卡尔曼滤波估测电池SOC_SOC估计_SOC估计_simulinksoc_电池simulink_soc卡尔曼

function [sys,x0,str,ts]=kalman(t,x,u,flag,k) switch flag, case 0 %初始化设置 [sys,x0,str,ts]=mdlInitializeSizes; case 3 sys=mdlOutputs(t,x,u,k); case {1,2,4,9} sys=[]; otherwise error(['Unhandled flag=',num2str(flag)]); end %===================================================== % mdlInitializeSizes进行初始化,设置系统变量的大小 %===================================================== function [sys,x0,str,ts]=mdlInitializeSizes sizes=simsizes; sizes.NumContStates=0; sizes.NumDiscStates=0; sizes.NumOutputs=2; sizes.NumInputs=3; sizes.DirFeedthrough=1; sizes.NumSampleTimes=1; sys=simsizes(sizes); x0=[0 0 0 0 0]'; str=[]; ts=[-1,0]; %===================================================== % 当flag=3时,计算系统的输出变量:返回三个状态 %===================================================== function sys=kalman(t,x,u,k) R=1; L=0.02; M=-0.0067; Ls=L-M; % J=0.005; k=0.382; T=0.002;%T=0&x5-per=pi/3&x5-per=2*pi/3&x5-per=pi&x5-per=4*pi/3&x5-per=5*pi/3&x5-per<2*pi q=5*pi/3; a11=-2/3;a12=4/pi; a21=-2/3;a22=-2/pi; a31=4/3;a32=-2/pi; end A=[1-R*T/Ls 0 0 k*T*(a11+a12*(x5-q-per))/Ls 0;0 1-R*T/Ls 0 k*T*(a21+a22*(x5-q-per))/Ls0;...001-R*T/Ls k*T*(a31+a32*(x5-q-per))/Ls 0;0 0 0 1 0;0 0 0 T 1]; A1=Jacobian(A*X,X'); B=[T/(3*Ls) -T/(3*Ls) 0 0 0;0 T/(3*Ls) -T/(3*Ls) 0 0;... -T/(3*Ls) 0 T/(3*Ls) 0 0]'; C=[1 0 0 0 0;0 1 0 0 0;0 0 1 0 0]; P=[0.01 0.01 0.01 10 1]; R=diag([0.02 0.02 0.02]); Q=diag([0.04 0.04 0.04 0.05 0.02]); Xhat1=A*x+B*u; Phat1=A1*P*A1'+Q; K=Phat1*C'*inv,[C*Phat1*C'+R]; xhat=[eye(5)-K*C]*(A*X+H*u)+K*X,[[1:3],;]; Phat=[eye(5)-K*C]*Phat1; sys(1,1)=x4; sys(2,1)=x5;