Article(id=1148106713552646480, tenantId=1146029695717560320, journalId=1146031787341344770, issueId=1148106709542892487, articleNumber=1003-3033(2025)04-0101-09, orderNo=null, doi=10.16265/j.cnki.issn1003-3033.2025.04.1104, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1732464000000, receivedDateStr=2024-11-25, revisedDate=1739635200000, revisedDateStr=2025-02-16, acceptedDate=null, acceptedDateStr=null, onlineDate=1751659571301, onlineDateStr=2025-07-05, pubDate=1745769600000, pubDateStr=2025-04-28, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1751659571301, onlineIssueDateStr=2025-07-05, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1751659571301, creator=13701087609, updateTime=1751659571301, updator=13701087609, issue=Issue{id=1148106709542892487, tenantId=1146029695717560320, journalId=1146031787341344770, year='2025', volume='35', issue='4', pageStart='1', pageEnd='264', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=1, specialIssue=0, createTime=1751659570346, creator=13701087609, updateTime=1757560692417, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1172857809499730113, tenantId=1146029695717560320, journalId=1146031787341344770, issueId=1148106709542892487, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1172857809499730114, tenantId=1146029695717560320, journalId=1146031787341344770, issueId=1148106709542892487, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=101, endPage=109, ext={EN=ArticleExt(id=1149757845786244028, articleId=1148106713552646480, tenantId=1146029695717560320, journalId=1146031787341344770, language=EN, title=Model fusion based comprehensive diagnosis of multi-fault modes for current sensor of battery packs, columnId=1149733269173878863, journalTitle=China Safety Science Journal, columnName=Safety engineering technology, runingTitle=null, highlight=null, articleAbstract=

To solve the issues that the bias,drift,gain,sticking and mutation fault modes of the current sensor in a battery pack are difficult to detect,recognize and evaluate,a comprehensive diagnosis strategy based on model fusion was proposed. A normal battery model with current as input and voltage as output (CIVO) was established. Based on the one-to-many relationship between the current sensor and batteries in the pack,the cumulative sum of the log-likelihood ratios of the residuals of the voltage of each cell was used as the detection index. A bias/drift fault model and a gain fault model with voltage as input and current as output (VICO) were established. Based on the residual variance of fault current,the model matching was performed on each fault mode. The quantitative evaluation of the bias,drift and gain modes were achieved by introducing a fault parameter to the fault model. The results show that based on CIVO,the five fault modes can be reliably detected. The sticking mode takes the shortest detection time and the drift mode requires the longest detection time,attributed to the slow-change characteristics of the fault current. Based on VICO,five fault modes can be accurately recognized. The quantitative evaluations of the bias,drift and gain modes are highly accurate,with the evaluation results of 0.396 2 A (experimental value 0.4 A),1.641 7×10-4 (experimental value 1.5×10-4) and 0.201 6 (experimental value 0.2),respectively.

, correspAuthors=Yongzhe KANG, authorNote=null, correspAuthorsNote=null, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=null, pdfFileSize=null, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, authorCompany=null, fund=null, authors=null, authorsList=Qifan YANG, Yongzhe KANG), CN=ArticleExt(id=1148106717243634390, articleId=1148106713552646480, tenantId=1146029695717560320, journalId=1146031787341344770, language=CN, title=基于模型融合的电池组电流传感器多故障模式综合诊断, columnId=1149733269727526997, journalTitle=中国安全科学学报, columnName=安全工程技术, runingTitle=null, highlight=null, articleAbstract=

为解决电池组电流传感器偏置、漂移、增益、粘连和突变故障模式难以检测、识别和评估的问题,提出基于模型融合的电池组电流传感器综合诊断策略。建立以电流为输入、电压为输出(CIVO)的正常电池模型,利用电流传感器和组中电池一对多的关联,将各电池电压残差对数似然比的累计和作为检测指标;建立以电压为输入、电流为输出(VICO)的偏置/漂移故障模型和增益故障模型,基于故障电流的残差方差对各故障模式进行模型匹配;通过向故障模型中引入故障参量,实现对偏置、漂移和增益模式的定量评估。结果表明:基于CIVO,5种故障模式均能得到可靠检测,其中粘连模式检测时间最短,而漂移模式所需检测时间最长,归因于漂移模式下故障电流的缓变特点;基于VICO,5种故障模式均能得到准确识别,同时偏置、漂移和增益模式的定量评估准确度高,评估结果分别为0.396 2A(试验值0.4A),1.641 7×10-4(试验值1.5×10-4)及0.201 6(试验值0.2)。

, correspAuthors=康永哲 讲师, authorNote=null, correspAuthorsNote=
**康永哲(1993—),男,山东菏泽人,博士,讲师,主要从事锂离子电池安全方面的研究。E-mail:
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杨启帆 (1990—),男,山东济南人,博士,副教授,主要从事锂离子电池组故障诊断方面的研究。E-mail:

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杨启帆 (1990—),男,山东济南人,博士,副教授,主要从事锂离子电池组故障诊断方面的研究。E-mail:

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figureFileSmall=JGcBJBgl/K8TbAFVR3V3pQ==, figureFileBig=gWBdTNQh4Prb4isz6xZQtw==, tableContent=null), ArticleFig(id=1165198281253593568, tenantId=1146029695717560320, journalId=1146031787341344770, articleId=1148106713552646480, language=EN, label=Table 1, caption=

Simulation scheme of fault modes

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故障模式 模拟方案
偏置 3 000~9 000 s,电流值额外增加0.4 A
漂移 3 000~9 000 s,电流值额外以斜率1.5×10-4线性增加
增益 3 000~9 000 s,电流值额外倍增0.5
粘连 3 000~6 000 s,电流值恒定为1.2 A
突变 3 000~9 000 s,电流值额外添加1.5 A幅值的扰动
), ArticleFig(id=1165198281312313825, tenantId=1146029695717560320, journalId=1146031787341344770, articleId=1148106713552646480, language=CN, label=表1, caption=

故障模式模拟方案

, figureFileSmall=null, figureFileBig=null, tableContent=
故障模式 模拟方案
偏置 3 000~9 000 s,电流值额外增加0.4 A
漂移 3 000~9 000 s,电流值额外以斜率1.5×10-4线性增加
增益 3 000~9 000 s,电流值额外倍增0.5
粘连 3 000~6 000 s,电流值恒定为1.2 A
突变 3 000~9 000 s,电流值额外添加1.5 A幅值的扰动
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基于模型融合的电池组电流传感器多故障模式综合诊断
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杨启帆 副教授 1 , 康永哲 讲师 2, **
中国安全科学学报 | 安全工程技术 2025,35(4): 101-109
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中国安全科学学报 | 安全工程技术 2025, 35(4): 101-109
基于模型融合的电池组电流传感器多故障模式综合诊断
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杨启帆 副教授1 , 康永哲 讲师2, **
作者信息
  • 1 山东管理学院 智能工程学院,山东 济南 250357
  • 2 山东大学 控制科学与工程学院,山东 济南 250061
  • 杨启帆 (1990—),男,山东济南人,博士,副教授,主要从事锂离子电池组故障诊断方面的研究。E-mail:

通讯作者:

**康永哲(1993—),男,山东菏泽人,博士,讲师,主要从事锂离子电池安全方面的研究。E-mail:
Model fusion based comprehensive diagnosis of multi-fault modes for current sensor of battery packs
Qifan YANG1 , Yongzhe KANG2, **
Affiliations
  • 1 School of Intelligent Engineering,Shandong Management University,Jinan Shandong 250357,China
  • 2 School of Control Science and Engineering,Shandong University,Jinan Shandong 250061,China
出版时间: 2025-04-28 doi: 10.16265/j.cnki.issn1003-3033.2025.04.1104
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为解决电池组电流传感器偏置、漂移、增益、粘连和突变故障模式难以检测、识别和评估的问题,提出基于模型融合的电池组电流传感器综合诊断策略。建立以电流为输入、电压为输出(CIVO)的正常电池模型,利用电流传感器和组中电池一对多的关联,将各电池电压残差对数似然比的累计和作为检测指标;建立以电压为输入、电流为输出(VICO)的偏置/漂移故障模型和增益故障模型,基于故障电流的残差方差对各故障模式进行模型匹配;通过向故障模型中引入故障参量,实现对偏置、漂移和增益模式的定量评估。结果表明:基于CIVO,5种故障模式均能得到可靠检测,其中粘连模式检测时间最短,而漂移模式所需检测时间最长,归因于漂移模式下故障电流的缓变特点;基于VICO,5种故障模式均能得到准确识别,同时偏置、漂移和增益模式的定量评估准确度高,评估结果分别为0.396 2A(试验值0.4A),1.641 7×10-4(试验值1.5×10-4)及0.201 6(试验值0.2)。

电池组  /  电流传感器  /  故障模式  /  综合诊断  /  模型融合

To solve the issues that the bias,drift,gain,sticking and mutation fault modes of the current sensor in a battery pack are difficult to detect,recognize and evaluate,a comprehensive diagnosis strategy based on model fusion was proposed. A normal battery model with current as input and voltage as output (CIVO) was established. Based on the one-to-many relationship between the current sensor and batteries in the pack,the cumulative sum of the log-likelihood ratios of the residuals of the voltage of each cell was used as the detection index. A bias/drift fault model and a gain fault model with voltage as input and current as output (VICO) were established. Based on the residual variance of fault current,the model matching was performed on each fault mode. The quantitative evaluation of the bias,drift and gain modes were achieved by introducing a fault parameter to the fault model. The results show that based on CIVO,the five fault modes can be reliably detected. The sticking mode takes the shortest detection time and the drift mode requires the longest detection time,attributed to the slow-change characteristics of the fault current. Based on VICO,five fault modes can be accurately recognized. The quantitative evaluations of the bias,drift and gain modes are highly accurate,with the evaluation results of 0.396 2 A (experimental value 0.4 A),1.641 7×10-4 (experimental value 1.5×10-4) and 0.201 6 (experimental value 0.2),respectively.

battery pack  /  current sensors  /  fault modes  /  comprehensive diagnostics  /  model fusion
杨启帆 副教授, 康永哲 讲师. 基于模型融合的电池组电流传感器多故障模式综合诊断. 中国安全科学学报, 2025 , 35 (4) : 101 -109 . DOI: 10.16265/j.cnki.issn1003-3033.2025.04.1104
Qifan YANG, Yongzhe KANG. Model fusion based comprehensive diagnosis of multi-fault modes for current sensor of battery packs[J]. China Safety Science Journal, 2025 , 35 (4) : 101 -109 . DOI: 10.16265/j.cnki.issn1003-3033.2025.04.1104
锂离子电池广泛用于电动汽车和电化学储能等领域[1-2]。锂离子电池通常以串联电池组的形式呈现[3]。串联电池组由单个电流传感器测量整组电流,一旦电流传感器发生故障,整个电池组的安全运行将无法保障。因此,持续深入地研究电流传感器的故障诊断技术对保证电池组安全运行至关重要。
目前,电池组传感器故障诊断方法可大致划分为基于模型的方法和基于测量拓扑的方法。基于模型的方法包括残差生成和残差评估。针对电池组电流、电压和温度,LIU Zhentong等[4]基于电-热耦合模型和扩展卡尔曼滤波(Extended Kalman Filter,EKF)生成相应残差,随后采用对数似然比累计和进行残差评估。TIAN Jiaqiang等[5]借助粒子滤波生成电压和温度残差,将对数似然比进行滑动处理后得到了更灵敏的诊断结果。DEY等[6]设计多个滑膜观测器获取电压、电流及温度的残差,并借助阈值实现了残差评估。上述方法的有效性得到验证,但大计算量导致难以在线应用。为此,LIU Zhentong等[7]仅监测电池组中电池的最大和最小电压,实现了电压和电流传感器的诊断。此外,针对电流传感器,TRAN等[8]采用最小二乘法实时估计电池参数,通过平均滤波器生成参数残差,再采用累计和控制限进行评价。XIONG Rui等[9]利用库伦计数法和无迹卡尔曼滤波生成荷电状态(State of Charge,SoC)残差,再以SoC最大误差限为界实现诊断。XU Jun等[10]通过比例积分观测器诊断电流传感器偏置模式。HU Jian等[11]利用故障起始后的少量电流生成电流残差,并基于蒙特卡罗模拟确定了经验阈值评估残差,从而检测了传感器的偏置和增益模式,但2种故障模式未得到准确识别。YU Quanqing等[12]创新地调整了模型的输入和输出,实现了电流传感器偏置模式的检测和定量评估。
基于测量拓扑的方法主要是通过改变传感器的布置方式实现诊断。XIA Bing等[13]提出一种交叉式电压测量拓扑,使1个电池与2个电压传感器关联以实现诊断。KANG Yongzhe等[14-15]设计一种电池和传感器两两关联的测量拓扑,通过探究电压与电流波形之间的关系,并采用改进相关系数法,实现对传感器粘连和突变模式的诊断。虽然这些方法避免了建模努力,但过于复杂的连接不仅增加故障的发生概率,同时还增加电池真实值的读取难度。
整体而言,因无需更改现有测量拓扑,基于模型的方法仍是目前传感器诊断的主流方法。电流传感器故障模式主要包括偏置、漂移、增益、粘连和突变模式[16],综合的电流传感器故障诊断应包括检测、识别和评估3个关键环节。现有诊断方法存在以下不足:首先,停留在对少数(1~2种)故障模式的检测;其次,忽略了对不同故障模式的区分和识别;再者,缺乏对故障模式的定量评估,不清楚故障的严重程度。
鉴于此,将为搭建以电流为输入、电压为输出(Current Input Voltage Output,CIVO)的电池正常模型和以电压为输入、电流为输出(Voltage Input Current Output,VICO)的电池故障模型,以通过模型融合的方式综合诊断5种故障模式。
电流传感器故障模式主要包括偏置、漂移、增益、粘连和突变模式。偏置模式下电流测量值会恒定地偏离真实值;漂移模式下电流测量值将不断增大与真实值的偏离;增益模式下电流测量值比真实值波动更明显;粘连模式下电流测量值恒为某一数值;突变模式下电流测量值则表现为真实值的精度丢失。显然,电流传感器故障可由电流测量值和真实值的差异反应,但实际情况下电流真实值是无法获知的,因而需在真实值未知的条件下综合诊断5种故障模式。
此外,综合描述精度和计算复杂度等方面的考虑[17],一阶等效电路模型用于电流传感器的建模研究,如图1所示,Voc为开路电压,V;R0为欧姆内阻,Ω;R1为极化电阻,Ω;C1为极化电容,F;V1为极化电压,V;V为模型电压,V;Im为测量电流,A。
串联电池组中各电池电压随着电流变化同步地表现出相应变化,从而电流和各电池电压间呈现出一对多的关联。当电流传感器发生故障时,基于常规的CIVO模型,各电池电压的模型估计值将均偏离它们的实际测量值,产生电压残差。因此,当所有电池的电压残差同时表现出异常时,可认为电流传感器发生故障。进一步地,则更需要关注故障电流的情况。为确保故障电流的特征不被损失,将继续构建电压输入、电流输出的VICO模型。
基于模型融合的电流传感器多故障模式综合诊断原理分为2步:第1步基于正常CIVO模型,当电池组中所有电池的电压残差均出现异常时,判定电流传感器发生故障,实现故障检测;第2步基于构建的多个VICO故障模型,通过故障电流和故障模型的匹配,并结合故障模型中故障参量的变化,实现对5种故障模式的识别和评估。
基于等效电路,CIVO模型和VICO模型构建过程如下。首先,CIVO模型的数学方程可表达为:
V · 1 = - 1 R 1 C 1 V 1 + 1 C 1 I m
V = V o c - V 1 - R 0 I m
式中上标·为微分算子。Voc与SoC的非线性关系可由多项式函数表达:
V o c = f ( S ) = n = 0 z a n S n
式中:S为SoC;an为拟合系数;z为拟合总阶数;n为拟合阶数,n=1,2,…,z。S的数学方程可表达为:
S · = η I m Q a
式中:η为库伦效率,接近于1[18];Qa为电池可用容量,Ah。对式(1)—式(4)进行离散化,则状态空间方程可表达为:
x k = A x k - 1 + B u k - 1 + w k - 1 y k = h ( x k u k ) + v k
式中:k为第k个时刻;x为状态变量;u为模型输入;y为模型输出;w为过程噪声;v为观测噪声;AB为参数矩阵;h(xkuk)为输出方程。CIVO模型中,由于xk=[V1,k Sk]Tuk =Im,kyk=Vk,则h(xkuk)及AB分别表达为:
h ( x k υ κ ) = V o c - V 1 k - R 0 I m k
A = e x p ( - Δ t / R 1 C 1 ) 0   0 1   B = R 1 [ 1 - e x p ( - Δ t / R 1 C 1 ) ]   - Δ t / Q a
式中Δt为相邻时刻间隔时间。进而,电压残差ΨV可由测量电压Vm(V)和Vk得到:
ψ V k = V m k - V k
由此,构建CIVO模型。由式(4)可见:故障电流在模型中需要乘以小数量级参数1/Qa,使故障电流在模型中的权重受到影响,导致故障特征有所损失。为此考虑将故障电流作为模型输出,而测量电压作为模型输入。基于多模型估计思想,分别为电流传感器5种故障模式构建VICO模型,再通过故障电流与VICO模型的匹配,实现故障模式的识别和定量评估。实际上,粘连模式的故障电流为一恒定值,显著不同于其他故障模式,因而易于直接识别。突变模式故障电流中的扰动随机性强,难以精确建模,但从实现角度出发,突变模式依然可以通过模式排除予以识别。为此,主要对偏置、漂移及增益模式进行VICO模型构建。两类故障VICO模型的数学方程可表达为:
I = ( V o c - V 1 - V m ) R 0
V · 1 = - 1 R 1 C 1 V 1 + 1 C 1 ( V o c - V 1 - V m ) R 0
S · = η Q a ( V o c - V 1 - V m ) R 0
式中I为模型电流,A。为实现故障电流的估计,引入故障参量φ(A)。具体地,通过将φ以相加的方式引入式(9),可估计得到偏置/漂移VICO模型下的故障电流If(A)为:
I f = ( V o c - V 1 - V m ) R 0 + φ
通过将φ以相乘的方式引入式(9),可估计得到增益VICO模型下的If为:
I f = ( 1 + φ ) ( V o c - V 1 - V m ) R 0
虽然偏置/漂移VICO模型和增益VICO模型都是基于等效电路模型构建,具有相同的物理结构,但对比式(12)和式(13)可知:它们对φ的描述方式有显著差别。对式(9)—式(13)离散化,状态空间方程可表达为:
x k = A x k - 1 + B u k - 1 + D + w k - 1 y k = h ( x k u k ) + v k
式中D为参数矩阵。对偏置/漂移VICO模型和增益VICO模型,由于xk=[V1,k Sk φk]Tuk=Vmkyk=If,k,则h(xkuk)分别表达为:
h ( x k u k ) = ( V o c k - V 1 k ) R 0 - V m k R 0 + φ k
h ( x k u k ) = ( V o c k - V 1 k ) R 0 - V m k R 0 ( 1 + φ k )
参数矩阵ABD分别为:
A = e x p ( - R 1 + R 0 R 0 R 1 C 1 Δ t ) 0 0   Δ t Q a R 0 1 0   0 0 1 B = R 1 ( - R 1 + R 0 R 0 R 1 C 1 Δ t - 1 ) R 0 + R 1   Δ t Q a R 0 0 D = V o c k R 1 ( - R 1 + R 0 R 0 R 1 C 1 Δ t + 1 ) R 0 + R 1   V o c k - Δ t Q a R 0 0
由此,构建偏置/漂移VICO模型和增益VICO模型。EKF是一种高效的递归滤波器,采用EKF估计模型状态和输出,EKF执行过程见[18]。需要说明,对VICO模型应用EKF时,由参数矩阵AB计算出的xk并不是准确的先验,需将xk中的SoC状态通过式(3)进行计算后得到参数矩阵D,再获取当前时刻准确的xk先验。
基于模型融合的电流传感器多故障模式综合诊断方案的实现步骤如下。其中,电流传感器故障检测对应步骤1—步骤5,识别和定量评估对应步骤6、步骤7。
步骤1:输入电池组电流和各电池电压数据。
步骤2:基于CIVO模型,通过EKF计算各电池对应的电压残差。
步骤3:计算各电池电压残差的平均值和方差,据此计算各电池的对数似然比及其累计和。步骤3旨在采用对数似然比累计和判定电压残差是否异常,这是因为电池电压残差服从高斯分布[57],故障前后分布的概率密度函数表现出一定差异。对数似然比表达为:
s g ( ψ V ) = l n p l ( ψ V ) p i ( ψ V ) =   l n σ i σ l - ( ψ V - μ l ) 2 2 σ l 2 + ( ψ V - μ i ) 2 2 σ i 2
式中:p为电压残差的概率密度函数;μ和σ2分别为电压残差的平均值和标准差;li分别为l号和i号电池,假定l号电池为正常,则对应残差的均值μl和方差 σ l 2可事先通过蒙特卡罗模拟确定。为确保对数似然比对电压残差异常的灵敏性,考虑长度为N的数据窗口滑动处理。k时刻的ΨV记为{ΨVk-N+1ΨVk-N+2,…,ΨVk},计算结果对数似然比的累计和Sg(ΨVk)为:
S g ( ψ V k ) = S g ( ψ V k - 1 ) | s g ( ψ V k ) | j g S g ( ψ V k ) + | s g ( ψ V k ) | | s g ( ψ V k ) | > j g
式中jg为对数似然比的阈值,其数值可按照躲过正常情况计算的最大|sg(ΨVk)|进行整定。
步骤4:将所有电池计算出的Sg(ΨVk)与Jg比较,若全部Sg(ΨVk)均满足式(20),则认为电流传感器发生故障:
S g ( ψ V k ) J g
式中Jg为对数似然比累计和的阈值。
步骤5:判断故障电流是否为恒定不变的数值,若是,则判定故障模式为粘连模式,并根据读数确定粘连数值;若否,进一步将故障电流和电压代入故障VICO模型。
步骤6:将故障电流和电压代入偏置/漂移VICO模型,通过EKF计算偏置/漂移VICO模型下故障电流残差方差Var1,若Var1低于方差阈值Jv,则判定故障电流存在偏置或漂移,并进一步计算φ的斜率kφ,若kφ的绝对值大于斜率阈值Jφ,判定故障模式为漂移模式,否则为偏置模式,表示为:
V a r 1 < J v
| k φ | > J φ
若式(21)不能被满足,表明故障模式与偏置/漂移VICO模型不能匹配,故障电流和电压将被继续代入增益VICO模型。该步骤采用电流残差方差来判断故障电流与模型是否匹配,电流残差方差越小说明电流残差越稳定,表明故障电流与测量电流吻合度越高,Jv通过试验事先确定。当故障电流满足偏置/漂移VICO模型后,仍需要观察φ的变化,偏置模式下φ相对平稳,而漂移模式下φ表现出线性增加/减小,即斜率的绝对值更大,Jφ理论上可选取为0,但考虑模型估计的不确定性,选取需保留一定裕度。确定偏置或漂移模式后,通过φ的变化即可实现对故障程度的定量评估。
步骤7:将故障电流和电压代入增益VICO模型,通过EKF计算增益VICO模型下故障电流残差方差Var2,若Var2低于Jv,即满足式(23),则判定电流传感器的故障模式为增益模式,并通过读取φ的数值实现对故障程度的定量评估,表示为:
V a r 2 < J v
若式(23)不能被满足,则判为突变模式。
采用的试验条件见文献[18]。电流传感器故障模式的模拟方案见表1,主要参考已有研究的典型试验值[10-12]。模型构建时,参数R0R1C1由混合功率脉冲特性测试分别确定为0.030 1、0.001 6和6 523.5。诊断方案中数据窗N确定为500。正常电压残差的均值μl和方差 σ l 2采用蒙特卡罗模拟确定为5.29×10-5和1.63×10-5jg确定为7.2,Jg确定为50,JvJφ分别确定为0.01和1×10-5
电流传感器5种故障模式对应的电流曲线和检测结果如图2所示。下面以偏置模式为例说明故障检测过程,故障电流在3 000 s时发生向上偏置。当时间推移至3 547s,各电池的对数似然比累计和Sg(ΨV)开始明显增加,并逐步越过Jg=50,根据式(20),此时判断电流传感器发生故障,如图2a图2b所示。电流传感器其余故障模式的检测过程与偏置模式类似,不再赘述。5种故障模式的检测时间依次为3 547s、5 243s、5 044s、3 502s和3 516s,其中,粘连模式的检测时间最短,归因于粘连模式直接改变了电流的原有样式,而其余故障模式均是在电流原有样式基础上发展而来的,相比之下,漂移和增益模式的检测时间较长,一方面漂移模式在故障初期的偏离程度很轻微,另一方面增益模式几乎不改变电压残差的均值,从而对电压残差的分布影响相对较小。总体上,图2的试验结果充分表明所提综合诊断方法能够实现5种故障模式的可靠检测。
检测到电流传感器故障后,继续对故障模式进行识别和定量评估,分析过程如下。
1) 粘连模式。由于电流值恒为1.2 A不变化,因此可以直接将故障模式识别为粘连模式。
2) 偏置和漂移模式。电流传感器故障后,电流值仍然是时刻变化的,首先判定当前故障模式不是粘连模式。进而,将故障电流和电压代入偏置/漂移VICO模型(图3),偏置和漂移模式下故障电流的估计值均能密切跟随测量值,且电流残差主要集中在0.1 A内,同时电流残差方差低于阈值Jv=0.01,表明故障电流与偏置/漂移VICO模型匹配,因此可判定当前故障模式为偏置或漂移模式,如图3a图3f所示。当φ变化趋于稳定后,虚线表示的线性拟合函数φ1(t)(φ1为因变量,反映了φ的局部变化;t为时间,是自变量)的kφ为9.747 3×10-7,与Jφ=1×10-5存在量级差异,因此故障模式可识别为偏置模式,同时拟合函数的截距为0.389 8,接近于试验值0.4,如图3g所示;而当拟合函数φ2(t)(φ2为因变量)的kφ为1.641 7×10-4时,高于Jφ=1×10-5,故障模式识别为漂移模式,同时1.6417×10-4接近于试验值1.5×10-5,如图3h所示。
3) 增益模式。当判定故障电流不是粘连、偏置和漂移模式后,将故障电流和电压代入增益VICO模型,此时电流的估计值与测量值更加吻合,残差方差明显低于Jv=0.01,表明故障电流能与增益VICO模型相匹配,即故障模式为增益模式。2条虚线对应的线性拟合函数φ3(t)和φ4(t)(φ3φ4均为因变量)分别反映了φ故障前后的变化情况,截距分别为0.093 8和0.295 4,二者做差后得倍增量0.201 6,与试验值0.2高度相近。需要指出,理论上故障前φ应该为0,但由于EKF在利用电压的测量值和估计值进行先验校正时本质上属于黑箱模型,不能特定地调控某一状态变量,导致故障前φ出现了0.1 A左右偏差,为此故障后计算倍增量时需要剔除该偏差,如图4所示。
4) 突变模式。当判定故障电流不属于粘连、偏置、漂移和增益模式后,可通过模式排除的方式,将故障模式识别为突变模式。
总体上,图3图4的试验结果充分表明:所提综合诊断方法能够准确识别电流传感器的5种故障模式,同时可准确地定量评估对偏置、漂移和增益模式的严重程度。
1) 基于CIVO和VICO模型融合,能够实现电流传感器5种故障模式的综合诊断。偏置/漂移VICO模型和增益VICO模型的主要区别是输出方程中故障参量φ的表达方式不同。
2) 基于CIVO模型并采用对数似然比,可检测5种故障模式。其中,粘连模式的检测时间最短,为547s,而漂移和增益模式的检测时间较长,分别需要2 243s和2 044s。
3) 基于VICO模型并考虑φ的变化,可识别5种故障模式,同时偏置、漂移及增益模式的定量评估结果分别为0.396 2 A(试验值0.4 A),1.641 7×10-4(试验值1.5×10-4)及0.201 6(试验值0.2)。
  • 国家自然科学基金资助(62203265)
  • 山东省自然科学基金资助(ZR2022QF028)
  • 山东省高等学校青创科技支持计划项目(2024KJH005)
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2025年第35卷第4期
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doi: 10.16265/j.cnki.issn1003-3033.2025.04.1104
  • 接收时间:2024-11-25
  • 首发时间:2025-07-05
  • 出版时间:2025-04-28
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  • 收稿日期:2024-11-25
  • 修回日期:2025-02-16
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国家自然科学基金资助(62203265)
山东省自然科学基金资助(ZR2022QF028)
山东省高等学校青创科技支持计划项目(2024KJH005)
作者信息
    1 山东管理学院 智能工程学院,山东 济南 250357
    2 山东大学 控制科学与工程学院,山东 济南 250061

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**康永哲(1993—),男,山东菏泽人,博士,讲师,主要从事锂离子电池安全方面的研究。E-mail:
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