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Acknowledgements vii

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Contents

Abstract v

Acknowledgements vii

1 Introduction 1

1.1 Motivation . . . . 2

1.2 Open Challenges . . . . 2

1.3 Contributions . . . . 4

1.4 Thesis Structure . . . . 5

2 State of the Art 7 2.1 Battery Operation . . . . 7

2.2 Battery Aging . . . . 9

2.3 Battery Modeling . . . 11

2.4 State Estimation . . . 20

2.5 Parameter Estimation . . . 22

2.6 Fault Detection and Isolation . . . 24

2.7 Constrained Control . . . 26

2.8 Concluding Remarks . . . 27

3 Prerequisite Material 29 3.1 State Estimation . . . 29

3.1.1 The Kalman Filter . . . 29

3.1.2 The Extended Kalman Filter . . . 31

3.1.3 The Unscented Kalman Filter . . . 33

3.2 Parameter Estimation . . . 37

3.2.1 Least Squares Estimation . . . 37

3.2.2 The Standard Instrumental Variable Estimation . . . 39

3.2.3 The Simplified Refined Instrumental Variable Estimation . . . . 40

3.3 Fault Detection and Isolation . . . 44

3.4 Constrained Control . . . 47

4 Battery Modeling 51 4.1 Battery Cell Simulator . . . 51

4.2 Modeling for State Estimation & Control . . . 52

4.2.1 Diffusion Equations & Material Balance . . . 53

Solid-Phase Diffusion Equation . . . 53

Electrolyte-Phase Diffusion Equation . . . 54

Model-Order Reduction . . . 55

Material Balance . . . 59

4.2.2 Thermal Equation . . . 60

4.2.3 State Space Model Summary . . . 61

4.2.4 Output Equation . . . 61

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4.2.5 Analysis of Aging . . . 62

Aging Model . . . 63

Electrochemical Constraints . . . 66

4.2.6 Summary of Reduced-Order Model with Constraints . . . 67

4.2.7 Analysis of Equilibrium Points . . . 68

4.2.8 Discretization for Implementation . . . 70

4.3 Concluding Remarks . . . 71

5 System Identification & Fault Detection and Isolation 73 5.1 State/Parameter Estimation for SOH . . . 73

5.1.1 Constrained Extended Kalman Filter . . . 74

5.1.2 The SRIVC & LS Methods . . . 77

Estimation of the Diffusion Time Constant . . . 78

Estimation of the Film Resistance . . . 81

5.2 Validation of State/Parameter Estimation for SOH . . . 82

5.2.1 Validation Through Simulation . . . 82

5.2.2 Experimental Validation . . . 88

Setup and Testing Conditions . . . 89

Results and Discussion . . . 89

5.3 State/Parameter Estimation for Battery Monitoring & FDI . . . 93

5.3.1 From the EKF to the UKF . . . 93

5.3.2 The Dual Unscented Kalman Filter for NLDAE Systems . . . . 95

5.3.3 Fault Detection and Isolation . . . 99

5.4 Validation of State/Parameter Estimation for Battery Monitoring & FDI 101 5.5 Concluding Remarks . . . 104

6 Fast Charging Constrained Control 107 6.1 State Feedback Constrained Control . . . 107

6.1.1 Pre-Stabilization . . . 108

6.1.2 Electrochemical Constraints Reformulation . . . 109

6.1.3 The Reference Governor with OR Constraints . . . 111

6.1.4 Digital Implementation . . . 114

6.2 Simulation Results . . . 114

6.3 Concluding Remarks . . . 118

7 Safe & Fast Charging Control 121 7.1 Output Feedback Constrained Control . . . 121

7.1.1 Model Identification . . . 121

7.1.2 The Reference Governor with OR Constraints . . . 124

7.1.3 The Extended Kalman Filter . . . 125

7.2 Experimental Results . . . 126

7.2.1 Setup and Testing Conditions . . . 126

7.2.2 Closed-loop Implementation . . . 129

7.2.3 Results and Discussion . . . 131

Commercial Charging Strategies: 1C vs 2C CCCV Comparison 131 The RG with OR constraints . . . 135

Commercial Charging Strategies vs RG Comparison . . . 138

7.3 Concluding Remarks . . . 147

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8 Final Remarks 149 8.1 Thesis Summary . . . 149 8.2 Conclusions . . . 151 8.3 Future Research Directions . . . 152

A List of Publications 155

B O ˜

∞

Computation in the Case of OR-Constraints 157

C Battery Model Parameters for Simulation 159

D Computation of Electrolyte-Phase Diffusion Model 163

Bibliography 165

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