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Comparison of the First Order and the Second Order Equivalent Circuit Model
Applied in State of Charge Estimation for Battery Used in Electric Vehicles
Abstract
In this study, the first order model and the second order equivalent circuit models of NiMH battery for electric
vehicle were used to determinate the battery state of charge. Different parameters for equivalent circuit models
were explained. There are four phases in the battery change and discharge, which are charge phase, change idle
phase, discharge phase, discharge idle phase. All of these phases are discussed and analyzed. For different phas-
es of charge and discharge, mathematical relationships between parameters and state of charge were built. The
calculation results fit well with the experimental results. A precision comparison between the first order model
and the second order model was undertaken.
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G. Wu et al.: Comparison of the First Order and the Second Order Equivalent Circuit Model Applied in State of Charge Estimation for Battery Used in Electric Vehicles
EMF (V)
But impedance spectra measure is expensive to imple- 1.3
ment in EV/HEV. 1.28
In paper [Barbarisi et al., 2002], the SOC is estimated 1.26 OCVd
1.24 EMF
by computing the dynamic behavior of the Ni(OH)2
1.22 OCVc
concentrations in the active nickel-hydroxide film and
1.2
using measurements of current and Voltage. However, 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
a key factor is that it is hard to study dynamic behav- SOC (%)
ior Ni(OH)2 of in the battery electrode when the bat-
tery is fixed in EV/HEV. Fig. 1 The relationship between electromotive force
In this paper, a SOC estimation method based on the and state of charge
battery equivalent circuit models is proposed, which
sets a relationship between the battery SOC and 1. It shows a good linear relationship at SOC 0-0.1,
electromotive force and sets a relationship among 0.2-0.8, 0.8-1 parts. Therefore a formula has been pro-
SOC, the battery terminal Voltage and parameters of posed in equation (1), and ai, bi (i = 1, 2, 3) are coef-
equivalent circuit by experiments. Thus SOC can be ficients determined by experiment.
calculated by the battery terminal Voltage and param-
eters of equivalent circuit. In this paper, not only the a1 ε + b1 0-0.1
second order equivalent circuit is introduced, but also
a2 ε + b2 0.1-0.8 (1)
the first order equivalent circuit is discussed. Moreo- a ε+ b
3 3 0.8-1
ver, four phases of charge and discharge of the battery
equivalent circuit are analyzed in detail. In addition, q represents SOC, ai and bi (i equals 1, 2, 3) are coeffi-
the NiMH battery is used to verify the precision of cients determined by experiment data. e is electromo-
equivalent circuit models. tive force.
2. THE RELATIONSHIP OF NiMH BATTERY 3. THE FIRST ORDER MODEL ANALYSIS AND
SOC AND ELECTROMOTIVE FORCE SOC ESTIMATION
To determinate the relationship of NiMH battery The battery internal resistance includes ohm resist-
SOC and electromotive force (EMF), a pulse dis- ance and polarization resistance. In Figure 2, it shows
charge experiment was designed. The battery was 10 a first order NiMH battery model. RW represents ohm
Ah/1.2 V. The procedure includes discharge pulse resistance, Rkd represents polarization resistance, Ckd is
discharge experiment and pulse charge experiment. parallel capacitor, Vt is terminal Voltage, e is EMF. t kd
For pulse discharge experiment, first, NiMH battery is time constant whose value is Rkd Ckd. Vkd0 is initial
was charged fully and idled till it was steady. Second, value of Ckd when the battery is in charge or discharge.
the battery discharged 1Ah each time, there were 10 I represents charge/discharge current.
times in an experiment that insured SOC decreased
0.1. It idled enough long time between two pulses to
ensure the battery was in steady condition. Then we
recorded the 11 open circuit Voltages after each pulse
discharge (OCVd) under different SOC. In the same
way, for pulse discharge experiment, first, NiMH bat-
tery was discharged to empty state and idled till it was
steady. Second, the battery charged 1 Ah each time,
there were 10 times in an experiment that insured
SOC increased 0.1. It idled enough long time between Fig. 2 The first order equivalent circuit model
two pulses to ensure the battery was in steady condi-
tion. Then we recorded the 11 open circuit Voltages 3.1 Discharge process
after each pulse charge (OCVc) under different SOC. When the battery begins to discharge, the battery po-
The average value of open circuit Voltage after pulse larization appears. Ckd, Rkd branch circuit is under zero
charge and open circuit Voltage after pulse discharge state response at the current switching on moment.
equals to electromotive force (EMF) approximately. Then Ckd begins to accumulate charge. Ckd, Rkd branch
The relationship of SOC and EMF shows in Figure circuit equation shows in (2). The battery terminal
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Journal of Asian Electric Vehicles, Volume 8, Number 1, June 2010
dVkd
RkdCkd + Vkd = I(t)Rkd (2)
dt
Vt = − I(t)RΩ − Vkd (3)
dVkd
RCkdCkd + Vkd = 0 (5)
dt
I(t)Rd (1 − e-t/τ )
d discharge or charge
Vt = ε − Vkd (6) Vd Vd0 e-t/τ discharge idle or charge idle
d
θ = aiVt + aiVkd0e-t/τkd + bi (7)
5. PARAMETERS IDENTIFICATION OF
3.3 Charge phase analysis EQUIVALENT CIRCUIT MODE
The analysis of charge phase is similar with discharge 5.1 Experiment object, equipment and process
phase. For charge process, formula of SOC shows in This experiment used a 10 Ah/1.2 V NiMH battery
(8) and the value of Vkd is I(t)Rkd(1-e-t/t kd). For charge and it was tested by Arbin BT2000 the battery test
idle process, SOC formula shows in (9), Vkd equals instrument. The battery test system for the experiment
Vkd0e-t/t kd. is shown in Figure 4, which includes data acquisi-
tion card, computer, NiMH battery. The battery Volt-
θ = aiVt − aiI(t)RΩ − aiI(t)Rkd (1 − e-t/τkd) + bi (8) age and current were measured by sensors of Arbin
BT2000 and then their values were stored in com-
θ = aiVt − aiVkd0 e-t/τkd + bi (9) puter. Each precise of Voltage and current is 0.1 %.
During the process of measuring the battery Voltage
and current, data were recorded in an excel file auto-
4. SECOND ORDER MODEL ANALYSIS AND
SOC ESTIMATION
The difference of the second order model and the
order model is polarization resistance. For second
order model, polarization resistance is divided into
electrochemical polarization resistance and diffusion
resistance. Second order NiMH battery model shows
in Figure 3. Rk represents polarization resistance, Rd
represents electrochemical polarization. Ck, Cd are
parallel capacitors with Rk and Rd. For second order Fig. 4 The battery test system
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G. Wu et al.: Comparison of the First Order and the Second Order Equivalent Circuit Model Applied in State of Charge Estimation for Battery Used in Electric Vehicles
R [mΩ]
RΩ
when NiMH battery was in full charge state. The 3
Rd
discharge current was 5 A. The battery discharged 2 Rk
1Ah every time, there were 10 times in an experiment 1 Rkd
that insures SOC decreases 0.1. It idles several times 0
between two pulses to ensure the battery is in steady 0 20 40 60 80 100
condition. The experiment shows in Figure 5. SOC [%]
1.4 6
Fig. 7 Relationship of RW , Rkd, Rd, Rk and SOC under
1.35
Voltage discharge
Current 4
1.3
2 constant [Schweighofer et al., 2003; Tian et al., 2009].
Voltage [V]
Current [A]
1.25
1.2 0
Figure 7 are relationship of RW , Rkd, Rd, Rk and SOC
1.15 under discharge.
-2
1.1
1.05
-4 6. PARAMETERS IDENTIFICATION OF
1 -6 EQUIVALENT CIRCUIT MODE
0 5000 10000 15000 20000 25000 30000 35000 40000
6.1 Discharge
Time [S]
Put these six parameters RW , Rkd, Rd, Rk, I, t d, t k, t kd
Fig. 5 NiMH battery pulse discharge curve into (4), (7), and (10), SOC under four states of dis-
charge/charge can be calculated. Figure 8 and Figure
In this charge experiment, the battery was charged
by pulse current. Experiment was undertaken when 120
NiMH battery was in empty state. The charge current
100
was 5 A. The battery charged 1 Ah every time, there SOCreal
were 10 times in an experiment that insures SOC de- 80 SOCsim
creases 0.1. It idles several times between two pulses
SOC [%]
60
to ensure the battery is in steady condition. The ex-
periment shows in Figure 6. 40
1.6 10 20
Voltage 9
1.5
8 0
Current
1.4 7 0 10000 20000 30000 40000
Voltage [V]
Current [A]
6 Time [S]
1.3 5
4 Fig. 8 SOC comparison between experimental results
1.2
3
and first order model calculated data under discharge
2
1.1
1
1 0
120
0 10000 20000 30000 40000
Time [S] 100 SOCreal
SOCsim
Fig. 6 NiMH battery pulse charge curve 80
SOC [%]
60
5.2 Parameters identification
Vt and I are measured by Voltage sensor and current 40
sensor. From the experiment data, RW , Rkd, Rd, Rk and
20
t kd, t d, t k are identified. RW is achived by experiment.
Ohm internal resistance use DC method. Rkd, Rd, Rk 0
are identified by curve Least-squares fitting with ex- 0 10000 20000 30000 40000
Time [S]
periment data, which use the method in reference pa-
pers. Time constants t kd, t d, t k is determinated by the Fig. 9 SOC comparison between experimental results
intersection between the slope dv/dt and EMF is time and second order model calculated data under discharge
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Journal of Asian Electric Vehicles, Volume 8, Number 1, June 2010
15 120
10 100
5 80
SOC [%]
SOC (%)
0
60 SOCreal
0 10000 20000 30000 40000 50000
-5 SOCsim
40
-10
20
-15
Time [S] 0
0 10000 20000 30000 40000 50000
Fig. 10 Error of first order model calculated data un- Time (S)
der discharge
Fig. 12 SOC comparison between experimental
results and first order model calculated data under
15
charge
10
5 100
SOC [%]
0 90
0 10000 20000 30000 40000 50000 80
-5 70
60 SOCreal
SOC (%)
-10
50 SOCsim
-15 40
Time [S] 30
Fig. 11 Error of second order model calculated data 20
under discharge 10
0
0 10000 20000 30000 40000 50000
9 show the comparison between experiment data (blue) Time (S)
and calculated data (pink). Figure 10 and Figure 11
Fig. 13 SOC comparison between experimental re-
show two errors of proposed method used in the first
sults and second order model calculated data under
order and the second order models. The results show
charge
that precisions of the second order and the first order
are good. Error of second model is less than 7 %, and
error of the first model is less than 15 %. Therefore, 20
the second order model is suit for high precise re- 15
quirement system and the first order model is easy to 10
implement.
5
SOC (%)
6.2 Charge 0
0 10000 20000 30000 40000 50000
Put these six parameters RW , Rkd, Rd, Rk, I, t d, t k, t kd -5
into (8) , (9) and (10), SOC under four states of dis- -10
charge/charge can be calculated. Figure 12 and Figure -15
13 show the comparison between experiment data -20
(blue) and calculated data (pink). Figure 14 and Figure Time (S)
15 show two errors of proposed method used in first
Fig. 14 Error of first order model calculated data un-
order and second order models. The results show that
der charge
precisions of second order and first order are good.
Error of second model is less than 9.5 %, and error of
first model is less than 19 %. Therefore, second order 7. CONCLUSION
model is suit for high precise requirement system and A piece-wise relationship between SOC and EMF was
first order model is easy to implement. achieved by pulse discharge experiment. By means of
first order and second order equivalent circuit model
analysis, four states of the battery charge/discharge
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G. Wu et al.: Comparison of the First Order and the Second Order Equivalent Circuit Model Applied in State of Charge Estimation for Battery Used in Electric Vehicles
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