoint faster and the overshoot is lower than the controller without load model. However, after the first increase of the current, a short swing occurs.
    The described method offers the possibility of expanding a model predictive current regulator of a battery tester by a model of the load and thereby improving the dynamics of the current regulation for a specific test object. Due to the use of a generic load model, the application is not limited to batteries but can also be applied to other loads,
    Preferably, the model parameters are continuously estimated during ongoing operations (for example with Reenrsive Least Squares (R.LS)) if the dynamics of the load change too much during operation. Also, the controller is then constantly re-designed with the variable parameters at runtime.
    权利要求:
    Claims (8)
    [1]
    Printed: 25-05-2012 E014.1 10 2012/50201 9 AV-3480 AT Claims 1. A method for testing electrical energy storage systems for propulsion of vehicles, wherein the load current of the energy storage system by means of a control circuit according to a predetermined Tcstzyklen time-varying reference current preferably without delay time nacligeführt, characterized in that the control loop is created by means of a moriellba.sierten ReglercnurfsVerfahrens, in which in the model of the controlled system, a model of the impedance of the energy storage system is integrated.
    [2]
    A method according to claim 1, characterized in that the parameters for a generic model of the battery impedance are identified by at least one short excitation sequence and measurement of the resulting values of current and voltage.
    [3]
    3. Apparatus for testing electrical energy storage systems for driving vehicles, with a control circuit for tracking the load current of the energy storage system according to predetermined test cycles after a time-varying reference current possible without delay time, characterized in that realized in the control loop a modellbasier-te and in the Model is a model of battery impedance integrated.
    [4]
    4. Apparatus according to claim 3, characterized in that a dependent of the operating point of the battery model of the battery impedance is involved.
    [5]
    5. Apparatus according to claim 3, characterized in that a dependent of the state of charge of the battery model of the battery impedance is involved.
    [6]
    6. The device according to claim 3, characterized in that a dependent of the age of the battery model of the battery impedance is involved.
    [7]
    7. Device according to one of claims 3 to 6, characterized in that in the control loop, a model-based predictive control is realized.
    [8]
    8. Device according to one of claims 3 to 7, characterized in that the model of the battery impedance is shown as a transfer function 2nd or higher order.
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