CN105337549B  Motor driven systems  Google Patents
Motor driven systems Download PDFInfo
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 CN105337549B CN105337549B CN201510859749.6A CN201510859749A CN105337549B CN 105337549 B CN105337549 B CN 105337549B CN 201510859749 A CN201510859749 A CN 201510859749A CN 105337549 B CN105337549 B CN 105337549B
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Abstract
Description
Technical field
The invention belongs to machine field, more particularly to a kind of motor driven systems.
Background technology
Motor is the major impetus source of electric car, and driving motor of electric vehicle generally uses magneto (PMSM) at present, Compared with electromagnetic motor, magneto, particularly rareearth permanentmagnet electric machine have it is simple in construction, it is reliable；Small volume, quality Gently；Small, efficiency high is lost；The shape and size of motor can wait remarkable advantage with versatile and flexible.At present in the type of drive of motor On, using single type of drive, it can not change type of drive according to road conditions, vehicle selfcondition etc., such as flat Straight road surface driver wishes the higher speed of acquisition, and for the road surface of hollow, driver wishes to obtain bigger torque, when When battery electric quantity is too low, driver wishes to use more energy efficient type of drive again, and to obtain maximum distance travelled, these will It is irrealizable to ask under single drive mode.
The content of the invention
The defects of for prior art, the invention provides a kind of motor driven systems.
A kind of driving system of permanent magnet motor, including：Acquisition module, for obtaining vehicle velocity V, motor rotor position θ_{r}, torque Command valueTraffic information and input motor threephase electricity flow valuve ia, ib, ic, the traffic information comprise at least straight road conditions, Hollow road conditions and bend information；SOC estimation modules, for obtaining the voltage Us and electric current is signals at electrokinetic cell end, according to institute The mathematical modeling of the electrokinetic cell of foundation, integrated using amperehour, state observer and adaptive extended kalman filtering method difference Estimate battery SOC, estimate is weighted, obtains the current SOC estimation S of electrokinetic cell；Selecting module, for estimating When evaluation S is more than the threshold value of setting, when selected road conditions are straight road conditions, weak magnetic type of drive motor is selected；When selected When road conditions are hollow road conditions, Direct Torque type of drive motor is selected；When judgement estimate S is less than or equal to the threshold of setting During value, efficiency optimal drive mode motor is selected；Instruction calculation module, for be respectively adopted efficiency optimal drive mode, Weak magnetic type of drive and Direct Torque type of drive calculate motor d the first command values of shaft currentWith the command value of q shaft currents firstBend compensating module, for calculating d shaft current offsets according to the bend informationWith q shaft current offsetsRoot According to the command value of d shaft currents firstAnd current offset valuesCalculate d the second command values of shaft currentAccording to q axles electricity Flow the first command valueAnd current offset valuesCalculate q the second command values of shaft currentRotorposition detection module, for root Motor rotor position θ is calculated according to threephase electricity flow valuve ia, ib, ic of input motor_{r}；Voltage vector modulation module, for according to institute State the second command valueSecond command valueWith motor rotor position θ_{r}Pulsewidth modulation is carried out to inverter.
Optionally, in addition to memory module, the memory module are connected with acquisition module, are prestored in the memory module There are the road information of a plurality of road, acquisition module road according to where vehicle present position judges vehicle, from the storage The bend information of the road is read in module.
Optionally, the bend information includes the quantity of bend length, bend curvature and preset distance inner curve；According to The position that the bend information and vehicle got is presently in determines whether vehicle makes a reservation on bend or into bend Distance in or the scheduled time in.
Optionally, the rotorposition detection module, rotor position is calculated according to following formula_{r}：
θ_{r}(k+1)=3θ_{r}(k)3θ_{r}(k1)+θ_{r}(k2)
In formula, K represents kth state value.
Optionally, the mathematical modeling of the electrokinetic cell is：
In formula, X_{k}Represent the state vector of battery pack, y_{k}Battery terminal voltage is represented, η is the coulombic efficiency factor, and C holds to be total Amount, E_{0}For full of the opencircuit voltage under electricity condition, R is the internal resistance of cell, K_{0}、K_{1}、K_{2}、K_{3}For battery polarization internal resistance, △ t are sampling week Phase, i_{mk}For current measurement value, i_{sk}For current sensor current drift estimate, W_{1}And W_{2}、V_{k}For separate white noise, SOC is battery electric quantity, and K represents kth state value, K=0,1,2,3,4,5 ....
Optionally, the SOC estimation modules, for current integration method, state observer method and adaptive expansion to be respectively adopted Exhibition Kalman filtering method estimates SOC value of battery respectively, obtains SOC state estimation S1, S2, S3, and then S1, S2, S3 are carried out Weighted calculation, obtain final SOC estimation S；
S=ω_{1}S_{1}+ω_{2}s_{2}+ω_{3}s_{3} (3)
Wherein ω_{1}、ω_{2}、ω_{3}For weight coefficient, ω_{1}+ω_{2}+ω_{3}=1.
Optionally, in addition to timing module, the timing module are connected with selecting module, when judge estimate S be less than or Equal to setting threshold value when, timing module starts timing, when timing duration T be more than setting duration T0 after, selecting module is selected Efficiency optimal drive mode motor.
Optionally, in addition to weak magnetic drive module, the weak magnetic drive module include function generator FG1 and FG2, function Generator FG1 and FG2 input are connected with acquisition module, and function generator FG1 output end is connected with first adder, the The output end of one adder is connected with current regulator, and current regulator is connected by second adder with limiter, the limit Width device also and function generator FG2 output end is connected.
Optionally, also d shaft currents first are calculated as follows in bag efficiency optimal drive module, the efficiency optimal drive module Command valueWith the command value of q shaft currents first
In formula, Pe represents motor electromagnetic power, ω caused by per phase_{r}For motor speed, ψ_{f}Iron core magnetic linkage is represented, Ls is represented Stator inductance.
Optionally, the bend compensating module, the command value of d shaft currents second is calculated as followsRefer to q shaft currents second Make value
K in formula_{sd}、K_{sd}、K_{sq}、K_{sq}, be proportionality coefficient, L represents bend length, and S represents bend curvature, i.e. bend deviates straight The angle in road.
The beneficial effects of the invention are as follows：By accurate mathematical modeling, estimate SOC value using a variety of methods, obtain more Add accurately SOC value, accurate foundation is provided for the manipulation of electric car；Rotorposition, drop are detected using sensorless technology Low cost；Consider pavement behavior and battery information, adjust the driving side of vehicle in real time according to different pavement behavior Formula so that Vehicle handling to be improved；Consider bend and caused influence is driven on motor, electricity is adjusted after bend is run into Machine exciting current and torque current, so as to ensure that turn during vehicle stability.
Brief description of the drawings
Fig. 1 is the structure chart of motor driven systems of the present invention；
Fig. 2 is weak magnetic driving block diagram；
Fig. 3 is PMSM equivalent circuit diagrams.
Embodiment
In order to facilitate the understanding of the purposes, features and advantages of the present invention, below in conjunction with the accompanying drawings to the present invention Embodiment be described in detail, make the above and other purpose of the present invention, feature and advantage will become apparent from.Complete Identical reference instruction identical part in portion's accompanying drawing.Not deliberately accompanying drawing drawn to scale, it is preferred that emphasis is show this hair Bright purport.
Referring to Fig. 1, in order that vehicle can preferably be driven by obtaining motor so that vehicle can be given under different road conditions and drive Person provides more preferable manipulation/feeling for taking, and the present invention determines the driving mould of vehicle according to the electricity (SOC) of electrokinetic cell first Formula, when selected road conditions are straight road conditions, select weak magnetic type of drive motor；When selected road conditions are hollow road conditions, choosing Determine Direct Torque type of drive motor；When judging that estimate S is less than or equal to the threshold value of setting, selected efficiency is most preferably driven Flowing mode motor, according to bend information adjust vehicle PMSM motors type of drive, so as to improve vehicle it is handling, The comfortableness of seating.
Acquisition module, for obtaining vehicle velocity V, motor rotor position θ_{r}, torque instruction valueTraffic information and input motor Threephase electricity flow valuve ia, ib, ic, the traffic information comprises at least straight road conditions, hollow road conditions and bend information.
Specifically, current sensor can be used to measure threephase current ia, ib, ic of inverter output, vehicle velocity V respectively Detection have various ways, can be according to the depression amount of gas pedal come calculating torque command valueThese abovementioned information obtain It is prior art to take, and is repeated no more.
For for example wet and slippery road conditions of some road conditions, straight road conditions, hollow road conditions etc., driver can be easy by observation Solve, can be so that corresponding traffic information be sent to vehicle control system by selection key, these buttons can include wet Cunning, hollow, straight, accumulated snow etc., the present invention in straight road conditions refer to there is no bend in certain distance, and road surface without rise Lie prostrate, in evenness of road surface, such as 2KM, this road conditions are suitable to high vehicle speeds.It is convex that hollow road conditions refer to that road surface has many places Rise and depression, pavement roughness, this road conditions should not run at high speed, it requires that vehicle exports larger torque to overcome the convex of road surface Rise and be recessed.It can not be obtained for bend information driver by observing, it is bent that bend information can include bend length, bend The quantity of degree and preset distance inner curve, such as the quantity of the inner curve in 2 kms.Bend length, curvature and quantity and electricity Machine type of drive is closely bound up, and it affects the handling of vehicle and the comfort taken.Such as larger curvature then need it is low Speed and high torque.
Therefore, the present invention is provided with memory module, it is prestored the traffic information of a plurality of road, and acquisition module is according to vehicle Road where present position judges vehicle, the information of the road is read from prestored traffic information.The location of vehicle It can be provided by such as global positioning system (GPS).Contained in prestored traffic information on this road residing for bend Position, length, curvature and quantity.
Motor rotor position θ_{r}It can be detected by detecting element such as encoder, but detecting element price is higher, and For electric car, detecting element, which is installed in drive system, to be needed to take larger space, installation inconvenience.For this present invention Motor rotor position θ is detected using sensorless detection method_{r}.PMSM mechanical equation is：
Due to θ_{r}=∫ω_{r}Dt, therefore formula (1) is rewritable is：
In formula, Te is electromagnetic torque, and Pn is number of polepairs, R_{Ω}For damped coefficient, J is rotary inertia, T_{1}For load torque.Formula (2) rotor position is shown_{r}It is to change according to quadratic polynomial rule, i.e.,：
θ_{r}(t)=At^{2}+Bt+C (3)
A, B, C are the coefficient of quadratic polynomial in formula, if the sampling period is T, K represents kth state value, can by formula (3) Know, rotor position next time can be obtained in rotor position estimate value three times in the past, it is assumed that the K2 time initial time t estimated =0, then：
θ_{r}(k2)=C (4)
In the initial time of the K1 times estimation, rotorposition is：
θ_{r}(k1)=AT^{2}+BT+C (5)
Similarly, K times：θ_{r}(k)=A (2T)^{2}+B(2T)^{2}+C (6)
Then, in the initial time of K+1 estimation, θ_{rp}(k+1)=A (3T)^{2}+B(3T)^{2}+C (7)；
A, B, C value can be obtained by formula 4~6, after substituting into formula 7, can be obtained：
θ_{r}(k+1)=3 θ_{r}(k)3θ_{r}(k1)+θ_{r}(k2) (8)
Thus can be to obtain motor rotor position θ_{r}。
SOC estimation modules, for obtaining the voltage Us and electric current is signals at electrokinetic cell end, according to the power electric established The mathematical modeling in pond, is integrated, state observer and adaptive extended kalman filtering method estimate battery SOC respectively using amperehour, Estimate is weighted, obtains the current SOC estimation S of electrokinetic cell.
Current sensor can be used, voltage sensor measures the terminal voltage Us and output current of power battery pack respectively is.The mathematical modeling of electrokinetic cell has a variety of at present, such as preferable equivalent model, preferable equivalent model regard the internal resistance of battery as SOC when fixed value, not accounting for the difference of internal resistance of cell when battery charges, discharged, therefore also just can not embodying charging, electric discharge Difference, this model and actual value gap are larger；Thevenin models, it is that parameter is all in circuit the defects of Thevenin models It is definite value, they are SOC functions in fact；RC models, RC models simulated battery more more preferable than Thevenin model energy move Step response, but the temperature effect of battery is have ignored, polarity effect is considered not abundant enough；EMF models and RC models and Thevenin models are compared, and in addition to more considering the dynamic characteristic of battery, also preferably consider chemical polarization concentration polarization Etc. the influence of factor, but it also have ignored temperature effect.Builtup pattern, its discrete state space equation are used for this present invention For：
In formula, Xk represents the state vector of battery pack, and yk represents battery terminal voltage, and η is the coulombic efficiency factor, and C holds to be total Amount, E0 are full of the opencircuit voltage under electricity condition, and R is the internal resistance of cell, and K0, K1, K2, K3 are battery polarization internal resistance, and △ t are sampling Cycle, imk are current measurement value, and isk is current sensor current drift estimate, and W1 and W2, Vk are separate white noise Sound, SOC are battery electric quantity, and K represents kth state value, K=0,1,2,3,4,5 ....
Then according to the mathematical modeling of battery pack, current integration method, state observer method and adaptive extension is respectively adopted Kalman filtering method estimates SOC value of battery respectively, obtains SOC state estimation S1, S2, S3, then S1, S2, S3 are added Power calculates, and obtains final SOC estimation S.
S=ω_{1}S_{1}+ω_{2}s_{2}+ω_{3}s_{3} (11)
Wherein ω_{1}、ω_{2}、ω_{3}For weight coefficient, ω_{1}+ω_{2}+ω_{3}=1.Using a variety of methods respectively to the lotus of electrokinetic cell Electricity condition SOC estimated, well row weighted calculation of being spouted to estimated result draws final estimate, improves electrokinetic cell SOC estimated accuracy.
Selecting module, when being more than the threshold value of setting for estimate S, when selected road conditions are straight road conditions, select weak magnetic Type of drive motor；When selected road conditions are hollow road conditions, Direct Torque type of drive motor is selected；When judgement is estimated When evaluation S is less than or equal to the threshold value of setting, efficiency optimal drive mode motor is selected.
For electric car, the handling driving that motor is depended primarily on comfortableness that is taking of its vehicle.In order to Preferably handling and comfortableness can be reached, it is necessary to adjust the type of drive of motor in real time according to road conditions, the type of drive of motor Weak magnetic driving, Direct Torque driving etc. can be included, these type of drive can adapt to different road conditions requirements, substantially increase Handling, the drive pattern of this type of drive for adjusting motor in real time according to road conditions can be referred to as intelligent drives pattern.But Under intelligent drives pattern, the operational efficiency of motor is not optimal, when battery electric quantity SOC is too low, if still using intelligence Drive pattern, then the operating range of vehicle will greatly shorten, in order to when battery electric quantity SOC is too low so that electrokinetic cell is full The needs of sufficient normally travel, the present invention in only when judge estimate S be more than setting threshold value when, just into intelligent drives mould Formula, this threshold value can be the 30% of power battery total electricity, i.e., when estimate S is more than the 30% of battery total electricity, then permit Perhaps vehicle enters intelligent drives pattern, when estimate S is less than or equal to 30% then, into efficiency optimal drive pattern.Such as When battery electric quantity residue 50%, vehicle enters intelligent driving pattern, its road conditions selected from input module acquisition driver, if Selected road conditions are straight road conditions, then selecting module selection weak magnetic type of drive, when the road conditions that driver selectes are hollow road conditions When, selecting module selection Direct Torque drive pattern motor operation, with the continuous operation of motor, battery electric quantity declines, When battery electric quantity drops to 30%, selecting module efficiency of selection optimal drive mode motor.
Further, because electrokinetic cell has the phenomenon of " power down ", i.e., larger electricity is obtained from electrokinetic cell when moment During power, now estimate S can be less than its actual electricity, such as when actual electricity residue 35% of vehicle, now moment raising car Driving force, then estimate S can 25% or so, and when again recover driven when, estimate S can rise to 35%, This has resulted in the abnormal of intelligent driving pattern and exited.On the other hand, in order to preferably judge now whether vehicle enter/should move back Going out intelligent driving pattern, the present invention sets a timing module, when judging that estimate S is less than or equal to the threshold value of setting, timing Module starts timing, after timing duration T is more than the duration T0 of setting, if now estimate S is still less than or equal to setting Threshold value, then exit intelligent driving pattern.Duration T0 setting, show the electricity of battery within the time period in lasting reduction, and This reduction is due to not caused by " power down ", so just make it that judgement is more accurate.
Instruction calculation module, for efficiency optimal drive mode, weak magnetic type of drive and Direct Torque driving to be respectively adopted Mode calculates motor d the first command values of shaft currentWith the command value of q shaft currents first
Weak magnetic control is a current PMSM study hotspot, and motor weakens magnetic field can and realizes that highspeed cruising (turns Square also reduces therewith) so that speed adjustable range broadens, and contributes to electric automobile to obtain higher speed, this is in straight road traveling When be highly beneficial.Weak magnetic drive module is as shown in Fig. 2 actual current id and iq are according to the threephase stator electric current detected And rotor position_{r}Obtained by vector, the first command valueWith the command value of q shaft currents firstIt is by FG1 and FG2 roots According toIt is calculated, current regulator and q shaft current limiters, deviation delta i is added in weak magnetic drive module of the invention_{d} Input, exported as i for current regulator_{dc}, the input of current limiter is FG2 output, amplitude limit value i_{q1}=i_{qmax}i_{dc}, i_{qmax} For setpoint.When inverter current adjuster saturation, i_{dc}Increase, q shaft current command values, i are reduced by limiter_{0}With i_{qmax}For setpoint, its given foundation does not influence for the control of guarantee weak magnetic and normal current control room.
Direct Torque Control is that torque is controlled directly as controlled volume, its essence is the analysis method with space vector, In a manner of stator flux orientation, stator magnetic linkage and electromagnetic torque are directly controlled.This method does not need complicated seat Mark conversion, but the mould of magnetic linkage and the size of torque are calculated directly on motor stator coordinate, and pass through the straight of magnetic linkage and torque Connect the high dynamic performance that PWM pulsewidth modulations and system are realized in tracking.Direct Torque Control has strong robustness, torque dynamic response Speed is fast, suitable for requiring higher potted road surface for direct torque.Currently existing a variety of Study on direct torque control technology, herein Repeat no more.
When estimate S is less than or equal to the threshold value of setting, using efficiency optimal drive mode.The loss master of magneto To derive from stator copper loss and core loss, Fig. 3 is the equivalent circuit for the PMSM for considering core loss, R in figure_{f}Represent iron core etc. Resistance is imitated, Rs represents stator resistance, E_{0}Counter electromotive force is represented, Ux is voltage corresponding with stator magnetic linkage, and the magnetic linkage is in iron core Produce vortex and magnetic hystersis loss.PMSM motors can be expressed as per mutually loss：
It is real axis to take q axles, and d axles opposite direction is the imaginary axis, then has：
U_{x}=U_{xq}jU_{xd}
I_{e}=I_{q}jI_{d} (13)
And
Pe represents motor electromagnetic power, ω caused by per phase in formula_{r}For motor speed, ψ_{f}Represent iron core magnetic linkage.
Ux can be expressed as in Fig. 3：U_{x}=(E_{0}+I_{d}ω_{r}L_{s})+j(I_{q}ω_{r}L_{s}) (15),
Using formula 1315, to the minimizing of formula 12, can obtain：
This point is motor operation efficiency highest point, by controlling frequency and demagnetizing current to adjust iron loss and copper loss Proportionate relationship so that motor iron loss and copper loss are equal, so as to reach optimal operational efficiency.This is for battery electric quantity When SOC is too low, increase VMT VehicleMiles of Travel is favourable.
Bend compensating module, for calculating d shaft current offsets according to the bend informationWith q shaft current offsetsAccording to the command value of d shaft currents firstAnd current offset valuesCalculate d the second command values of shaft currentAccording to institute State the command value of q shaft currents firstAnd current offset valuesCalculate q the second command values of shaft current
Bend information can include the quantity of bend length, bend curvature and preset distance inner curve, such as in 2 kms Inner curve quantity.The driving of bend length, curvature and quantity and vehicle is closely bound up, and it affects the handling of vehicle And security.Such as larger curvature then needs bigger torque and relatively low speed.For this present invention according to bend length L and Bend curvature S carrys out calculating current offset in proportionAnd current offset valuesI.e.：
K in formula_{sd}、K_{sd}、K_{sq}、K_{sq}, be proportionality coefficient, can according to experiment determine, it is determined that minimum principle be ensure vehicle exist Cross it is curved during do not topple.
Further, it is now easy if speed is too high to endanger when the quantity of preset distance inner curve is more than setting value Danger, to this present invention when the quantity of preset distance inner curve is more than setting value, the speed of vehicle is obtained, when speed is more than setting During threshold value, such as 80KM/h, alarm now is sent to driver, reminds driver's slow down.
Voltage vector modulation module, for according to second command valueSecond command valueAnd motor rotor position θ_{r}Pulsewidth modulation is carried out to inverter.After the second command value is obtained, vehicle ECU calculates respectively touching for inverter to inverter Pulse is sent out, IGBT in inverter is driven by drive circuit, so as to export corresponding electric current, driving PMSM operations.
Many details are elaborated in the above description in order to fully understand the present invention.But above description is only Presently preferred embodiments of the present invention, the invention can be embodied in many other ways as described herein, therefore this Invention is not limited by specific implementation disclosed above.Any those skilled in the art are not departing from the technology of the present invention simultaneously In the case of aspects, all technical solution of the present invention is made using the methods and technical content of the disclosure above many possible Changes and modifications, or it is revised as the equivalent embodiment of equivalent variations.Every content without departing from technical solution of the present invention, according to this The technical spirit of invention still falls within skill of the present invention to any simple modifications, equivalents, and modifications made for any of the above embodiments In the range of the protection of art scheme.
Claims (6)
 A kind of 1. driving system of permanent magnet motor, it is characterised in that including：Acquisition module, for obtaining vehicle velocity V, motor rotor position θ_{r}, torque instruction valueThe three of traffic information and input motor Phase current values ia, ib, ic, the traffic information comprise at least straight road conditions, hollow road conditions and bend information；SOC estimation modules, for obtaining the voltage Us and electric current is signals at electrokinetic cell end, according to the electrokinetic cell established Mathematical modeling, is integrated, state observer and adaptive extended kalman filtering method estimate battery SOC respectively using amperehour, to estimating Evaluation is weighted, and obtains the current SOC estimation S of electrokinetic cell；Selecting module, when being more than the threshold value of setting for estimate S, when selected road conditions are straight road conditions, select weak magnetic driving Mode motor；When selected road conditions are hollow road conditions, Direct Torque type of drive motor is selected；When judgement estimate When S is less than or equal to the threshold value of setting, efficiency optimal drive mode motor is selected；Instruction calculation module, for efficiency optimal drive mode, weak magnetic type of drive and Direct Torque type of drive to be respectively adopted Calculate motor d the first command values of shaft currentWith the command value of q shaft currents firstBend compensating module, for calculating d shaft current offsets according to the bend informationWith q shaft current offsetsRoot According to the command value of d shaft currents firstAnd current offset valuesCalculate d the second command values of shaft currentAccording to q axles electricity Flow the first command valueAnd current offset valuesCalculate q the second command values of shaft currentRotorposition detection module, for calculating motor rotor position θ according to threephase electricity flow valuve ia, ib, ic of input motor_{r}；Voltage vector modulation module, for according to second command valueSecond command valueWith motor rotor position θ_{r}To inverse Become device and carry out pulsewidth modulation.
 2. driving system of permanent magnet motor according to claim 1, it is characterised in that also including memory module, the storage Module is connected with acquisition module, is prestored with the road information of a plurality of road in the memory module, the acquisition module according to Road where vehicle present position judges vehicle, the bend information of the road is read out of described memory module.
 3. driving system of permanent magnet motor according to claim 1, it is characterised in that the bend information is grown including bend The quantity of degree, bend curvature and preset distance inner curve；The position that bend information and vehicle according to getting are presently in is true Vehicle is determined whether on bend or in the predetermined distance for entering bend or in the scheduled time.
 4. driving system of permanent magnet motor according to claim 1, it is characterised in that the mathematical modeling of the electrokinetic cell For：<mfenced open = "" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>X</mi> <mi>k</mi> </msub> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mfrac> <mrow> <mi>&eta;</mi> <mi>t</mi> </mrow> <mi>C</mi> </mfrac> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <msub> <mi>X</mi> <mrow> <mi>k</mi> <mo></mo> <mn>1</mn> </mrow> </msub> <mo>+</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mfrac> <mrow> <mo></mo> <mi>&eta;</mi> <mi>&Delta;</mi> <mi>t</mi> </mrow> <mi>C</mi> </mfrac> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <msub> <mi>i</mi> <mrow> <mi>m</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo></mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> </msub> <mo>+</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>w</mi> <mrow> <mn>1</mn> <mrow> <mo>(</mo> <mi>k</mi> <mo></mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>w</mi> <mrow> <mn>2</mn> <mrow> <mo>(</mo> <mi>k</mi> <mo></mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> </msub> </mtd> </mtr> </mtable> </mfenced> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>=</mo> <msub> <mi>&Phi;</mi> <mrow> <mi>k</mi> <mo></mo> <mn>1</mn> </mrow> </msub> <msub> <mi>X</mi> <mrow> <mi>k</mi> <mo></mo> <mn>1</mn> </mrow> </msub> <mo>+</mo> <msub> <mi>&Gamma;</mi> <mrow> <mi>k</mi> <mo></mo> <mn>1</mn> </mrow> </msub> <msub> <mi>i</mi> <mrow> <mi>m</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo></mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> </msub> <mo>+</mo> <msub> <mi>w</mi> <mrow> <mi>k</mi> <mo></mo> <mn>1</mn> </mrow> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced><mfenced open = "" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>y</mi> <mi>k</mi> </msub> <mo>=</mo> <msub> <mi>g</mi> <mn>1</mn> </msub> <mrow> <mo>(</mo> <msub> <mi>X</mi> <mi>k</mi> </msub> <mo>,</mo> <msub> <mi>i</mi> <mrow> <mi>m</mi> <mi>k</mi> </mrow> </msub> <mo>,</mo> <msub> <mi>v</mi> <mi>k</mi> </msub> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>=</mo> <msub> <mi>E</mi> <mn>0</mn> </msub> <mo></mo> <mi>R</mi> <mrow> <mo>(</mo> <msub> <mi>i</mi> <mrow> <mi>m</mi> <mi>k</mi> </mrow> </msub> <mo></mo> <msub> <mi>i</mi> <mrow> <mi>s</mi> <mi>k</mi> </mrow> </msub> <mo>)</mo> </mrow> <mo></mo> <msub> <mi>K</mi> <mn>0</mn> </msub> <msub> <mi>SOC</mi> <mi>k</mi> </msub> <mo></mo> <mfrac> <msub> <mi>K</mi> <mn>1</mn> </msub> <mrow> <msub> <mi>SOC</mi> <mi>k</mi> </msub> </mrow> </mfrac> <mo>+</mo> <msub> <mi>K</mi> <mn>2</mn> </msub> <mi>l</mi> <mi>n</mi> <mrow> <mo>(</mo> <msub> <mi>SOC</mi> <mi>k</mi> </msub> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>K</mi> <mn>3</mn> </msub> <mi>ln</mi> <mrow> <mo>(</mo> <mn>1</mn> <mo></mo> <msub> <mi>SOC</mi> <mi>k</mi> </msub> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>v</mi> <mi>k</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced>In formula, X_{k}Represent the state vector of battery pack, y_{k}Battery terminal voltage is represented, η is the coulombic efficiency factor, and C is total capacity, E_{0} For full of the opencircuit voltage under electricity condition, R is the internal resistance of cell, K_{0}、K_{1}、K_{2}、K_{3}For battery polarization internal resistance, △ t are the sampling period, i_{mk}For current measurement value, i_{sk}For current sensor current drift estimate, W_{1}And W_{2}、V_{k}For separate white noise, SOC is Battery electric quantity, K represent kth state value, K=0,1,2,3,4,5 ....
 5. driving system of permanent magnet motor according to claim 1, it is characterised in that also including timing module, the timing Module is connected with selecting module, and when judging that estimate S is less than or equal to the threshold value of setting, timing module starts timing, works as meter After Shi Shichang T are more than the duration T0 of setting, selecting module selectes efficiency optimal drive mode motor.
 6. driving system of permanent magnet motor according to claim 1, it is characterised in that described also including weak magnetic drive module Weak magnetic drive module includes function generator FG1 and FG2, and function generator FG1 and FG2 input are connected with acquisition module, Function generator FG1 output end is connected with first adder, and the output end of first adder is connected with current regulator, electric current Adjuster is connected by second adder with limiter, and the limiter also and function generator FG2 output end is connected.
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CN1703816A (en) *  20030124  20051130  三菱电机株式会社  Battery power circuit 
CN1830134A (en) *  20030731  20060906  丰田自动车株式会社  Load driver capable of suppressing overcurrent 
US7317292B2 (en) *  20031017  20080108  Kabushiki Kaisha Yaskawa Denki  AC motor control method and control device 
CN101222150A (en) *  20061024  20080716  株式会社电装  Method and apparatus for controlling charging operations for battery 
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Publication number  Priority date  Publication date  Assignee  Title 

CN1703816A (en) *  20030124  20051130  三菱电机株式会社  Battery power circuit 
CN1830134A (en) *  20030731  20060906  丰田自动车株式会社  Load driver capable of suppressing overcurrent 
US7317292B2 (en) *  20031017  20080108  Kabushiki Kaisha Yaskawa Denki  AC motor control method and control device 
CN101222150A (en) *  20061024  20080716  株式会社电装  Method and apparatus for controlling charging operations for battery 
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