Switching Adaptive Observer for Lithium-Ion Battery State of Charge Estimation

A switching adaptive observer is proposed for estimation of state of charge (SOC) for lithium ion batteries used in electrified automotive propulsion systems. The base observer includes (i) a parameter estimation subsystem including a recursive parameter estimator for identifying battery parameters and (ii) an open circuit voltage (OCV) estimation subsystem including a nonlinear adaptive observer for estimating battery OCV. A timer as well as excitation level determination decides when the ampere-hour integration based SOC or estimated OCV based SOC is used as output. Using this approach, transient response of the adaptive SOC estimator is greatly improved. Examples are used to show the effectiveness of the proposed approach.

Experimental Evaluation of Identification Schemes on a Direct Drive Robot

This paper describes the experimental evaluation of three identification schemes to determine the dynamic parameters of a two degrees of freedom direct-drive robot. These schemes involve a recursive estimator while the regression models are formulated in continuous time. The fact that the total energy of robot manipulators can be represented as a linear relation in the inertial parameters, has motivated the suggestion in the literature of several regression models which are linear in a common dynamic parameter vector. Among them, in this paper we consider the schemes based on the filtered dynamic regression model, the supplied energy regression model and a new one proposed in this paper: the filtered power regression model. The underling recursive parameter estimator used in the experimental evaluation is the standard least-squares.