A Novel Adaptive Function—Dual Kalman Filtering Strategy for Online Battery Model Parameters and State of Charge Co-Estimation
Abstract
:1. Introduction
1.1. Motivation and Challenges
1.2. Literature Review
1.3. Contributions
1.4. Paper Organization
2. Circuit Modeling
2.1. Equivalent Model
2.2. State Space Description
2.3. Online Identification Based on FFRLS Algorithm
- Step 1
- According to the state equation of the model, the first order backward difference is used to obtain the discretized identification system seen in Equation (8).
- Step 2
- Calculate U(k):
- Step 3
- Assume the form of the autoregressive Equation (10) for the system:
- Step 4
- The coefficient matrix factorization is:
- Step 5
- The discrete parameter vector is:
3. SOC Estimation
3.1. SOC Estimation Based on AEKF
- (1)
- Update system noise and its covariance:
- (2)
- Update observation noise and its covariance:
- (3)
- Conduct an iterative calculation of ek and ρk:
3.2. SOC Estimation Based on F-UKF
3.3. Joint Estimation Algorithm
- (1)
- Conduct a static discharge experiment for the battery to obtain the expression showing the relationship between the OCV and the SOC.
- (2)
- Use the AEKF algorithm to estimate the SOCAEKF,k of the current battery based on the IR-PCM and state space formula created in Figure 1.
- (3)
- Judge whether the iterative step size is greater than the set value T. If it is, proceed to the next step.
- (4)
- Add a transfer function to conduct benign interference with the SOC value obtained through the AEKF algorithm. A new SOC value is obtained and recorded as SOCTF,k. SOCTF,k is used as the initial value for the F-UKF algorithm. The transfer function is shown in Equation (24).
- (5)
- Use F-UKF to estimate SOC again. Use the F-UKF algorithm to estimate SOCF-UEKF,k of the current battery. At the same time, the system continues to use the AEKF algorithm to estimate the current SOC value.
- (6)
- Judge whether the SOC estimation value obtained through F-UKF is normal. That is, if , proceed to the next step.
- (7)
- Implement weighted mutation for the estimation results of both AEKF and F-UKF to obtain the corrected SOCAF-DKF,k value, the mutation formula is shown in Equation (25).
- (8)
- Judge whether the SOC estimation value obtained through AF-DKF is normal. That is, if , proceed to the next step. If , judge the values of and , and determine the final value of the current SOC accordingly.
- (9)
- Use the FFRLS algorithm to perform online parameter identification and update the related matrix in the system state formula to prepare for the next iteration, based on the SOCAF-DKF value and the relationship between OCV and SOC.
4. Experiment Analysis
4.1. Experimental Platform
- Step 1
- Fully charge the LiB samples.
- Step 2
- Discharge the LiB samples to an SOC of 0.9 with 1 C current and let it stand for 40 min, use a high-precision internal resistance measuring instrument to measure the internal resistance of the LiB samples and record it.
- Step 3
- Discharge the battery again for another six minutes with a current of 1 C to reduce the LiB samples SOC to 0.8. Let it stand for 40 min.
- Step 4
- Repeat step 2 until the battery SOC drops to 0.1.
4.2. Modeling Verification
4.3. BBDST Working Condition Experimental Verification
- (1)
- With violent changes of the operating current, the errors of the three algorithms remain within 0.4% when the SOC value is between 0.9 and 1 and converge in a relatively proper manner on the theoretical SOC value.
- (2)
- With the further progress the BDDST working condition, the error of the AEKF algorithm starts to increase, with a maximum of 0.8%, when the SOC value is between 0.8 and 0.9, while those of F-UKF and AF-DKF are still within 0.4% and can still converge in a relatively proper manner on the theoretical SOC value. Besides, the value of AF-DKF is smaller than that of F-UKF. Due to the Taylor truncation error of the AEKF algorithm, the error of the algorithm increases in the later stage of the SOC estimation, and even leads to the divergence of the filtering. The iterative results of F-UKF algorithm and AF-DKF algorithm are globally optimal, and the possibility of filtering divergence is greatly reduced.
- (3)
- When SOC reduces to less than 0.8, the situation is as follows: the error of AEKF increases obviously, with a maximum of over 1.5%. With the progress of the experiment, there is a possibility of divergence for AEKF, indicating that it has relatively poor robustness. For F-UKF and AF-DKF, the SOC estimation fluctuates, with the maximum error of F-UKF increasing to 0.5% and that of AF-DKF still within 0.4%.
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Acknowledgments
Conflicts of Interest
Nomenclature
Notation | |
I | loop current |
UL | terminal voltage |
E | ideal voltage source |
Uoc | open circuit voltage |
Rp | polarization resistance |
Cp | polarization capacitance |
Rcd | internal resistance |
ε1 | Coulomb efficiency |
ε2 | temperature influence coefficient |
QN | battery capacity |
θ | coefficient vector |
φ | data vector |
ζ | parameter matrix |
λ | forgetting factor |
η | gain matrix of FFRLS |
Rn | mixed resistance value |
wk | process noise |
vk | observation noise |
KAEKF,k | gain matrix of AEKF |
forgetting factor of AEKF | |
innovation of AEKF | |
set value for the maximum current change | |
sampling time interval | |
weight factor of F-UKF | |
KF-UKF,k | gain matrix of F-UKF |
ϕ | dynamic function |
SOCTF,k | initial SOC value of F-UKF |
SOCAEKF,k | estimate of SOC under AEKF |
SOCF-UKF,k | estimate of SOC under F-UKF |
SOCAF-DKF,k | estimate of SOC under AF-DKF |
h(x) | random number following normal distribution |
weight factors of AF-DKF | |
Acronyms & abbreviations | |
EVs | electric vehicles |
BMS | battery management system |
SOC | State-of-charge |
EKF | extended Kalman filter |
PF | particle filter |
AI | artificial intelligence |
RC | resistance-capacitance |
UKF | unscented Kalman filter |
SOH | state-of-health |
RLS | recursive least square |
FFRLS | forgetting factor recursive least square |
AEKF | adaptive extended Kalman filter |
F-UKF | function—unscented Kalman filter |
AF-DKF | adaptive function—dual Kalman filter |
BBDST | Beijing bus dynamic stress test |
OCV | open circuit voltage |
SISO | single-input single-output |
ARMA | autoregressive moving average |
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SOC (%) | 1.0 | 0.9 | 0.8 | 0.7 | 0.6 | 0.5 | 0.4 | 0.3 | 0.2 | 0.1 |
---|---|---|---|---|---|---|---|---|---|---|
The charging resistance (mΩ) | 2.2344 | 2.5336 | 3.0396 | 3.0666 | 2.9143 | 2.7885 | 2.8026 | 2.9774 | 3.2390 | 3.3854 |
The discharge resistance (mΩ) | 4.1810 | 3.2314 | 2.9902 | 3.0702 | 3.2131 | 3.2917 | 3.3086 | 3.3975 | 3.8220 | 4.4957 |
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Fan, Y.; Shi, H.; Wang, S.; Fernandez, C.; Cao, W.; Huang, J. A Novel Adaptive Function—Dual Kalman Filtering Strategy for Online Battery Model Parameters and State of Charge Co-Estimation. Energies 2021, 14, 2268. https://doi.org/10.3390/en14082268
Fan Y, Shi H, Wang S, Fernandez C, Cao W, Huang J. A Novel Adaptive Function—Dual Kalman Filtering Strategy for Online Battery Model Parameters and State of Charge Co-Estimation. Energies. 2021; 14(8):2268. https://doi.org/10.3390/en14082268
Chicago/Turabian StyleFan, Yongcun, Haotian Shi, Shunli Wang, Carlos Fernandez, Wen Cao, and Junhan Huang. 2021. "A Novel Adaptive Function—Dual Kalman Filtering Strategy for Online Battery Model Parameters and State of Charge Co-Estimation" Energies 14, no. 8: 2268. https://doi.org/10.3390/en14082268