Isolation monitoring device and method
Wide deployment of high voltage battery systems in traction, industrial and renewable energy installations is raising the concerns for human safety. Exposure to hazardous high voltages may occur due to deterioration of insulation materials or by accidental events. It is thus important to monitor for such faults and being able to provide timely warnings to affected persons. For this purpose it has become mandatory for electrified passenger vehicles (CFR 571.305) to maintain high isolation values which can be continuously monitored by electrical isolation monitoring devices. The task of monitoring isolation resistance within the electrically noisy car environment is not a trivial task and the solution to this problem has become quickly a field of research and innovation for all affected industries.
1. A method to estimate a change in values of isolation impedance in an isolated ground (IT) electrical system comprising a power source, the power source controllably connectable with first and second physical loads, the method comprising:
modeling a first isolation path between a first reference point and a second reference point and modeling a second isolation path between a third reference point and a fourth reference point, thereby creating a theoretical model of the isolated ground electrical system;
providing an initial value of a first isolation resistance for the first isolation path and an initial value of a second isolation resistance for the second isolation path;
measuring an initial value of a voltage between the first reference point and the second reference point and storing the measured initial value in a storage medium;
measuring an initial value of a voltage between the third reference point and the fourth reference point and storing the measured initial value in the storage medium;
measuring a subsequent different value of the voltage between the first reference point and the second reference point and storing the measured subsequent value in the storage medium;
measuring a subsequent value of the voltage between the third reference point and the fourth reference point and storing the measured subsequent value in the storage medium;
the measuring of the initial values carried out under first physical load conditions;
the measuring of the subsequent different values carried out under second physical load conditions;
entering the measured initial values of the voltages, the measured subsequent values of the voltages, the provided values of the isolation impedances and an elapsed amount of time between the initial measurements and the subsequent measurements into a mathematical function stored in the storage medium;
wherein the mathematical function minimizes the discrepancy between the measured change in values of the voltages and the modeled theoretical values by adjusting values of modeled isolation impedances associated with the isolation paths in the electrical system;
extracting estimated values of isolation impedances associated with the isolation paths in the electrical system by application of the mathematical function;
storing the estimated values in the storage medium; and
in the event of an estimate a value of an isolation impedance falling below a predetermined threshold, annunciating the event to a human user;
the method further comprising:
extracting an estimated value of at least a first capacitance associated with an isolation path by application of the mathematical function and storing the estimated value in the storage medium;
wherein the power source is a battery and the at least first reference point in the electrical system is a terminal of the battery;
wherein the measured voltage values are measurements of a varying voltage within the electrical system while the electrical system is operating and measurements of a voltage signal source while the electrical system is idle;
wherein the mathematical function stored in the storage medium is a least square estimator which produces a least squared error estimate;
wherein the least squared error estimate is performed over a predetermined number of voltage measurements and corresponding voltage predictions, thereby minimizing a deviation between the measured voltage values and the estimated voltage values, and thereby producing a corresponding number of present value estimates and associated uncertainties for the present value estimates;
wherein the method is performed iteratively;
wherein the present value estimates are expressed as a vector and the associated uncertainties are expressed as a covariance matrix for the vector.
2. The method of claim 1 , wherein the second reference point is a chassis ground of the electrical system.
3. The method of claim 2 , wherein the fourth reference point is the chassis ground of the electrical system.
4. The method of claim 1 , further comprising: comparing the estimated values of isolation resistance with a range of acceptable values and communicating that the estimated value of resistance for an isolation path is outside the range of acceptable values.
5. The method of claim 1 , further comprising: communicating to a human user an amount of estimated energy stored in the isolation impedances.
6. The method of claim 1 , wherein the power source is a battery and wherein the first reference point and the third reference point are positive and negative terminals of the battery.
7. The method of claim 1 , wherein the power source is a supercapacitor.
8. The method of claim 1 , wherein the power source is a DC charger.
9. The method of claim 1 , further comprising: identifying a minimum resistance path from the estimated values of isolation resistance.
10. The method of claim 9 , further comprising: communicating a value of resistance for the minimum resistance path in the electrical system.
11. The method of claim 9 , wherein the power source comprises at least two power source terminals, the method further comprising: associating the minimum resistance path with one of the power source terminals.
12. The method of claim 1 , wherein the theoretical model of the electrical system is an equivalent circuit model.
13. The method of claim 1 , further comprising:
comparing the estimated values of capacitance with a range of acceptable values and communicating that the estimated value of the at least first capacitance is outside a range of acceptable values.
14. The method of claim 1 , further comprising a stochastic filter, wherein the extracted estimated values are fed to the filter and the filter maintains the most likely present value estimates and associated uncertainties for the present value estimates.
15. The method of claim 14 , wherein the stochastic filter is a Kalman filter.
16. The method of claim 15 , further comprising:
receiving as inputs to the Kalman filter a set of previous present value estimates and associated uncertainties;
receiving as inputs to the Kalman filter a set of estimated values, including the estimated value of the resistance change and the estimated value of the capacitance change; outputting a new set of values for the most likely present value estimates and associated uncertainties by application of the filter; and
updating the present value estimates and associated uncertainties stored in the storage medium.
17. The method of claim 16 , wherein the method is performed iteratively.
18. The method of claim 1 wherein the first and second loads are first and second motors, respectively.
19. A method to estimate a change in values of isolation impedance in an isolated ground (IT) electrical system comprising a power source and a load, the method comprising:
modeling a first isolation path between a first reference point and a second reference point and modeling a second isolation path between a third reference point and a fourth reference point, thereby creating a theoretical model of the isolated ground electrical system;
at a time when power from the power source is being dissipated in the load, measuring an initial value of a voltage between the first reference point and the second reference point and storing the measured initial value in a storage medium;
at a time when power from the power source is being dissipated in the load, measuring an initial value of a voltage between the third reference point and the fourth reference point and storing the measured initial value in the storage medium;
at a time when power from the power source is being dissipated in the load, measuring a subsequent different value of the voltage between the first reference point and the second reference point and storing the measured subsequent value in the storage medium;
at a time when power from the power source is being dissipated in the load, measuring a subsequent value of the voltage between the third reference point and the fourth reference point and storing the measured subsequent value in the storage medium;
entering the measured initial values of the voltages, the measured subsequent values of the voltages and an elapsed amount of time between the initial measurements and the subsequent measurements into a mathematical function stored in the storage medium; wherein the mathematical function minimizes the discrepancy between the measured initial values of the voltages, the measured subsequent values of the voltages and the modeled theoretical values by adjusting values of modeled isolation impedances associated with the isolation paths in the electrical system;
extracting estimated values of isolation impedances associated with the isolation paths in the electrical system by application of the mathematical function; and
storing the estimated values in the storage medium; and
in the event of an estimate a value of an isolation impedance falling below a predetermined threshold, annunciating the event to a human user;
the method further comprising: extracting an estimated value of at least a first capacitance associated with an isolation path by application of the mathematical function and storing the estimated value in the storage medium;
wherein the power source is a battery and the at least first reference point in the electrical system is a terminal of the battery;
wherein the measured voltage values are measurements of a varying voltage within the electrical system while the electrical system is operating and measurements of a voltage signal source while the electrical system is idle;
wherein the mathematical function stored in the storage medium is a least square estimator which produces a least squared error estimate;
wherein the least squared error estimate is performed over a predetermined number of voltage measurements and corresponding voltage predictions, thereby minimizing a deviation between the measured voltage values and the estimated voltage values, and thereby producing a corresponding number of present value estimates and associated uncertainties for the present value estimates;
wherein the method is performed iteratively;
wherein the present value estimates are expressed as a vector and the associated uncertainties are expressed as a covariance matrix for the vector;
further comprising a stochastic filter, wherein the extracted estimated values are fed to the filter and the filter maintains the most likely present value estimates and associated uncertainties for the present value estimates.
20. The method of claim 19 , wherein the second reference point is a chassis ground of the electrical system.
21. The method of claim 20 , wherein the fourth reference point is the chassis ground of the electrical system.
22. The method of claim 19 , further comprising: comparing the estimated values of isolation resistance with a range of acceptable values and communicating that the estimated value of resistance for an isolation path is outside the range of acceptable values.
23. The method of claim 19 , further comprising: communicating to a human user an amount of estimated energy stored in the isolation impedances.
24. The method of claim 19 , wherein the power source is a battery and wherein the first reference point and the third reference point are positive and negative terminals of the battery.
25. The method of claim 19 , wherein the power source is a supercapacitor.
26. The method of claim 19 , wherein the power source is a DC charger.
27. The method of claim 26 , further comprising: identifying a minimum resistance path from the estimated values of isolation resistance.
28. The method of claim 27 , further comprising: communicating to a human user a value of resistance for the minimum resistance path in the electrical system.
29. The method of claim 27 , wherein the power source comprises at least two power source terminals, the method further comprising: associating the minimum resistance path with one of the power source terminals.
30. The method of claim 19 , wherein the theoretical model of the electrical system is an equivalent circuit model.
31. The method of claim 19 , further comprising: comparing the estimated values of capacitance with a range of acceptable values and communicating that the estimated value of the at least first capacitance is outside a range of acceptable values.
32. The method of claim 19 , wherein the stochastic filter is a Kalman filter.
33. The method of claim 32 , further comprising:
receiving as inputs to the Kalman filter a set of previous present value estimates and associated uncertainties;
receiving as inputs to the Kalman filter a set of estimated values, including the estimated value of the resistance change and the estimated value of the capacitance change; outputting a new set of values for the most likely present value estimates and associated uncertainties by application of the filter; and
updating the present value estimates and associated uncertainties stored in the storage medium.
34. The method of claim 33 , wherein the method is performed iteratively.