一种基于H_∞观测器的电池荷电状态估计方法  

Battery State of Charge Estimation Based on H_∞ Observer

作　　者：张飞[1,2] 刘光军 房立金[4] 王洪光[1] 

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [2]中国科学院研究生院,北京100049 [3]加拿大瑞尔森大学航空航天工程系 [4]东北大学机械工程与自动化学院,沈阳110004

出　　处：《自动化与仪表》2010年第4期1-5,共5页Automation & Instrumentation

基　　金：国家863计划支持项目(2006AA04Z203);机器人学国家重点实验室基金项目(08A1201101)

摘　　要：文中提出一种基于H∞观测器电池荷电状态SOC估计方法。在传统电池SOC估计方法中,常常把电池开路电压OCV与SOC之间的关系看作是静态线性关系。实际上,电池OCV与SOC之间是随着电池周围环境变化而变化,是一种动态关系;因而如果将电池OCV与SOC之间看作是静态关系,可能导致较大SOC估计误差。根据电池OCV与SOC之间动态关系,将电池系统建模成一种非线性系统,随后设计一种H∞观测器估计电池SOC。在高压输电线路巡检机器人样机中进行了实验研究,实验结果验证了所提方法的有效性。This paper, a battery state of charge （SOC） estimation methods based on an H∞ observer is proposed. In conventional SOC estimation methods, it is assumed that the relationship between battery open circuit voltage open circuit voltage （OCV） and SOC is linear and static. However, the relationship is only piecewisely linear in practice and varies with the ambient environment. The large SOC estimation error can be resulted in with the static relationship. A battery is modeled as a nonlinear system, and an H∞ observer is designed to deal with the dynamic relationship between OCV and SOC. The gain of the designed observer is obtained by solving a Linear Matrix Inequality （LMI）. The effectiveness of the proposed method is verified on a robot prototype of power transmission line inspection. Experimental results show that the proposed method is effective and can estimate battery SOC accurately.

关 键 词：电池 荷电状态 观测器 高压线输电线路巡检机器人 

分 类 号：TP20[自动化与计算机技术—检测技术与自动化装置]