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‫دسترسی به این مدرک بر پایة آییننامة ثبت و اشاعة پیشنهادهها‪ ،‬پایاننامهها‪ ،‬و رسالههای تحصیل ت تکمیلی و صیانت از حقوق
پدیدآوران در آنها ) وزار ت علوم‪ ،‬تحقیقا ت‪ ،‬فناوری به شمارة ‪/195929‬و تاریخ ‪ (1395/9/6‬از پایگاه اطلعا ت علمی ایران )گنج( در پژوهشگاه علوم و فننناوری‬
‫اطلعا ت ایران )ایرانداک( فراهم شده و استفاده از آن با رعایت کامل حقوق پدیدآوران و تنها برای هدفهای علمی‪ ،‬آموزشی‪ ،‬و پژوهشی و بر پایة قانون حمایت از مؤلفان‪ ،‬مصنفان‪ ،‬و هنرمندان )‪ (1348‬و الحاقا ت و اصلحا ت بعدی آن و سایر قوانین و مقررا ت مربوط شدنی است‪.‬‬
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‫دسترسی به این مدرک بر پایة آییننامة ثبت و اشاعة پیشنهادهها‪ ،‬پایاننامهها‪ ،‬و رسالههای تحصیل ت تکمیلی و صیانت از حقوق پدیدآوران در آنها ) وزار ت علوم‪ ،‬تحقیقا ت‪ ،‬فناوری به شمارة ‪/195929‬و تاریخ ‪ (1395/9/6‬از پایگاه اطلعا ت علمی ایران )گنج( در پژوهشگاه علوم و فننناوری‬
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z"& . #B" 9: -. " iDB‬‬
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9& i, " 7" " ! 8‬‬
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a0 )-* > oB." ," -. 97 S (t ) 9:‬‬
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‫‪t‬‬
‫‪SOC (t ) = SOC (t 0 ) +‬‬

‫‪∫ηI‬‬
‫‪t0‬‬
‫‪I‬‬ ‫‪b‬‬ ‫‪(τ )d τ‬‬
‫‪×100‬‬ ‫)\‪(]L‬‬
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z" .-* ," 9
? -"y #
t 9"&" )#,5', 9‬‬
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‫‪z" z& )-z* z -. 8

, #4! #_
-%*Q!: b‬‬
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‫‪ z! z" .-z* z -. 8 " 9I U"l 9*: # ) C@ 0l‬‬
‫‪=z>z" Uz!& z" & " I 8 ( &" b 6G #_
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‫!‪z b "z& z!

.-* -
2! )8 C@ & T
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‪)#z! &" 6G #_
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Lz! LUz_ )C!z& Uzz_ )z* L#"* z,‬‬
‫*‪.[4]-‬‬
‫‪() N
6 ) 9 M /"01 3G2G‬‬
‫‪#!z% #z__, )b
.-* (8 C@ ," #BQ! pI "
=DD+,‬‬
‫" ‪z ),z" C, " 9& , -* #

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:( #*" 8‬‬
‫‪z( z&z" )2z (SOH ) ,z" #!<* -. 4, " _'" ) -. 3, " ,‬‬
‫‪2‬‬
‫*‪.[5,4]-‬‬
‫ & ‪pz'3! Bz&( ,z" zQ! )-* !: -*" #"@, =DD+,‬‬
‫!‪&@: ! .[6]-* =5! )," -. D! " B" #**
+, s‬‬
‫"*‪z#z8`
(SOC)z -z. 9z& 637z! " )#t
1" 9: -‬‬
‫"*‪ zx z@

z" z( 01!
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pI !: -‬‬
‫"‪b : z,% z& ) z? ( ! *" " b .8#! 5* 1‬‬
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‫‪State-of-Health‬‬
‫‪e‬‬ ‫ ‪ :‬‬
‫
‪ -
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(Expertfeedback)G3B‬‬
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zi
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B8 =DD+, _z:‬‬
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‫*‪Bz&( z, _

I" ! "
B" -*B. Q! pI & -‬‬
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‫(‪-. k( BB8 ! *z" / -* 3, 0(!
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‫" ?‪.[17,16,15,14,13]B‬‬
‫ "‪#zG" z
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" K"! #'% W
C, -* 5* S/R V #‬‬
‫ (‪#z*" z! 2z(Cz 2(-3* * + #'% =.<! " [U$‬‬
‫‪,z" -z. k( ! ]U$( " ) ," -. 3, #.I " .8#! l‬‬
‫ ‪#%4z z
#$z% b!: 5* " )-* -. E! #
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5* " rU$( )Q* . G : -*" )(RBF‬‬
‫‪3‬‬
‫
( ! ‪)FzG -zl " TG LU> =>" ," -. )#$%
b!:‬‬
‫‪3‬‬
‫‪Radial-Basis Function‬‬
‫\\‬ ‫ ‪ :‬‬
‫‪5z* z" )(

4*, / '( !: -*" -. )NU$( . G 3,‬‬
‫ ‪zG: U$z( .#! / 637! +! )* %l 4, ( / /‬‬
‫@‪z z! " #,7 )-* #.I iBz* oz

4!
2! U! )#'/ 8‬‬
‫‪.8#! /u‬‬
‫ ‬
‫* !<‪=.‬‬
‫‪#'%‬‬
‫]\‬ ‫ ‪!"# $ %&' () :‬‬
‫*‪ G‬‬
‫" "*‪#"z," z b )#z/, G * " ?, " C@ #‬‬
‫)‪PLSLqhz3" z/ [22]i#! l ! #'% * " ) (Reflex charging‬‬
‫‪/P B8 G ," `

" )," o'} #! -"y / #
?9: .#! n‬‬
‫‪Jz z, z" zl z

" z #z.I 2(-3* H )[24,23,2] l -%* x , y‬‬
‫" ‪ " J )

" ?, " ./ !, U 7! 9" P ms‬‬
‫‪,z" #z! -z"y z/ -z* zt, " CX .8#! + rms . 2(-3* #.I‬‬
‫‪8! -. " 9

? ;1l ," , -* CX / #! =! -* =%‬‬
‫‪.*" G‬‬
‫ ‪9! #?, U"l i@. ( // / 3, " K"! =*+! / @:‬‬
‫‪#z.I zI #'% iB* H )#! $G G " !" ! (. b‬‬
‫!‪Jz z" z! 9z

? )z )`
#.I T*! 5* " / 8#‬‬
‫‪z
z" TzG LUz> =z>" (serial port)# 8 0
I / " )-"y‬‬
‫"‪z" 7z" 8* X" # -%* " U" 2
UG 2(C .*5‬‬
‫*‪9: z" z! z/ )-z*z #.I Visual C++ #B

!" 9" 5* " 2(-3‬‬
‫‪)(monitor)z +5> " 9: h

-. 3,
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‫" *‪z" z

F, 9! " -B 9! > ) #.I ( // 5‬‬
‫‪#z z8 0z
I /#! 637! 9
? * (duty cycle) 5M LGx #,%‬‬
‫" ‪CX . z%" 2z PWM / * 0D+, 5M / *(#! T* ! 9‬‬
‫‪1‬‬
‫" ‪. y 9

? ! " ," -. // / -* /u‬‬
‫ !) ‪- r/q h" " 9

LC ," -*B. U" / G 97‬‬
‫‪1‬‬
‫‪Pulse Width Modulation‬‬
‫^\‬ ‫ ‪!"# $ %&' () :‬‬
‫ " ! ‪)z z

z( /" 9
? ,X"
? C ," -M5. 7‬‬
‫! ‪U!z z #z.I Tz* z! .z8#z! #.I 2(-3* =>" ) /‬‬
‫‪ z! 9z

? )z " " ! #.I " K"! h3" .-* #'> -Bl‬‬
‫* "

‪K"! C hz3" )z
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‫" ‪ .-z* [22] z z/u #"z," z b 5* " ," / ! #.I‬‬
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z#! /u h3" 0D+, #.I +
7,‬‬
‫‪I"! * h

2 / 3, " K"! =*+! 0D+, " ! 2(C‬‬
‫" >‪.8#! l #*" ! )

+5‬‬
‫*‪= O- M Y W1- -M=+"= <0M &P *G‬‬

‫ ‪637! PLqU / .#! 97 #.I ! #'/ G* \L[U‬‬
‫‪Vcc‬‬
‫!;‬
‫‬
‫?
‪9‬‬
‫‪B.‬‬
‫?
‪9‬‬
‫(‪0‬‬ ‫‪B.‬‬
‫
‪/ /2‬‬
‫‪A/D‬‬ ‫* "‬ ‫!‬
‫"‪
* T‬‬ ‫‪89C82‬‬
‫‪A/D‬‬
‫ *‪-%‬‬ ‫‪ B.‬‬

‫‪ #.I ! #'/ G* :G*8‬‬
‫*‪ z! )9

? ) -(
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)-‬‬
‫(*‪;zl z/ #z/ z* )/u //2

. %"
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‪. G t, 9: ! / /#! % " )(/)9‬‬
‫‪\a‬‬ ‫ ‪!"# $ %&' () :‬‬
‫"‪zI" -* #1zG B. / -* 5* LM35zB. ! #

* z‬‬
‫!‪#z?G .-z* 10 mV/ 0C zD! o

t -* i, B'* ? " iDB‬‬
‫‪5z> Bz8 z B'* z? P, 5> ! zE, " /H! zB.‬‬
‫‪9z
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!: / " U
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‫ "‪z"

"" )-* Q!: P/N . 9: 9
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‪.-* 5* = N )i /P -!D! 9
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‫" *
‪ " " .-* (8 " #'t5, /-
D, 2 #‬‬
‫ " ‪mz, z,#z! -* #" -l / -* 5* ADC0809 /‬‬
‫ * ‪z* #(I .

U
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‫" " ‪#?G " - 5> ." - N , 5> B8
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‫‪C" ! 5* " / -* )

"" .-* FF (hex) " - N 00(hex) BB8‬‬
‫(‪.z 0z1, )z 5z* z" " ( /" B. #?G )* 0‬‬
‫"
) != ‪)(Op-Amp)#,z'% z/-
D, 5* " p4k, -
D,‬‬
‫" !‪. G
7, 4" h3" / i
8#‬‬
‫*‪(A/D)-M=+"= M 6Z 6EN ( E- &P G*G‬‬
‫ ‪z" z! z )9z

? zBz. #?G #0( " #.I ! qLqU‬‬
‫" ‪z* z #

z* z" )z
:#!" qLqU / .-* 97‬‬
‫"‪z" z/ #z4!
z" .-z*z 5* . " #'t5, G* " /-
D, m
,‬‬
‫*‪)z"z 5z> z/ " , / #

* - N , 5> 9,#! !
5‬‬
‫" ‪zE, z" ),X" #

* 9 ! / -* /u " CX . % *BB8‬‬
‫" ‪- r/q . ," *

U " !9

/ -* B! /-
D,‬‬
‫‪\c‬‬ ‫ ‪!"# $ %&' () :‬‬
‫‪.-*
8 F3 . " H )/# @,‬‬
‫" ‪=z> z
z/ -z*z 5z* q z" " /-
D, ! B.‬‬
‫!‪C ," ! )U% z . z8 B'* z?qN , 5> z! 9z,#‬‬
‫‪1‬‬ ‫‪2‬‬ ‫‪3‬‬ ‫‪4‬‬
‫‪+12V‬‬
‫‪4‬‬
‫‪D‬‬ ‫‪D‬‬
‫‪2‬‬ ‫‪VCC‬‬
‫‪10K‬‬ ‫‪1‬‬
‫‪3‬‬
‫‪TL084‬‬
‫‪10K‬‬
‫‪11‬‬
‫‪4‬‬
‫‪10K‬‬ ‫‪-12V‬‬ ‫‪1‬‬
‫‪-1 2V‬‬ ‫‪8‬‬
‫‪+12‬‬ ‫‪3‬‬
‫‪Co ntroled current so urce‬‬ ‫‪6‬‬
‫‪C‬‬ ‫‪2‬‬
‫‪From controller‬‬
‫‪4‬‬
‫‪R‬‬ ‫‪5‬‬ ‫‪TL084‬‬

‫‪3‬‬ ‫‪10K‬‬
‫‪7‬‬
‫‪C‬‬ ‫‪C‬‬
‫‪6‬‬
‫‪2‬‬
‫‪VCC‬‬ ‫‪0.1o hm 5W‬‬ ‫‪8‬‬
‫‪R‬‬ ‫‪1‬‬
‫)‪AD620AN (8‬‬
‫‪7‬‬
‫‪1‬‬
‫)‪LM35DZ(3‬‬ ‫‪C‬‬
‫‪2‬‬ ‫‪+12V‬‬
‫‪VS+‬‬
‫‪OUT‬‬
‫‪G ND‬‬
‫‪BATTERY‬‬ ‫‪POT 20K‬‬ ‫‪Temperature‬‬

‫)‪CH-2(A/D‬‬
‫‪67ohm‬‬
‫‪3‬‬
‫‪Current‬‬
‫)‪CH-1(A/D‬‬
‫‪B‬‬ ‫‪B‬‬
‫‪10K‬‬ ‫‪+12V‬‬
‫‪4‬‬
‫‪Voltage‬‬
‫‪2.2uF‬‬ ‫)‪CH-0(A/D‬‬
‫‪6‬‬
‫‪10K‬‬ ‫‪7‬‬
‫‪5‬‬
‫‪10K‬‬
‫‪TL084‬‬
‫‪11‬‬
‫‪-12V‬‬
‫‪10K‬‬
‫‪Title‬‬
‫‪Signal condition ing for curent sens e‬‬
‫‪A‬‬ ‫‪A‬‬
‫‪Size‬‬ ‫‪Number‬‬ ‫‪Rev ision‬‬
‫‪A‬‬
‫‪Date:‬‬ ‫‪21-Jan-2006‬‬ ‫‪Sheet o f‬‬
‫‪File:‬‬ ‫‪E:\mast er\The Pro ject\Hard ware\Prot el\Serial_ interface.ddb‬‬
‫‪Drawn By:‬‬
‫‪1‬‬ ‫‪2‬‬ ‫‪3‬‬ ‫‪4‬‬
‫‪" " B. #?G #0( ! :*G*8‬‬
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? B. 9%" = N i /P -!D! / @: .‬‬
‫?
‪)z/# @, Q!: P/N . )8#! #.I U$5, " 4" h3" / ;! 9‬‬
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9
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(serial port)#‬‬
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1 2 3 4
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10K
D 1 16 D
2 15
3 14
4 13
5 12
6 11 U1
7 10 1 A 39
P10 P00
8 9 2 B P11 P01
38 U1
3 C 37 21 26
P12 P02 msb2-1 IN-0 CH-0(A/D)
ARRAY 4 AL 36 20
P13 P03 2-2
5 ST P14 35 19 27
P04 2-3 IN-1 CH-1(A/D)
6 EOC 34 18
OE P15
P05 2-4
7 33 8 28
8 P16 P06 32 15 2-5 IN-2 CH-2(A/D)
P17 P07 2-6
14 1
2-7 IN-3
13 21 17
INT1 P20 lsb2-8
12 22 2
INT0 P21 IN-4
C 23 7 C
P22 SW1 EOC
15 24 3
14 T1 P23 25 SW2 25 IN-5
T0 P24 ADD-A
C1 P25
26 24
ADD-B IN-6
4
31 27 23
EA/VP P26 ADD-C
28 5
P27 IN-7
CAP 19
X1
22
ALE
Y1 18
X2
4
9 16
11.059 Mhz ENABLE ref(-)
C2 9 10 6
RESET RXD START
11 2 5 10 12
SD
TXD D Q CLOCK ref(+)

17 30
RD ALE/P
CAP 16 29 3 ADC0809
WR PSEN CLK
+12v
89C52 6 VCC
CD
Q
7
VCC 7474
U1
1
B 3 B
C2 C4 C5 6
1uF 1uF 1uF 2
16
J1
2
6
1 U1 TL084
6 13 12
4
1
5
V+
VCC
R1 IN R1 OUT
V-
2 8 R2 IN R2 OUT 9 RXD
7 11 14
3 T1 IN T1 OUT
TXD 10 7 -12v
T2 IN T2 OUT
8 1 4
GND
C1+ C2+
4 3 5
9 C1 C1 - C2 - C3
5 1uF MAX232EWE(16) 1uF
15
DB9
Title
A Interface Circuit A
Size Number Revision
B
Date: 22-Jan-2006 Sheet of
File: E:\master\TheProject\Hardware\Protel\Serial_interface.ddb
Drawn By:
1 2 3 4

" K, " ! G* :2G*8
89C52 66;96;QO- =M 49O-+Z &P 2G*G*
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‫( از پایگاه اطلعا ت علمی ایران )گنج( در پژوهشگاه علوم و فننناوری‬1395/9/6 ‫و تاریخ‬/195929 ‫ فناوری به شمارة‬،‫ تحقیقا ت‬،‫ و رسالههای تحصیل ت تکمیلی و صیانت از حقوق پدیدآوران در آنها ) وزار ت علوم‬،‫ پایاننامهها‬،‫دسترسی به این مدرک بر پایة آییننامة ثبت و اشاعة پیشنهادهها‬
.‫( و الحاقا ت و اصلحا ت بعدی آن و سایر قوانین و مقررا ت مربوط شدنی است‬1348) ‫ و هنرمندان‬،‫ مصنفان‬،‫ و پژوهشی و بر پایة قانون حمایت از مؤلفان‬،‫ آموزشی‬،‫اطلعا ت ایران )ایرانداک( فراهم شده و استفاده از آن با رعایت کامل حقوق پدیدآوران و تنها برای هدفهای علمی‬
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# 8 5l / #/ * =$37‬‬
‫"
‪#z"hz z" 2 #8`

.*#! 637! PWM #/ * F, -‬‬
‫‪z* Fz, 9zx )-z*

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" .-* (8 y qN/~ "" -"y
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9: F, " -B PWM / * 9‬‬
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‫!‪Du * 25600(ms)/255 =(y #'! oB.")* 9" 9‬‬ ‫)[‪(\L‬‬
‫‪mz
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‪Fz3 {NN z"" dutycycle )
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2 / #
+! " #
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‫!‪z *+! D! #! .<! )

"" .-* y#'! 0.55* 25600 = 14080 "" F'1‬‬
‫‪{/q z. #
z1G z( z/z/ Fz'1! D! " -B //2
T*,‬‬
‫\[‬ ‫ ‪!"# $ %&' () :‬‬
‫!‪{q/q z. #
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‫!‪ ,z" /z z" Kz"! z! #.I " ! .-* 2x 1G i " / "#‬‬
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#! 9: z‬‬
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‫ ‪.-z*z 97z 9: z ,z" z z/ z #z.I ! ^L[U‬‬
‫ ‪!D! Q4,Q2,Q1 B

2, U! #'> 9
? ;! )8#! .<! /‬‬
‫‪1‬‬ ‫‪2‬‬ ‫‪3‬‬ ‫‪4‬‬
‫‪D‬‬ ‫‪D‬‬
‫‪+12V‬‬
‫‪1k‬‬ ‫‪68 ohm‬‬
‫‪1k‬‬
‫‪Q5‬‬
‫‪10k‬‬ ‫‪Q2‬‬
‫‪SW1‬‬ ‫‪BC107‬‬ ‫‪Q3‬‬
‫‪BC107‬‬ ‫‪2N3053‬‬ ‫‪Q1‬‬
‫‪2N3055‬‬
‫‪C‬‬ ‫‪2N3053‬‬ ‫‪C‬‬
‫‪Q4‬‬
‫‪0.47 ohm‬‬
‫‪+12V‬‬
‫‪12 ohm‬‬
‫‪3.9 ohm 5W‬‬

‫‪0.1 ohm‬‬
‫‪Q6‬‬
‫‪150‬‬ ‫‪MOSFET N‬‬
‫‪B‬‬ ‫‪Li-ion 3. 7v‬‬ ‫‪1N4004‬‬ ‫‪B‬‬

‫‪2N3053‬‬ ‫‪BATTERY‬‬ ‫‪RELAY‬‬
‫‪Q7‬‬
‫‪5.6 ohm‬‬ ‫‪2N3055‬‬
‫‪Q8‬‬
‫‪1k‬‬
‫‪2N3053‬‬ ‫‪SW2‬‬
‫‪Q9‬‬
‫‪Title‬‬
‫‪Charge circuit and drives‬‬
‫‪A‬‬ ‫‪A‬‬
‫‪Size‬‬ ‫‪Number‬‬ ‫‪Revision‬‬
‫‪A‬‬
‫‪Date:‬‬ ‫‪23-Jan-2006‬‬ ‫‪Sheet of‬‬
‫‪File:‬‬ ‫‪E:\master\The Project\Hardware\Protel\Serial_interface.ddb‬‬
‫‪1‬‬ ‫‪2‬‬ ‫‪3‬‬ ‫‪4‬‬
‫‪ " ," / ! :3G*8‬‬
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2, 5* " / -* i ~ i /rR‬‬
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h" b!G‬‬
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‫!‪. G
7, 8#‬‬
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‫*‪)=- M "E 7- 8 [ OC BW6 &P G2G‬‬

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‫‪Title‬‬
‫‪Size‬‬ ‫‪Number‬‬ ‫‪Revision‬‬

‫‪A‬‬ ‫‪B‬‬ ‫‪A‬‬
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‫‪File:‬‬ ‫‪E:\master\TheProject\Hardware\Protel\Serial_interface.ddb‬‬
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‫ ‪L])1" #1G} ! 5* " i" : "
8 /u h h3" /‬‬
‫‪ ,z" z -. '? iB* . )(

4*, / '( ]U$( 7 (c‬‬
‫‪#z*: z" .iBz z"z ! 7 ! *#1G "
28 i2" 3,‬‬
‫? "‪:8#! ,
(cL])1‬‬
‫⎧‬ ‫⎛‬ ‫) ‪F (rk‬‬ ‫) ‪⎞ ω (k‬‬

‫⎜ = ⎟⎞ )‪⎪⎛⎜ x1 (k + 1‬‬ ‫⎛‬
‫⎟⎟ ‪η i .Δt ⎟⎟ + ⎜⎜ 1‬‬
‫⎞‬
‫⎜‬ ‫⎟‬ ‫⎜‬
‫‪⎪⎪⎝ x 2 (k + 1) ⎠ ⎜ x 2 (k ) +‬‬ ‫⎠ ) ‪ik ⎟ ⎝ ω 2 (k‬‬
‫⎨‬ ‫⎝‬ ‫‪Cn‬‬ ‫⎠‬
‫⎪‬ ‫⎞ ) ‪⎛ y1 (k ) ⎞ ⎛ F (rk ) ⎞ ⎛ν 1 (k‬‬
‫⎪‬ ‫⎜⎜‬ ‫⎜⎜ = ⎟⎟‬ ‫⎜⎜ ‪⎟⎟ +‬‬ ‫⎟⎟‬
‫⎩⎪‬ ‫⎠ ) ‪⎝ y 2 (k ) ⎠ ⎝ x1 (k ) ⎠ ⎝ν 2 (k‬‬
‫‪f (x k , u k ) -. H8 #1G} ;",
,! ) rk Δ x Tk‬‬ ‫(‬ ‫‪ik‬‬ ‫)‬
‫‪T‬‬
‫‪X" 1" /‬‬
‫ ‪:i/#! p
4,
=>" h(x k , u k ) 8 #1G} ;",‬‬
‫⎛‬ ‫) ‪F (rk‬‬ ‫⎞‬

‫⎜‬
‫⎜ ) ‪f (x k , u k‬‬ ‫⎟⎟ ‪ηi .Δt‬‬
‫‪x‬‬
‫‪⎜ 2‬‬ ‫(‬ ‫‪k‬‬ ‫)‬ ‫‪+‬‬ ‫⎟ ‪ik‬‬
‫⎝‬ ‫‪Cn‬‬ ‫⎠‬ ‫)^‪(dL‬‬
‫⎞ ) ‪⎛ F (rk‬‬
‫⎜ ) ‪h(x k , u k‬‬ ‫⎟‬
‫⎠ ) ‪⎝ x 1 (k‬‬
‫‪]e‬‬ ‫ ‪/"01 :-‬‬
‫‪ z/ z'( 5z* z!z" [Lpz z? Ck A k (z

" -B
"#! .‬‬
‫‪:i
" 07! x k " -B (dL^) p
4, T" (
4*,‬‬
‫⎞ ) ‪⎛ ∂F (rk‬‬
‫⎜ ) ‪∂f (x k , u k‬‬
‫= ‪Ak‬‬ ‫⎟⎟ ‪= ⎜ ∂x k‬‬
‫‪∂x k‬‬ ‫⎟ ‪⎜ 0 1‬‬
‫⎝‬ ‫⎠‬
‫)^‪(eL‬‬
‫⎞ ) ‪⎛ ∂F (rk‬‬
‫⎜ ) ‪∂h(x k , u k‬‬
‫= ‪Ck‬‬ ‫⎟⎟ ‪= ⎜ ∂x k‬‬
‫‪∂x k‬‬ ‫⎟ ‪⎜ 1 0‬‬
‫⎝‬ ‫⎠‬
‫‪ .i/ FB. F (rk ) ;", 07! / -* CX , )
:#! " (eL^)T" / 89‬‬
‫‪z
z/ z"#! #%4
;", " #$% #?G F (rk ) / 9" ]U$( )#(I‬‬
‫‪:8#! ,‬‬
‫‪M‬‬
‫) ‪F (rk ) = w0 + ∑ wiϕ i ( rk − t i‬‬
‫‪i =1‬‬
‫‪:i
9: /‬‬
‫‪2‬‬
‫‪rk − t i‬‬
‫‪ϕ ( rk − t i ) = exp( −‬‬ ‫‪) , i = 1, …, M‬‬
‫‪σ i2‬‬
‫‪:: -*"
=>" x k " -B F (rk ) 07! 9,#! .‬‬
‫‪∂F (rk ) M‬‬ ‫) ‪∂ϕ ( rk − t i‬‬
‫⋅ ‪= ∑ wi‬‬ ‫)^‪(fL‬‬
‫‪∂x k‬‬ ‫‪i =1‬‬ ‫‪∂x k‬‬
‫" !‪:i
8#! #
(fL^)1" -* -* '? 9" 07! *+‬‬
‫‪T‬‬
‫) ‪∂ϕ ( rk − t i‬‬ ‫‪⎛ ∂ϕ ( rk − t i‬‬ ‫‪) ⎞ ∂rk‬‬
‫⎜⎜ =‬ ‫⋅ ⎟‬
‫‪⎟ ∂x‬‬ ‫)^‪(\gL‬‬
‫‪∂x k‬‬ ‫⎝‬ ‫‪∂rk‬‬ ‫⎠‬ ‫‪k‬‬
‫! "
‪/ -* #‬‬
‫⎞‪⎛1 0‬‬
‫⎜ ‪∂rk‬‬ ‫⎟‬
‫⎟‪= ⎜0 1‬‬ ‫)^‪(\\L‬‬
‫⎜ ‪∂x k‬‬ ‫⎟‬
‫⎠‪⎝0 0‬‬
‫ !‪:8#! *+!
=>" (\gL^)1"
07‬‬
‫) ‪∂ϕ ( rk − t i‬‬ ‫‪2‬‬
‫‪=−‬‬ ‫) ‪⋅ ϕ ( rk − t i ) ⋅ (rk − t i‬‬ ‫)^‪(\[L‬‬
‫‪∂rk‬‬ ‫‪σ i2‬‬
‫" ?
‪
;", " #$% #?G 07! )(fL^) (\gL^) (\[L^)1" H‬‬
‫‪:
:#! -*"
=>" x k " -B F (rk ) #%4‬‬
‫‪]f‬‬ ‫ ‪/"01 :-‬‬
‫) ‪∂F (rk‬‬ ‫‪2 M‬‬ ‫‪∂r‬‬

‫‪= − 2 ⋅ ∑ wi ⋅ ϕ ( rk − t i ) ⋅ (rk − t i ) T ⋅ k‬‬ ‫)^‪(\]L‬‬
‫‪∂x k‬‬ ‫‪σ i i =1‬‬ ‫‪∂x k‬‬
‫‪(1 M 7- 8 & /"01 2G3‬‬

‫ ‪z! )z(
4z*, z/ '( 5* " 3, "
8 /u ]U$( /‬‬
‫
! ‪z* #%4z z
;"z, z" #$% *" / i
/ ," " #1G} #‬‬
‫*‪" /H! #$% b!: "

28 )" x #'% ! 9: -*" "
"" .-‬‬
‫*‪z/z" #$%

#
/@: .iB ," !: -*" 5‬‬
‫( "‪z z

#z
z" -Bz
"#z! )z"#z! ,z" z -. )*! h3‬‬
‫‪.i
: -*" #$% b!: " ) 3, #7
!:‬‬
‫"
! ‪" / (^L])iDB! 1" 5* #4
)-%* Q!: b b‬‬
‫
‪#! 5* )-* :‬‬
‫⎞ ‪⎛ η .Δt‬‬
‫‪z k +1 = z k + ⎜⎜ i ⎟⎟ik‬‬
‫⎠ ‪⎝ Cn‬‬
‫""
) " "‪"" ," -. / i" 1! , i
#! <!/ ,‬‬
‫>‪z )Uz!/ z -z. z, )#"z," z b 5z* z" ," )! .-* 5‬‬
‫!‪-
i/#! Gu
y#'!ag " J "
:( C, .i
#‬‬
‫!‪Uz% ;1l

:( UD! 9: " ," Gu U"l #! " )/ / #‬‬
‫ "‪ ,z" !: -*" D! ) #G <!/ ," / #l .8#! }: ,‬‬
‫(‪.i
#! iBD, )η )9: 9! 9: -*" " )," #! D! "
:‬‬
‫‪L Cz‬‬ ‫ ‪," " h

!: #$% b!: " / #
[LÛ‬‬
‫
‪: ;? )#.I 2(C 5* " " ./#! .<! -*!: -*" 9‬‬
‫‪.-* Gu

8‬‬
‫‪C@ #",z" b 5* " ," z )#! z.<! qLr U / z‬‬
‫‪^g‬‬ ‫ ‪/"01 :-‬‬
‫*‪9z
? -z* 7z! Uz"l i U
8 /u 2 !D! U$( / 1 .-‬‬
‫) *‪ -z* 5z> 9z

? 9: / -.* )9
? -! U! F! #‬‬
‫ !‪@: -* F3 y qN/~ "" 9

? * F, ."#! 9
? #5‬‬
‫‪)-z*z 2z

nzI #$z% z " #!: 9: -*" !" h
!: /‬‬
‫""
‪z" z
#z {R "" (duty-cycle)5M LGx 5* " #‬‬
‫*‪z 9z" -! > 5M LGx ! .-* (

C@ {q 5M LGx 5‬‬
‫?
‪ #zz!: 9/ #} !" .-* 9
? * F, U/ " 9‬‬
‫‪.-z*7z % z," " #z5! z -%z*P

zD, =! " )z," #
z #.‬‬
‫" ‪ z 9

zz? sz! U z rLr SLr' z .-* z? ," " )#,%‬‬
‫! "
‪.-* 97 nt "
:( #
#‬‬
‫‪4.2‬‬
‫‪4‬‬
‫)‪Voltage(v‬‬
‫‪3.5‬‬
‫‪3‬‬
‫‪0‬‬ ‫‪2000‬‬ ‫‪4000‬‬ ‫‪6000‬‬ ‫‪8000‬‬ ‫‪10000‬‬ ‫‪12000‬‬ ‫‪14000‬‬ ‫‪16000‬‬ ‫‪18000‬‬ ‫‪20000‬‬
‫‪2‬‬
‫‪1.5‬‬ ‫)‪Current(A‬‬
‫‪1‬‬
‫‪0‬‬
‫‪-1‬‬
‫‪0‬‬ ‫‪2000‬‬ ‫‪4000‬‬ ‫‪6000‬‬ ‫‪8000‬‬ ‫‪10000‬‬ ‫‪12000‬‬ ‫‪14000‬‬ ‫‪16000‬‬ ‫‪18000‬‬ ‫‪20000‬‬
‫‪25‬‬
‫)‪Temperature( oC‬‬
‫‪20‬‬
‫‪15‬‬
‫‪0‬‬ ‫‪2000‬‬ ‫‪4000‬‬ ‫‪6000‬‬ ‫‪8000‬‬ ‫‪10000‬‬ ‫‪12000‬‬ ‫‪14000‬‬ ‫‪16000‬‬ ‫‪18000‬‬ ‫‪20000‬‬
‫‪1‬‬
‫‪SOC‬‬
‫‪0.5‬‬
‫‪0‬‬
‫‪0‬‬ ‫‪2000‬‬ ‫‪4000‬‬ ‫‪6000‬‬ ‫‪8000‬‬ ‫‪10000‬‬ ‫‪12000‬‬ ‫‪14000‬‬ ‫‪16000‬‬ ‫‪18000‬‬ ‫‪20000‬‬
‫)‪time(sec.‬‬
‫‪U z )(Xz" #) s! U .9

LC ," m
Gu #"@, :*G38‬‬
‫\\\\\\\\!‪.(#!x)," -. )(#!*)! )(#!)9
? s‬‬
‫\^‬ ‫ ‪/"01 :-‬‬
‫‪4.2‬‬
‫‪4‬‬
‫‪3.5‬‬
‫‪3‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬ ‫‪200‬‬ ‫‪250‬‬ ‫‪300‬‬ ‫‪350‬‬ ‫‪400‬‬ ‫‪450‬‬ ‫‪500‬‬
‫‪2‬‬
‫‪1.5‬‬ ‫)‪Current(A‬‬
‫‪1‬‬
‫‪0‬‬
‫‪-1‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬ ‫‪200‬‬ ‫‪250‬‬ ‫‪300‬‬ ‫‪350‬‬ ‫‪400‬‬ ‫‪450‬‬ ‫‪500‬‬
‫‪24‬‬ ‫)‪Temperature( oC‬‬

‫‪22‬‬
‫‪20‬‬
‫‪18‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬ ‫‪200‬‬ ‫‪250‬‬ ‫‪300‬‬ ‫‪350‬‬ ‫‪400‬‬ ‫‪450‬‬ ‫‪500‬‬
‫‪0.1‬‬
‫‪SOC‬‬
‫‪0.05‬‬
‫‪0‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬ ‫‪200‬‬ ‫‪250‬‬ ‫‪300‬‬ ‫‪350‬‬ ‫‪400‬‬ ‫‪450‬‬ ‫‪500‬‬
‫‪[LÛ yagg " K"! :2G38‬‬
‫‪4.2‬‬
‫‪4‬‬
‫‪14000‬‬ ‫‪14050‬‬ ‫‪14100‬‬ ‫‪14150‬‬ ‫‪14200‬‬ ‫‪14250‬‬ ‫‪14300‬‬ ‫‪14350‬‬ ‫‪14400‬‬ ‫‪14450‬‬ ‫‪14500‬‬
‫‪2‬‬
‫‪1.5‬‬ ‫)‪Current(A‬‬
‫‪1‬‬
‫‪0‬‬
‫‪-1‬‬
‫‪14000‬‬ ‫‪14050‬‬ ‫‪14100‬‬ ‫‪14150‬‬ ‫‪14200‬‬ ‫‪14250‬‬ ‫‪14300‬‬ ‫‪14350‬‬ ‫‪14400‬‬ ‫‪14450‬‬ ‫‪14500‬‬
‫‪18‬‬
‫‪16‬‬
‫‪14000‬‬ ‫‪14050‬‬ ‫‪14100‬‬ ‫‪14150‬‬ ‫‪14200‬‬ ‫‪14250‬‬ ‫‪14300‬‬ ‫‪14350‬‬ ‫‪14400‬‬ ‫‪14450‬‬ ‫‪14500‬‬
‫‪0.88‬‬
‫‪0.86‬‬ ‫‪SOC‬‬
‫‪0.84‬‬
‫‪14000‬‬ ‫‪14050‬‬ ‫‪14100‬‬ ‫‪14150‬‬ ‫‪14200‬‬ ‫‪14250‬‬ ‫‪14300‬‬ ‫‪14350‬‬ ‫‪14400‬‬ ‫‪14450‬‬ ‫‪14500‬‬
‫‪(\âggy , \^ggg y ) [LÛ #

yagg " K"! :3G38‬‬
‫ ‪z
;"z, z" #$% b!: " ]agg )]LÛ 97‬‬
‫‪9z" (eL]) (cL])z1" 5* ! #$% .-* 5* #%4‬‬
‫[^‬ ‫ ‪/"01 :-‬‬
‫) ‪,z" #z'4( z 2z ),z" #/ 9

? )#'4( -. )#'l‬‬
‫"‪."#! #?G 9%‬‬
‫" ‪/z. g/fa z""

z8 ;z", z σ i C, (\L])1" #$% b!:‬‬
‫ ‪=4"! @! ): ! 4, b!: . F3 ag "" 9
X‬‬
‫‪.-* 97 aL^ U b!: #+! / !: -*" g/\c "" ]agg " 1G‬‬
‫" "‪z" (

4*, / '( % (cL])1" #1G} ! (
b!: 8/‬‬
‫‪z/ #,>" ," -. 3, (off-line)TG L;1l =>" [LÛ 9‬‬
‫ ‪.
:#! -*" )#! .<! ~LrU‬‬
‫‪Performance is 0.164811, Goal is 0.15‬‬

‫‪5‬‬
‫‪10‬‬
‫‪4‬‬
‫‪10‬‬
‫‪3‬‬
‫‪10‬‬
‫‪Training-Blue Goal-Black‬‬
‫‪2‬‬
‫‪10‬‬
‫‪1‬‬
‫‪10‬‬
‫‪0‬‬
‫‪10‬‬
‫‪-1‬‬
‫‪10‬‬
‫‪0‬‬ ‫‪5‬‬ ‫‪10‬‬ ‫‪15‬‬ ‫‪20‬‬ ‫‪25‬‬ ‫‪30‬‬ ‫‪35‬‬ ‫‪40‬‬ ‫‪45‬‬ ‫‪50‬‬
‫‪50 Epochs‬‬
‫‪.[LÛ " K"! ]agg " b!: #+! :VG38‬‬
‫‪z(
4z*, z/ '( 5* " -. 3, )
:#!" ~LrU / 1‬‬
‫ ‪z" <z% z! zz /@: .-* X" /z( 2z

! )"#z! #"G -zl‬‬
‫‪ z/ z3, #z?G )// #(I "#! 2 -. / ) 3,‬‬
‫]^‬ ‫ ‪/"01 :-‬‬
‫*‪#z/ z z" z8#z! 7! (#

) ~LrU / X" /( 2
)-‬‬
‫
@ !‪.#! I" ( U 7! * H8
'( m
5* " )
"" .
#! U 7‬‬
‫‪1.5‬‬
‫‪actual‬‬
‫‪1‬‬
‫‪0.5‬‬
‫‪0‬‬
‫‪-0.5‬‬
‫‪0‬‬ ‫‪0.2‬‬ ‫‪0.4‬‬ ‫‪0.6‬‬ ‫‪0.8‬‬ ‫‪1‬‬ ‫‪1.2‬‬ ‫‪1.4‬‬ ‫‪1.6‬‬ ‫‪1.8‬‬ ‫‪2‬‬
‫)‪time(sec.‬‬ ‫‪4‬‬
‫‪x 10‬‬
‫‪1.5‬‬
‫‪estimated‬‬
‫‪1‬‬
‫‪0.5‬‬
‫‪0‬‬
‫‪-0.5‬‬
‫‪0‬‬ ‫‪0.2‬‬ ‫‪0.4‬‬ ‫‪0.6‬‬ ‫‪0.8‬‬ ‫‪1‬‬ ‫‪1.2‬‬ ‫‪1.4‬‬ ‫‪1.6‬‬ ‫‪1.8‬‬ ‫‪2‬‬
‫)‪time(sec.‬‬ ‫‪x 10‬‬
‫‪4‬‬
‫‪z(
4z*, z/ z'( 5* " TG L;1l =>" ," -. 3, U>. W
:XG38‬‬
‫)
() ‪.[LÛ " )(X" )-%*Q!: b b #4l -.‬‬
‫‪-b?/O 9! &P G2G3‬‬

‫ ‪ / ) -. 3, #?G X" /( 2
H. " ) 58 /‬‬
‫ ‪5*
=>" H8
\? '( )#! 7! (
)cLÛ‬‬
‫*‪:-‬‬
‫‪1‬‬
‫= )‪H ( s‬‬ ‫)^‪(\^L‬‬
‫‪1 + Ts‬‬
‫! ‪#,% "
T -* D! 9: -*" ! '( #.I ?, U"l‬‬
‫ " * ‪ -* =% /(

4, i#! / 1z .-* 2
" :‬‬
‫‪)3, #?G /: 2

H. " )
"" .9! =E, " * =E, J‬‬
‫‪" )
.: -*" #* " ," -. (=E, J)/( / -* CX‬‬
‫^^‬ ‫ ‪/"01 :-‬‬
‫*‪)-* !: -*" ," " ! =7

!:
8 / #"@, W
5‬‬
‫(‪"
"" . *+! /q Hz ""
D, ," -. (=E, J)/‬‬
‫(' "‪ (2
" 7}: * " "" .) /NHz " (PrLr) 1‬‬
‫‪.#! (8‬‬
‫‪BB8 =>" )* " / -* CX ) #.I H8

'( / 9/‬‬
‫‪:i
)i
: 9! . UB5
4! U " (PrLr)1" 8 . :‬‬
‫) ‪y (t‬‬
‫) ‪= • −1{H (s )} ⇒ y (t ) + T y (t ) = u (t‬‬ ‫)‪(PNLr‬‬
‫) ‪u (t‬‬
‫" ( " ‪:i

BB8
=>" (PNLr)1" i,#! ) Δt mx/‬‬
‫‪y k − y k −1‬‬
‫‪yk + T‬‬ ‫‪= uk‬‬ ‫)‪(P~Lr‬‬
‫‪Δt‬‬
‫" * ‪i
(P~Lr)1" 9/‬‬
‫‪−1‬‬
‫⎛‬ ‫⎛ ⎞ ‪T‬‬ ‫‪T‬‬ ‫⎞‬
‫‪y k = ⎜1 + ⎟ ⎜ u k +‬‬ ‫⎟ ‪y k −1‬‬ ‫)‪(PRLr‬‬
‫⎝ ⎠ ‪⎝ Δt‬‬ ‫‪Δt‬‬ ‫⎠‬
‫‪ 3, -. 2

H. " ) 9: #.I H8
P? '( / .‬‬
‫ "‪9 " 3, i

/ -* /u " CX .i/#! % / '( #?G " ),‬‬
‫ ‪.-*
8 RLrU U>. W
.8#! % SLrU 97‬‬
‫ ‪)#"G -l " 3, -. )8#! .<! RLrU /‬‬
‫‪I " ~LrU 7! 2

/ . % )#! o
D, ," #4l -.‬‬
‫‪5* ! / '( / -* i!

" ?, t .-* H. 7x‬‬
‫!‪" D! .-* (8 0% "" -. - S/R ""
D‬‬
‫!‪Q
:( 2
R 8 2

/
,! . "" P0 1G
/
,‬‬
‫" ‪:!: -*"

=>" 1G 9!:‬‬
‫⎞ ‪⎛ 50 0‬‬ ‫‪⎛ 0.005‬‬ ‫⎞ ‪0‬‬

‫⎜= ‪R‬‬ ‫⎜=‪⎟ , Q‬‬ ‫⎟‬ ‫)‪(PLr‬‬
‫⎠ ‪⎝ 0 50‬‬ ‫‪⎝ 0‬‬ ‫⎠ ‪0.005‬‬
‫‪â‬‬ ‫ ‪/"01 :-‬‬
‫‪1.1‬‬
‫‪1‬‬
‫‪0.8‬‬
‫‪actual‬‬
‫‪0.6‬‬
‫‪0.4‬‬
‫‪0.2‬‬
‫‪0‬‬
‫‪0‬‬ ‫‪0.2‬‬ ‫‪0.4‬‬ ‫‪0.6‬‬ ‫‪0.8‬‬ ‫‪1‬‬ ‫‪1.2‬‬ ‫‪1.4‬‬ ‫‪1.6‬‬ ‫‪1.8‬‬ ‫‪2‬‬
‫)‪time(sec.‬‬ ‫‪4‬‬
‫‪x 10‬‬
‫‪,z" #z4l z -z. (z, TzG)Hz8

z z'( % " -. 3, #?G :@G38‬‬
‫)‪.[LÛ 9 " )( xTG‬‬
‫" ‪ i
z#z! z <!/
" ," ) #.I 8 3, #* 9 97‬‬
‫
" * ?
‪)z Uz% z. i/#! ," {ag "" 5M LGx " 9‬‬
‫ " ‪z! 5z* z" ,z" z -z. i

z#! " y#'!ag J‬‬
‫‪Bz
,! #z'l z
zD! 9z z" z(
4z*, / '(
b!: 7‬‬
‫‪.i/#! % " " ([]L^)1"
/‬‬
‫ ‪ 97z #z4l #z?G z z" z z3, z -. #?G eLÛ‬‬
‫*‪bz!: 7z z! 5z* z" / 3, )8#! .<! / .-‬‬
‫
() ‪z 2z fLÛ z .z2" 3, FG -l " ," -. -* B,‬‬
‫‪#$z% z )-z. z

z/ -* /u " CX .8#! .<!
:( Gu‬‬
‫‪./# E, 9: ! "# #!: RBF‬‬
‫‪^c‬‬ ‫ ‪/"01 :-‬‬
‫‪1.1‬‬
‫‪actual‬‬
‫‪1‬‬
‫‪0.9‬‬
‫‪0.8‬‬
‫‪0.7‬‬
‫‪0.6‬‬
‫‪0.5‬‬
‫‪0.4‬‬
‫‪0.3‬‬
‫‪0.2‬‬
‫‪0.1‬‬
‫‪0‬‬
‫‪0‬‬ ‫‪5000‬‬ ‫‪10000‬‬ ‫‪15000‬‬

‫‪.{ag "" 5M LGx F! 9

? "
:( ," -. 3, :,G38‬‬
‫‪4.2‬‬
‫‪4‬‬
‫‪3.5‬‬ ‫)‪Voltage(V‬‬
‫‪3‬‬
‫‪0‬‬ ‫‪5000‬‬ ‫‪10000‬‬ ‫‪15000‬‬
‫‪2‬‬
‫‪1.5‬‬ ‫)‪Current(A‬‬
‫‪1‬‬
‫‪0‬‬
‫‪-1‬‬
‫‪0‬‬ ‫‪5000‬‬ ‫‪10000‬‬ ‫‪15000‬‬
‫‪26‬‬
‫‪22‬‬
‫‪20‬‬
‫‪18‬‬
‫‪0‬‬ ‫‪5000‬‬ ‫‪10000‬‬ ‫‪15000‬‬
‫‪1‬‬
‫‪0.5‬‬ ‫‪actual SOC‬‬

‫‪estimated SOC‬‬
‫‪0‬‬
‫‪0‬‬ ‫‪5000‬‬ ‫‪10000‬‬ ‫‪15000‬‬
‫‪.{ag "" 5M LGx F! 9

? "
:( Gu :DG38‬‬
‫‪^d‬‬ ‫ ‪/"01 :-‬‬
‫ ‪

D, ! 9
? ) ?! U
:#! " fLÛ /‬‬
‫ ‪b / -* #58 )"#! 9

? 5M LGx =5, , "#! ]LÛ‬‬
‫ ‪," " -.* " 9

? #5! -! " #"," b 9‬‬
‫!‪9: " #/ (

C@ 7
!: ! =7
!: C, t ."#‬‬
‫‪."#‬‬
‫‪#"'1! #'% W
-(
C@ ," -. 3, *! '.! / 9/‬‬
‫" ‪ .*#! -. / '.! " -" )!: -*" ," -. 8 3,‬‬
‫(‪/ + Q* i#! ( B* 01! " t, $3! " 4" U$‬‬
‫‪.i/#! #*" ( // " ," -.‬‬
‫ ‪456‬‬
‫‪ -. /‬‬
‫‪^f‬‬ ‫ ‪7- 8 & 96; :456‬‬
‫‪ GV‬‬
‫ & !‪," o'} )-*
8 /u ," " K"! ;?! o/ =XD‬‬
‫‪-*B. (over discharge) 9 ( (overcharge) ( " -B‬‬
‫
!?‪X" -. ," / `
" .8#! 9: " 9 !> o
3, o‬‬
‫" ?

‪B" @ #! -* F'1! #
h/ h/ 9,‬‬
‫‪" ," & -* F'1! );

*
:( #(I .[3,4]8#!
Ho*:‬‬
‫?
"‪ #(I )*" U!& -. " _! 9!
,& , 8 X‬‬
‫ !‪U!/ => , 8#! 5* ," "

? #4‬‬
‫‪.[3]*
o*: ," UG #
! " 9: -. 9‬‬
‫‪-l 97 #'% W

8 #.I ," -. 3, r U$( / .‬‬
‫‪.i
#! ," -. / #x " h3"
) 8 3, FG‬‬
‫!‪ -. Y5. X4‬‬

‫ً‬ ‫ ‪)#/, G ," -. / `,* / @:‬‬
‫!‪C@ ," -. / " / #'% =7

!:
"" )[31]-* #$37! +‬‬
‫
‪.
/ {RN D! ," -. / ) #.I I ( // )i‬‬
‫ ! ‪h3" .8#! B
D! #4! / " // -%* 2‬‬
‫‪.-* $G " ( B* #'/ G* )F t‬‬
‫‪(1 M 7- 8 & ]0= 66;96; *GV‬‬

‫‪O+_# BM+1 () #+c ZO /^1 G*GV‬‬
‫ ‪ 3, -. )( // " ) #'l 73" /‬‬
‫"‪E! 9%" 9

? * (duty-cycle)5M LGx ) E! 9%" ,‬‬
‫‪/ " C8 B3 !

" .-* (8 ( // #?G‬‬
‫‪ag‬‬ ‫ ‪7- 8 & 96; :456‬‬
‫‪;", S #?G E! " #*8 -

k% ;", S E! " )," -.‬‬
‫‪.-* 97 qLN PLN' / i(8 #'! -

k%‬‬
‫‪1‬‬
‫‪Low‬‬ ‫‪Medium‬‬ ‫‪High‬‬
‫‪0.9‬‬
‫‪0.8‬‬
‫‪0.7‬‬
‫‪Degree of membership‬‬
‫‪0.6‬‬
‫‪0.5‬‬
‫‪0.4‬‬
‫‪0.3‬‬
‫‪0.2‬‬
‫‪0.1‬‬
‫‪0‬‬
‫‪0‬‬ ‫‪0.1‬‬ ‫‪0.2‬‬ ‫‪0.3‬‬ ‫‪0.4‬‬ ‫‪0.5‬‬ ‫‪0.6‬‬ ‫‪0.7‬‬ ‫‪0.8‬‬ ‫‪0.9‬‬ ‫‪1‬‬
‫‪State-Of-Charge‬‬
‫‪.," -. E! -

k% ;", :GV8‬‬
‫‪-
k% ;", S -. E! " #! 7! PLNU / 1‬‬
‫‪( %@z! 2/! / 8#! .<! .{X" )T*! )

} : =% / F3‬‬
‫»"‪-. /

8 /u 2 !D! / 1 z
)-* iz, /RN «X‬‬
‫

‪.-* {RN -. Y5. !9‬‬
‫‪1‬‬
‫‪Medium‬‬ ‫‪High‬‬
‫‪Low‬‬
‫‪0.9‬‬
‫‪0.8‬‬
‫‪0.7‬‬
‫‪0.6‬‬
‫‪0.5‬‬
‫‪0.4‬‬
‫‪0.3‬‬
‫‪0.2‬‬
‫‪0.1‬‬
‫‪0‬‬
‫‪0.02‬‬ ‫‪0.1‬‬ ‫‪0.2‬‬ ‫‪0.3‬‬ ‫‪0.4‬‬ ‫‪0.5‬‬ ‫‪0.6‬‬ ‫‪0.7‬‬
‫‪Duty-Cycle‬‬
‫‪.5M LGx #?G E! -

k% ;", :*GV8‬‬
‫\‪a‬‬ ‫ ‪7- 8 & 96; :456‬‬
‫ ‪ #'% =.<! U " .#! 97 #?G E! -

k% ;", qLNU‬‬
‫‪#?G E! " /R , /q B8 ){RN ,X" . 9
? ;1l C%‬‬
‫‪%@! 2/! #(I .-* (8 9

? * (duty-cycle) 5M LGx‬‬
‫( »!*‪.-* i, /r 1D «T‬‬
‫‪z%l z
)#?G E! " F3 -
k% ;", " ?, " .‬‬
‫( ‪ .#! PLN? ," -. / C8 B3 " 4,‬‬
‫‪.i
: -*" %l S #! .<! PLN? /‬‬
‫‪.C8 B3 ," -. / " ( %l :HGFC‬‬
‫‪# c‬‬ ‫‪- "8‬‬
‫‪# c‬‬
‫‪«X"» 9
? * 5M LGx : )" «
» -. 8‬‬ ‫‪P‬‬
‫"‪.‬‬
‫‪9z
? z* z5M LzGx z: )z" «T*!» -. 8‬‬ ‫‪q‬‬
‫»!*‪." «T‬‬
‫‪«
z» 9z
? z* 5M LGx : )" «X"» -. 8‬‬ ‫‪S‬‬
‫"‪.‬‬
‫" *‪hz3" (PLF) z z 1z" 8" PLN ? %l

5‬‬
‫‪CX z .i
0D+, Visual C++ 9" " ( z// )z( B* " t‬‬
‫" ‪W
/ i
0D+, 2 rU$( / 3, SU$( ! / -* /u‬‬
‫!"‪z" 9: )z( z/z/ 0D+, #.I )h3"

. h U$( K‬‬
‫‪SLNU z zG / i

#.I 2(C Ul U$( 3, #?G‬‬
‫*‪-. / " #.I iB* -

.-* 3, / iB* G‬‬
‫[‪a‬‬ ‫ ‪7- 8 & 96; :456‬‬
‫ ">= ‪W

z z/ i
/ h
!: -%*Q!:P/N -(M " 9
LC ," " #'%‬‬
‫‪.8#! 4" -Bl U>.‬‬
‫‪!"# dO 9= *G*GV‬‬
‫‪8? =>" // 3, h

!: \L[L[La‬‬
‫" @‪/ #"G" #.I // / i

1!
" " )#'% h
!: C‬‬
‫!‪8 3, /
)#! 3, ," -. #"G -zl " z3, /#‬‬
‫‪//‬‬
‫‪/‬‬
‫(‬ ‫‪SOC‬‬
‫‪B.‬‬ ‫)‪i(k‬‬
‫‪x̂ k‬‬
‫?
‪9‬‬ ‫)‪V(k‬‬ ‫('
‪H8‬‬
‫‪B.‬‬ ‫)‪V(k-1‬‬ ‫‪3,‬‬

‫"‪,‬‬ ‫‪Z −1‬‬
‫‬
‫‪Pk‬‬
‫‪B.‬‬
‫!‬ ‫>‪+5‬‬
‫‪Z −1‬‬
‫
‪h‬‬
‫‪Z −1‬‬
‫‪," -. 3, " // G* :2GV8‬‬
‫‪! /u #'l U$( / )#! C@ G / iB* ! * " /‬‬
‫‪* -"y 5M LGx " m

!: -*" * " 7‬‬
‫?
‪.-*(
b!: )9‬‬
‫"
! "‪#.I / / 5* " 9: Q* i
#! <!/ ,‬‬
‫ !‪" / -* -. ;l )// E! )h

!:
.i
#‬‬
‫*‪5* -.
3, #?G
:#! -*" -%*Q!: b b 5‬‬
‫]‪a‬‬ ‫ ‪7- 8 & 96; :456‬‬
‫‪3, 8#! .<! / .-* 97 h

!: @ ^LaU .8#‬‬
‫"‪C@ G 5M #"G" 2 z( / / #! 9z7 ," -. #"G‬‬
‫ ‪ -* /N . 9

? * 5M LGx )g/da . -.‬‬
‫?
‪/
-* B" / * 8#! .<! / 1 .-* 2x 9‬‬
‫ ‪.-* -%*Q!: b b !: -*" -. )//‬‬
‫‪0.8‬‬
‫‪0.7‬‬
‫‪0.6‬‬ ‫‪actual‬‬
‫‪0.5‬‬
‫‪SOC‬‬
‫‪0.4‬‬
‫‪0.3‬‬
‫‪0.2‬‬
‫‪0.1‬‬
‫‪0‬‬
‫‪-0.05‬‬
‫‪0‬‬ ‫‪2000‬‬ ‫‪4000‬‬ ‫‪6000‬‬ ‫‪8000‬‬ ‫‪10000‬‬ ‫‪12000‬‬ ‫‪14000‬‬ ‫‪16000‬‬ ‫‪18000‬‬
‫‪0.8‬‬
‫)‪Control signal(Fuzzy output‬‬
‫‪0.7‬‬
‫‪0.6‬‬
‫‪Duty -Cycle‬‬
‫‪0.5‬‬
‫‪0.4‬‬
‫‪0.3‬‬
‫‪0.2‬‬
‫‪0.1‬‬
‫‪0‬‬
‫‪0‬‬ ‫‪2000‬‬ ‫‪4000‬‬ ‫‪6000‬‬ ‫‪8000‬‬ ‫‪10000‬‬ ‫‪12000‬‬ ‫‪14000‬‬ ‫‪16000‬‬ ‫‪18000‬‬
‫‪-z. )(
)( // #?G
( 9
? * 5M LGx)/ * :3GV8‬‬
‫ "‪.(* TG) / 3, )( xTG)-%*Q!: b b L(X" ),‬‬
‫ ! ' ‪ -. ! ) )9

? ?! U RLN ~LN )NLN‬‬
‫!"‪/u ?! U y S ' C, ./#! .<! h

!: ! z," " K‬‬
‫ * ‪9! / NLNU .

#! .<!
:( 9! )" 1D‬‬
‫"
‪F, U/ {R "" 9
? * 5M LGx )#! 97
:( #‬‬
‫* ?
‪* 5M LGx {q " 2 #5! 9! )=7
!: C, .-* 9‬‬
‫?
‪.-* F3 9‬‬
‫^‪a‬‬ ‫ ‪7- 8 & 96; :456‬‬
‫‪4‬‬
‫‪3.5‬‬
‫)‪Voltage(V‬‬
‫‪3‬‬
‫‪2.5‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬ ‫‪200‬‬ ‫‪250‬‬ ‫‪300‬‬
‫‪2‬‬
‫‪1.5‬‬ ‫)‪Current(A‬‬
‫‪1‬‬
‫‪0‬‬
‫‪-1‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬ ‫‪200‬‬ ‫‪250‬‬ ‫‪300‬‬
‫‪20‬‬
‫‪18‬‬
‫‪16‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬ ‫‪200‬‬ ‫‪250‬‬ ‫‪300‬‬
‫‪0.06‬‬
‫‪actual SOC‬‬
‫‪0.04‬‬
‫‪0.02‬‬
‫‪0‬‬
‫‪-0.02‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬ ‫‪200‬‬ ‫‪250‬‬ ‫‪300‬‬
‫‪^LaU " K"!

:( " y ]gg :VGV8‬‬
‫‪4.2‬‬ ‫)‪Voltage(V‬‬
‫‪4‬‬
‫‪3.8‬‬
‫‪3.6‬‬
‫‪10000‬‬ ‫‪10050‬‬ ‫‪10100‬‬ ‫‪10150‬‬ ‫‪10200‬‬ ‫‪10250‬‬ ‫‪10300‬‬
‫‪2‬‬
‫‪1.5‬‬ ‫)‪Current(A‬‬
‫‪1‬‬
‫‪0‬‬
‫‪-1‬‬
‫‪10000‬‬ ‫‪10050‬‬ ‫‪10100‬‬ ‫‪10150‬‬ ‫‪10200‬‬ ‫‪10250‬‬ ‫‪10300‬‬
‫‪21‬‬
‫‪19‬‬
‫‪18‬‬
‫‪17‬‬
‫‪10000‬‬ ‫‪10050‬‬ ‫‪10100‬‬ ‫‪10150‬‬ ‫‪10200‬‬ ‫‪10250‬‬ ‫‪10300‬‬
‫‪0.72‬‬ ‫‪actual SOC‬‬

‫‪0.7‬‬
‫‪0.68‬‬
‫‪0.66‬‬
‫‪10000‬‬ ‫‪10050‬‬ ‫‪10100‬‬ ‫‪10150‬‬ ‫‪10200‬‬ ‫‪10250‬‬ ‫‪10300‬‬
‫‪^LaU " K"!

:( #! KD y ]gg :XGV8‬‬
‫‪aa‬‬ ‫ ‪7- 8 & 96; :456‬‬
‫‪4.2‬‬ ‫)‪Voltage(V‬‬
‫‪4‬‬
‫‪3.8‬‬
‫‪3.6‬‬
‫‪16000‬‬ ‫‪16050‬‬ ‫‪16100‬‬ ‫‪16150‬‬ ‫‪16200‬‬ ‫‪16250‬‬ ‫‪16300‬‬
‫‪2‬‬
‫‪1.5‬‬ ‫)‪Current(A‬‬
‫‪1‬‬
‫‪0‬‬
‫‪-1‬‬
‫‪16000‬‬ ‫‪16050‬‬ ‫‪16100‬‬ ‫‪16150‬‬ ‫‪16200‬‬ ‫‪16250‬‬ ‫‪16300‬‬
‫‪21‬‬
‫‪19‬‬
‫‪18‬‬
‫‪17‬‬
‫‪16000‬‬ ‫‪16050‬‬ ‫‪16100‬‬ ‫‪16150‬‬ ‫‪16200‬‬ ‫‪16250‬‬ ‫‪16300‬‬
‫‪0.766‬‬
‫‪0.764‬‬ ‫‪estimated SOC‬‬
‫‪0.762‬‬
‫‪0.76‬‬
‫‪16000‬‬ ‫‪16050‬‬ ‫‪16100‬‬ ‫‪16150‬‬ ‫‪16200‬‬ ‫‪16250‬‬ ‫‪16300‬‬
‫‪^LaU " K"!

:( y ]gg :@GV8‬‬
‫ ‪.-* G #! -(M {R "

D, ," / #! 97 #! ~LNU‬‬
‫
‪U 9 / -*z/ 4, {q . 5M LGx )( // )-.‬‬
‫!‪," -. 9: / #! 97

:( #
KD 2 RLNU .-* 637‬‬
‫ ‪637! RLN rLN ' . i/ #B

"#! ," 9
? -* {RN .‬‬
‫*‪./#! @
2x 9
? / "#! /N . 9
? * 5M LGx / -‬‬
‫‪// 3, 9!2 h

!: [L[L[La‬‬
‫ "‪" -Bl

. U>. 9I // 3, FG '% Ul h3‬‬
‫‪.i
#! ]LaU 97 G* * " 3, // 9!2 h
!:‬‬
‫
" ‪, ," )3, // 5* " Q* <!/ ," 2‬‬
‫‪.i/#! {da -.‬‬
‫‪ac‬‬ ‫ ‪7- 8 & 96; :456‬‬
‫(‪" " y \a]aa 9! "

#! ! ," -. {da . ,
:‬‬
‫ ‪/P " 9: Dl P . .8#! % ," " y S =! " Q!: g/d‬‬
‫‪ /u h
!: W
LNU .8#! % ," " );1l 9" * =>" Q!:‬‬
‫!<‪ 3, -. -* % ," " Q!: g/d " / #! .8#! .‬‬
‫" *‪" #% " ;z1l z ."

#! h
2( 9: " o*! / z* /#! -( -z%‬‬
‫‪0.8‬‬
‫‪0.7‬‬
‫‪0.6‬‬
‫‪actual‬‬
‫‪0.5‬‬ ‫‪" %‬‬ ‫‪estimated‬‬
‫‪Q!: /R‬‬
‫‪SOC‬‬
‫‪0.4‬‬
‫‪0.3‬‬ ‫‪/R " ;1l‬‬ ‫‪/P " %‬‬
‫‪0.2‬‬ ‫‪Q!:‬‬ ‫‪ , Q!:‬‬
‫‪0.1‬‬ ‫‪h
!:‬‬
‫‪0‬‬
‫‪-0.05‬‬
‫‪0‬‬ ‫‪0.5‬‬ ‫‪1‬‬ ‫‪1.5‬‬ ‫‪2‬‬ ‫‪2.5‬‬
‫)‪time(sec.‬‬ ‫‪4‬‬
‫‪x 10‬‬
‫‪0.8‬‬
‫‪0.7‬‬
‫‪0.6‬‬
‫‪0.5‬‬
‫‪0.4‬‬
‫‪0.3‬‬
‫‪0.2‬‬
‫‪0.1‬‬
‫‪0‬‬
‫‪0‬‬ ‫‪0.5‬‬ ‫‪1‬‬ ‫‪1.5‬‬ ‫‪2‬‬ ‫‪2.5‬‬
‫)‪time(sec.‬‬ ‫‪4‬‬
‫‪x 10‬‬
‫‪LzGx z
z/ z* . -. 3, ( // 5* " ,"
:( :,GV8‬‬
‫‪-z. )(Xz" TG) 3, -. )(
) 9
? * 5M‬‬
‫ ‪.(X" xTG) #4l‬‬
‫"‪#l ! .8#! #4l -. " -%* 9 " -. 3, ),‬‬
‫‪ -. " +! 9* 4, 3, )8#! % ," " Q!: /P" /‬‬
‫‪/ {R . ," -. )" % ! " -.
/#! U! #4l‬‬
‫‪" i,#! 7" -

k% ;", " ( // #.I " 4" 73" .8#‬‬
‫‪.
-( / ," -. / . % i/ 7" ," " #%‬‬
‫‪ad‬‬ ‫ ‪7- 8 & 96; :456‬‬
‫ ‪ z," -. ! ) ) 9

? ?! U PSLN , LN'z‬‬
‫‪.-* 97 ," " " % KD #

#! )#
" Bl‬‬
‫‪4‬‬
‫‪3.5‬‬
‫‪3‬‬ ‫)‪Voltage(V‬‬
‫‪2.5‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬ ‫‪200‬‬ ‫‪250‬‬ ‫‪300‬‬
‫‪2‬‬
‫)‪Current(A‬‬
‫‪1‬‬
‫‪0‬‬
‫‪-1‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬ ‫‪200‬‬ ‫‪250‬‬ ‫‪300‬‬
‫‪16‬‬
‫‪14‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬ ‫‪200‬‬ ‫‪250‬‬ ‫‪300‬‬
‫‪0.1‬‬
‫‪0.05‬‬
‫‪0‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬ ‫‪200‬‬ ‫‪250‬‬ ‫‪300‬‬

‫‪.eLaU " K"!

:( " y ]gg :DGV8‬‬
‫‪4.2‬‬ ‫)‪Voltage(V‬‬
‫‪4‬‬
‫‪3.8‬‬
‫‪3.6‬‬
‫‪10000‬‬ ‫‪10050‬‬ ‫‪10100‬‬ ‫‪10150‬‬ ‫‪10200‬‬ ‫‪10250‬‬ ‫‪10300‬‬
‫‪1.5‬‬ ‫)‪Current(A‬‬
‫‪1‬‬
‫‪0‬‬
‫‪-1‬‬
‫‪10000‬‬ ‫‪10050‬‬ ‫‪10100‬‬ ‫‪10150‬‬ ‫‪10200‬‬ ‫‪10250‬‬ ‫‪10300‬‬
‫‪21‬‬
‫‪20‬‬
‫‪19‬‬
‫‪18‬‬
‫‪17‬‬
‫‪10000‬‬ ‫‪10050‬‬ ‫‪10100‬‬ ‫‪10150‬‬ ‫‪10200‬‬ ‫‪10250‬‬ ‫‪10300‬‬
‫‪0.72‬‬
‫‪0.7‬‬ ‫‪estimated SOC‬‬
‫‪0.68‬‬
‫‪0.66‬‬
‫‪10000‬‬ ‫‪10050‬‬ ‫‪10100‬‬ ‫‪10150‬‬ ‫‪10200‬‬ ‫‪10250‬‬ ‫‪10300‬‬
‫‪.eLaU " K"!

:( T* y ]gg :eGV8‬‬
‫‪ae‬‬ ‫ ‪7- 8 & 96; :456‬‬
‫‪4.2‬‬ ‫)‪Voltage(V‬‬
‫‪4‬‬
‫‪3.8‬‬
‫‪3.6‬‬
‫‪15300‬‬ ‫‪15350‬‬ ‫‪15400‬‬ ‫‪15450‬‬ ‫‪15500‬‬ ‫‪15550‬‬ ‫‪15600‬‬
‫‪1.5‬‬ ‫)‪Current(A‬‬
‫‪1‬‬
‫‪0‬‬
‫‪-1‬‬
‫‪-1.5‬‬
‫‪15300‬‬ ‫‪15350‬‬ ‫‪15400‬‬ ‫‪15450‬‬ ‫‪15500‬‬ ‫‪15550‬‬ ‫‪15600‬‬
‫‪18‬‬
‫‪16‬‬
‫‪15300‬‬ ‫‪15350‬‬ ‫‪15400‬‬ ‫‪15450‬‬ ‫‪15500‬‬ ‫‪15550‬‬ ‫‪15600‬‬
‫‪0.8‬‬
‫‪0.75‬‬
‫‪0.7‬‬
‫‪15300‬‬ ‫‪15350‬‬ ‫‪15400‬‬ ‫‪15450‬‬ ‫‪15500‬‬ ‫‪15550‬‬ ‫‪15600‬‬

‫‪zy ]g =z! z" Q!: g/d " * {da . " ," -. / #! y ]gg :GV8‬‬
‫‪.8#! %‬‬
‫‪4.2‬‬ ‫)‪Voltage(V‬‬
‫‪4‬‬
‫‪3.8‬‬
‫‪3.6‬‬
‫‪15900‬‬ ‫‪16000‬‬ ‫‪16100‬‬ ‫‪16200‬‬ ‫‪16300‬‬ ‫‪16400‬‬ ‫‪16500‬‬
‫‪2‬‬
‫‪1‬‬
‫‪0‬‬
‫‪-1‬‬
‫‪15900‬‬ ‫‪16000‬‬ ‫‪16100‬‬ ‫‪16200‬‬ ‫‪16300‬‬ ‫‪16400‬‬ ‫‪16500‬‬
‫‪o‬‬
‫‪20‬‬ ‫)‪Temperature( C‬‬
‫‪18‬‬
‫‪16‬‬
‫‪15900‬‬ ‫‪16000‬‬ ‫‪16100‬‬ ‫‪16200‬‬ ‫‪16300‬‬ ‫‪16400‬‬ ‫‪16500‬‬
‫‪0.8‬‬
‫‪0.75‬‬
‫‪0.7‬‬
‫‪15900‬‬ ‫‪16000‬‬ ‫‪16100‬‬ ‫‪16200‬‬ ‫‪16300‬‬ ‫‪16400‬‬ ‫‪16500‬‬

‫‪.#! % ," " Q!: g/\ " / #! y cgg :*GV8‬‬
‫‪af‬‬ ‫ ‪7- 8 & 96; :456‬‬
‫‪4.2‬‬ ‫)‪Voltage(V‬‬
‫‪4‬‬
‫‪3.8‬‬
‫‪3.6‬‬
‫‪23000‬‬ ‫‪23050‬‬ ‫‪23100‬‬ ‫‪23150‬‬ ‫‪23200‬‬ ‫‪23250‬‬ ‫‪23300‬‬
‫‪2‬‬
‫‪1‬‬
‫‪0‬‬
‫‪-1‬‬
‫‪23000‬‬ ‫‪23050‬‬ ‫‪23100‬‬ ‫‪23150‬‬ ‫‪23200‬‬ ‫‪23250‬‬ ‫‪23300‬‬
‫‪18‬‬
‫‪16‬‬
‫‪23000‬‬ ‫‪23050‬‬ ‫‪23100‬‬ ‫‪23150‬‬ ‫‪23200‬‬ ‫‪23250‬‬ ‫‪23300‬‬
‫‪0.7‬‬
‫‪0.695‬‬
‫‪0.69‬‬
‫‪23000‬‬ ‫‪23050‬‬ ‫‪23100‬‬ ‫‪23150‬‬ ‫‪23200‬‬ ‫‪23250‬‬ ‫‪23300‬‬
‫‪.," " Q!: g/\ " * %

:( y ]gg :2GV8‬‬
‫‪ ," " // 3, h

!: ]L[L[La‬‬
‫
‪9+! =5! T
#.I 3, #
:/ : " h
!:‬‬
‫‪ ," Q* .i/#! b#! -(M {]d . , ," "
.i#! C@ )i/‬‬
‫‪ -. " #4l T

*" 4, " , )i/#! G . " Dl ]g .‬‬
‫!@ !‪ #.I ( // 5* " ," )=!

.8 0D+‬‬
‫‪.i/#! )-* -. " 5> T

/ / 3,‬‬
‫
‪\aLaU / 1 .-* 97 \cLa , \^La ' h
!: W‬‬
‫!‪)#! #4l -. " Dl ] / 3, -. )-* 637‬‬
‫‪Û$( / )7 ! !" #.I 3, / -* !

7 /‬‬
‫‪" #"'1! -%* " -* CD! )#4l T

=5! T
" -B 9" 2‬‬
‫‪, ) 9
? ?! U 2z \cLa \aLa ' .#! #4l -.‬‬
‫‪cg‬‬ ‫ ‪7- 8 & 96; :456‬‬
‫‪0.8‬‬
‫‪0.7‬‬
‫‪0.6‬‬ ‫‪actual‬‬
‫‪SOC‬‬ ‫‪0.5‬‬
‫‪0.4‬‬
‫‪0.3‬‬
‫‪0.2‬‬
‫‪0.1‬‬
‫‪0‬‬
‫‪0‬‬ ‫‪2000‬‬ ‫‪4000‬‬ ‫‪6000‬‬ ‫‪8000‬‬ ‫‪10000‬‬ ‫‪12000‬‬ ‫‪14000‬‬
‫‪0.8‬‬
‫‪0.7‬‬
‫‪0.6‬‬
‫‪0.5‬‬
‫‪0.4‬‬
‫‪0.3‬‬
‫‪0.2‬‬
‫‪0.1‬‬
‫‪0‬‬
‫‪0‬‬ ‫‪2000‬‬ ‫‪4000‬‬ ‫‪6000‬‬ ‫‪8000‬‬ ‫‪10000‬‬ ‫‪12000‬‬ ‫‪14000‬‬
‫‪.=5! T
" -. 3, / h
!: :3GV8‬‬
‫‪4.2‬‬ ‫)‪Voltage(V‬‬
‫‪4‬‬
‫‪3.8‬‬
‫‪3.6‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬ ‫‪200‬‬ ‫‪250‬‬ ‫‪300‬‬
‫‪2‬‬
‫‪1‬‬
‫‪0‬‬
‫‪-1‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬ ‫‪200‬‬ ‫‪250‬‬ ‫‪300‬‬
‫‪20‬‬
‫‪18‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬ ‫‪200‬‬ ‫‪250‬‬ ‫‪300‬‬
‫‪0.6‬‬
‫‪0.4‬‬
‫‪0.2‬‬
‫‪0‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬ ‫‪200‬‬ ‫‪250‬‬ ‫‪300‬‬
‫‪.\^LaU " K"!

:(
}: y ]gg :VGV8‬‬
‫\‪c‬‬ ‫ ‪7- 8 & 96; :456‬‬
‫‪4.2‬‬ ‫)‪Voltage(V‬‬
‫‪4‬‬
‫‪3.8‬‬
‫‪3.6‬‬
‫‪11700‬‬ ‫‪11750‬‬ ‫‪11800‬‬ ‫‪11850‬‬ ‫‪11900‬‬ ‫‪11950‬‬ ‫‪12000‬‬
‫‪2‬‬
‫‪1‬‬
‫‪0‬‬
‫‪-1‬‬
‫‪11700‬‬ ‫‪11750‬‬ ‫‪11800‬‬ ‫‪11850‬‬ ‫‪11900‬‬ ‫‪11950‬‬ ‫‪12000‬‬
‫‪22‬‬
‫‪20‬‬
‫‪18‬‬
‫‪11700‬‬ ‫‪11750‬‬ ‫‪11800‬‬ ‫‪11850‬‬ ‫‪11900‬‬ ‫‪11950‬‬ ‫‪12000‬‬
‫‪0.764‬‬
‫‪0.762‬‬
‫‪0.76‬‬
‫‪11700‬‬ ‫‪11750‬‬ ‫‪11800‬‬ ‫‪11850‬‬ ‫‪11900‬‬ ‫‪11950‬‬ ‫‪12000‬‬
‫‪.\^LaU " K"!

:( #
y ]gg :XGV8‬‬
‫! ‪ / 1 .#! 97

:( #

}: KD ," -.‬‬
‫
' ‪"
b!: #$% -!% : ¡" h
!:
)-* 637! 2‬‬
‫
‪3, ?
" -* H. ," 9
? #5! ) h
!:‬‬
‫‪)
8 /u rU$( / 1
. -*" ," -. #"G" B,‬‬
‫ ‪9
? #5! B / !: -*"
:( 7 ! " #!:‬‬
‫ ‪." 2‬‬
‫‪(1 M 7- 8 & 66;96; 2GV‬‬

‫‪OC O+_# BM+1 () #+c ZO /^1 G2GV‬‬
‫ ‪," " " h

2( " -B ( // ) 7! #'l h3" /‬‬
‫!‪" Q!: /RN ," -. )Q!: /P . " " #! 97 G #/ -!D‬‬
‫‪" )," -. / " C8 ! !

" .-(
#! h/ Q!: /R .‬‬
‫[‪c‬‬ ‫ ‪7- 8 & 96; :456‬‬
‫ (‪E! -
k% ;", ! )" h
2( " -B // -!D! h
2‬‬
‫ ‪" // )i" o*! ( %l

@
" , i#! E, #?G‬‬
‫"*‪! i
8#! -
k% ;", S E! " C // .i
: -‬‬
‫"‪! " (two-sided) (I #*8 -

k% ;", C, / / <G‬‬
‫!‪-
k% ;", =5! ! " #'! -
k% ;", S 2 #?G " .-* =5‬‬
‫‪E! -
k% ;", PLN PRLN' .i
8#! // #?G‬‬
‫ ‪.-* 97 #?G‬‬
‫‪=z> " )PLN PRLN' (8 -

k% ;", / -* /u " CX‬‬
‫‪ z
" .-* !: -*" =5! ! " -
k% ;", 4, h
!: #"@,‬‬
‫‪.-*
8 qLN? / -* %l S U! 4, ( %l o,,‬‬
‫‪1‬‬
‫‪0.9‬‬
‫‪0.8‬‬
‫‪0.7‬‬
‫‪0.6‬‬
‫‪0.5‬‬
‫‪0.4‬‬
‫‪0.3‬‬
‫‪0.2‬‬
‫‪0.1‬‬
‫‪0‬‬
‫‪0‬‬ ‫‪0.1‬‬ ‫‪0.2‬‬ ‫‪0.3‬‬ ‫‪0.4‬‬ ‫‪0.5‬‬ ‫‪0.6‬‬ ‫‪0.7‬‬ ‫‪0.8‬‬ ‫‪0.9‬‬ ‫‪1‬‬
‫‪," -. E! -

k% ;", :@GV8‬‬
‫ ‪ (\LF) 1" 5* !: -*" [La ? / ( %l
4,‬‬
‫‪C, .i
0D+, ( // )-* ( B* " / )t‬‬
‫
‪ #.I ( // 8/" =5, , "#! [Lah3" T‬‬
‫
‪ 4" h3" 9
LC ," " hz
!: Uz>. #'% W
z .-* h3" z‬‬
‫]‪c‬‬ ‫ ‪7- 8 & 96; :456‬‬
‫*‪.-‬‬
‫‪1‬‬
‫‪0.9‬‬
‫‪0.8‬‬
‫‪0.7‬‬
‫‪0.6‬‬
‫‪0.5‬‬
‫‪0.4‬‬
‫‪0.3‬‬
‫‪0.2‬‬
‫‪0.1‬‬
‫‪0‬‬
‫‪0.02‬‬ ‫‪0.1‬‬ ‫‪0.2‬‬ ‫‪0.3‬‬ ‫‪0.4‬‬ ‫‪0.5‬‬ ‫‪0.6‬‬ ‫‪0.7‬‬
‫‪5M LGx #?G E! -

k% ;", :,GV8‬‬
‫‪.C8 ! ," -. / " ( %l :IGFC‬‬
‫‪# c‬‬ ‫‪# c - "8‬‬
‫‪." «X"» 9
? * 5M LGx : )" «
» -. 8‬‬ ‫‪P‬‬
‫‪." «T*!» 9
? * 5M LGx : )" «T*!» -. 8‬‬ ‫‪q‬‬
‫‪." «
» 9
? * 5M LGx : )" «X"» -. 8‬‬ ‫‪S‬‬
‫‪!"# dO 9= *G2GV‬‬
‫
"‪ ," " .i
8#! # h
!: ) #.I C // 5* " h3‬‬
‫‪ ," ) -. 3, #.I // 5* " Q* )i/#! <!/‬‬
‫ !‪ "

#,% "

8 H. 9
? #5! 2 h
!:
.i/#‬‬
‫"‪," -. / #! )#! .<! \fLaU / .-* ;1l ,‬‬
‫" ‪" -.

-* g/g] ""
D, 9
? * 5MLGx )* {da .‬‬
‫‪ -. #"zG" -. z3, -z.

.8#! z% ," " zQ!: g/]d‬‬
‫^‪c‬‬ ‫ ‪7- 8 & 96; :456‬‬
‫‪.8 9? ," -( , "

#! h
2( 4
* / * /#! #4l‬‬
‫‪0.8‬‬
‫‪0.7‬‬
‫‪0.6‬‬ ‫‪actual‬‬
‫‪0.5‬‬
‫‪" %‬‬
‫‪SOC‬‬
‫‪0.4‬‬
‫‪0.3‬‬ ‫‪Q!: /SR‬‬
‫‪0.2‬‬
‫‪0.1‬‬
‫‪0‬‬
‫‪0‬‬ ‫‪2000‬‬ ‫‪4000‬‬ ‫‪6000‬‬ ‫‪8000‬‬ ‫‪10000‬‬ ‫‪12000‬‬ ‫‪14000‬‬ ‫‪16000‬‬ ‫‪18000‬‬
‫‪0.8‬‬
‫‪0.7‬‬
‫‪0.6‬‬
‫‪0.5‬‬
‫‪0.4‬‬
‫‪0.3‬‬
‫‪0.2‬‬
‫‪0.1‬‬
‫‪0‬‬
‫‪0‬‬ ‫‪2000‬‬ ‫‪4000‬‬ ‫‪6000‬‬ ‫‪8000‬‬ ‫‪10000‬‬ ‫‪12000‬‬ ‫‪14000‬‬ ‫‪16000‬‬ ‫‪18000‬‬
‫‪z)z/ z* .z #z.I C z// " ," -. 3, /
:( :DGV8‬‬
‫
() ‪.(X" xTG)#4l -. )(X" TG) 3, -.‬‬
‫‪4‬‬
‫‪3.5‬‬
‫‪3‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬ ‫‪200‬‬ ‫‪250‬‬ ‫‪300‬‬
‫‪2‬‬
‫‪1‬‬
‫‪0‬‬
‫‪-1‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬ ‫‪200‬‬ ‫‪250‬‬ ‫‪300‬‬
‫‪24‬‬
‫‪22‬‬
‫‪20‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬ ‫‪200‬‬ ‫‪250‬‬ ‫‪300‬‬
‫‪0.06‬‬
‫‪0.04‬‬
‫‪0.02‬‬
‫‪0‬‬ ‫‪estimated SOC‬‬
‫‪-0.02‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬ ‫‪200‬‬ ‫‪250‬‬ ‫‪300‬‬
‫‪.\fLaU " K"!

:(
}: y ]gg :*eGV8‬‬
‫‪ca‬‬ ‫ ‪7- 8 & 96; :456‬‬
‫‪4.2‬‬
‫‪4‬‬
‫‪3.8‬‬
‫‪3.6‬‬
‫‪13100‬‬ ‫‪13150‬‬ ‫‪13200‬‬ ‫‪13250‬‬ ‫‪13300‬‬ ‫‪13350‬‬ ‫‪13400‬‬
‫‪1.5‬‬ ‫)‪Current(A‬‬
‫‪1‬‬
‫‪0‬‬
‫‪-0.5‬‬
‫‪-1‬‬
‫‪13100‬‬ ‫‪13150‬‬ ‫‪13200‬‬ ‫‪13250‬‬ ‫‪13300‬‬ ‫‪13350‬‬ ‫‪13400‬‬

‫‪21‬‬
‫‪20‬‬
‫‪19‬‬
‫‪13100‬‬ ‫‪13150‬‬ ‫‪13200‬‬ ‫‪13250‬‬ ‫‪13300‬‬ ‫‪13350‬‬ ‫‪13400‬‬
‫‪0.8‬‬
‫‪0.75‬‬
‫‪0.7‬‬
‫‪13100‬‬ ‫‪13150‬‬ ‫‪13200‬‬ ‫‪13250‬‬ ‫‪13300‬‬ ‫‪13350‬‬ ‫‪13400‬‬
‫‪" K"! )* {da . " ," -. / #! Q!: g/]d" % }: y ]gg :*GV8‬‬
‫ ‪.\fLaU‬‬
‫ ‪ 97z qqLN , qLN ' ," -. ! ) ) 9
? ?! U‬‬
‫*‪z" ,z" z z

:(
z}: zy S z z/u z* qLN U z .-‬‬
‫‪-z! z z -* 637! U

/ .#! 97 3, //‬‬
‫* ?
‪z
:( " K"! ?! U )qPLNU ."#! 9: F, {R "" 9‬‬
‫‪ z/ 1z .-z*z 97 ," " Q!: /SR " % + PLNU ¢‬‬
‫ ‪ -z* z* zG #!z zD! {RN . " ," -. 8#! .<! qPLNU‬‬
‫‪.-* /S

D, PLNU / * 0I" 9
? * 5M LGx‬‬
‫ ‪N z. #z4

)y P~ + /
:( " K"! ?! U qqLNU‬‬
‫‪z* z5M LzGx C

.#! 97 )," " Q!: /SR " % 4" Dl‬‬
‫?
‪ -. -* {SN ""
D, qLNU ( // #?G 0I " 9‬‬
‫‪.-* Y5. {RP .‬‬
‫‪cc‬‬ ‫ ‪7- 8 & 96; :456‬‬
‫‪4.2‬‬
‫‪4‬‬
‫‪3.8‬‬
‫‪3.6‬‬
‫‪16000‬‬ ‫‪16050‬‬ ‫‪16100‬‬ ‫‪16150‬‬ ‫‪16200‬‬ ‫‪16250‬‬ ‫‪16300‬‬
‫‪1.5‬‬
‫‪1‬‬
‫‪0‬‬
‫‪-0.5‬‬
‫‪16000‬‬ ‫‪16050‬‬ ‫‪16100‬‬ ‫‪16150‬‬ ‫‪16200‬‬ ‫‪16250‬‬ ‫‪16300‬‬
‫‪24‬‬
‫‪22‬‬
‫‪20‬‬
‫‪16000‬‬ ‫‪16050‬‬ ‫‪16100‬‬ ‫‪16150‬‬ ‫‪16200‬‬ ‫‪16250‬‬ ‫‪16300‬‬
‫‪0.74‬‬ ‫‪actual SOC‬‬

‫‪0.72‬‬
‫‪0.71‬‬
‫‪0.7‬‬
‫‪0.68‬‬
‫‪16000‬‬ ‫‪16050‬‬ ‫‪16100‬‬ ‫‪16150‬‬ ‫‪16200‬‬ ‫‪16250‬‬ ‫‪16300‬‬
‫‪.\fLaU " K"! Q!: g/]d" "

:( #
y ]gg :**GV8‬‬
‫‪ -z. FG -l " #.I 3, 2 -.

/ -* ?, " CX‬‬
‫‪* #.I -. // -%* B

D! " ! ./#! #4l‬‬
‫

‪.i
#! )9
LC ," $3! #,@, / m
" !9‬‬
‫‪+"^ 66;7- 8 fO M ]O 3GV‬‬

‫
"‪/ m
" #.I // '% iG#! h3‬‬
‫‪#G <!/ ," " !

" .i/ B
D! 9
LC ," `
#,@,‬‬
‫!‪ .i
#! ) , #,@, / 5* " #G ," Q* .i/#‬‬
‫
‪J " )!9

#.I T* ! 5* "
:( C, -.‬‬
‫" ‪" #G ,"

:( []LaU .i/#! Gu
y #'! ag‬‬
‫*‪.#! 97 #,@, / 5‬‬
‫‪cd‬‬ ‫ ‪7- 8 & 96; :456‬‬
‫‪4.5‬‬
‫‪4.2‬‬
‫‪4‬‬
‫‪3.5‬‬
‫‪3‬‬
‫‪0‬‬ ‫‪5000‬‬ ‫‪10000‬‬ ‫‪15000‬‬ ‫‪20000‬‬ ‫‪25000‬‬ ‫‪30000‬‬ ‫‪35000‬‬ ‫‪40000‬‬ ‫‪45000‬‬
‫‪1‬‬
‫‪0.5‬‬
‫‪0‬‬
‫‪-0.5‬‬
‫‪0‬‬ ‫‪5000‬‬ ‫‪10000‬‬ ‫‪15000‬‬ ‫‪20000‬‬ ‫‪25000‬‬ ‫‪30000‬‬ ‫‪35000‬‬ ‫‪40000‬‬ ‫‪45000‬‬
‫‪20‬‬
‫‪15‬‬
‫‪10‬‬
‫‪0‬‬ ‫‪5000‬‬ ‫‪10000‬‬ ‫‪15000‬‬ ‫‪20000‬‬ ‫‪25000‬‬ ‫‪30000‬‬ ‫‪35000‬‬ ‫‪40000‬‬ ‫‪45000‬‬
‫‪1‬‬
‫‪SOC‬‬
‫‪0.5‬‬
‫‪0‬‬
‫‪0‬‬ ‫‪5000‬‬ ‫‪10000‬‬ ‫‪15000‬‬ ‫‪20000‬‬ ‫‪25000‬‬ ‫‪30000‬‬ ‫‪35000‬‬ ‫‪40000‬‬ ‫‪45000‬‬
‫‪.#4! / 5* " #G ,"

:( :*2GV8‬‬
‫‪3.6‬‬
‫‪3.5‬‬
‫‪3.2‬‬
‫‪0‬‬ ‫‪10‬‬ ‫‪20‬‬ ‫‪30‬‬ ‫‪40‬‬ ‫‪50‬‬ ‫‪60‬‬ ‫‪70‬‬ ‫‪80‬‬ ‫‪90‬‬ ‫‪100‬‬
‫‪1‬‬
‫‪0.5‬‬
‫‪0‬‬
‫‪-0.5‬‬
‫‪0‬‬ ‫‪10‬‬ ‫‪20‬‬ ‫‪30‬‬ ‫‪40‬‬ ‫‪50‬‬ ‫‪60‬‬ ‫‪70‬‬ ‫‪80‬‬ ‫‪90‬‬ ‫‪100‬‬
‫‪20‬‬
‫‪19‬‬
‫‪18‬‬
‫‪17‬‬
‫‪0‬‬ ‫‪-3‬‬ ‫‪10‬‬ ‫‪20‬‬ ‫‪30‬‬ ‫‪40‬‬ ‫‪50‬‬ ‫‪60‬‬ ‫‪70‬‬ ‫‪80‬‬ ‫‪90‬‬ ‫‪100‬‬
‫‪x 10‬‬
‫‪3‬‬
‫‪SOC‬‬
‫‪2‬‬
‫‪1‬‬
‫‪0‬‬
‫‪0‬‬ ‫‪10‬‬ ‫‪20‬‬ ‫‪30‬‬ ‫‪40‬‬ ‫‪50‬‬ ‫‪60‬‬ ‫‪70‬‬ ‫‪80‬‬ ‫‪90‬‬ ‫‪100‬‬
‫‪.[]LaU " K"!

:( -B3 y \gg :*3GV8‬‬
‫‪ce‬‬ ‫ ‪7- 8 & 96; :456‬‬
‫‪4.25‬‬
‫‪4.2‬‬
‫‪4.15‬‬
‫‪43800‬‬ ‫‪43810‬‬ ‫‪43820‬‬ ‫‪43830‬‬ ‫‪43840‬‬ ‫‪43850‬‬ ‫‪43860‬‬ ‫‪43870‬‬ ‫‪43880‬‬ ‫‪43890‬‬ ‫‪43900‬‬
‫‪0.5‬‬
‫‪0.2‬‬
‫‪0‬‬
‫‪-0.5‬‬
‫‪43800‬‬ ‫‪43810‬‬ ‫‪43820‬‬ ‫‪43830‬‬ ‫‪43840‬‬ ‫‪43850‬‬ ‫‪43860‬‬ ‫‪43870‬‬ ‫‪43880‬‬ ‫‪43890‬‬ ‫‪43900‬‬
‫‪18‬‬
‫‪16‬‬
‫‪14‬‬
‫‪43800‬‬ ‫‪43810‬‬ ‫‪43820‬‬ ‫‪43830‬‬ ‫‪43840‬‬ ‫‪43850‬‬ ‫‪43860‬‬ ‫‪43870‬‬ ‫‪43880‬‬ ‫‪43890‬‬ ‫‪43900‬‬
‫‪1.002‬‬
‫‪SOC‬‬
‫‪1.001‬‬
‫‪1‬‬
‫‪43800‬‬ ‫‪43810‬‬ ‫‪43820‬‬ ‫‪43830‬‬ ‫‪43840‬‬ ‫‪43850‬‬ ‫‪43860‬‬ ‫‪43870‬‬ ‫‪43880‬‬ ‫‪43890‬‬ ‫‪43900‬‬
‫‪.[]LaU " K"!

:( #
y \gg :*VGV8‬‬
‫‪ /H! / " ," 9! U/ )-* 637! []La U / 1‬‬
‫‪2 [aLa [^La ' .-* 7/ I -%* \[ .

y ^]fgg .‬‬
‫* ) ?
‪"
:( #
#
" ! ," -. ! )9‬‬
‫‪/ -* CX #.I // " B

D! " .#! 97 )#,@, /‬‬
‫"
"‪-. , ," ) // 5* " "
i
#G <!/ ,‬‬
‫ ‪@ E! -

k% ;", / -* CX !
" .i
{\gg‬‬
‫‪."
E, ( %l‬‬
‫‪ z4, q~LN U z =>" "@, 5* " h3"

E! -
k% ;",‬‬
‫!‪5z* PLN U z ;", 9 #?G -

k% ;", " 8#‬‬
‫*‪ ){P z" ,z" z -z. 9z* z" )h3"
( %l -
.-‬‬
‫? ‪z ( %l

5* " // 0D+, .-* SLN‬‬
‫ ? ‪.i

z z #zG ,z" )r U$z( -. 8 3, 5* SLN‬‬
‫‪cf‬‬ ‫ ‪7- 8 & 96; :456‬‬
‫ ' ‪97z z z/z/ 5z* " ," U>. W

SLN , qRLN‬‬
‫!‪.#‬‬
‫‪1‬‬
‫‪0.9‬‬
‫‪0.8‬‬
‫‪0.7‬‬
‫‪0.6‬‬
‫‪0.5‬‬
‫‪0.4‬‬
‫‪0.3‬‬
‫‪0.2‬‬
‫‪0.1‬‬
‫‪0‬‬
‫‪0‬‬ ‫‪0.1‬‬ ‫‪0.2‬‬ ‫‪0.3‬‬ ‫‪0.4‬‬ ‫‪0.5‬‬ ‫‪0.6‬‬ ‫‪0.7‬‬ ‫‪0.8‬‬ ‫‪0.9‬‬ ‫‪1‬‬
‫‪," -. E! -

k% ;", :*XGV8‬‬
‫‪. {P -. / " " ( %l :JGFC‬‬
‫‪# c‬‬ ‫‪# c - "8‬‬
‫‪." «X"» 9
? * 5M LGx : )" «
» -. 8‬‬ ‫‪P‬‬
‫‪." «T*!» 9
? * 5M LGx : )" «T*!» -. 8‬‬ ‫‪q‬‬
‫‪." «
» 9
? * 5M LGx : )" «X"» -. 8‬‬ ‫‪S‬‬
‫ ‪LzGx z )Xz" z z z3, #z4l -. [dLa U‬‬
‫‪.z#z! 97z
"#! // #?G / 9
? * 5M‬‬
‫ ‪Uz/ z z3, #z4l -. ! )9

? ) ?! U [eLa U‬‬
‫(‪ #
" z! /u z* ]gLa [fLa ' .
#!
:z‬‬
‫
‪.*#! 637! )
:( #‬‬
‫‪dg‬‬ ‫ ‪7- 8 & 96; :456‬‬
‫‪1‬‬
‫‪0.8‬‬
‫‪actual‬‬
‫‪0.6‬‬ ‫‪estimated‬‬
‫‪SOC‬‬
‫‪0.4‬‬
‫‪0.2‬‬
‫‪0‬‬
‫‪-0.2‬‬
‫‪0‬‬ ‫‪2000‬‬ ‫‪4000‬‬ ‫‪6000‬‬ ‫‪8000‬‬ ‫‪10000‬‬ ‫‪12000‬‬ ‫‪14000‬‬
‫‪0.8‬‬
‫‪0.6‬‬
‫‪0.4‬‬
‫‪0.2‬‬
‫‪0‬‬
‫‪0‬‬ ‫‪2000‬‬ ‫‪4000‬‬ ‫‪6000‬‬ ‫‪8000‬‬ ‫‪10000‬‬ ‫‪12000‬‬ ‫‪14000‬‬
‫‪ z TG) 3, -. . #.I / 5* " ,"
:( :*@GV‬‬
‫\\\\\ "‪9z
? z* 5M LGx
/ * )(X" xTG) #4l -. )(X‬‬
‫\\\\\ )
(‬
‫‪4.5‬‬
‫‪4.2‬‬
‫‪4‬‬
‫‪3.5‬‬
‫‪3‬‬
‫‪0‬‬ ‫‪2000‬‬ ‫‪4000‬‬ ‫‪6000‬‬ ‫‪8000‬‬ ‫‪10000‬‬ ‫‪12000‬‬ ‫‪14000‬‬
‫‪2‬‬
‫‪1‬‬
‫‪0‬‬
‫‪-1‬‬
‫‪0‬‬ ‫‪2000‬‬ ‫‪4000‬‬ ‫‪6000‬‬ ‫‪8000‬‬ ‫‪10000‬‬ ‫‪12000‬‬ ‫‪14000‬‬
‫‪25‬‬
‫‪20‬‬
‫‪15‬‬
‫‪0‬‬ ‫‪2000‬‬ ‫‪4000‬‬ ‫‪6000‬‬ ‫‪8000‬‬ ‫‪10000‬‬ ‫‪12000‬‬ ‫‪14000‬‬
‫‪1‬‬
‫‪0.5‬‬ ‫‪actual SOC‬‬

‫‪0‬‬
‫‪0‬‬ ‫‪2000‬‬ ‫‪4000‬‬ ‫‪6000‬‬ ‫‪8000‬‬ ‫‪10000‬‬ ‫‪12000‬‬ ‫‪14000‬‬
‫‪.[dLaU
:( " K"! s! U :*,GV8‬‬
‫\‪d‬‬ ‫ ‪7- 8 & 96; :456‬‬
‫‪4‬‬
‫‪3.5‬‬
‫‪3‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬ ‫‪200‬‬ ‫‪250‬‬ ‫‪300‬‬ ‫‪350‬‬ ‫‪400‬‬
‫‪2‬‬ ‫)‪Current(A‬‬
‫‪1‬‬
‫‪0‬‬
‫‪-1‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬ ‫‪200‬‬ ‫‪250‬‬ ‫‪300‬‬ ‫‪350‬‬ ‫‪400‬‬
‫‪24‬‬
‫‪22‬‬
‫‪20‬‬
‫‪18‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬ ‫‪200‬‬ ‫‪250‬‬ ‫‪300‬‬ ‫‪350‬‬ ‫‪400‬‬
‫‪0.1‬‬
‫‪0.05‬‬
‫‪0‬‬
‫‪-0.1‬‬
‫‪0‬‬ ‫‪50‬‬ ‫‪100‬‬ ‫‪150‬‬ ‫‪200‬‬ ‫‪250‬‬ ‫‪300‬‬ ‫‪350‬‬ ‫‪400‬‬
‫‪.[dLaU " K"!

:( s! U
}: y ^gg :*DGV8‬‬
‫‪4.3‬‬
‫‪4.2‬‬
‫‪4‬‬
‫‪13000‬‬ ‫‪13050‬‬ ‫‪13100‬‬ ‫‪13150‬‬ ‫‪13200‬‬ ‫‪13250‬‬ ‫‪13300‬‬ ‫‪13350‬‬ ‫‪13400‬‬ ‫‪13450‬‬ ‫‪13500‬‬
‫‪2‬‬ ‫)‪Current(A‬‬
‫‪1‬‬
‫‪0‬‬
‫‪-1‬‬
‫‪13000‬‬ ‫‪13050‬‬ ‫‪13100‬‬ ‫‪13150‬‬ ‫‪13200‬‬ ‫‪13250‬‬ ‫‪13300‬‬ ‫‪13350‬‬ ‫‪13400‬‬ ‫‪13450‬‬ ‫‪13500‬‬
‫‪21‬‬
‫‪o‬‬
‫‪20‬‬ ‫)‪Temperature( C‬‬
‫‪19‬‬
‫‪18‬‬
‫‪17‬‬
‫‪13000‬‬ ‫‪13050‬‬ ‫‪13100‬‬ ‫‪13150‬‬ ‫‪13200‬‬ ‫‪13250‬‬ ‫‪13300‬‬ ‫‪13350‬‬ ‫‪13400‬‬ ‫‪13450‬‬ ‫‪13500‬‬
‫‪1.02‬‬ ‫‪actual SOC‬‬

‫‪1‬‬
‫‪0.98‬‬
‫‪0.96‬‬
‫‪13000‬‬ ‫‪13050‬‬ ‫‪13100‬‬ ‫‪13150‬‬ ‫‪13200‬‬ ‫‪13250‬‬ ‫‪13300‬‬ ‫‪13350‬‬ ‫‪13400‬‬ ‫‪13450‬‬ ‫‪13500‬‬
‫‪.[dLaU " K"!

:( s! U #
y ^gg :2eGV8‬‬
‫[‪d‬‬ ‫ ‪7- 8 & 96; :456‬‬
‫‪z b " #"," b 05', -Bl

" / -* t, " CX‬‬
‫‪z. z -. ,

:( B3 U.! / =>
" .-* 5* #B‬‬
‫‪z b )#z5! Bz Hz. z" ,X" -. #"," b {ea‬‬
‫‪) 637! #"@, #*" / -* 9: x F3 U .-* 5* #B‬‬
‫ ‪ ,X" )Q!: \ . ! " 9

? / * 5M LGx /
.‬‬
‫‪z8#! ," #?G ;

* 9
%" 9
? #5! % )-* {cg‬‬
‫ @ "‪z z-z. z! . " '% ," )-! % 4‬‬
‫"‪ z ,z" )-z* {cg z/ )9

? / * 5M LGx / ){ea . ,X‬‬
‫‪z% =z> z
)z*" 4, -. " / G 7" 9! -! %‬‬
‫ !‪.8 -%* h/ %" ,#! #5‬‬
‫" ‪z ]gLa , [dLa ' / )h

!: U>. W
)( 9" F3‬‬
‫*‪#z4
)zy \]fgg z"" #z! #.I // / #! 97 )-‬‬
‫‪z* z5M LzGx -.

* {\gg " ," -. )-%* ^ /‬‬
‫?
‪."#! 2x B" 9
? / )-* {d / 9‬‬
‫ ‪<8‬‬
‫@‪=7 8‬‬
‫^‪d‬‬ ‫ ‪$ 6> (?59= :4>8‬‬
‫‪gP 5= 'a GX‬‬

‫‪ 5* " ," -. k( ! -B3 )
8 /u !9
]U$( / 1‬‬
‫!‪#?G 4! )7 ! . 7 ," -. #'l #4
)-. E‬‬
‫ ‪/ ," #'4( ."#! ," #'l #'4( 8 U"l -/‬‬
‫ "‪ 5* " )-* ," Ul 9! 9

? ) -. " #1G} 1‬‬
‫‪!: -*" 5* " 2 : ! ! #%4
;", " #$%‬‬
‫
‪. : -*"
m‬‬
‫‪T
C, / -* )," ;!? #! 9: -*" " / -* /u " CX‬‬
‫! ‪+ x x )8#! " 9: " ," )U% /‬‬
‫‪ M. !9

.i
: -*" #$% " #} B" #!: , /‬‬
‫‪ m
!: -*" =%<I , )#%4
;", " #$% " #!:‬‬
‫"‪.-* F3 ) 9

? * " =5! (duty-cycle) 5M LGx " ,‬‬
‫ ‪ Û$( / (

4*, / '( 5* " )!: -*" ," ! :‬‬
‫) ‪2

/
,! )-Bl
.#! 3, ," -.‬‬
‫‪! 3, : " !: -*" 1G 9!: b 5* "
:( 2
8‬‬
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2‬‬
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‫‪dc‬‬ ‫ ‪$ 6> (?59= :4>8‬‬
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‫" ‪#} 9: -*" -." / " / 8#! 7‬‬
‫" ‪/ 8 #.I I 2(-3* ! )" 3, @ #$% b!:‬‬
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‫ " ‪.8 #.I‬‬
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‫ ‪. (8 9

? 4,‬‬
‫‪dd‬‬ ‫ ‪$ 6> (?59= :4>8‬‬
‫‪)#%4
;", " #$% ? " #$%
G* 8#! 7‬‬
‫" "‪
9,#! . #*" / 3, W
8 5* *! h3‬‬
‫‪. 5* 2 (model based estimators) !

" 3,‬‬
‫‪ (8 7" E! ) -. // " )8#! 7‬‬
‫‪-!D! ,
" " -B //
: -*" 7" -%* " -l ,‬‬
‫"‪." 7‬‬
‫‪=>" #.I / ( /" 3, # !

! / 8#! 7‬‬
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: -*" #''+,‬‬
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‫‪""A‬‬
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‫‪/" ; 9! :K‬‬
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a /" ; 9! GK‬‬
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‫‪-z41l Cz% z 97z /Hz! z

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‫"‪Pk -z. z3, -z41l C% 9" X" 7 (2" `

D! " #B
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2 7 (mx/ `

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/
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" ) x̂ −k ) 3, B3 .#! -‬‬
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7 '? " )9! " m
" iB‬‬
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zz" )z8#z! .<! PLp z? / z‬‬
‫‪:-*
T" 5* z/‬‬
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‫)‪(PLp‬‬
‫] ‪p 0 = E[(x 0 − E[x 0 ])(x 0 − E[x 0 ]) T‬‬
‫}‪)-B * )," -z. ! )iB* #4zl T
=l o'z‬‬
‫‪eg‬‬ ‫‪/" ; 9! -M :K ""A‬‬
‫‪i

)/# @z
/ i
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Bz #‬‬
‫‪ / '( ><G :GK C‬‬
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‬
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‫‪y k = Ck x k + Dk u k + υk‬‬
‫‪z
:( z8 #
z2
z

UDBz! υk ω k )8#! ( /‬‬
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/
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‫
‪:‬‬
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‫] ‪P0 = E [(x 0 − E [x0 ])(x 0 − E [x 0 ])T‬‬
‫ ‪ ! k=0 :‬‬
‫‪= ) = -)-M‬‬
‫‪xˆ −k = A k −1xˆ k −1 + B k −1u k −1‬‬ ‫‪: $ %&! "#‬‬
‫‪Pk− = A k −1Pk −1A k −1 + Q k −1‬‬

‫‪T‬‬
‫‪:' ()*+ ()! "#‬‬
‫‪(?)= = -)-M‬‬
‫‪G k = Pk−CTk (Ck Pk− CTk + R k )−1‬‬ ‫‪:$%+ ,-.‬‬
‫]) ‪xˆ k = xˆ −k + G k [y k − (Ck xˆ −k + Dk u k‬‬ ‫‪: $ %&! .‬‬
‫‪Pk = (I − G k Ck )Pk−‬‬ ‫‪:' ()*+ ()! .‬‬
‫‪ 97z ,z" z -. ! / -* CD! )-* T
" -B‬‬
‫‪z" #"z'1! -%z* z" )#z4l T

=5! T
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D‬‬
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z ) #D! z‬‬
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/
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‫!‪z #*" C8 " / 4" C8 . C (time update)#! #*" / #‬‬
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‫‪8#! *+!
=>" 2
/
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-. -41l C%‬‬
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‫‪T‬‬
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‫‪z1"
"z" .z
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+, 9" )
iB* .‬‬
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2z( 9z! Hz8 z" -z. 3, -41l @ "
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zD! z" z!) xz/ 9z! Hz8 z" Pk− z
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=z>z" z8 #*" C8 )iB* #4l #?G‬‬
‫‪:8#! }:‬‬
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‫‪ #z4l #z?G z" z1G -z* =z% (rLp) 1" )[ ]F<l UG =%‬‬
‫‪2
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‫‪z@: ." 5> } ,#! *! -l C%

x̂ −k -. -* 3, )8‬‬
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:‬‬
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2( " U
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1" / ) G k / " C" #
t 5* "
:( :‬‬
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‫‪G k = Pk−CTk (Ck Pk− CTk + R k )−1‬‬ ‫)‪(NLp‬‬
‫‪:
H#! C@
=>" 2 1G
/
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‫‪Pk = (I − G k Ck )Pk−‬‬ ‫)‪(~Lp‬‬

‫
‪z'( z% z" -z* 9" )#1G B* " h3"
i‬‬
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C* U$( ," ! #1G} B* " /‬‬
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4*, /‬‬
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‫(' ‪#z1G # !
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‫!‪z" #z1G} iBz* z/ z

" / 5* " + *#1G i,#‬‬
‫*‪z" E! #1G iB* " / #/ '( -.

.i2" o
D, 9! " E! #1G #B‬‬
‫!‪. Cz (Extended Kalman Filter)(

4*, / '( 8#! % !: -*" 9‬‬
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4*, / '( x8 / -* ?, U"l‬‬
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#1G} ! .#! C‬‬
‫‪x k +1 = f (x k , u k ) + ω k‬‬
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‫! *‪2
z z
:( 2
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2
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‫]‪e‬‬ ‫‪/" ; 9! -M :K ""A‬‬
‫‪.-* PLp‬‬
‫‪wk‬‬
‫‪uk‬‬ ‫‪x k +1‬‬ ‫‪xk‬‬ ‫‪yk‬‬

‫)⋅ ‪f (⋅ ,‬‬ ‫∑‬ ‫‪z −1 I‬‬ ‫)⋅ ‪h(⋅ ,‬‬ ‫∑‬
‫‪vk‬‬
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#1G} iB* (signal-flow graph)* b8 h
:HGK 8‬‬
‫* (' ‪k( ! *#1G -* =%

8 /u / (
4*, /‬‬
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‫*‪x̂ k oz,,z" )z" ! h(⋅ , ⋅)

f (⋅ , ⋅) ;",
" B" )8#! #1G 9: . iB‬‬
‫ ‪9z! z
KD . (RLp)1" #1G ! -* " . ."#! x̂ −k‬‬
‫") (' ‪ 9: " X" / *#1G

:( ./ % 9: " 9,#! /‬‬
‫!‪-* '.! U‬‬
‫• !‪
:#! -*" *#1G
:(

,! :P'.‬‬
‫) ‪∂f (x k , u k‬‬
‫= ‪Ak‬‬
‫‪∂x‬‬ ‫‪x = xˆ k‬‬
‫)‪(Lp‬‬
‫) ‪∂h(x k , u k‬‬
‫= ‪Ck‬‬
‫‪∂x‬‬ ‫‪x = xˆ k−‬‬
‫ "‪" -B f (x k , u k ) k% !i 07! " -* "" A k

,! Cij
X" 1‬‬
‫‪Cij z
oz,, z z" )z#z! z*+! (xˆ k , u k ) 1D /‬‬ ‫‪x k k% !j‬‬
‫!‪ / x k k% !j " -B h(x k , u k ) k% !i 07! " -* z"" Ck
,‬‬
‫^‪e‬‬ ‫‪/" ; 9! -M :K ""A‬‬
‫‪.
:#! -*" (xˆ k− , u k ) 1D‬‬
‫• !‪z', z* oz
D, : ) Ck A k B
,! 9!: -*" :q'.‬‬
‫?‪i
"#! /" h(x k , u k ) f (x k , u k ) #1G} ;", P‬‬
‫) ‪f (x k , u k ) ≈ f (xˆ k , u k ) + A k (x k − xˆ k‬‬
‫)‪(Lp‬‬
‫) ‪h(x k , u k ) ≈ h(xˆ −k , u k ) + Ck (x k − xˆ −k‬‬
‫‪ (RLpz)z1" #z1G} ! #1G o

D, i,#! X" T" 5* " X.‬‬
‫‪:i
: -*" x̂ −k x̂ k 3, KD‬‬
‫‪x k +1 ≈ A k x k + b k + ωk‬‬
‫)‪(PLp‬‬
‫‪y k ≈ Ck x k + d k + υk‬‬
‫‪:i
X" T" /‬‬
‫‪b k = f (xˆ k , u k ) − A k xˆ k‬‬

‫)‪(\\Lp‬‬
‫‪d k = h(xˆ −k , u k ) − Ck xˆ −k‬‬
‫!‪B k u k
2
z? oz,,z" z,#z! )
: -*" (\\Lp) 1" / d k b k
D‬‬
‫ ‪zI" (

4*, / '( i
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‫‪.-* [Lp ? ><G‬‬
‫‪ea‬‬ ‫‪/" ; 9! -M :K ""A‬‬
‫‪(
4*, / '( ><G :*GK C‬‬
‫
‬
‫‪x k +1 = f (x k , u k ) + ω k‬‬
‫‪y k = h (x k , u k ) + υ k‬‬
‫‪z" #z*8 #

2

UDB! υk ω k 8#! ( 9: /‬‬
‫! >‪." R k Q k o,,"

/
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‫!‪:/)0‬‬
‫) ‪∂f (x k , u k‬‬
‫= ‪Ak‬‬
‫‪∂x‬‬ ‫‪x = xˆ k‬‬
‫) ‪∂h(x k , u k‬‬
‫= ‪Ck‬‬
‫‪∂x‬‬ ‫‪x = xˆ k−‬‬
‫
‪:‬‬
‫‪xˆ 0 = E [x0 ],‬‬

‫] ‪P0 = E [(x 0 − E [x0 ])(x 0 − E [x 0 ])T‬‬
‫ ‪ ! k=0 :‬‬
‫‪= ) = -)-M‬‬
‫) ‪xˆ −k = f (xˆ k −1 , u k −1‬‬ ‫‪: $ %&! "#‬‬
‫‪Pk− = A k −1Pk −1A k −1 + Q k −1‬‬

‫‪T‬‬
‫‪:' ()*+ ()! "#‬‬
‫‪(?)= = -)-M‬‬
‫‪G k = Pk−CTk (Ck Pk− CTk + R k )−1‬‬ ‫‪:$%+ ,-.‬‬
‫]) ‪xˆ k = xˆ −k + G k [y k − h(xˆ k− , u k‬‬ ‫‪: $ %&! .‬‬
‫‪Pk = (I − G k Ck )Pk−‬‬ ‫‪:' ()*+ ()! .‬‬
‫‪ec‬‬ ‫‪() ( "9] - 9a :h ""A‬‬
‫‪() ( "9] - 9a :h‬‬

‫‪= M) ( E`9 HGh‬‬
‫"‪
D! B5, #" E! .-* #" E! )( iB* h3"
,‬‬
‫‪
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D! " #4l‬‬
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» #" E! «," -.» 9: / -* #" #,% )«-‬‬
‫‪ #$37! +!
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‫‪" 9,#! .#! 4, -. -

k% D! +! 9: / / p
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‫‪ -B 2 «T*!» «X"» )«X" #'G»

( %@! ," -.‬‬
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‫‪1‬‬

‫‪0.9‬‬
‫‪0.8‬‬
‫‪0.7‬‬
‫‪Degree of membership of SOC‬‬
‫‪0.6‬‬
‫‪0.5‬‬
‫‪0.4‬‬
‫‪0.3‬‬
‫‪0.2‬‬
‫‪0.1‬‬
‫‪0‬‬
‫‪0‬‬ ‫‪0.1‬‬ ‫‪0.2‬‬ ‫‪0.3‬‬ ‫‪0.4‬‬ ‫‪0.5‬‬ ‫‪0.6‬‬ ‫‪0.7‬‬ ‫‪0.8‬‬ ‫‪0.9‬‬ ‫‪1‬‬
‫‪State-of-Charge‬‬
‫‪," -. " -

k% ;", p
4, #! :Gh 8‬‬
‫ ‪ #z" zE! z z" ( %@! 4, 4, )( iB* #.I Cl‬‬
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C/ " -
k% ;", 9/ 637‬‬
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)#! 4, ( %‬‬
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.-* : " -. m
Ul. / 8#‬‬
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U .( -* % ( E‬‬
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4, 9D! I‬‬
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‫‪O+_# BM+1 IGh‬‬

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f[ BC
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Abstract
This project employs intelligent algorithms, such as neural networks,
for identification of lithium-ion batteries. Moreover, extended Kalman
filter will be used for state of charge estimation of battery. In addition, a
fuzzy controller will be designed to control the charging current of
battery such that the state of charge remains within predefined bounds. In
this way, despite fast charging time, it is possible to prevent battery from
overcharge, which can damage batteries. The applied algorithms perform
very good estimation of the state of charge of battery and charging
current. Moreover, these algorithms are robust against variations in
battery parameters.
For hardware implementation, an interface circuit is designed for
several purposes. First, it provides sampled data, with desired rates, and
transfers them to computer through the serial port. Second, it receives the
control signal that was generated by fuzzy controller, and applies that to
battery charging driver.
For software implementation, visual C++ programming language is
used for state of charge estimation, fuzzy controller, and communications
with hardware. All practical tests are applied to a Lithium-Ion battery
with nominal capacity of 1.5 Ah and nominal voltage of 3.7 V. Also, the
test is performed in room temperature. The reason for selecting Li-Ion
batteries is that this kind of battery is the becoming very popular in
industrial applications, such as hybrid electric vehicles, solar power
stations, submarines, and satellites.
The laboratory results will be compared with a commercial battery
charger. The practical results show a very good charging speed, while
maintaining the required state of charge as compared to commercial
battery chargers.
‫‪Iran University of Science and Technology‬‬
‫‪Electrical Department‬‬
‫‪Design and Implementation of Intelligent Controller‬‬

‫‪of Lithium-Ion Batteries Based on State-of-Charge‬‬
‫‪Estimation‬‬
‫‪By‬‬
‫‪Mohammad Charkhgard‬‬
‫‪A thesis submitted in partial fulfillment of the requirement for the‬‬

‫‪Master of Science in‬‬
‫‪Control Engineering‬‬
‫‪Supervisors: Dr mohammad Farrokhi‬‬
‫‪March 2006‬‬

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