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-Im(Z)[Ohms]
0
preferable to have them equally spaced and the criterion for
choosing this number of selected SOCs has to be based in the -1
time. Figure 3 - EIS for 25% (red), 50% (yellow), 75% (cyan) and 100% (blue) of
SOC. (0ºC, 𝟏𝒔𝒕 month)
For example, from the data supplied by VITO, consider the -3
x 10
four impedance spectrums shown in Figure 3 for 25%, 50%, 12
-Im(Z)[Ohms]
6
ones already in the database, the battery SOC can be
estimated. In this paper, this matching between EIS with the 4
database of impedances has been performed using fuzzy logic,
which will be explained in Section II. 2
0
3) Electrochemical impedance spectroscopy (EIS)
EIS is also an experimental technique for -2
1 2 3 4 5 6 7 8 9 10 11
characterizing electrochemical systems. This technique Re(Z)[Ohms] -3
. x 10
acquires the impedance of a system over a wide range of Figure 4 - EIS for 25% (red), 50% (yellow), 75% (cyan) and 100% (blue) of
frequencies, and thus the frequency response of the system. SOC. (0ºC, 𝟐𝒏𝒅 month)
Often, data obtained by EIS is expressed graphically in a Bode
plot or a Nyquist plot. As the impedance of the battery varies over time (real battery
EIS is a very sensitive technique, since the perturbing AC model), it is difficult to implement a fixed model, which
signal is set very small, with the resultant polarization of the simulates the battery’s behavior, that unequivocally allows the
electrode staying in a linear potential region, so there is no reading of the battery SOC as a function of the respective
destructive damage of the electrode. impedance profile. Notice that impedance variation is not
linear, which presents a major pattern recognition problem. It
4) Relationship between battery’s SOC and its impedance is in this context that in further sections are presented a set of
spectrum methodologies to estimate SOC in function of impedance.
In this paper, the impedance data analyzed and Those methodologies combine important techniques as: EIS,
studied of LiFePO4 batteries with a capacity of 7 Ah each one, SOC estimation through OCV measuring and an adaptive
was provided by VITO, the Flemish Institute for neuro fuzzy inference system (Section II) or linear
Technological Research. The frequency range used on all EIS interpolation (Section III).
is between 0,05 Hz and 10019,5 Hz, with each range
performed twice for each SOC.
Figure 3 plots the impedance spectra measurements II. SOC ESTIMATION METHOD (IMPEDANCE PROFILE
acquired by EIS technique for a battery with one month of use, COMPARATIVE ANALYSIS) APPLYING AN ADAPTIVE EURO-
0ºC of ambient temperature and four SOCs: 25% (red), 50% FUZZY SYSTEM
(yellow), 75% (cyan) and 100% (blue). It can be observed a In this Section a first SOC estimation method is proposed.
relationship between the impedance curve profile and its SOC This estimation is based on a comparative analysis of
value. impedance profiles.
According to VITO, the impedance spectra of the battery has The method is not online since it does not permit a continuous
been obtained with a periodic interval of one month. To show estimation of the battery’s SOC for the entire range of SOC
how the impedance changes over time, Figure 4 plots the (0% to 100%). This method allows the estimation of SOC but
impedance spectrum of the battery after two month of use. only for a set of predefined SOCs, for which was previously
Comparing the impedance for 100% SOC (blue curve) at the made an EIS experiment. The method compares the current
first month of use (Fig. 3) with that one in the second month battery impedance with previously impedances measures and,
(Fig. 4) a significant change of impedance is observed. when a match exists, the output is the SOC of the respective
matched impedance of the database. This match making is
4
performed with ANFISs, as it will be described in the B. The Results (ANFIS rule-base: initial testing)
following sections. Figure 5 shows using a graphic representation the initial set of
rules that will compose the fuzzy system. This is initially
A. Construction of ANFISs with the EISs impedance data evaluated using the same data (usually called training data)
used to construct the rule base, that is, the data points forming
The impedance spectrum for each SOC is obtained
the impedance spectrum of the four SOC levels.
through EIS. This Section presents a methodology to estimate
Let’s start inserting as input into the fuzzy system the training
the battery’s SOC through comparative analysis of its actual
data of the battery, that is, the resistance and reactance data for
impedance spectrum (current battery condition) with the
25%, 50%, 75% and 100% of SOC (each EIS consists of 38
impedance spectrum previously built with the EIS technique
impedance measurements for different frequencies, performed
and stored in the database. This database will be composed of
twice). The results are plotted in the Figure 6. The red
several impedance spectrum measurements and the respective
asterisks represent the estimated SOCs from the fuzzy system,
SOC.
while the blue circles are the real SOC of the input data, i.e.
Assuming that the database has already been created
the experimental data used to create de fuzzy system. The
with four EIS made for different random (In this paper, EIS
average and variance values of the results shown in Figure 6
data used in this method was provided and performed by
can be seen in the table 1.
VITO Institute for fixed SOC values, the proposed method
operates equally for other SOC values.) battery SOC's equally
spaced, more precisely for 25%, 50%, 75% and 100%, thereby 120
Output
70
will be the battery’s SOC.
60
Using the same experimental data of impedance as used before
(EIS of the battery with a SOC of 25%, 50%, 75% and 100%, 50
Each impedance spectroscopy is composed of 38 impedance Figure 6 – The 50 x 50 fuzzy system output SOCs, the defined SOCs (blue
measurements (each one with different frequencies), and for circles) and the estimated SOCs from the new fuzzy model (red asterisks).
each SOC there are two impedance spectrums. Since there are
The average and variance values can be observed in the next
5 different SOCs, a total number of 380 data points have been
table:
obtained. A FIS is created with 50 membership functions
equally spaced for each input variable.
Mean
Figure 5 shows, using a grid representation, how the fuzzy Input variables Average Variance
Output Error
rules cover the space. Each rectangular area signifies the EIS of the battery
intercepted area of each membership function, in the interval 28.9 64.6 3.9
with 25% SOC
[0.5, 1], between both inputs. EIS of the battery
48.2 35 -1.8
-3
x 10
with 50% SOC
3 EIS of the battery
75.7 8.8 0.7
with 75% SOC
2 EIS of the battery
97.2 83.3 -2.8
with 100% SOC
1
Table 1 - Average and variance of the outputs of the Fuzzy system with 50
membership functions each variable.
-Im(Z)[Ohms]
From the profiles already available, other possible III. ONLINE SOC ESTIMATION METHOD
ones have been simulated, which have taken into account the In the previous section, a method that estimates the
difference of magnitudes observed between the two SOC through impedance comparative analysis has been
impedance profiles available for each SOC. presented. The biggest drawback of that method is that it does
The simulation of those impedance profiles are based not allow a continuous estimation of the battery’s SOC for its
on adding random noise on the respective impedance profiles, entire range of 0-100%, only matching impedance spectrums
in order to simulate the difference of magnitudes observed with those ones previously included in the fuzzy rule base.
between the two impedance profiles available for each SOC. Therefore, a method that allows the estimation for the entire
For example, considering the impedance profiles of the battery range of SOC is presented as solution. This method, since it
with 50% and 75% of SOC (two impedance profiles for each incorporates the entire range of SOCs as output, is an online
SOC), other profiles are simulated by adding noise to the method that continuously provides an estimation of the
respective impedance profiles and are used as inputs in the battery’s SOC, as result.
next example of a possible algorithm scheme for estimating As already mentioned, the impedance profile of the battery
SOC: varies with its SOC and also with the number of
Depending on the amount of noise, which depends on the discharge/charge cycles already experienced by the battery.
type of instruments used for measurement, the respective This presents a major difficulty for an online SOC estimation
acceptance limits are defined. For example, for 50% the fuzzy through the impedance comparative analysis.
model is tested and as result the output average and variance is As mentioned before, the shorter the time interval between
obtained, now is possible to select limits of acceptance, in this measurements of impedances, EISs, the smaller the impedance
case an acceptable limit for the average can be with a profile variation between these time intervals. In our case, the
𝑚𝑎𝑟𝑔𝑖𝑛 =+ − 2% [48,52] and the variance > 90.6 (if 90.6 is a available laboratorial measurements from VITO were done
minimum value of the variance observed by several with a time interval of 1 month. Given these characteristics,
measurements of the battery with the SOC = 50%). In table 2 follow an online SOC estimation algorithm is proposed which
the previous limits for 50% and for 75% are presented as an fuzzy rules are updated when new impedance spectrums are
example. obtained.
Table 2 – Example of setting limits for the average and variance for the
SOC estimation algorithm.
EIS
Fuzzy System
Output Average
Interpolating the previous data not only for a 2D “path” but for
a 3D region, it is possible to fit a surface using only the
impedance centroids. This fitting method is named bilinear
interpolation [5].
As a result of the linear interpolation of the centroids of the
impedances, a 3D function with 3 coordinates as SOC, Re[Z]
and –Im[Z] is constructed. Figure 10 displays this function
where each light blue dot represents the impedance centroids
from Figure 9. This method of interpolation allows the
construction of new data points within the range of a discrete
set of known data points. A model was built with this method,
which calculates the battery’s SOC based on the values of the (b)
centroids of the known impedance profile.
(c)
Figure 10 - Linear Interpolation model computed with 4 impedance
centroids of the battery with: 25%, 50%, 75% and 100% of SOC
respectively. (𝟐𝒏𝒅 month)
between 25%-50%, 50%-75%, and 75%-100% are projected Table 3 – Output and error of the algorithm for impedance spectrum
(the mean between each impedance spectrum), 37.5%, 62.5% centroids of the battery with a SOC of 37.5%, 62.5%, and 87.5% as inputs
(For 25%, 50%, 75% and 100% the output error = 0).
and 87.5% respectively. Those will be the expected SOC to be
7
The highest observable absolute error for these entries was Since the noise does not significantly alter the position of the
2.34%, which represents a very good result, in the error centroids, the output of the model will vary slightly as
boundaries of SOC estimation. observed by comparing table 3and 4.
1) Noise Analysis
The model has been tested with the presence of noise at the IV. IMPEDANCE PROFILES PREDICTION
inputs. As shown in Figure 12, ±10% white noise added to In the previous sections, it have been proposed two main
each variable (different noise vectors for each variable), real methodologies to estimate the battery’s SOC with the creation
and imaginary parts of the impedance respectively, and the of an impedance profiles database for various SOC values.
output of the model was obtained as shown in table 4. The impedance profiles were obtained using the EIS technique
at VITO. Using that data, two models have been established to
-3
x 10 SOC estimation: a fuzzy rule-based model and an offline SOC
estimation method based on a linear interpolation model. In
2.5
these two models, the current impedance profile of the battery,
2
or the centroid of the current impedance profile of the battery,
were used as input data of the model to result as output the
1.5
respective estimated SOC.
Battery’s impedance profile changes with time and, related
-Im(Z)[Ohms]
1
with these changes, its SOC also changes. So the accuracy of
models will depend on the time needed to update the
0.5
impedance profiles database. The shorter it is, more accurate
are the models. However, increasing precision by decreasing
0
the update’s time interval, will cause a lengthier charging, as
mentioned in Section I, which can be seen as a problem,
-0.5 depending on how the battery will operate.
2 2.5 3 3.5 4 4.5 5 5.5
As a solution, in this Section, a technique is proposed to
Re(Z)[Ohms]
x 10
-3 predict the impedance profile of the battery for several SOC
Figure 12 - (a) EIS of the battery with 25% of SOC without noise (black dots) values. The technique will allow the prediction of the
and with noise added (red dots) with the respective centroids represented impedance profiles instead of effectuating the impedance
by circles.
profiles measure during charging, which could be a lengthy
process.
The white noise added with each impedance profile will In terms of battery data supplied by VITO, the time interval
slightly influence the position of the respective centroids, as considered for performing EIS experiments of the battery for
observed in the previous figure. The outputs of the system are different SOCs (25%, 50% and 100%) was 1 month for a
presented below with ±10% white noise added to the inputs. period of 10 months of tests. Our goal will be to analyze this
"past information" and to predict the next month’s impedance
Inputs Output (%) Output Error (%) profile that, without any estimating algorithm could have been
Impedance spectrum obtained through EIS experiments for each SOC.
centroid of the battery 25.87 0,87 The prediction of the impedances profile will be obtained
with 25%
Impedance spectrum
applying a fuzzy rule-based system as before. For the fuzzy
centroid of the battery rules construction, with the goal to predict future impedance
38.42 0,92
with 37.5% of expected profiles, all the information available from VITO obtained
SOC
through EIS was used. The fuzzy model has 3 input variables:
Impedance spectrum
centroid of the battery 49.44 -0,56 the real and imaginary impedance values, and their
with 50% corresponding frequency. It has to be noticed that the first two
Impedance spectrum inputs are variations of impedance and not only absolute
centroid of the battery
with 62.5% of expected
62.16 -0,34 values.
SOC
Impedance spectrum
centroid of the battery 74.58 -0,42 A. Impedance profiles prediction method
with 75%
Impedance spectrum In this section, only the impedance profiles for SOCs of 25%,
centroid of the battery
87.57 0,07
50% and 100% have been used to create the model, since for
with 87.5% of expected
75% the measurements from VITO are incomplete, i.e., for
SOC
Impedance spectrum this SOC the impedance profiles were not obtained all months.
centroid of the battery 99.33 -0,67 The ANFIS for impedance profile prediction will use as input
with 100% the difference between the impedance of the previous and
Table 4 - Output and error of the algorithm for impedance spectrum current month. The output will be the difference between the
centroids of the battery with a SOC of 25%, 37.5%, 50%, 62.5%, 75%, 87.5% impedance of the current month and the next one. To isolate
and 100%, as inputs with noise added.
every measure of impedances of different frequency another
8
input was considered to the model, corresponding to the Input 1 Input 1 Input 1 Input 1 Input 1
MF 1 MF 2 MF 3 MF 4 MF 5
frequencies of the performed impedance profiles. The inputs, 1
Input Output
EIS 1ºmonth - EIS 2ºmonth EIS 2ºmonth - EIS 3ºmonth
-0.4 -0.2 0 0.2 0.4 0.6 -Img(Δzi)
[Ohms]
EIS 2ºmonth - EIS 3ºmonth EIS 3ºmonth - EIS 4ºmonth
Input 3 Input 3 Input 3 Input 3 Input 3
MF 1 MF 2 MF 3 MF 4 MF 5
EIS 3ºmonth - EIS 4ºmonth EIS 4ºmonth - EIS 5ºmonth 1
Output 0.6
Input variables
variable 0.55
FIS_Real Real(𝑍𝑚𝑜𝑛𝑡ℎ(𝑖−1) − Img(𝑍𝑚𝑜𝑛𝑡ℎ(𝑖−1) − Real(𝑍𝑚𝑜𝑛𝑡ℎ(𝑖) −
𝑍𝑚𝑜𝑛𝑡ℎ(𝑖) ) 𝑍𝑚𝑜𝑛𝑡ℎ(𝑖) ) Frequency 𝑍𝑚𝑜𝑛𝑡ℎ(𝑖+1)) 0.5
= Real(Δ𝑍𝑖 ) = Img(Δ𝑍𝑖 ) = Real(Δ𝑍𝑖+1)
Re(Z) / Re(Zo)
0.45
FIS_Img Real(𝑍𝑚𝑜𝑛𝑡ℎ(𝑖−1) − Img(𝑍𝑚𝑜𝑛𝑡ℎ(𝑖−1) − Img(𝑍𝑚𝑜𝑛𝑡ℎ(𝑖) −
𝑍𝑚𝑜𝑛𝑡ℎ(𝑖) ) 𝑍𝑚𝑜𝑛𝑡ℎ(𝑖) ) Frequency 𝑍𝑚𝑜𝑛𝑡ℎ(𝑖+1)) 0.4
25% 50% 100%
= Real(Δ𝑍𝑖 ) = Img(Δ𝑍𝑖 ) = Img(Δ𝑍𝑖+1)
0.35
Table 6 –FIS_Real and FIS_Img inputs and output.
0.3
Each input variable was divided by five triangular 0.25
membership functions, symmetric and equally spaced, as
0.2
illustrated in Figure 13.
To build the fuzzy model, the impedance profiles measured of
0 20 40 60 80 100 120
months 1 to 9 were used as training data. Index
0.05 The proposed method presented below takes into account that
more data is needed to construct a fuzzy model that presents
0
an impedance profiles prediction with an admissible level of
-0.05 accuracy.
-0.1
25% 0,012822
0.3
FIS_Img 50% 0,008527
100% 0,009796 0.2
Table 7 – Mean absolute error of the real and imaginary part of the 0.1
0 5 10 15 20 25 30 35 40
impedance profile prediction.
Index
Figure 16- Real part of the intermediate impedance profile (red dots)
Through the analysis of the relative error of the prediction of between EIS of the battery with 100% of SOC performed in month 1 (blue
the real and imaginary impedance, it is possible to observe that dots) and month 2 (black dots).
the prediction of the fuzzy models are not sufficiently
accurate. The main two causes of this inaccuracy are: 0.7
Introducing these reasons for the lack of precision of the fuzzy Figure 17 - Imaginary part of the intermediate impedance profile (red dots)
between EIS of the battery with 100% of SOC performed in month 1 (blue
models, a method is proposed not as a solution for: dots) and month 2 (black dots).
10
Now, the input variables now, instead being the difference 0.15
between EISs that were made with an interval of one month, it
0.1
is calculated the difference between EISs with an interval of 25% 50% 100%
-Img(Z) / Img(Zo)
half a month. The domain for each input was again divided in 0.05
five triangular membership functions as before. 0
Two fuzzy models were constructed, as before, one with the
-0.05
real part of the prediction of the impedance profile as output
and the other one with the imaginary part. The input and -0.1
output variables used in the fuzzy models are listed in Table 8. -0.15
-0.2
Inputs Output
-0.25
FIS_real Real(𝑍𝑚𝑜𝑛𝑡ℎ (𝑖−1) − Img(𝑍𝑚𝑜𝑛𝑡ℎ (𝑖−1) − Frequency Real(𝑍𝑚𝑜𝑛𝑡ℎ( 𝑖) − 0 20 40 60 80 100 120
2 2 2
𝑍𝑚𝑜𝑛𝑡ℎ (𝑖) ) 𝑍𝑚𝑜𝑛𝑡ℎ (𝑖) ) 𝑍𝑚𝑜𝑛𝑡ℎ( 𝑖+1)) Index
2 2 2
= Real(Δ𝑍𝑖 ) = Img(Δ𝑍𝑖 ) = Real(Δ𝑍𝑖+1) Figure 19 - Prediction of the imaginary part of the impedance profile for
FIS_Img Real(𝑍𝑚𝑜𝑛𝑡ℎ (𝑖−1) − Img(𝑍𝑚𝑜𝑛𝑡ℎ( 𝑖−1) − Frequency Img(𝑍𝑚𝑜𝑛𝑡ℎ( 𝑖) − 25%, 50% and 100% of SOC of the battery (red dots) and the actual
2 2 2 impedance (blue dots) for month 10.
𝑍𝑚𝑜𝑛𝑡ℎ (𝑖) ) 𝑍𝑚𝑜𝑛𝑡ℎ( 𝑖) ) 𝑍𝑚𝑜𝑛𝑡ℎ (𝑖+1))
2 2 2
= Real(Δ𝑍𝑖 ) = Img(Δ𝑍𝑖 ) = Img(Δ𝑍𝑖+1) The mean absolute errors for the prediction of the real and
Table 8 - ANFIS inputs and outputs (Real and imaginary part of the complex imaginary part of the impedance profiles can be visualized on
impedance profile). tables 9.
0.65
Comparing Figures 17 and 18 with Figures 14 and 15 a clear
increase of precision is observed between those predictions,
0.6
the error is decreased, as can be observed comparing Table 9
0.55 with 7 (Error of the real and imaginary part of the impedance
0.5
prediction) .
Re(Z) / Real(Zo)
0.45