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CN112818507A - Dynamic capacity correction method for AGV intelligent storage robot BMS ternary lithium battery in shallow discharge process - Google Patents

Dynamic capacity correction method for AGV intelligent storage robot BMS ternary lithium battery in shallow discharge process Download PDF

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CN112818507A
CN112818507A CN202011604277.7A CN202011604277A CN112818507A CN 112818507 A CN112818507 A CN 112818507A CN 202011604277 A CN202011604277 A CN 202011604277A CN 112818507 A CN112818507 A CN 112818507A
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Abstract

The invention provides a dynamic capacity correction method for an AGV intelligent storage robot in a BMS ternary lithium battery shallow discharge process, and belongs to the field of intelligent robots. The method solves the problems of large error and poor reliability of the traditional lithium battery capacity calculation method. The method for correcting the dynamic capacity of the AGV intelligent storage robot in the BMS ternary lithium battery shallow discharge process provides a method for correcting the SOC under the condition of minimum interruption time when the AVG robot containing the ternary lithium battery carries goods on site, exerts the sampling operation function of the BMS, provides a capacity correction method which comprises the steps of prolonging the service life of the lithium battery for the longest time and taking the AGV as a target continuously and reliably, corrects the dynamic capacity by using a current adjustment factor in the discharge process, can timely and accurately obtain the residual capacity of the lithium battery pack and reduce the power utilization error rate of the AGV, and can prolong the service life of the battery pack under the condition of ensuring the calculation reliability of the BMS and the operation safety of the AGV. The method has the advantages of reducing the power utilization error rate of the AGV and prolonging the service life of the battery pack.

Description

Dynamic capacity correction method for AGV intelligent storage robot BMS ternary lithium battery in shallow discharge process
Technical Field
The invention belongs to the field of intelligent robots, and relates to a dynamic capacity correction method for an AGV intelligent storage robot in a BMS ternary lithium battery shallow discharge process.
Background
The current research results and operation experiences show that the calculation of the residual capacity of the battery containing the calibration of the residual capacity of the battery is still in a primary stage, the calculation conditions are over simplified, some calibration is started only under the condition that the charging is fully charged or the discharging is fully emptied, and some calibration is executed in the discharging process, although the condition that the calibration is executed in the discharging process is considered, the limiting condition of the calibration in the discharging process is too strict, and the economical consideration of the AGV operation is insufficient, so the timeliness of the calibration executed in the discharging process cannot be ensured.
Because the AGV powered by the lithium battery adopts a scheduling strategy which can complete various working actions with the highest efficiency by utilizing the service life of the battery, the SOC calibration of the lithium battery BMS at present has the defects of over-ideal calibration conditions, defects of a calibration SOC algorithm and the like, the method applies an adjustment factor to the SOC calibration calculation of the AGV of the lithium battery BMS, takes the longest service life of the lithium battery and the continuous and reliable work of the AGV as a calibration target, adopts an iterative interpolation method to convert the estimated capacity change of the dynamic discharge of the previous period into the experimental capacity change, utilizes the adjustment factor to calibrate the residual capacity of the new period, calculates the accurate value after the SOC is corrected by the BMS, adopts the algorithm to correct and calculate the residual capacity of the BMS, can calibrate when the AGV works normally, ensures the real-time performance and the reliability of the SOC calculation, and has obvious effect on improving the operation efficiency of the AGV, thereby providing a method which can dynamically calculate the residual capacity of the SOC of the BMS in real-time Popularization in the field of new energy and high-efficiency and reliable operation of the AGV have important guiding significance.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides an efficient, accurate and reliable calculation method, which can check the residual capacity of a lithium battery BMS (battery management system) including a ternary lithium battery in time when an AGV runs.
The purpose of the invention can be realized by the following technical scheme: a dynamic capacity correction method in a BMS ternary lithium battery shallow discharge process of an AGV intelligent storage robot is characterized by comprising the following steps:
the method comprises the following steps that firstly, 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 system comprises a charging and discharging peripheral circuit system, a lithium battery module, a battery data acquisition module, a BMS chip and display module, a data storage unit and a VCU unit;
secondly, establishing a battery sampling module model, measuring and collecting the working voltage u and the current i of the lithium battery by depending on a voltage and current sampling circuit, and finally transmitting the calculated digital signals to a BMS operation control chip by an analog collecting circuit, an isolating circuit and a sampling chip circuit;
thirdly, establishing a ternary lithium battery module model, wherein a current adjustment factor f (i) is added on the basis of the original lithium battery model to adjust the dynamic calibration effect according to the discharge current because the AGV is difficult to meet the calibration condition of the residual capacity of the lithium battery during operation, and the expression is as follows:
Figure BDA0002872544320000021
f (i) is not less than 10; the adjustment factor current function curve of the 48V33AH ternary lithium battery pack is shown in FIG. 3;
fourthly, establishing a BMS operation storage and display system model; based on lithium battery open circuit voltage correspondenceThe SOC meter stores the measured voltage u in the BMS system memory in the form of SOC of the residual capacity of the lithium battery, which represents the capacity C to be possessed at the momentmThe corresponding SOC table of the open circuit voltage of the unit ternary lithium battery is shown as follows;
Figure BDA0002872544320000031
fifthly, acquiring capacity before cycle OldRm(ii) a Before the first iteration, the system is reset and temporarily stored after power-on reset, so the capacity OldR before one period is zerom(0) Directly obtaining the voltage u (0) measured during power-on from the table; directly taking the last iteration calculation result from the capacity before the period after the second iteration: OldRm(n)＝NewRm(n)；
Sixthly, establishing the estimated capacity ER of the current periodm(ii) a At discharge or quiescent state, by looking up table 1 by measuring voltage u by table lookup method, for the first period there is OldRm(0)＝ERm(1)；
Seventh, calculating the period integral capacity CRm(ii) a According to the charging and discharging current i and the capacity before period OldR of the lithium batterym(n), calculating the capacity variation before the end of the period to obtain the period integral capacity:
Figure BDA0002872544320000032
eighth, calculating the check item
Figure BDA0002872544320000033
At each iteration, the current is measured and the adjustment factor is corrected, and the corrected adjustment factor f (i) is introducedn)；
The ninth step, the capacity before the period OldRmPeriodic integration capacity CRmVolume of check item
Figure BDA0002872544320000034
Adding to obtain new period capacity after dynamic capacity correction, and outputting new period capacity NewRm(ii) a By the above-mentioned dynamicsAnd the correction capacity with smaller error in the same precision range in the dynamic running process can be obtained by capacity correction, so that the correction capacity can more accurately reflect the current value of the SOC, and the AGV is ensured to make correct judgment under the efficient running condition.
Compared with the prior art, the method for correcting the dynamic capacity in the shallow discharge process of the AGV intelligent storage robot BMS ternary lithium battery has the advantages that under the condition that the AGV intelligent storage robot continuously operates, the function of a measuring element in a BMS hardware circuit is exerted, the capacity correction method in the shallow discharge process of the lithium battery is provided, the periodic capacity is corrected by using the current adjustment factor of the lithium battery, and more accurate residual capacity of the lithium battery can be obtained in time; the method is efficient, rapid and economical, potential of the ternary lithium battery is exerted more, the fact that the AGV can judge charging time in time can be guaranteed, meanwhile, the service life of the lithium battery is prolonged, and the running cost of the AGV is enabled to be the lowest. Through the dynamic capacity correction, on the basis of ensuring the economy of the AGV, the safety production accidents of large-current fire, sudden motor stop and the like 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 charging and discharging system structure of an AGV storage robot containing a ternary lithium battery.
FIG. 2 is a schematic diagram of a dynamic capacity correction process in a shallow charging and shallow discharging process of an AGV storage robot including a ternary lithium battery.
Fig. 3 is a schematic diagram of the main operation process of dynamic capacity correction in shallow discharge of a lithium battery.
Fig. 4 is a schematic diagram of the main operation process of dynamic capacity correction in shallow discharge of a lithium battery.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1, fig. 2, fig. 3 and fig. 4, the method for correcting the dynamic capacity of the AGV intelligent storage robot BMS during the shallow discharge of the ternary lithium battery includes the following steps:
step one, constructing an AGV charging and discharging system structure comprising a lithium battery BMS, wherein the constructed AGVBMS charging and discharging system structure mainly comprises the following 6 parts: the system comprises a charging and discharging peripheral circuit system, a lithium battery module, a battery data acquisition module, a BMS chip and display module, a data storage unit and a VCU unit;
step two, establishing a battery sampling module model, measuring and collecting the working voltage u and the current i of the lithium battery by depending on a voltage and current sampling circuit, and finally transmitting the calculated digital signals to a BMS operation control chip by an analog collecting circuit, an isolating circuit and a sampling chip circuit;
step three, establishing a ternary lithium battery module model, wherein a current adjustment factor f (i) is added on the basis of the original lithium battery model to adjust the dynamic calibration effect according to the discharge current because the AGV is difficult to meet the calibration condition of the residual capacity of the lithium battery during operation, and the expression is as follows:
Figure BDA0002872544320000051
f (i) is not less than 10; the adjustment factor current function curve of the 48V33AH ternary lithium battery pack is shown in FIG. 3;
step four, establishing a BMS operation storage and display system model, storing the measured voltage u to a BMS system memory in the form of SOC of the residual capacity of the lithium battery based on the SOC table corresponding to the open-circuit voltage of the lithium battery, and representing the capacity C which should be possessed at the momentmThe corresponding SOC table of the open circuit voltage of the unit ternary lithium battery is shown as follows;
Figure BDA0002872544320000052
step five, acquiring capacity OldR before periodm(ii) a Before the first iteration, the system is reset and temporarily stored after power-on reset, so the capacity OldR before one period is zerom(0) Directly obtaining the voltage u (0) measured during power-on from the table; directly taking the last iteration calculation result from the capacity before the period after the second iteration: OldRm(n)＝NewRm(n)；
Step six, establishing the estimated capacity ER of the current periodm(ii) a At discharge or static state throughThe lookup table is obtained by looking up table 1 for the measured voltage u, and the presence of OldR for the first periodm(0)＝ERm(1)；
Step seven, calculating the period integral capacity CRm(ii) a According to the charging and discharging current i and the capacity before period OldR of the lithium batterym(n), calculating the capacity variation before the end of the period to obtain the period integral capacity:
Figure BDA0002872544320000061
step eight, calculating check items
Figure BDA0002872544320000062
At each iteration, the current is measured and the adjustment factor is corrected, and the corrected adjustment factor f (i) is introducedn)；
Step nine, the capacity before period OldRmPeriodic integration capacity CRmVolume of check item
Figure BDA0002872544320000063
Adding to obtain new period capacity after dynamic capacity correction, and outputting new period capacity NewRm(ii) a Through the dynamic capacity correction, the correction capacity with smaller error in the same precision range in the dynamic running process can be obtained, so that the correction capacity can more accurately reflect the current value of the SOC, and the AGV is ensured to make correct judgment under the efficient running condition;
the specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Claims (1)

1. A dynamic capacity correction method in a BMS ternary lithium battery shallow discharge process of an AGV intelligent storage robot is characterized by comprising the following steps:
the method comprises the following steps that firstly, 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 system comprises a charging and discharging peripheral circuit system, a lithium battery module, a battery data acquisition module, a BMS chip and display module, a data storage unit and a VCU unit;
secondly, establishing a battery sampling module model, measuring and collecting the working voltage u and the current i of the lithium battery by depending on a voltage and current sampling circuit, and finally transmitting the calculated digital signals to a BMS operation control chip by an analog collecting circuit, an isolating circuit and a sampling chip circuit;
thirdly, establishing a ternary lithium battery module model, wherein a current adjustment factor f (i) is added on the basis of the original lithium battery model to adjust the dynamic calibration effect according to the discharge current because the AGV is difficult to meet the calibration condition of the residual capacity of the lithium battery during operation, and the expression is as follows:
Figure FDA0002872544310000011
f (i) is not less than 10; the adjustment factor current function curve of the 48V33AH ternary lithium battery pack is shown in FIG. 3;
fourthly, establishing a BMS operation storage and display system model; storing the measured voltage u into a BMS system memory in the form of SOC of the residual capacity of the lithium battery based on the SOC table corresponding to the open-circuit voltage of the lithium battery, wherein the SOC represents the capacity C which should be possessed at the momentmThe mAH is modeled by an OCV _ SOC table of a single lithium battery;
fifthly, acquiring capacity before cycle OldRm(ii) a Before the first iteration, the system is reset and temporarily stored after power-on reset, so the capacity OldR before one period is zerom(0) Directly obtaining the voltage u (0) measured during power-on from the table; directly taking the last iteration calculation result from the capacity before the period after the second iteration: OldRm(n)＝NewRm(n)；
Sixthly, establishing the estimated capacity ER of the current periodm(ii) a At discharge or quiescent state, by looking up table 1 by measuring voltage u by table lookup method, for the first period there is OldRm(0)＝ERm(1)；
Seventh, calculating the period integral capacity CRm(ii) a According to the charging and discharging current i and the cycle front capacity of the lithium batteryAmount OldRm(n), calculating the capacity variation before the end of the period to obtain the period integral capacity:
Figure FDA0002872544310000021
eighth, calculating the check item
Figure FDA0002872544310000022
At each iteration, the current is measured and the adjustment factor is corrected, and the corrected adjustment factor f (i) is introducedn)；
The ninth step, the capacity before the period OldRmPeriodic integration capacity CRmVolume of check item
Figure FDA0002872544310000023
Adding to obtain new period capacity after dynamic capacity correction, and outputting new period capacity NewRm(ii) a Through the dynamic capacity correction, the correction capacity with smaller error in the same precision range in the dynamic running process can be obtained, and the correction capacity can reflect the current value of the SOC more accurately, so that the AGV can make correct judgment under the efficient running condition.
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