CN112818507B - Dynamic capacity correction method in discharging process of BMS lithium battery of AGV intelligent storage robot - Google Patents
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Abstract
The invention provides a dynamic capacity correction method in a shallow discharging process of a ternary lithium battery of an AGV intelligent storage robot BMS, and belongs to the field of intelligent robots. The method solves the problems of larger error and poor reliability of the traditional lithium battery capacity calculation method. The method for correcting the dynamic capacity of the three-dimensional lithium battery in the shallow discharging process of the BMS intelligent storage robot comprises the steps of providing a method for correcting the SOC under the condition of minimum interruption time when the three-dimensional lithium battery AVG robot carries cargoes on site, giving full play to the sampling operation function of the BMS, providing a capacity correction method which comprises enabling the service life of the lithium battery to be longest and enabling the AGV to continuously and reliably work as a target, correcting the dynamic capacity by using a current adjustment factor in the discharging process, timely and accurately obtaining the residual capacity of the lithium battery pack, reducing the power failure rate of the AGV, and further increasing the service life of the battery pack under the condition of guaranteeing the calculation reliability of the BMS and the operation safety of the AGV. The invention has the advantages of reducing the power failure rate of the AGV and prolonging the service life of the battery pack.
Description
Technical Field
The invention belongs to the field of intelligent robots, and relates to a dynamic capacity correction method in a BMS lithium battery discharging process of an AGV intelligent storage robot.
Background
The current research results and operation experience show that the calculation of the residual capacity of the battery with the calibration of the residual capacity of the battery is still in the primary stage, the calculation condition is too simplified, the calibration is started only under the condition that the charge is fully filled or the discharge is fully emptied, and the calibration is performed in the discharging process, but the limitation condition of the calibration in the discharging process is too strict, the economic consideration on the AGV operation is insufficient, so the timeliness of the calibration in the discharging process cannot be ensured, and the SOC calculation method mostly adopts a coulomb integration method and an open circuit voltage method and the combination of the coulomb integration method and the open circuit voltage method, and has some defects, so that the SOC calculation condition is insufficient, the calculation is not accurate enough, the SOC calibration condition is too ideal due to the traditional battery application occasion, and the error of the traditional lithium battery capacity calculation method is larger and the reliability is poor.
According to the invention, an adjustment factor is applied to the AGV calculation SOC calibration of the lithium battery BMS, the AGV continuously and reliably works as a calibration target with the longest service life of the lithium battery, the estimated capacity variation of the dynamic discharge of the previous period is converted into the experimental capacity variation by adopting an iterative interpolation method, the new period residual capacity is calibrated by utilizing the adjustment factor, the accurate value of the corrected SOC of the BMS is obtained, the corrected and calculated BMS residual capacity is adopted by adopting the algorithm, the calibration can be carried out when the AGV normally works, the instantaneity and the reliability of the SOC calculation are ensured, and the effect of improving the operation efficiency is obvious.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a high-efficiency, accurate and reliable calculation method which can timely check the residual capacity of a lithium battery BMS (battery management system) comprising a ternary lithium battery when an AGV (automatic guided vehicle) operates.
The aim of the invention can be achieved by the following technical scheme: the method for correcting the dynamic capacity of the AGV intelligent storage robot BMS lithium battery in the discharging process is characterized by comprising the following steps of:
Firstly, constructing an AGV charging and discharging system structure containing a lithium battery BMS, wherein the constructed AGVBMS charging and discharging system structure mainly comprises the following 6 parts: the battery comprises a charge-discharge peripheral circuit system, a lithium battery module, a battery data acquisition module, a BMS chip, a display module, a data storage unit and a VCU unit;
Secondly, a battery sampling module model is established, the working voltage u and the current i of the lithium battery are measured and acquired by a voltage and current sampling circuit, and the calculated digital signals are transmitted to a BMS operation control chip through an analog acquisition circuit and an isolation circuit;
thirdly, a ternary lithium battery module model is established, and since the AGV is difficult to meet the lithium battery residual capacity calibration condition during operation, a current adjustment factor f (i) is increased on the basis of the original lithium battery model to adjust the dynamic calibration effect according to the discharge current, and the expression is as follows:
Fourth, establishing a BMS operation memory system model; based on an SOC table corresponding to the open-circuit voltage of the lithium battery, storing the measured voltage u into a BMS system memory in an SOC form of the residual capacity of the lithium battery, wherein the measured voltage u represents the capacity C m/mAH which should be provided at the moment, and the SOC table corresponding to the open-circuit voltage of the unit ternary lithium battery is shown as follows;
Fifthly, acquiring capacity OldR m before a period; before the first iteration, the capacity OldR m (0) before one cycle is directly obtained from the upper table by the measured voltage u (0) when the system is powered on because the system is reset and then cleared temporarily; directly taking the calculation result of the last iteration from the pre-period capacity after the second iteration: oldR m(n)＝NewRm (n);
Sixth, establishing a current period estimated capacity ER m; inquiring the table 1 by the measured voltage u through a table look-up method during discharging or static state, wherein OldR m(0)＝ERm (1) exists for the first period;
Seventh, calculating a periodic integration capacity CR m; according to the charge and discharge current i and the capacity OldR m (n) before the period of the lithium battery, calculating the capacity variation before the period is ended to obtain the period integral capacity:
eighth step, calculate the check term Measuring current and correcting the adjustment factor when each iteration is carried out, and carrying out the correction of the adjustment factor f (i n);
Ninth, the capacity OldR m before the period, the period integration capacity CR m and the check term capacity are calculated Adding to obtain the new period capacity after dynamic capacity correction, and outputting new period capacity NewR m; through the dynamic capacity correction, the correction capacity with smaller error in the same precision range in the dynamic operation process can be obtained, so that the correction capacity can more accurately reflect the current value of the SOC, and the AGV can make correct judgment under the efficient operation condition.
Compared with the prior art, the method for correcting the dynamic capacity in the discharging process of the lithium battery of the AGV intelligent storage robot gives play to the function of the measuring element in the BMS hardware circuit under the condition that the AGV intelligent storage robot continuously operates, and provides a capacity correcting method in the shallow discharging process of the lithium battery, and the periodic capacity is corrected by using the current adjusting factor of the lithium battery, so that the more accurate residual capacity of the lithium battery can be timely obtained; the high-efficiency, rapid and economic optimization method is provided, the potential of the ternary lithium battery is exerted more, the AGV can be guaranteed to judge the charging time in time, the service life of the lithium battery is prolonged, and the running cost of the AGV is the lowest. Through the dynamic capacity correction, on the basis of ensuring the economy of the AGV, safety production accidents such as heavy current ignition and sudden motor stop caused by nonlinear power failure of the battery are avoided, so that the popularization and the utilization of the ternary lithium battery in the field of new energy are facilitated.
Drawings
Fig. 1 is a schematic diagram of an AGV storage robot charge-discharge system architecture including ternary lithium batteries.
Fig. 2 is a schematic flow chart of dynamic capacity correction in the process of shallow charging and shallow discharging of the AGV storage robot containing the ternary lithium battery.
Fig. 3 is a schematic diagram of the main operation process of dynamic capacity correction when the lithium battery is shallow put.
Fig. 4 is a schematic diagram of the main operation process of dynamic capacity correction when the lithium battery is shallow put.
Detailed Description
The following are specific embodiments of the present invention and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1, 2, 3 and 4, the method for correcting the dynamic capacity of the AGV intelligent storage robot BMS in the discharging process of lithium batteries comprises the following steps:
step one, an AGV charging and discharging system structure containing a lithium battery BMS is constructed, and the constructed AGVBMS charging and discharging system structure mainly comprises the following 6 parts: the battery comprises a charge-discharge peripheral circuit system, a lithium battery module, a battery data acquisition module, a BMS chip, a display module, a data storage unit and a VCU unit;
Step two, a battery sampling module model is established, the working voltage u and the current i of the lithium battery are measured and acquired by a voltage and current sampling circuit, and the calculated digital signals are transmitted to a BMS operation control chip through an analog acquisition circuit and an isolation circuit through a sampling chip circuit;
step three, a ternary lithium battery module model is established, and since the AGV is difficult to meet the lithium battery residual capacity calibration condition during operation, a current adjustment factor f (i) is increased on the basis of the original lithium battery model to adjust the dynamic calibration effect according to the discharge current, and the expression is as follows: The current function curve of the adjusting factor of the 48V33AH ternary lithium battery pack is shown in figure 3;
Step four, a BMS operation display system model is established, the measured voltage u is stored into a BMS system memory in an SOC form of the residual capacity of the lithium battery based on an SOC table corresponding to the open circuit voltage of the lithium battery, the measured voltage u represents the capacity C m/mAH which should be provided at the moment, and the SOC table corresponding to the open circuit voltage of the unit ternary lithium battery is shown as follows;
Step five, acquiring capacity OldR m before a period; before the first iteration, the capacity OldR m (0) before one cycle is directly obtained from the upper table by the measured voltage u (0) when the system is powered on because the system is reset and then cleared temporarily; directly taking the calculation result of the last iteration from the pre-period capacity after the second iteration: oldR m(n)＝NewRm (n);
Step six, establishing a current period estimated capacity ER m; inquiring the table 1 by the measured voltage u through a table look-up method during discharging or static state, wherein OldR m(0)＝ERm (1) exists for the first period;
Step seven, calculating a periodic integration capacity CR m; according to the charge and discharge current i and the capacity OldR m (n) before the period of the lithium battery, calculating the capacity variation before the period is ended to obtain the period integral capacity:
Step eight, calculating a check term Measuring current and correcting the adjustment factor when each iteration is carried out, and carrying out the correction of the adjustment factor f (i n);
Step nine, the capacity OldR m before the period, the period integration capacity CR m and the capacity of the check item are calculated Adding to obtain the new period capacity after dynamic capacity correction, and outputting new period capacity NewR m; through the dynamic capacity correction, the correction capacity with smaller error in the same precision range in the dynamic operation process can be obtained, so that the correction capacity can more accurately reflect the current value of the SOC, and the AGV can make correct judgment under the efficient operation condition;
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (1)
- A dynamic capacity correction method in a discharging process of an AGV intelligent storage robot BMS lithium battery is characterized by comprising the following steps:Firstly, constructing an AGV charging and discharging system structure containing a lithium battery BMS, wherein the constructed AGVBMS charging and discharging system structure mainly comprises the following 6 parts: the battery comprises a charge-discharge peripheral circuit system, a lithium battery module, a battery data acquisition module, a BMS chip, a display module, a data storage unit and a VCU unit;Secondly, a battery sampling module model is established, the working voltage u and the current i of the lithium battery are measured and acquired by a voltage and current sampling circuit, and the calculated digital signals are transmitted to a BMS operation control chip through an analog acquisition circuit and an isolation circuit;thirdly, a ternary lithium battery module model is established, and since the AGV is difficult to meet the lithium battery residual capacity calibration condition during operation, a current adjustment factor f (i) is increased on the basis of the original lithium battery model to adjust the dynamic calibration effect according to the discharge current, and the expression is as follows:fourth, establishing a BMS operation memory system model; based on an SOC table corresponding to the open-circuit voltage of the lithium battery, storing the measured voltage u into a BMS system memory in an SOC form of the residual capacity of the lithium battery, representing the capacity C m/mAH which should be provided at the moment, and modeling by using an OCV_SOC table of a single lithium battery;Fifthly, acquiring capacity OldR m before a period; before the first iteration, the capacity OldR m (0) before one cycle is directly obtained from the upper table by the measured voltage u (0) when the system is powered on because the system is reset and then cleared temporarily; directly taking the calculation result of the last iteration from the pre-period capacity after the second iteration: oldR m(n)＝NewRm (n);Sixth, establishing a current period estimated capacity ER m; inquiring the table 1 by the measured voltage u through a table look-up method during discharging or static state, wherein OldR m(0)＝ERm (1) exists for the first period;Seventh, calculating a periodic integration capacity CR m; according to the charge and discharge current i and the capacity OldR m (n) before the period of the lithium battery, calculating the capacity variation before the period is ended to obtain the period integral capacity:eighth step, calculate the check term Measuring current and correcting the adjustment factor when each iteration is carried out, and carrying out the correction of the adjustment factor f (i n);Ninth, the capacity OldR m before the period, the period integration capacity CR m and the check term capacity are calculated Adding to obtain the new period capacity after dynamic capacity correction, and outputting new period capacity NewR m; through the dynamic capacity correction, the correction capacity with smaller error in the same precision range in the dynamic operation process can be obtained, so that the correction capacity can more accurately reflect the current value of the SOC, and the AGV can make correct judgment under the efficient operation condition.
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