87 results about "Overcharge" patented technology

The invention provides an interactive control system and method for a power module and an overcharge pile, a storage medium and a computer program product, and the method comprises the steps: obtaining a charging control parameter according to the input time sequence state data of a battery through a charging control parameter prediction model based on deep learning; generating a power instruction according to the charging control parameter and sending the power instruction to the power module; after the power supply module executes the power instruction, an instruction execution result and battery state data are transmitted back to the overcharge pile main control software; and the overcharge pile main control software adjusts the weight of the charging control parameter prediction model according to the received data or regenerates a power instruction based on the latest battery time sequence state data. According to the invention, the charging time can be shortened, the risks of overheating, overcharging and the like can be prevented, different battery states and complex working conditions can be adapted, and the real-time requirement of an overcharging scene on a control instruction and state data can be met.

The invention provides a power battery anti-overcharge method and system of a fuel cell automobile and a vehicle, and the power battery anti-overcharge method of the fuel cell automobile comprises the steps: judging whether a power battery has an overcharge risk or not based on the working condition of the whole automobile and the real-time state of the power battery; if the overcharge risk exists, controlling the fuel cell system to reduce the output power; if the output power is reduced to the lowest stable operation power and the net output power is still higher than the current allowable maximum charging power of the power battery, the fuel cell system is controlled to enter a self-consumption mode, and the electric energy generated by the fuel cell system is guided to an internal auxiliary machine for auxiliary consumption; and maintaining the net output power not to be greater than the current allowable maximum charging power. The overcharge risk when the charging capacity of the battery is reduced due to low temperature or energy recovery is effectively solved, direct shutdown is replaced by intelligent hierarchical control, the start-stop frequency of the fuel battery is remarkably reduced, the service life of the fuel battery is prolonged, and the economical efficiency of the whole vehicle is improved.

The invention discloses an electric container truck overcharge facility collaborative planning method considering traffic network-power grid interaction, and the method comprises the steps: building a charging demand space distribution model according to the energy consumption heterogeneity characteristics of multiple types of transportation tasks of an electric container truck; a node marginal electricity price mechanism is introduced, and a charging station selection equalization model with the purpose of total cost minimization is established; based on a direct current optimal power flow model theory, constructing a power distribution network operation model taking the minimization of the total power generation cost as a target; the method comprises the following steps: constructing an electric container truck overcharge facility collaborative planning model considering traffic-power network interaction, carrying out conversion processing on the model to obtain a plurality of differentiable obstacle sub-problems, and solving the plurality of differentiable obstacle sub-problems by using an interior point method to obtain a traffic network-power network interaction overcharge facility optimization setting scheme. According to the method, the problem of collaborative optimization of charging facility deployment and power grid impact in electric transformation in the field of port collection and distribution is solved, efficient and stable collaborative decision support is provided for port electric container truck charging network planning, and the method has remarkable application value.

The invention provides a model training method, a battery cell overcharge detection method and related equipment, and relates to the technical field of battery cell detection. The training method comprises the following steps: acquiring performance data of a battery cell sample and a corresponding overcharge test result; feature extraction is carried out on the performance data of the battery cell sample, a first feature set is constructed, and the first feature set is used for representing features determined according to the performance data of the battery cell sample; screening features meeting a preset correlation condition with the overcharge test result from the first feature set, and constructing a second feature set; screening features of which the feature contribution degrees exceed a preset contribution degree threshold value from the second feature set, and constructing a third feature set; and training the to-be-trained overcharge detection model based on the features in the third feature set and the corresponding overcharge test result, and if a training stop condition is satisfied, obtaining a target overcharge detection model so as to perform overcharge prediction by using the target overcharge detection model.

The invention is suitable for the field of power distribution network optimization scheduling, and discloses a day-ahead-day collaborative management and control method, system and device considering distribution network overcharge load fluctuation stabilization and a high-quality power supply target, and a medium, and the method comprises the steps: obtaining EV parameters, and employing a Monte Carlo method to simulate multiple types of EV loads; on the basis of the EV load, taking system operation economic optimization as an objective function, constructing a day-ahead optimization model in combination with multi-type constraints, and obtaining output instructions of OLTC, CB, a storage battery, photovoltaic and a super capacitor as day-ahead optimization results through a Gurobi solver; based on the updated EV load and the day-ahead optimization result, taking system economy and node voltage deviation as objective functions, combining the multi-type constraints, constructing an intra-day optimization model, obtaining optimized photovoltaic and super capacitor output instructions through a Gurobi solver, and combining output instructions of OLTC, CB and a storage battery to complete day-ahead-intra-day collaborative management and control. Source load fluctuation is stabilized, the service life of a storage battery is prolonged, and safe and economical operation of a power distribution network is promoted.

The invention discloses an overcharge lithium ion battery electrolyte and a battery, and relates to the technical field of lithium ion batteries. The electrolyte comprises a lithium salt, a non-aqueous solvent and an additive, wherein the additive comprises a first additive and a second additive; the non-aqueous solvent includes a first solvent. The low-viscosity first solvent is introduced into the electrolyte, so that the viscosity of the electrolyte is reduced, the conductivity and the rate capability are improved, meanwhile, the first additive and the second additive are also added to achieve a synergistic effect, and the defect of high-temperature instability caused by the electrolyte is improved while the conductivity of the electrolyte is improved and the viscosity of the electrolyte is reduced. The electrolyte is used for the lithium ion battery, and the battery has excellent rate capability brought by a low-viscosity solvent and excellent high-temperature performance brought by the synergistic effect of the electrolyte and an additive.

An integrated protection method for a flow battery energy storage system belongs to the technical field of flow battery systems, and comprises the following steps: S1, adopting a layered architecture design for a system architecture; s2, adopting a multi-stage protection mechanism through a safety and fault management scheme designed based on a system architecture design thought; S21, constructing a battery over-charge / over-discharge protection function; s22, constructing a thermal runaway early warning, and triggering a shutdown function; and S23, three-level safety protection is set between the PCS and the BMS. On the basis of BMS and PCS cooperative control, strategy optimization is implemented, the efficiency and safety of the integrated energy storage system can be remarkably improved, a control algorithm such as self-adaptive PID adjustment is improved, the charging and discharging process can be accurately balanced, and the overload or undervoltage risk is prevented. The collaborative design ensures seamless matching of the battery state and the power output, and provides reliable support for an overall energy storage scheme.

This invention relates to the field of artificial intelligence technology, and more particularly to a method for overcharge safety early warning of electrochemical energy storage batteries based on a large model. The method includes collecting literature datasets, experimental datasets, expert experience sets, and phenomenon description information; then, using the BERT-NER algorithm to extract energy storage mechanism entities and constructing a mechanism map; real-time acquisition of energy storage chamber detector data, calculation of time-series feature change rates, and generation of detection prompt words based on phenomenon descriptions; and inputting the mechanism map and prompt words into a large language model for training to generate prediction results. This invention integrates multi-source data and effectively warns of overcharge risks through large model analysis, ensuring the safe operation of electrochemical energy storage batteries.

The invention discloses a loop disconnecting device for thermal runaway caused by a battery module overcharge test and an overcharge test method, and belongs to the technical field of battery safety test. The device comprises a base, at least one pair of separable connecting blocks which are arranged at the two ends of the base and stacked up and down, a pressing block unit used for pressing or loosening the connecting blocks, and a control unit used for controlling the state of the pressing block unit. The control unit has a locking state and an unlocking state and is matched with the lock rod on the main pressing rod through a sliding module capable of sliding horizontally, a locking block set arranged in a locking groove of the sliding module and a triggering mechanism driven by an electromagnet, and mechanical locking is achieved. When thermal runaway occurs in the overcharge test of the battery module, the electromagnet can be triggered to act and unlock through a remote electric signal, so that the pressing block unit quickly bounces under the action of the reset spring, and the test loop is instantly disconnected. The device further has a standby mechanical triggering function, and can be forcibly operated to be disconnected when electric control fails.

The invention discloses an energy storage system power distribution method and system of a grid-connected point, a medium and equipment, and belongs to the technical field of automatic voltage control of a power system, and the method comprises the steps: monitoring the per unit value of the voltage of the grid-connected point and the charge state of an energy storage system in real time; according to a preset voltage threshold value and a charge state threshold value, dividing the grid-connected point voltage per unit value and the charge state of the energy storage system to obtain a plurality of operation condition intervals; for different operation condition intervals, dynamically selecting a preset target function and a corresponding constraint condition combination, and based on the selected target function combination and the constraint condition combination, carrying out iterative calculation to obtain a power adjustment amount of the energy storage system; and controlling the energy storage system to execute power distribution according to the power adjustment amount. Therefore, by implementing the method, the problems of low voltage treatment efficiency and easy overcharge / overdischarge of the energy storage system due to the fact that the difference between the per unit value of the grid-connected point voltage and the energy storage charge state is not comprehensively considered in the prior art can be solved.

This invention discloses a method and system for early warning of overcharge in lithium batteries based on dynamic impedance spectroscopy and relaxation time distribution. During charging, an AC disturbance signal is superimposed, and voltage, current response, and state of charge (SOC) are collected. After removing DC drift from the voltage, the dynamic electrochemical impedance spectroscopy (DIS) is calculated. DIS within a specific SOC range is extracted, and model-free decoupling is achieved using relaxation time distribution (DRT) technology to identify low-frequency relaxation peaks related to limited solid-phase diffusion of lithium ions in the negative electrode. The shift characteristics of this peak with SOC are tracked to determine the warning SOC point and its characteristic frequency. The complex impedance of different SOCs at the characteristic frequency is extracted, and the Euclidean distance between the complex impedances of adjacent SOCs is calculated. When the Euclidean distance meets the warning condition, a warning signal is output. This invention decouples DIS using DRT, accurately identifies microscopic precursors of limited diffusion, solves the problems of feature overlap and response lag, and achieves sensitive and rapid early warning.

The invention discloses a control method and device for adaptively adjusting overcharge current and a vehicle, and the method comprises the steps: obtaining the initial temperature of a battery cell of a battery pack and the initial electric quantity of the battery pack when a vehicle gun insertion charging signal is received; if the initial temperature of the battery cell is in a first temperature interval and the initial electric quantity is smaller than or equal to first preset electric quantity, cooling is carried out, the battery pack is charged according to a preset minimum current value, and when the charging duration is equal to first preset duration, a dynamic charging step is executed: the current temperature and the current residual electric quantity of the battery cell are obtained; controlling the operation state of the thermal management system according to the current temperature, determining a charging request current required by the battery pack according to the current temperature and the current residual electric quantity, and performing charging based on the charging request current to obtain the current residual electric quantity after charging; and repeatedly executing the dynamic charging step until the current residual electric quantity reaches the preset electric quantity. According to the method, the temperature rise problem of the battery pack in the overcharge process is effectively controlled.

The invention relates to the technical field of lithium battery protection, and discloses a high-safety lithium battery overcharge protection device which comprises a lithium battery charging mechanism, the middle position of the lithium battery charging mechanism is connected with an overcharge protection mechanism, the lithium battery charging mechanism comprises a positioning protection frame, and the middle position of the positioning protection frame is connected with a charging connection base. A limiting groove is formed in one side of the positioning protection frame; according to the invention, current input can be rapidly and thoroughly cut off when overcharge or current abnormity is detected; the driving motor drives the eccentric control frame to rotate through transmission of the positioning shaft and the positioning gear, so that the lifting protection frame, the power connection limiting frame and the protection frame are stably and quickly jacked up and move upwards; the charging plug of the lithium battery unit is quickly separated from the charging connection base, so that the complete power-off treatment of the lithium battery unit is realized; according to the design, the influence of continuously input micro current on the lithium battery unit is effectively avoided, the service life of the lithium battery is remarkably prolonged, and the charging safety of the lithium battery is remarkably improved.

The invention relates to a secondary battery and an electric device. The embodiment of the invention provides a secondary battery. The secondary battery comprises a shell, an electrode assembly, an overcharge protection mechanism and electrolyte, the housing has a first surface. The electrode assembly is arranged in the shell; the overcharge protection mechanism is arranged on the first surface; and the electrolyte comprises a gas generating agent. The gas generating agent can react and generate gas when the response voltage is reached; the secondary battery can trigger the overcharge protection mechanism by the gas when the overcharge voltage reaches the response voltage. According to the technical scheme, the gas generating agent is added into the electrolyte, polymerization reaction can be carried out and gas can be generated when the overcharge voltage reaches the response voltage, and the overcharge protection mechanism is triggered; therefore, the short-circuit part of the secondary battery acts earlier, the short-circuit protection time is advanced, the thermal runaway of the secondary battery caused by a large amount of heat generated by decomposition of the main material of the battery is greatly reduced, and the thermal runaway probability of the secondary battery is reduced more favorably.

The invention relates to an overcharge and overheat dual-protection sodium ion battery electrolyte, a preparation method and a battery. The overcharge and overheat dual-protection sodium ion battery electrolyte is prepared from sodium salt, an organic solvent, an overcharge-preventing additive and a temperature response type overheat-preventing additive. According to the electrolyte provided by the invention, the safety of the battery under an extreme high-temperature condition is remarkably improved by using the overcharge-preventing additive with a specific structure and the overheat-preventing additive corresponding to the temperature; in addition, the anti-overcharge additive is subjected to oxidative polymerization at an overcharge position, a compact passive film is formed on the surface of the electrode, and continuous oxidative decomposition of the electrolyte is blocked; the temperature response type anti-overheating additive is subjected to reversible phase change at the critical temperature, is changed into hydrophobic from hydrophilic, and is gelatinized to cover the surface of the electrode, so that side reaction between the electrolyte and the electrode is inhibited, the heat production rate is reduced, and long-term multi-time protection is realized.

The application discloses a kind of distribution methods of range extender demand power in the technical field of new energy engineering machinery, to solve the technical problems of low distribution efficiency, easy to cause battery overcharge / discharge.It includes: obtaining the current slope road condition, according to the slope road condition, the corresponding power distribution strategy group is obtained;In the power distribution strategy group, select distribution strategy according to battery SOC value;According to the selected distribution strategy and the vehicle demand power, the range extender demand power is obtained.The range extender demand power distribution method provided by the application matches the strategy group through real-time identification of slope road condition, adjusts the range extender power output in advance, ensures that the range extender power responds quickly when high power demand, prevents overdischarge when climbing, the power drops in time when braking recovery, and prevents overcharge when descending;Combined with the specific distribution strategy selected by battery SOC state, the life attenuation caused by overcharge / overdischarge is avoided, the battery overcharge / discharge is avoided, and the range extender demand power distribution efficiency is improved.

This application discloses an overcharge protection method and related equipment for a laptop battery. The method includes: real-time monitoring of the continuous charging time and battery level of the laptop battery; if the continuous charging time reaches a preset time and the battery level exceeds an overcharge threshold, controlling the battery to stop charging and sending a discharge level signal to a hardware discharge control circuit to discharge the battery to a balance charge value; when the battery level drops to or below the balance charge value, sending a stop discharge level signal to the hardware discharge control circuit to stop discharging the battery. Therefore, by real-time monitoring of charging time and battery level, and accurately triggering charging stop and hardware discharge, long-term high-charge overcharging of the battery can be effectively avoided in scenarios such as laptop hibernation / shutdown, slowing lithium-ion degradation, eliminating the risk of bulging, and extending battery life; the discharge process is fast and controllable with extremely low standby power consumption, without affecting the user experience.

This utility model relates to the field of lithium power supply unit protection technology, and more particularly to a lithium battery charge and discharge protection circuit with shutdown protection, comprising: a charging protection module, an overcharge and over-discharge protection module, an overcurrent detection module, and a power supply module. Specifically, the overcurrent detection module is electrically connected to MOSFETs Q6.1 and Q6.2, with the drain (D) of MOSFET Q6.1 and the source (S) of MOSFET Q6.2 electrically connected. A capacitor C6, a capacitor C7, a resistor RS4, and a Zener diode U2 are electrically connected between MOSFETs Q6.1 and Q6.2. This utility model uses the charging protection module to perform overall circuit detection and control, preventing the influence of factors such as temperature and voltage on the overall circuit. The overcharge and over-discharge protection module further protects the circuit's safety, and the overcurrent detection module allows for real-time data detection of the entire circuit, enabling rapid processing, analysis, and control.

The application provides a power battery and an overvoltage protection control method and system. The temperature of a single cell is collected, and a corresponding initial overvoltage threshold is obtained according to the temperature of the single cell. The initial overvoltage threshold is corrected to obtain a final overvoltage threshold. The voltage of the single cell is compared with the final overvoltage threshold for analysis to obtain an analysis result. When the analysis result is that the single cell appears an overvoltage situation, a corresponding overvoltage protection control instruction is generated. The overvoltage protection control instruction is executed to protect the power battery. The rationality of the threshold is ensured, the battery voltage control is more accurate, the performance of the battery is fully exerted, the overvoltage and overcharge phenomenon is reduced, and the battery damage is avoided.

The utility model relates to battery detection technical field, concretely is a kind of button cell overcharge overdischarge protection detection terminal, including the detection instrument body of the overcharge overdischarge state of button cell is detected, the top of the both sides of the detection instrument body is connected with T type exhaust pipe, the both sides of the detection instrument body are fixed with placing box and the liquid collecting tank of the alkali solution being placed in proper order along up-down direction, by setting auxiliary assembly, utilize multiple purification structure, harmful substance in waste gas can be purified fully, avoid harmful gas to directly diffuse to outside easily, and under the assistance of two groups of auxiliary traction structure, waste gas can be quickly extracted from the detection instrument body, and the purification speed of waste gas is simultaneously accelerated, and two groups of purification systems can be formed, so that when one group of activated carbon filter screen needs to be overhauled or replaced, another group of purification system can be switched in time, avoid affecting waste gas purification work in the detection instrument body.

The application discloses a kind of based on energy storage's fast reliable frequency modulation method, equipment and medium, method includes: by frequency detection device real-time acquisition power grid frequency, and real-time acquisition battery SOC value in energy storage system;According to the SOC value obtained, grading is carried out, and the battery state is divided into first number grade;Grid frequency is filtered and handled to calculate moving average frequency, and then the grid frequency is graded, and the grid frequency is divided into second number grade;Frequency difference value is calculated based on frequency moving average value;Based on SOC grading and frequency grading, frequency control is realized in combination with frequency difference value.The application realizes energy storage system in fast response power grid frequency modulation demand simultaneously, adaptive optimization charging and discharging strategy by "multi-dimension grading+steady state control", avoid overcharge and overdischarge, improve energy storage utilization and power grid stability.

The application relates to the technical field of battery swap cabinet charging detection, and provides a charging detection method and system for a battery swap cabinet. The method comprises the following steps: setting initial parameters according to battery swap cabinet charging bin layout information; determining a candidate strategy based on the initial parameters in combination with voltage overcharge protection and current overcurrent protection conditions; configuring a first regulation vector in a gain space in a step-by-step manner based on the direct-current voltage and configuring a second regulation vector in a digital space in a step-by-step manner based on the pulse width duty cycle; establishing a charging strategy search space through the two types of regulation vectors; performing Pareto screening in the space to obtain a non-dominated solution set of service life, efficiency and safety performance, and determining an optimal strategy, so as to solve the technical problem that the safety, charging efficiency and cycle life optimization of the battery swap cabinet cannot be considered during the charging process, and achieve the technical effects of prolonging the charging and discharging life, improving the charging efficiency and safety performance by constructing the charging strategy search space through the multi-dimensional regulation vector and performing the Pareto screening.

The application discloses a kind of mobile power supply protection plate design methods based on integrated circuit, comprising: in response to initial design instruction containing battery parameter and protection threshold, multiple reference design cases are screened from historical design database according to battery type identification;According to the first associated trend between the voltage dividing resistor ratio of sampling circuit in each reference design case and the overcharge voltage threshold and the second associated trend between the parasitic inductance value of power path and the short-circuit current threshold, a multidimensional constraint surface between battery parameters and protection threshold is constructed;The point with the minimum global curvature on the multidimensional constraint surface is mapped as the reference source configuration parameter of current detection comparator in integrated circuit and the clock period number of delay link, and the initial protection plate topology structure is generated based on the reference source configuration parameter and the clock period number.The application realizes the automation and parameter optimization of mobile power supply protection plate design.

The present application relates to a secondary battery and an electrical apparatus (4). The secondary battery comprises a positive electrode sheet (122) and a positive tab (121) connected thereto; the positive tab (121) comprises a first current collector (1211) and an anti-overcharge layer (1212), the anti-overcharge layer (1212) being arranged on the surface of the first current collector (1211), and the anti-overcharge layer (1212) comprising an anti-overcharge additive. The cycle performance of the secondary battery can be improved while overcharge prevention is taken into account.

The application provides a kind of optical storage system energy storage device state of charge management method, it is related to optical storage system control technical field, solve the optical storage system with initiative support ability and through energy storage device control direct current bus voltage, energy storage device overcharge / overdischarge leads to state of charge out of limit, simple cut off energy storage easy to cause system instability problem.The technical scheme is: set energy storage state of charge safety range and hierarchical limit threshold, build upper and lower limit management strategy.Lower limit side according to state of charge dynamic adjustment active droop coefficient, when out of limit, utilize photovoltaic power small power charging recovery;Upper limit side cut off energy storage, switch photovoltaic control target to maintain direct current bus voltage stability, balance photovoltaic and net side power, guarantee energy storage safety and system stability.

The invention discloses a battery overcharge early warning method based on big data, and relates to the technical field of electric power system and energy storage safety monitoring, and through integration of real-time operation data and cloud historical information and combination of a machine learning algorithm and a dynamic risk index, early warning accuracy and adaptive capability are significantly improved; in a frequent charging and discharging scene of an energy storage power station, the method can effectively capture internal parameter changes, such as internal resistance increase and electrode heterogeneity, caused by battery aging, so that the accumulated overcharge trend is recognized in advance, and the problem of early warning lag caused by a fixed threshold value in a traditional method is avoided; by constructing an accumulated overcharge risk index, performing time decay accumulation on terminal voltage safety margin and SOC upper limit overrun, and combining correction factors such as temperature, multiplying power and the like, multi-dimensional risk fusion is realized, and robustness under complex working conditions is enhanced.

The utility model relates to the field of photovoltaic energy storage batteries, in particular to a photovoltaic energy storage battery with overcharge protection, which comprises a battery outer shell, a main body used for forming the photovoltaic energy storage battery, an inner photovoltaic energy storage battery core body, an outer photovoltaic energy storage battery core body and an outer photovoltaic energy storage battery core body, and a voltage sensor is fixedly mounted in the inner photovoltaic energy storage battery core body. The photovoltaic energy storage battery is provided with the inner photovoltaic energy storage battery core body, the voltage sensor, the driving display controller, the overcharge circuit breaker and the overcharge protection plate. When the photovoltaic energy storage battery is used, the voltage sensor is arranged in the inner photovoltaic energy storage battery core body and is connected with the driving display controller; in this way, after the inner photovoltaic energy storage battery core body is overcharged through the outer charging port of the front charging cover, the electric sliding rail and the electric sliding sleeve drive the overcharge protection plate to slide downwards, an originally-opened overcharge circuit breaker switch is pressed downwards, and therefore the overcharge circuit breaker is cut off.

This application relates to a secondary battery and an electric apparatus. The secondary battery includes a positive electrode plate and a positive electrode tab connected to the positive electrode plate, where the positive electrode tab includes a first current collector and an overcharge prevention layer, the overcharge prevention layer is disposed on a surface of the first current collector, and the overcharge prevention layer includes an overcharge prevention additive. The secondary battery can improve cycle performance while ensuring overcharge protection.

The invention provides an overcharge station-oriented urban charging stopping facility scheduling and power grid demand side control system, and the system comprises a data sensing module which collects and preprocesses user charging preferences, vehicle battery states, overcharge station equipment states and power grid side data, extracts vehicle features, and classifies the vehicle features; the scheduling module generates a power distribution scheme through a dynamic priority strategy based on the classification result and the equipment state, and performs collaborative optimization on all the overcharge stations by using a collaborative model to generate a collaborative scheduling scheme; and the power grid demand module aggregates the states of all the overcharge stations to construct a virtual resource pool, analyzes power grid side regulation and control demands, and generates global regulation and control instructions issued to all the stations in combination with the collaborative scheduling scheme. According to the invention, intelligent scheduling and power grid demand side response of the overcharge station cluster are realized, and the charging service efficiency, the power grid operation stability and the resource utilization level are improved.

The application provides a motor torque prediction method, device, equipment and vehicle, which are used for solving the problem of battery pack overcharge and overdischarge caused by the delayed response of the vehicle controller due to the CAN network transmission delay. The motor torque prediction method comprises the following steps: sending a request torque to a motor controller; acquiring an actual motor speed output by the motor controller after processing the request torque; predicting an initial estimated motor torque corresponding to each of a plurality of preset delays according to the actual motor speed and the request torque; the specific time length of the plurality of preset delays is different; and selecting an optimal value from the plurality of initial estimated motor torques as an estimated value of the current execution torque of the motor according to the actual motor speed and the plurality of initial estimated motor torques.