Abstract:
Methods are described for determining the state of charge and/or the operability of a charge accumulator using estimates. The information, which is obtained at a least two different operating points or operating conditions of the energy accumulator, is taken into account in the estimates. The estimates are carried out with regard to an instantaneous and/or future state of charge and/or an instantaneous and/or future operability of the charge accumulator. Different methods are executed, depending on the operating point or operating condition. The methods may be run in a processor of a control unit.

Description:
BACKGROUND INFORMATION 
     Different methods for determining the state of charge and operability of electric energy accumulators, in particular lead acid batteries customary in the automatic industry, are known from the related art. In most of the methods, the state of charge of lead acid batteries is determined from the open-circuit voltage measured in the idling state, since the open-circuit voltage is proportional to the acid density in a broad range of states of charge (open-circuit voltage method). For the purpose of estimating the operability or load capacity of the energy accumulator with regard to a predetermined current consumption or power consumption, the internal resistance, which in starter batteries is ideally computed from the difference between the measured voltage values divided by the difference between the measured current values during the high current load at engine start, is needed in addition to the open-circuit voltage or the state of charge. A method used for determining the battery charge in that manner is known from German Published Patent Application No. 198 47 648 for example. 
     Continuous information and the state of charge and the operability of energy accumulators is required when safety-critical electrical consumers are used in motor vehicles, e.g., steer-by-wire or brake-by-wire systems, but also for battery systems and consumer management systems, so that the open-circuit voltage and the state of charge must also be determined during charging and/or discharging phases, and the internal resistance also without high current load. For this purpose, the state of charge is mostly extrapolated via the current integral using charge balancing and the internal resistance is mostly extrapolated via fixed predefined characteristic curves as a function of state of charge and battery temperature. However, during extended operation of the energy accumulator without idle phases or high current load, as well as due to the aging effects not taken into account in the characteristic curves, this method results in errors in the estimation of the state of charge and operability. 
     To prevent these errors, the related art describes model-based estimation methods which constantly adjust the state variables and parameters of a mathematical model of the energy accumulator to the real state variables and parameters by continuously measuring voltage, current, and temperature. Such model-based estimation methods are known from German Published Patent Application No. 199 59 019 for example. In the known methods, state of charge and operability of the energy accumulator are calculated from state variables and parameters so determined. The disadvantage of these methods is the fact that in order to cover the entire operating range of the energy accumulator with regard to discharging-/charging current range, state of charge, temperature, as well as aging effects, a complex, and as a rule non-linear, model of the energy accumulator is required, having many state variables and parameters to be estimated and which may only be analyzed at a great expense. 
     Alternatively simpler models covering only individuals operating points of the battery, e.g., only the discharging operation, have advantages; however, they allow an accurate determination of state of charge and operability only at these operating points. Such simple models are described in German Published Patent Application No. 100 56 969 for example. 
     SUMMARY OF THE INVENTION 
     An object of the present invention is to make the most accurate determination of the state of charge and the operability of a charge accumulator possible over a large operating range without great expense. By using a weighted correction of the state variables and parameters estimated from at least two methods that are active at two different operating points via continuous measurement of voltage, current, and temperature, the method according to the present invention makes a more accurate estimation of the current and future state of charge and operability of the energy accumulator, in particular a motor vehicle lead battery, possible over a large operating range compared to the individual methods. 
     The method according to the present invention combines the advantage of the open-circuit voltage methods, i.e., the accurate determination of the open-circuit voltage, i.e., the state of charge in phases of the battery without load and the internal resistance at high current load (e.g., engine start), and the advantage of simple model-based estimation methods using which open-circuit voltage and internal resistance, as well as other optional state variables and parameters may be estimated, even during operation without idling or high current loads, thereby, compared to the individual methods, enabling a more accurate determination of the state of charge and the operability of the battery over a large operating range without complex battery models. 
     For calculating the state of change and the operability, the minimum required variables open-circuit voltage and internal assistance, as well as other optional state variables and parameters, are calculated in an advantageous manner from the values of the individual methods by weighted correction, their weighting being selected according to their reliability at the current operating point of the battery. 
     Predictions of the future operability are possible via extrapolation of the currently estimated state variables and parameters for state of charge and temperature to a later point in time, so that, the example, the capability of the battery to start a vehicle parked for several days may also be estimated. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  shows a battery state detection system according to the present invention. 
         FIG. 2  shows a predictor model. 
     
    
    
     DETAILED DESCRIPTION 
       FIG. 1  shows the basic structure of the battery state detection system using two state estimation and parameter estimation methods active at two different operating points of the battery. The number of the methods used is not necessarily limited to two; however, at least one method is model-based, i.e., the state variables and parameters of a battery model are adapted to the real values, e.g., via a recursive least-square estimator, e.g., an extended Kalman filter. 
     State variables  z (e.g., open-circuit voltage U 00 ) and parameters  p (e.g., internal resistance R i ) required for determining the state of charge and the operability of the battery are obtained from continuous measurement of battery voltage U Batt , battery current I Batt , and battery temperature T Batt  by the state and parameter estimating system. The state of charge calculation determines state of charge soc from vector  z  of the state variables and from the instantaneous battery temperature T Batt , while the instantaneous operability of the battery is estimated via voltage response U Batt,pred (t) of a battery model initialized using state vector  z  and parameter vector  p  to a predefined load current profile I Load (t). 
     If the operability of the battery at a future point in time is of interest, e.g., the starting capability is queried after the vehicle was parked for several days, then instantaneous variables  z  and parameters  p , as well as instantaneous battery temperature T Batt  are extrapolated to values  z ′,  p ′, and T Batt ′ to be expected at the future point in time. In order to pre-estimate the reduction in the state of charge as a function of the parking time of the vehicle, the variation of closed-circuit current I Rest (t) in the parked vehicle must be known. 
     Using method A, here referred to as open-circuit voltage method, open-circuit voltage U 00  is determined during no-load phases of the battery and internal resistance R 1  of the battery is determined during a high current load (e.g., engine start). In addition, further variables, e.g., (acid) capacity Q 0  may be derived from measured variables current I Batt , voltage U Batt , and temperature T Batt , or calculated variables U 00  and R i . The state variables determined by method A are combined in state vector  z   A , and the parameters are combined in vector  p   A . Method B is model-based and also estimates at least open-circuit voltage U 00  and internal resistance R i , however, compared to method A, also in other or additional operating stages of the battery (e.g., discharge). The state variables determined by method B are combined in state vector  z   B , and the parameters are combined in vector  p   B . 
     In each calculation step k, state vector  z   k+1  is calculated by using weighted differences  z   A,K − z   k ,  z   B,k − z   k  and parameter vector  p   k+1  is calculated by using weighted differences  p   A,k − p   k ,  p   B,k − p   k  starting with starting values  z   k=0 = z   0  and  p   k=0 = p   0 :
 
   z     k+1   = z     k   + G     z,A *(   z     A,k   − z     k )+   G     z,B *( z   B,k   − z     k ) 
 
   p     k+1   = p     k   + G     p,A *(   p     A,k   − p     k )+ G   p,B *( p   B,k   − p     k ) 
 
     Weighting matrixes  G   z,A ,  G   z,B ,  G   p,A , and  G   p,B  are square diagonal matrixes whose main diagonal elements g z,A,i=1 . . . n , g z,B,i=l . . . n , g p,A,j=1 . . .m , g z,B,j=l . . . m  specify the degree of correction of the n state variables and the m parameters and must fulfill the following requirements, so that the sequences  z   k=0 , z   k=1 , z   k=2  . . . and  p   k=0 , p   k=1 , p   k=2  . . . converge:
 
 g   z,A,i   +g   z,B,i ≦1,  i= 1  . . . n  
 
 g   p,A,j   +g   p,B,j ≦1,  j= 1  . . . m  
 
     The weightings are selected in such a way that state variables and parameters which at the instantaneous operating point are more accurately determined by using one method than the other, contribute more to the correction. For example, the estimated variables of the model-based method may flow into the correction only when the estimating algorithm has become stable, when the estimated variables are uniquely identifiable (observability), and when the battery operates at points which are also described by the underlying model (e.g., discharge). In all other cases the corresponding weightings must be set g z,B,i  and g p,Bj =0. 
     An example of a particular variant of an embodiment of the battery state of charge detection for predicting the operability of lead batteries in motor vehicles is described in the following: 
     Predictor Model 
     For estimating the operability of a lead battery under short-time load (on the order of 10 sec) using currents on the order of I Load ≦−100A (counting direction I&lt;0A for discharge) as it typically occurs, e.g., in the operation of electric braking and steering systems, as well as at engine start in motor vehicles. The following simple predictor model, illustrated in  FIG. 2 , may be used. 
     Using the equivalent diagram components:
         I Load =predefined current for which operability is to be tested   U 00 =open-circuit voltage   R i =ohmic internal resistance   Diode=non-linear resistance of the crossover polarization   U Ohm =R i *I Load =ohmic voltage drop at predefined current profile I Load      U D =f(I Load , T batt )=characteristic curve of the stationary crossover voltage drop at predefined current profile I Load  and battery temperature T batt          

     Formula determined from measurements:
 
 U   D ( I   Load   ,U   D0 )= U   D0 *1 n ( I   Load /(−1 A )), I   Load &lt;0 A  
 
using the temperature-dependent crossover parameter:
 
 U   D0 ( T   Batt )=4.97 e− 7*( T   Batt /° C.) 3 −4.87 e −5*( T   Batt /° C.) 2 +1.82 e− 3*( T   Batt /° C.) . . . −131 e −1 
 
     U Batt,pred =U 00 +R i *I Load +U D (I Load ,U D0 )=predicted voltage response for battery current I Load    
     The following prerequisites must be met for the applicability of the predictor model:
         the discharge due to the predefined load profile I Load (t) is negligible compared to the battery capacity, i.e., open-circuit voltage U 00  may be assumed to be constant,   during the load with L Load (t), the crossover voltage becomes stabilized at its steady-state final value predefined by characteristic curve U D =f(I Load ,T batt ), i.e., the load is applied sufficiently long and is sufficiently high (time constant of U D ˜1/I Load ),   the concentration overvoltage, not considered in the mode, which is caused by acid density differences in the battery, is negligible,   charges which are possibly stored in additional capacitances (e.g., double layer capacitance between electrodes and electrolyte) outside the actual battery capacity are not considered (worst case scenario).       

     These prerequisites are met for the described load in the state of charge range of soc&gt;approximately 30% and for battery temperatures of T Batt &gt;approximately 0° C., as well as soc&gt;approximately 50% and T Batt &gt;approximately 0° C. 
     State variables and parameters are determined on the basis of the following considerations: 
     State variable U 00 , as well as parameters R i  and U D0  of the predictor model, are determined by using two different methods: 
     Method A determines U 00,A  from measurements of the idling voltage an unloaded battery and R i,A  by analyzing the quotient of differences of the voltage and current values measured at engine start, while crossover parameter U D0,A  is not estimated by method A but rather calculated via the above-mentioned characteristic curve. 
     In addition, method A determines the battery (acid) capacity from two open-circuit voltage determinations U 00,A1  and U 00,A2 , as well as the current integral (charge balance)q=∫I Batt (t)dt:
 
 Q   0,A   =q* ( U   00,max (25° C.)− U   00,min (25° C.)/( U   00,A,2 (25° C.)− U   00,A,1 (25° C.) 
 
where U 00,max =open-circuit voltage of the fully charged battery and U 00,min =open-circuit voltage of the empty battery at T Batt =25° C.
 
     Using Q 0,A , current charge balance q k , and current battery temperature T Batt,k , method A tracks open-circuit voltage U D0,0 , determined during the idle phase, during operation in each time step k:
 
 U   00,A,k (25° C.)= U   00,A,0 (25° C.)+ q   k   /Q   0,A *( U   00,max (25° C.)− U   00,min (25° C.) 
 
 U   00,A,k   =U   00,A,k (25° C.)+ Tk   U00 *( T   Batt,k −25° C.),  Tk   U00 =1.38 e− 6V/° C. 
 
     Internal resistance R i,A,0 , determined at the start, is tracked in a similar manner during operation via a characteristic curve as a function of current open-circuit voltage U 00,A,k  and instantaneously measured battery temperature T Batt,k :
 
 R   i,k   =f ( R   i,A,0   ,U   00,A,k   ,T   Batt,k ) 
 
     By adjusting a suitable battery model in discharge range (I Batt &lt;0A), method B estimates open-circuit voltage U 00,B , internal resistance R i,B , as well as crossover parameter U D0,B , and battery capacity Q 0,B . The variables needed for determining the state of charge and operability are calculated from the state variables and parameters determined by methods A and B using a weighted correction; a constant sampling rate of 0.01 sec has been assumed for the individual time steps.
 
 U   00,k+1   =U   00,k   +g   U00,A *( U   00,A,k   −U   00,k )+ g   U00,B *(U 00,B,k   −U   00,k ) 
 
where
 
 U   00,0   =U   00,A,0   , g   U00,A =1 −|q   k   |/Q   0   , g   U00,B   =|q   k   |/Q   0  
 
i.e., with an increasing absolute value of charge balance |q k |, starting value U 00,0 =U 00,A,0  determined by method A from an idle phase is corrected to an increasing degree by value U 00,B,k  determining by method B during vehicle operation.
 
 R   i,k+1   =R   i,k   +g   Ri,A *( R   i,A,k   −R   i,k )+ g   Ri,B *( R   i,B,k   −R   i,k ) 
 
where
 
 R   i,0   =R   i,A,0   , g   Ri,A =0,  g   Ri,B =1. e −3 
 
i.e., starting value R i,0 =R i,A,0  determined by method A at engine start is corrected during vehicle operation to value R i,B,k  determined by method B using constant weighting g Ri,B =1.e−3.
 
 U   D0,k+1   =U   D0,k   +g   UD0,A *( U   D0,A,k   −U   D0,k )+ g   UD0.B *( U   D0,B,k   −U   D0,k ) 
 
where
 
 U   D0,0   =U   D0,A,0   , g   UD0,A =0,  g   UD0,B =1 .e −3 
 
i.e., crossover parameter U D0,A  predefined by method A via characteristic curve U D0 (T Batt ) is corrected to value U D0,B,k  estimated by method B during vehicle operation using constant weighting g UD0,B =1.e−3.
 
     Capacity Q 0  is not really needed for the prediction of operability; however, value Q 0,A,0  determined from idle phases by method A may be improved by values Q 0,B,k  estimated by method B during vehicle operation. Since the accuracy of Q 0,B,k  increases with increasing absolute value of charge balance |q k |, the weighting was selected proportional to this value
 
 Q   0,k+1   =Q   0,k   +g   Q0,A *( Q   0,A,k   −Q   0,k )+ g   Q0,B *( Q   0,B,k   −Q   0,k ) 
 
where
 
 Q   0,0   =Q   0,A,0   , g   Q0,A =0,  g   Q0,B =5 .e− 4* |q   k   |/Q   0,k  
 
     Calculation of the Instantaneous State of Charge: 
     Relative state of charge soc is calculated from instantaneously determined open-circuit voltage U 00  (state variable) and instantaneous battery temperature T Batt (measured variable):
 
 soc =( U   00 (25° C.)− U   00,min (25° C.))/( U   00,max (25° C.)− U   00,min (25° C.)) 
 
where
 
 U   00 (25° C.)= U   00   =Tk   U00 *( T   Batt −25° C.),  Tk   U00 =1.38 e− 6V/° C. U   00,max (25° C.)=
 
maximum value of the open-circuit voltage at room temperature and fully charged battery U 00,min (25° C.)=minimum value of the open-circuit voltage at room temperature and empty battery (after removal of charge Q 0 ).
 
Calculation of the Instantaneous Operability
 
     The instantaneous operability is determined by battery voltage U Batt,pred  under predefined load current I Load  calculated by using the predictor model, and the instantaneously estimated state variables and parameters (U 00 , R i , U D0 ):
 
 U   Batt,pred   =U   00   +R   i   *I   Load   +U   D ( I   Load   ,U   D0 ) 
 
     As the absolute measure for the operability of the energy accumulator (SOH=State of Health), the distance of the minimum value of the predicted battery voltage to a lower limit voltage U Batt,limit  at which the energy accumulator just about generates the power required for the considered user (e.g., electric steering and brake systems, starter, . . . ) may be used:
 
 SOH   abs   =min ( U   Batt,pred ) −U   Batt,limit  
 
     The relative measure is obtained by relating SOH abs  to the difference obtained in the most favorable case, i.e., for a new, fully charged battery and at high temperatures:
 
SOH rel =( minU   batt,pred )− U   batt/limit )/( U   Batt,pred,max   −U   batt,limit ) 
 
Calculation of Future Operability
 
     Future operability may be estimated by inserting the state variables (U 00 ′) and parameters (R i ′, U D0 ′), extrapolated to the future point in time with regard to battery temperature and state of charge, into the prediction equation. Temperature T Batt ′ to be expected may be determined by averaging the battery temperatures over the previous 10 to 14 days. For worst case scenarios, 10K are once more subtracted from this value. 
     Open-circuit voltage U 00 ′ to be expected after x days of parking of the vehicle is determined via the drop in the state of charge based on the discharge due to closed-circuit current I Rest :
 
 U   00 (25° C.)′= U   00 (25° C.)+ I   Rest   *x* 24h/ Q   0 *( U   00,max (25° C.)− U   00,min (25° C.)) 
 
 U   00   ′=U   00 (25° C.)′+ Tk   U00 *( T   Batt ′−25° C.), Tk   U00 =1.38 e −6V/° C. 
 
     Internal resistance R i ′ is extrapolated by using characteristic curve R i ′=f(R i ,U 00 ′,T Batt ′), while crossover parameter U D0 ′ is calculated via characteristic curve U D0 (T Batt ′).