A method for estimating and dynamically adjusting filter gain applied to AGV car SOC

Abstract

The invention relates to a SOC estimated dynamic adjusting filtering gain method applied to an AGV vehicle. A filtering gain of an expanded Kalman filtering method is improved to a dynamic adjusting filtering gain so that a tracking effect of the expanded Kalman filtering method is effectively increased. In the invention, a special condition of the AGV vehicle is fully analyzed, and a reason why an ampere-hour integration method can not be used to accurately estimate a SOC value is pointed out; the expanded Kalman filtering method is provided to estimate a cell SOC value, aiming at a problem that a tracking effect of a traditional expanded Kalman filtering method is poor, the filtering gain is improved to a dynamic change gain, and real-time performance of an estimated SOC value is increased; and accuracy of the SOC value of the AGV vehicle is within 5% and a problem that SOC value estimation of the AGV vehicle is not accurate during engineering is effectively solved.

Description

technical field [0001] The invention belongs to the technical field of estimating the remaining capacity of an AGV vehicle battery, and in particular relates to a method for dynamically adjusting filter gain applied to AGV vehicle SOC estimation. Background technique [0002] Automatic guided vehicle (AGV) is an automated handling equipment, mainly used in industrial production. AGV vehicles generally use batteries as power sources. Accurate estimation of SOC in the AGV vehicle energy management system is crucial to ensure the efficient and safe operation of AGV vehicles, and at the same time avoid affecting the service life of AGV vehicle batteries due to overcharging or overdischarging . However, the remaining capacity of the battery is related to many factors, and the special working conditions of the AGV make the estimation of the SOC value of the battery complex and difficult to guarantee the accuracy. [0003] SOC estimation methods mainly include open circuit voltag...

AI Technical Summary

Problems solved by technology

[0006] In order to overcome the deficiencies in the prior art above, the purpose of the present invention is to improve the tracking effect of the extended Kalman filter method, and a method for dynamically adjusting the filter gain applied to the SOC estimation of AGV vehicles is designed, which effectively improves the extended Kalman filter. The tracking effect of the method solves the problem of inaccurate estimation of the remaining battery capacity of AGV vehicles

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