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Observability
I. Introduction
SOC(t) =
Rt
I ( )d
t0 b
Q0
100.
(1)
(2)
Ib
1
1
1
+ Voc
Ib ,
Rd C
Rd C
C
1
1
1
= Vp
+ Voc
Ib ,
Rc C
Rc C
C
where
Vp Voc
=
Rb
= Vp
Vp Voc (3)
Vp > Voc
(4)
1
=
(Voc Vp ) /Rd Ib
C
= Vp Ib Rb
(5)
the system
z1 (t)
d
z2 (t)
dt z3 (t)
z4 (t)
z(t0 ) =
x20
0
0
0
x10
x30
x40
x50
1 Ib (t)
0
0
0
0
0
0
z1 (t)
0
0
z2 (t)
0 z3 (t)
0
z4 (t)
(8)
z1 (t)
z2 (t)
1 0 0 Ib (t)
y(t) =
z3 (t) .
z4 (t)
x1 = Vp ; x2 =
1
Voc
1
; x3 =
; x4 = ; x5 = Rb
Rd C
Rd C
C
(6)
=
=
=
=
=
=
x1 x2 + x3 Ib (t)x4
0
0
0
0
x1 Ib (t)x5
(7)
(11)
is invertible. If M (t0 , tf , x20 ) is invertible, then the initial state z(t0 ) is found by multiplying y(t) by T C T and
integrating to get (see [9])
Z
tf
t0
tf
211
11 12
Z tf
12 11
212
13 11 13 12
t0
Ib 11 Ib 12
t0
tf
t0
(12)
11 13
12 13
213
Ib 13
(19)
11 Ib
12 Ib
dt
13 Ib
Ib2
1
0 1 0 0 M 1 (t0 , tf , x20 )
x20
Z tf
T (t, t0 , x20 )C T (t)y(t)dt
(20)
t0
d11
dt
d12
dt
d13
dt
14
= 11 x20
(13)
= 12 x20 + 1
(14)
= 13 x20 Ib (t)
(15)
(16)
Voc
and
ij = ij , i = 2, 3, 4 and j = 1, ..., 4.
Then
11
0
(t, t0 , x20 ) =
0
0
12
1
0
0
13
0
1
0
0
0
0
1
(17)
lim
x30
tf t0 x20
1
0 1 0 0 M 1 (t0 , tf , x20 )
tf t0 x20
Z tf
T (t, t0 , x20 )C T (t)y(t)dt
(21)
lim
t0
(18)
2c bc2 + ax220
=
ex20 (tt0 )
x320
1
3 2c bx20 + ax220 2cx20 (t t0 )
x20
+bx220 (t t0 ) + cx220 (t t0 )2
side of (21).
Remark 2: The ratio x30 /x20 is independent of the value
of x20 only after ex20 (tf t0 ) 0 with the actual (but
unknown) value of x20 . Consequently, knowledge of the
order of magnitude of x20 is needed so that one can be
assured that ex20 (tf t0 ) 0 in the time interval [t0 , tf ].
80
60
40
20
-20
100
200
300
400
500
600
700
800
900
1000
Time (s)
Vb(t)
VOC(t)
14
tf t0
100
12
10
100
200
300
400
500
600
700
800
900
1000
Time (s)
Fig. 5. Battery terminal voltage Vb (t) and the estimated open circuit
voltage Voc (t) corresponding to the discharging current profile in
Figure 4.
160
140
120
100
80
60
40
20
-20
100
200
300
400
500
600
700
800
900
1000
Time (s)
Vb(t)
VOC(t)
40
35
30
25
20
15
10
100
200
300
400
500
600
700
800
900
1000
Time (s)
Fig. 7. Battery terminal voltage Vb (t) and the estimated open circuit
voltage Voc (t) corresponding to the discharging current profile of
Figure 6.
References
[1]
[2]
[3]
[4]
[5]
S. Pang, J. Farrell, J. Du, and M. Barth, Battery state-ofcharge estimation, in Proceedings of the American Control
Conference, vol. 2, pp. 16441649, June 2001.
H. L. Chan and D. Sutanto, A new battery model for use with
battery energy storage systems and electric vehicles power systems, in IEEE Power Engineering Society Winter Meeting,
2000, vol. 1, pp. 470475, January 2000.
B. Powell and T. Pilutti, Series Hybrid Dynamic Modeling and
Control Law Synthesis. Ford Scientific Research TR SR-93-201,
December 1993.
M. A. Casacca and Z. M. Salameh, Determination of leadacid battery capacity via mathematical modeling techniques,
IEEE Transactions on Energy Conversion, vol. 7, pp. 442446,
September 1992.
J. R. Miller, Development of equivalent circuit models for
batteries and electrochemical capacitors, in Proceedings of
14th Annual Battery Conference on Applications and Advances,