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IEEE Vehicle Power and Propulsion Conference

Spreading E-Mobility Everywhere


October 27-30, 2014 Coimbra, Portugal http://www.vppc2014.org

Online SOC estimation of Li-FePO4 batteries through


a new fuzzy rule-based recursive filter with
feedback of the heat flow rate

Luciano Snchez1, Ins Couso2, Juan Carlos Viera3

1 Dpto. Informtica, Univ. Oviedo, Spain


2 Depto. Estadstica e I. O. y D. M., Univ. Oviedo, Spain
3 Depto. Ingeniera Elctrica, Electrnica, C. y S., Univ. Oviedo, Spain
Outline IEEE-VPPC14

1. Summary

2. Introduction
a. Recursive filters
b. Fuzzy models of the Luenberger gain

3. Battery and sensor model


a. Semi-physical models: differential equations-based model with intelligent blocks
b. Equivalent circuit model of a LiFePO4 battery
c. Dynamics of the battery temperature

4. Fuzzy observer
a. Electrochemical processes during the discharge
b. Thermal effects in the prediction step
c. Learning the fuzzy observer

5. Numerical results
a. Open loop accuracy of the model
b. Linear filter
c. Fuzzy filter

6. Concluding remarks and future work


Summary IEEE-VPPC14

New method for State of


Charge estimation of
LiFePO4 batteries through
recursive filtering

Novel battery model that


predicts battery voltage
and temperature

Feedback of the heat flow


ratio shortens the time
needed to reach a correct
SoC

5 times faster than linear


filters with feedback of the
cell voltaje error
Outline IEEE-VPPC14

1. Summary

2. Introduction
a. Recursive filters
b. Fuzzy models of the Luenberger gain

3. Battery and sensor model


a. Semi-physical models: differential equations-based model with intelligent blocks
b. Equivalent circuit model of a LiFePO4 battery
c. Dynamics of the battery temperature

4. Fuzzy observer
a. Electrochemical processes during the discharge
b. Thermal effects in the prediction step
c. Learning the fuzzy observer

5. Numerical results
a. Open loop accuracy of the model
b. Linear filter
c. Fuzzy filter

6. Concluding remarks and future work


Recursive filters IEEE-VPPC14

SOC estimation: discharge tests,


ampere hour counting, properties of
electrolytes, OCV, intelligent models,
impedance spectrocopy, internal
resistance, Kalman filters, etc.

Nonlinearities are solved with EKF,


UKF or particle filters.

Recursive filters monitor the difference


between the observable outputs and the
predictions, and multiply it by

o A constant gain (Luenberger observer)

o A linear transformation (Kalman filter)

o A nonlinear transformation (Fuzzy rule-


based filter)
Fuzzy models of the Luenberger gain IEEE-VPPC14

LiFePO4 batteries have an almost flat OCV vs. SOC:


o If the gain of the voltage-based filter is set to a high value,
the closed loop behavior is unstable
o If the gain is low, the convergence to the true state of
charge is slow
The dominant electrochemical reactions at the
different charge/discharge states have a characteristic
thermal balance:
o The gain of the recursive filter can be much higher if both
voltage and heat flow rate are monitored
o The dependence is nonlinear: a set of fuzzy rules is used
o Rules are learnt with genetic algorithms

If voltage error is SMALL and heat flow error


is HIGH then gain is MEDIUM
Outline IEEE-VPPC14

1. Summary

2. Introduction
a. Recursive filters
b. Fuzzy models of the Luenberger gain

3. Battery and sensor model


a. Semi-physical models: differential equations-based model with intelligent blocks
b. Equivalent circuit model of a LiFePO4 battery
c. Dynamics of the battery temperature

4. Fuzzy observer
a. Electrochemical processes during the discharge
b. Thermal effects in the prediction step
c. Learning the fuzzy observer

5. Numerical results
a. Open loop accuracy of the model
b. Linear filter
c. Fuzzy filter

6. Concluding remarks and future work


Equivalent circuit model IEEE-VPPC14

Variable Effective Capacity

Variable OCV
Dynamics of the temperature IEEE-VPPC14

Heat sources/sinks: Joule Joule Thermal inertia


effect (proportional to the
square of the current),
entropic changes (nonlinear
dependence with current,
with sign)
Entropic changes
Thermal inertia: First order
LTI system (Specific heat,
thermal conductivity)

Nonlinearities in the
entropic changes are
modelled with fuzzy rules
Semi-physical model of the battery IEEE-VPPC14
Semi-physical model of the battery IEEE-VPPC14

Good adjust for all values of


SOC

Voltage changes at the


resting periods are well
accounted for

Does not require custom


learning data (the model in
the left was learned from
data sampled at cycling
tests and tested in a
Dynamic Stress Test )

Low frequency model


(<1Hz)
Outline IEEE-VPPC14

1. Summary

2. Introduction
a. Recursive filters
b. Fuzzy models of the Luenberger gain

3. Battery and sensor model


a. Semi-physical models: differential equations-based model with intelligent blocks
b. Equivalent circuit model of a LiFePO4 battery
c. Dynamics of the battery temperature

4. Fuzzy observer
a. Electrochemical processes during the discharge
b. Thermal effects in the prediction step
c. Learning the fuzzy observer

5. Numerical results
a. Open loop accuracy of the model
b. Linear filter
c. Fuzzy filter

6. Concluding remarks and future work


Electrochemical processes during discharge IEEE-VPPC14

Voltage and heat flow rate plotted


against SOC during a discharge cycle
of 100Ah, single cell LiFePO4 battery

Large differences in heat flow rate for


a flat voltage

If the influence of the temperature is


regarded as stochastic noise, the SOC
estimator would be slowed down

The temperature will be accounted


for in the filter by feeding back the
differences between measured and
modelled Heat Flow rates
Thermal effects in the prediction step IEEE-VPPC14

The state values of the model are Ceff, vCeff and


Tbatt

The heat flow error is obtained from the measured


battery temperature, the predicted temperature, the
estimated specific heat and the estimated thermal
conductance

The voltage error is obtained substracting the


measured voltage from vCeff + iB R1

The antecedents of the rule comprise the linguistic


terms POSITIVE, ZERO and NEGATIVE
Learning the fuzzy observer IEEE-VPPC14

Each set of rules is assigned a quality index by evaluating the filter


in a representative set of trajectories.

A random perturbation is added to the knowledge about the initial


state thus the convergence for both small and large deviations is
considered.

A genetic optimization algorithm minimizes the squared error of the


state-space estimations.

The actual SOC is assumed known in the training stage.


Outline IEEE-VPPC14

1. Summary

2. Introduction
a. Recursive filters
b. Fuzzy models of the Luenberger gain

3. Battery and sensor model


a. Semi-physical models: differential equations-based model with intelligent blocks
b. Equivalent circuit model of a LiFePO4 battery
c. Dynamics of the battery temperature

4. Fuzzy observer
a. Electrochemical processes during the discharge
b. Thermal effects in the prediction step
c. Learning the fuzzy observer

5. Numerical results
a. Open loop accuracy of the model
b. Linear filter
c. Fuzzy filter

6. Concluding remarks and future work


Open loop accuracy of the model IEEE-VPPC14

Left: known initial state. Right: 25% deviation, open loop


Linear filter IEEE-VPPC14

25% deviation, closed loop with voltage feedback. Left: Linear. Right: Fuzzy
Fuzzy filter IEEE-VPPC14

25% deviation, closed loop with voltage and heat flow rate feedback. Left:
Linear. Right: Fuzzy
Fuzzy filter IEEE-VPPC14

Detail of the first hour: 25% deviation, closed loop with voltage feedback. Left:
Linear. Right: Fuzzy
Fuzzy filter IEEE-VPPC14

Detail of the first hour: 25% deviation, closed loop with voltage and heat flow
rate feedback. Left: Linear. Right: Fuzzy
Outline IEEE-VPPC14

1. Summary

2. Introduction
a. Recursive filters
b. Fuzzy models of the Luenberger gain

3. Battery and sensor model


a. Semi-physical models: differential equations-based model with intelligent blocks
b. Equivalent circuit model of a LiFePO4 battery
c. Dynamics of the battery temperature

4. Fuzzy observer
a. Electrochemical processes during the discharge
b. Thermal effects in the prediction step
c. Learning the fuzzy observer

5. Numerical results
a. Open loop accuracy of the model
b. Linear filter
c. Fuzzy filter

6. Concluding remarks and future work


Concluding remarks and future work IEEE-VPPC14

a) LiFePO4 batteries exhibit a relatively flat voltage charge curve for


a wide range of states, thus feeding back the voltage error of a
model is prone to unstabilities. The gain is limited and the speed
of the filter slowed down for a voltage-only setup.

b) The electrochemical properties of the battery help to narrow down


the true state of the battery.

c) A combination of voltage and heat flow rate dramatically improves


the speed of the recursive filter.

d) The filter must be nonlinear for properly dealing with the rest stage
of the battery.

e) A nonlinear model is needed, and computational intelligence


techniques were used for learning the model and the fuzzy rule-
based recursive filter

f) Computer simulations were presented. When the actual system is


implemented in a BMS the results may differ.

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