Sate of charge (SOC) accurate estimation is one of the most important functions in a battery management system for battery packs used in electrical vehicles. This paper focuses on battery SOC estimation and its issues and challenges by exploring different existing estimation methodologies. The key technologies of lithium-ion battery state estimation methodologies of the electrical vehicles categorized under five groups, such as the conventional method, adaptive filter algorithm, learning algorithm, nonlinear observer, and the hybrid method, are explored in an in-depth analysis. Lithium-ion battery characteristic, battery model, estimation algorithm, and cell unbalancing are the most important factors that affect the accuracy and robustness of SOC estimation. Finally, this paper concludes with the challenges of SOC estimation and suggests other directions for possible research efforts.

Accurate state of charge (SOC) estimation can prolong lithium-ion battery life and improve its performance in practice. This paper proposes a new method for SOC estimation. The second-order resistor-capacitor (2RC) equivalent circuit model (ECM) is applied to describe the dynamic behavior of lithium-ion battery on deriving state space equations. A novel method for SOC estimation is then presented. This method does not require any matrix calculation, so the computation cost can be very low, making it more suitable for hardware implementation. The Federal Urban Driving Schedule (FUDS), The New European Driving Cycle (NEDC), and the West Virginia Suburban Driving Schedule (WVUSUB) experiments are carried to evaluate the performance of the proposed method. Experimental results show that the SOC estimation error can converge to 3% error boundary within 30 s when the initial SOC estimation error is 20%, and the proposed method can maintain an estimation error less than 3% with 1% voltage noise and 5% current noise. Further, the proposed method has excellent robustness against parameter disturbance. Also, it has higher estimation accuracy than the extended Kalman filter (EKF), but with decreased hardware requirements and faster convergence rate.

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Open circuit voltage (OCV) is an important characteristic parameter of lithium-ion batteries, which is used to analyze the changes of electronic energy in electrode materials, and to estimate battery state of charge (SOC) and manage the battery pack. Therefore, accurate OCV modeling is a great significance for lithium-ion battery management. In this paper, the characteristics of high-capacity lithium-ion batteries at different temperatures were considered, and the OCV-SOC characteristic curves at different temperatures were studied by modeling, exponential, polynomial, sum of sin functions, and Gaussian model fitting method with pulse test data. The parameters of fitting OCV-SOC curves by exponential model (n = 2), polynomial model (n = 3~7), sum of sin functions model (n = 3), and Gaussian model (n = 4) at temperatures of 45 °C, 25 °C, 0 °C, and −20°C are obtained, and the errors are analyzed. The experimental results show that the operating temperature of the battery influences the OCV-SOC characteristic significantly. Therefore, these factors need to be considered in order to increase the accuracy of the model and improve the accuracy of battery state estimation.

Accurate state of charge (SOC) estimation is of great significance for a lithium-ion battery to ensure its safe operation and to prevent it from over-charging or over-discharging. However, it is difficult to get an accurate value of SOC since it is an inner sate of a battery cell, which cannot be directly measured. This paper presents an Adaptive Cubature Kalman filter (ACKF)-based SOC estimation algorithm for lithium-ion batteries in electric vehicles. Firstly, the lithium-ion battery is modeled using the second-order resistor-capacitor (RC) equivalent circuit and parameters of the battery model are determined by the forgetting factor least-squares method. Then, the Adaptive Cubature Kalman filter for battery SOC estimation is introduced and the estimated process is presented. Finally, two typical driving cycles, including the Dynamic Stress Test (DST) and New European Driving Cycle (NEDC) are applied to evaluate the performance of the proposed method by comparing with the traditional extended Kalman filter (EKF) and cubature Kalman filter (CKF) algorithms. Experimental results show that the ACKF algorithm has better performance in terms of SOC estimation accuracy, convergence to different initial SOC errors and robustness against voltage measurement noise as compared with the traditional EKF and CKF algorithms. OPEN ACCESSEnergies 2015, 8 5917

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With growing dependence of industrial robots, a failure of an industrial robot may interrupt current operation or even overall manufacturing workflows in the entire production line, which can cause significant economic losses. Hence, it is very essential to maintain industrial robots to ensure high-level performance. It is widely desired to have a real-time technique to constantly monitor robots by collecting time series data from robots, which can automatically detect incipient failures before robots totally shut down. Model-based methods are typically used in anomaly detection for robots, yet explicit domain knowledge and accurate mathematical models are required. Data-driven techniques can overcome these limitations. However, a major difficulty for them is the lack of sufficient fault data of industrial robots. Besides, the used technique for anomaly detection of robots should be required to not only capture the temporal dependency in collected time series data, but also the inter-correlations between different metrics. In this paper, we introduce an unsupervised anomaly detection for industrial robots, sliding-window convolutional variational autoencoder (SWCVAE), which can realize real-time anomaly detection spatially and temporally by coping with multivariate time series data. This method has been verified by a KUKA KR6R 900SIXX industrial robot, and the results prove that the proposed model can successfully detect anomaly in the robot. Thus, this work presents a promising tool for condition-based maintenance of industrial robots.INDEX TERMS Anomaly detection, industrial robots, sliding window, variational autoencoder, convolutional neural network.

State of charge (SOC) estimation is the core of any battery management system. Most closed-loop SOC estimation algorithms are based on the equivalent circuit model with fixed parameters. However, the parameters of the equivalent circuit model will change as temperature or SOC changes, resulting in reduced SOC estimation accuracy. In this paper, two SOC estimation algorithms with online parameter identification are proposed to solve this problem based on forgetting factor recursive least squares (FFRLS) and nonlinear Kalman filter. The parameters of a Thevenin model are constantly updated by FFRLS. The nonlinear Kalman filter is used to perform the recursive operation to estimate SOC. Experiments in variable temperature environments verify the effectiveness of the proposed algorithms. A combination of four driving cycles is loaded on lithium-ion batteries to test the adaptability of the approaches to different working conditions. Under certain conditions, the average error of the SOC estimation dropped from 5.6% to 1.1% after adding the online parameters identification, showing that the estimation accuracy of proposed algorithms is greatly improved. Besides, simulated measurement noise is added to the test data to prove the robustness of the algorithms.