The torpedo propulsion BLDCM′s parameters (such as resistor, inductor, magnet flux, etc) are varying with the changing ambient temperature; this usually makes the control system uncertain ; the on-line identification of key parameters is the major method for improving the control performance .We, using the differential equations of propulsion BLDCM, modify the on-line parameter identification model ; in this modified model, the EMF calcula-tion is based on a kind of position function relating the instant stator and rotor locations in space .This modified i-dentification model is only related to the voltage, current, rotor velocity sensed from the drive system.This identifi-cation model is simple, requires moderate amount of calculation and satisfies real time requirement .Particularly this proposede method needs only pulse width modulation (PWM) excitation, thus avoiding the influence of M se -quence excitation on the system operation .% 电动力鱼雷推进电机在运行过程中环境温度不断地变化，由此而引起电机参数（包括电阻、电感及永磁体等）的变化会对位置/速度伺服性能造成不确定性影响，在线参数辨识成为提高控制性能的重要方法。提出了一种无刷直流电机的离散化递推可辨识模型，该模型以无刷直流电机的全微分方程为基础，以定、转子的相对位置构造反电势位置函数，推导了逆变器输出电压与电机相电压关系，辨识中输入量为逆变器端口电压、电流及电机转速信号，输出为定子电阻、电感、转动惯量及与负载有关的参量。基于该模型的最小二乘辨识法原理简单，运算量小，实时性高，适用范围广。特别是无需特定的激励源，仅仅采用 PWM 激励源就可以得到理想的辨识效果，避免了伪随机序列激励对系统运行造成的影响。
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