643results about "Torque ripple control" patented technology

The invention relates to the technical field of electric driving system energy-saving control, and discloses a multi-motor driving system torque optimal distribution method and system, and the method comprises the steps: building a single power unit power loss model of a multi-motor driving system; constructing a fitting straight line segment; constructing a torque-current mapping relation curve; a train speed prediction model, a multi-motor driving system power unit motor rotating speed prediction model, a multi-motor driving system total torque reference value prediction model and a multi-motor driving system power unit power loss prediction model are constructed; establishing a multi-motor driving system energy efficiency evaluation function, a multi-motor driving system stability evaluation function, a multi-motor driving system total torque following evaluation function and a system optimization objective function; designing a learning rate of a control vector; and updating the control vector according to the learning rate, and obtaining an optimized torque distribution coefficient and an optimized torque reference value distributed by each power unit. Therefore, the torque optimization distribution of the multi-motor driving system is realized, and the energy utilization efficiency of the system is improved.

The invention discloses a hybrid effective flux linkage observer and a permanent magnet synchronous motor control method, device and system. The method comprises the following steps: carrying out Clarke conversion on an obtained three-phase current of the permanent magnet synchronous motor to obtain a current in a static coordinate system, and carrying out park conversion based on rotor position information to obtain a current in a synchronous rotating coordinate system; the effective flux linkage of the permanent magnet synchronous motor is obtained through the hybrid effective flux linkage observer; on the basis of the obtained effective flux linkage of the permanent magnet synchronous motor, dead-zone compensation voltage is obtained through self-adaptive gain dead-zone compensation calculation based on back electromotive force reconstruction, and the rotating speed and the rotor position of the permanent magnet synchronous motor are obtained through phase-locked loop calculation; according to the rotating speed and the rotor position of the permanent magnet synchronous motor, the current under the synchronous rotating coordinate system, the dead zone compensation voltage and the obtained reference rotating speed and reference current, the reference voltage of the motor at the k moment is obtained through a rotating speed loop and a current loop and used for achieving low-speed position-sensorless control over the permanent magnet synchronous motor.

The invention provides a motor control device which can simultaneously realize reduction of time required for design and adjustment of correction amounts of amplitude and phase corresponding to response characteristics and guarantee of a torque ripple suppression effect. A motor control device (1) drives a motor (5) using an inverter (4). A motor control device (1) is provided with: a harmonic control command value calculation unit (8) that finds first harmonic control command values (i * dqh, phi * dqh) on the basis of a torque command value (tau *) and an electrical angle ([theta] e) of a motor (5); a response compensation unit (9) that calculates second harmonic control command values (i * * dqh, phi * * dqh) obtained by performing response characteristic compensation on the first harmonic control command value (i * dqh) in accordance with the rotational speed of the motor (5); and a voltage command calculation unit (3) that calculates a voltage command value (v * dq) on the basis of a torque control command for outputting the torque command value (tau *) and the second harmonic control command values (i * * dqh, phi * * dqh).

The invention discloses a model prediction control method of a high-speed permanent magnet synchronous motor and a related device, and relates to the field of control, and the method comprises the steps: building a stator current equation capable of simulating the behavior of the high-speed permanent magnet synchronous motor based on the position change of a rotor in the same control period, a high control input basic voltage value is obtained by fixing motor parameters and combining a total disturbance parameter of a current loop system and a set stator current tracking target at the next moment at the same time; on the basis of the control input basic voltage value, current loop harmonic voltage compensation is carried out through the control input harmonic compensation voltage value to obtain a control input voltage value, and voltage modulation is carried out according to the control input voltage value to control the high-speed permanent magnet synchronous motor. According to the method, when the stator current equation is constructed, rotor position change parameters in the same control period are innovatively introduced, so that the motor behavior simulation precision is remarkably improved; the defect that the switching frequency is not fixed in a traditional finite set model predictive control algorithm is effectively overcome through the voltage modulation technology.

A self-excitation motor disclosed by the present invention comprises a rotor, a first end of the rotor is equipped with a rectification circuit, the rotor comprises a rotor iron core and a plurality of harmonic windings and excitation windings, the rotor iron core is provided with rotor teeth, and each harmonic winding and each excitation winding are respectively wound on the corresponding rotor teeth. Each harmonic winding comprises a first harmonic winding and a second harmonic winding, the winding directions of the first harmonic winding and the second harmonic winding are the same, star connection is adopted, one ends of the first harmonic winding and the second harmonic winding are connected in series in a one-to-one mode, and the other ends of the first harmonic winding and the second harmonic winding are jointly connected to form a star neutral point; the other end of each second harmonic winding is connected with the midpoint of each bridge arm in the rectifying circuit in a one-to-one manner; the winding directions of the excitation windings on every two adjacent rotor teeth are opposite, and the two ends of each excitation winding are electrically connected with the direct current output end of the rectification circuit. This induces and rectifies the current for excitation more efficiently. The invention further provides a motor control strategy based on high-frequency harmonic current phase optimization.

The invention relates to the technical field of motor control, discloses a direct current brushless motor control method and system based on current prediction, and aims to solve the problems of large torque ripple, low efficiency and poor stability caused by current loop lag in the prior art. The method comprises the following steps: acquiring a motor operation state signal in real time; determining a sector and an electrical angular velocity based on the rotor position and the rotational speed; inputting related parameters into the mixed current prediction model to obtain a three-phase current prediction value of the next period; a prediction error is calculated in combination with a current instruction, and an optimal voltage vector enabling a cost function to be minimum is solved through a model prediction control algorithm; and finally, a space vector pulse width modulation signal is generated to drive an inverter. According to the method, advanced control is realized by fusing a physical model and a data-driven prediction mechanism, the torque ripple is remarkably reduced, and the energy efficiency and robustness are improved.

The invention discloses a coaxial double-switch reluctance motor torque ripple minimization control method, which comprises the following steps: establishing a unified model for two switch reluctance motors, obtaining a reference torque through a proportional integral controller after making a difference between a reference rotating speed and an actual rotating speed, and establishing a phase current prediction model according to a phase voltage equation of the switch reluctance motors, based on the predicted current and the predicted angle, establishing a torque prediction model in a positive voltage excitation and zero voltage follow current mode in the conduction interval of each phase winding, and establishing a torque prediction model in a negative voltage demagnetization mode in the turn-off interval of each phase winding to obtain predicted torques of each phase winding in the conduction interval and the turn-off interval; and establishing a unified evaluation function by using the predicted torque and the reference torque of each phase winding of the two switched reluctance motors, and selecting an optimal switching state which enables the evaluation function to be minimum, thereby realizing the torque pulsation minimization control of the coaxial double-switched reluctance motor. The torque ripple minimization control method of the coaxial double-switch reluctance motor is not influenced by the phase difference of the double motors and the conduction range of each phase winding, can be easily expanded to a double-switch reluctance motor driving system with any phase number, and has good application prospect and engineering value.

A power conversion apparatus includes a converter that rectifies a first AC voltage supplied from an AC source, a capacitor that is connected to an output end of the converter and smooths a first DC voltage rectified by the converter into a second DC voltage including a first ripple, an inverter that is connected across the capacitor and converts the second DC voltage into a second AC voltage corresponding to a desired frequency, and a voltage detection unit that acquires a physical quantity correlated with the second DC voltage, and controls the second AC voltage to superimpose a second ripple correlated with the first ripple on an output voltage of the inverter.

The invention discloses a topology circuit of an isolated single-phase integrated vehicle-mounted charging system for an electric vehicle and a control method of the topology circuit. The topology circuit comprises an open-winding permanent magnet synchronous motor, a dual three-phase inverter, a power battery pack, a bus capacitor, a high-frequency transformer, a winding change-over switch K1, a winding change-over switch K2 and a bus change-over switch G1, through switching of the winding change-over switch K1, the winding change-over switch K2 and the bus change-over switch G1, the system works in a driving mode or a charging mode, and the system is controlled in combination with a driving control method and a charging control method. According to the invention, electrical isolation of the integrated vehicle-mounted charging system is realized without adding extra power devices and industrial frequency transformers, and the reliability and safety of charging are improved.

A torque ripple reduction method for a synchronous electric motor of a vehicle includes obtaining, by a control system, look-up tables (LUTs) that each include harmonic currents that satisfy a constrained objective function for phase current magnitude for the synchronous electric motor, based on a requested motor torque, determining, by the control system and using the LUTs, a plurality of currents including fundamental direct and quadrature currents and 6th order and 12th order harmonic quadrature currents, determining, by the control system, direct and quadrature voltages for the synchronous electric motor based on the plurality of currents including injection of the 6th and 12th order harmonic quadrature currents, and controlling, by the control system, the synchronous electric motor based on the determined direct and quadrature voltages to at least one of reduce torque ripples and increase efficiency of the synchronous electric motor.

Methods, controllers and electric machine systems are described that facilitate pulsed control of electric machines (e.g., electric motors and generators) to improve the machine's energy conversion efficiency. Under selected operating conditions, the electric machine is intermittently driven (pulsed). The pulsed operation causes the output of the electric machine to alternate between a first output level and an off state. The output levels are selected such that the electric machine has a higher energy conversion efficiency during the pulsed operation than the electric machine would have when operated at a third output level that would be required to drive the electric machine in a continuous manner to deliver the desired output. In some embodiments, the power converter it turned off during at least portions of the time that the electric machine is pulsed off.

The invention discloses a high-speed brushless direct current motor torque ripple suppression method, device and equipment and a storage medium, and belongs to the technical field of motor control. The method comprises three steps of adaptive harmonic suppression processing, phase compensation angle calculation and dynamic phase compensation. According to the invention, the center frequency is dynamically adjusted through the adaptive harmonic wave notch filter, the dominant harmonic component is inhibited in real time, and in combination with cascade delay signal elimination, 6k fixed subharmonics are filtered through the CDSC filter, so that a fundamental wave current signal is obtained; park transformation is carried out on the fundamental wave current based on an FOC algorithm, a PI controller is utilized to generate a phase delay angle according to a d-axis current error, and then a reference current compensation module dynamically compensates a current reference value to ensure phase synchronization of phase current and back electromotive force. Compared with the prior art, additional hardware equipment is not needed, and the torque ripple of the BLDC is reduced.

The invention discloses a permanent magnet synchronous motor cogging torque suppression method and device based on coordinate analysis, and belongs to the technical field of permanent magnet synchronous motors, and the method comprises the steps: effectively suppressing the cogging torque of a permanent magnet synchronous motor through collaborative optimization of the geometric parameters of stator and rotor auxiliary slots, reducing the torque pulsation, and improving the vibration noise, thereby improving the cogging torque of the permanent magnet synchronous motor. The comprehensive performance of the motor is improved. Wherein the stator auxiliary slots weaken periodic components related to stator tooth slots in air gap magnetic conductance harmonic waves by adjusting slot widths and depths, and excitation of the periodic components to tooth slot torque is reduced; the rotor auxiliary grooves optimize the pole-arc coefficient by adjusting the opening angle, and remanence harmonic waves of the permanent magnets are inhibited from being periodically matched and coupled with the stator tooth grooves. The collaborative design of the two enables the amplitudes and phases of air-gap magnetic conductance harmonic waves and permanent magnet residual magnetic harmonic waves to be mismatched, the amplitude of cogging torque is remarkably reduced, meanwhile, periodic disturbance of an air-gap magnetic field is reduced, the output torque is more stable, and mechanical vibration and noise caused by electromagnetic force fluctuation are synchronously weakened.

An electric motor system, such as for an electrified vehicle, includes a permanent magnet motor (PMM) including a hollow cylindrical stator defining a circular inner portion with a plurality of slots, defined between a respective plurality of ferromagnetic teeth, and having a plurality of electromagnetic coils arranged in the plurality of slots, respectively, and a cylindrical rotor disposed within the stator and defining a circular outer portion having N pairs of permanent magnets arranged thereabout to define N rotor poles, respectively, wherein N is an even integer greater than or equal to four, and a controller configured to control the PMM to mitigate or eliminate magnetic cogging by controlling each pair of electromagnetic coils to stagger or offset a stator magnetic field generated by the pair of electromagnetic coils relative to the rotor magnetic poles.

The invention discloses a permanent magnet motor starting control method and system based on harmonic injection, and aims to improve the harmonic injection precision and the dynamic adaptive capacity in the motor starting process. According to the method, frequency domain features are extracted by adopting CNN of a multi-scale convolution kernel, dynamic changes of a time sequence are captured in combination with Bi-LSTM, and an attention mechanism is introduced to dynamically weight key transient signals, so that comprehensive modeling and optimization of harmonic signals on frequency domain, time domain and transient features are realized; and an efficient closed-loop dynamic optimization system is constructed by further combining the global search capability and the real-time error feedback mechanism of the genetic algorithm. The method can adaptively capture the key change when the working condition suddenly changes, correct the harmonic injection parameters in real time, significantly reduce the power loss caused by torque fluctuation and high-frequency harmonic in millisecond response, and improve the stability of harmonic injection and the energy efficiency optimization effect.

A motor control device controls energization of a motor by vector control, the motor control device including: a current command value calculation unit configured to generate current command values in a dq coordinate system based on a command value of a motor; a current command value limit unit configured to limit the current command values in the dq coordinate system which are generated by the current command value calculation unit and output current limit command values which are the limited current command values in the dq coordinate system; and a controller configured to calculate voltage command values for the motor by feedback control of the current limit command values, in which the current command value limit unit limits the current command values in the dq coordinate system such that an operation point having a set voltage margin with respect to a voltage limit circle in the dq coordinate system is obtained based on a direct current bus voltage and the voltage command values.

The invention discloses a motor multi-parameter identification method based on sampling noise excitation and bias compensation, and the method comprises the steps: firstly obtaining the voltage and sampling current of a motor, and enabling the sampling current to comprise sampling noise; then constructing an information evaluation index, and adjusting a proportional parameter of a current controller to improve the identification information amount; then, shaft voltage feed-forward compensation is constructed to suppress electromagnetic torque pulsation; recursion is carried out by adopting a least square method based on the discrete linear parameterization model to obtain a parameter initial value and a covariance matrix; secondly, estimating offset-containing parameters on line, and calculating a sampling noise variance by using an estimated residual error; and finally, obtaining unbiased parameter estimation according to bias compensation iteration updating so as to output online estimation values of stator resistance, direct-axis inductance Ld, quadrature-axis inductance Lq and permanent magnet flux linkage.

The invention discloses a multi-target intelligent optimization efficient control method for a cascaded multilevel electric drive system, and the method comprises the steps: constructing a motor broadband domain loss model and a converter loss model, and obtaining an electric drive system loss model after unifying current variables; deriving a motor torque ripple model taking a specific secondary current harmonic component as a component based on a magnetic field modulation principle; establishing an electric drive system loss multi-objective optimization model which takes a fundamental current angle and a specific harmonic current component as two-dimensional optimization variables and takes torque ripple performance into account; and performing particle optimization configuration in the two-dimensional optimization variables of the fundamental current angle and the specific harmonic current component by applying a particle swarm algorithm, solving the multi-objective optimization model, and obtaining the optimal fundamental current angle and the optimal harmonic current component setting. According to the method, the multi-target and multi-dimensional complex problem of the electric drive system is solved by adopting the particle swarm optimization, global optimization can be carried out from the multi-control-dimension angle, and the defect that a traditional optimization algorithm is converged to a local optimal point is overcome.

The invention discloses a method for safely controlling the braking torque of a driving system with a permanent magnet synchronous motor, the driving system is provided with the permanent magnet synchronous motor and a frequency converter, and the method is characterized by comprising the following steps: on the premise that a driving signal of an upper bridge arm switch tube is blocked, starting the frequency converter; a driving signal of a corresponding lower bridge arm switch tube when the phase current of the permanent magnet motor flows to a frequency converter is turned off in advance, and a driving signal of a corresponding upper bridge arm switch tube when the phase current of the permanent magnet motor flows out of the frequency converter is turned off in advance on the premise that the driving signal of the lower bridge arm switch tube is blocked. And the phase current of the permanent magnet synchronous motor is controlled. By alternately blocking the switch tubes of the upper bridge arm and the lower bridge arm, larger braking torque and smaller torque pulsation can be provided, heat dissipation of the IGBT / diodes is balanced, and meanwhile power supply from an intermediate circuit of the frequency converter to the permanent magnet motor is prevented.

A procedure 100, comprising the following steps, is proposed: Acquisition of sensor data by a sensor unit in a first cycle time T1 and transmission of the acquired sensor data in the first cycle time T1 to a motor control unit in a first step 105, Transmitting the sensor data from the motor control unit to a control unit in a second cycle time T2 in a second step 110, Processing of the sensor data by the control unit in a third step 115 in the second cycle time T2, where the control unit in the third step 115 is designed to approximate the compensation parameter 315 from the sensor data for a compensation interval, Transmitting the processed sensor data from the control unit to the motor control unit in the second cycle time T2 in a fourth step 120, and Evaluating the processed sensor data to provide the compensation parameter 315 from the motor control unit in a fifth step 125 in the first cycle time T1 based on the third step 115 and current sensor data for which the compensation parameter can be determined from the motor control unit in the first cycle time T1.

The invention discloses a periodic torque disturbance suppression method of a permanent magnet synchronous motor, and belongs to the field of permanent magnet synchronous motors. In order to solve the problem that a low-frequency periodic load is introduced due to the fact that a motor continuously drives a complex mechanical structure to move periodically and repeatedly, a novel rotating speed controller is designed, and a four-order expansion state observer is introduced into a permanent magnet synchronous motor control system considering disturbance. A bandwidth tuning method is adopted to set observer gain parameters to achieve observation of torque disturbance, a frequency analysis method is adopted to optimize and design an observer gain matrix, an optimized four-order extended state observer is obtained, and torque disturbance compensation is achieved in the mode that estimated torque is converted into feed-forward current. According to the method, the influence of torque disturbance on the rotating speed stability is effectively suppressed, and the anti-interference performance and the anti-noise performance of the four-order extended state observer are synchronously improved.

The invention relates to the technical field of brushless motor driving, and discloses an FOC-based brushless motor adaptive mute driving system. The system comprises a state partition module, a strategy mapping module, a parameter combination module, an exception updating module and a drive management module. The state partition module collects original electrical signals of the motor, identifies operation state characteristics in combination with control parameters and divides state partitions; the strategy mapping module obtains a pre-stored drive control strategy set and constructs a mapping relation between state partitions and strategies; the parameter combination module extracts key operation parameters, calculates a control parameter association matching degree and generates a parameter deviation combination; the exception updating module verifies the strategy set in real time, identifies exception features and updates the mapping relation; and the driver management module identifies target parameters and execution priorities according to the updated mapping relationship, and generates a mute driver monitoring strategy library. The system can adjust the control strategy in a self-adaptive mode, and the operation mute performance of the brushless motor is improved.

The invention relates to a permanent magnet synchronous motor speed regulation control method based on an iterative terminal sliding mode algorithm, and the method comprises the steps: building a mathematical model of a permanent magnet synchronous motor in a synchronous rotating coordinate system, and enabling the mathematical model to be a calculation formula of a derivative of stator current and rotor angular speed; constructing a state equation of a motor rotating speed tracking error based on the rotor angular speed and the rotor expected angular speed; designing a traditional nonsingular terminal sliding mode surface based on the rotating speed tracking error in the state equation and the derivative of the rotating speed tracking error, and replacing a traditional function in the traditional nonsingular terminal sliding mode surface with a non-smooth function to obtain an improved nonsingular terminal sliding mode surface; based on the state equation and the improved non-singular terminal sliding mode surface, constructing a non-singular terminal sliding mode controller which enables the rotating speed tracking error of the permanent magnet synchronous motor system to converge to an original point on the non-singular terminal sliding mode surface, and controlling the permanent magnet synchronous motor based on the non-singular terminal sliding mode controller; the problem that the torque pulsation phenomenon exists when the permanent magnet synchronous motor operates is solved.

The invention discloses an energy-saving operation control method and system for a permanent magnet direct current pump motor, and relates to the technical field of motor control, and the method comprises the steps: collecting a first drive current signal and a back electromotive force signal of the permanent magnet direct current pump motor; if a periodic peak and an electrical angle concentration phenomenon exist in the first driving current signal, performing quality evaluation on the back electromotive force signal to obtain back electromotive force credibility; if the back electromotive force credibility is greater than a preset credibility threshold value, applying operation parameter disturbance to the permanent magnet direct current pump motor; acquiring a second driving current signal of the permanent magnet direct current pump motor; performing disturbance response feature extraction on the permanent magnet direct current pump motor to obtain disturbance response features; identifying a disturbance source; and adjusting the operation strategy of the permanent magnet direct current pump motor to control the motor to operate. According to the method, the disturbance source can be recognized by combining the operation parameter disturbance and the disturbance response characteristics, the operation strategy is adjusted, motor operation control is achieved, and accuracy and reliability are improved.

The present application relates to the technical field of new energy vehicles and provides a motor jitter suppression control method, system and vehicle. The method comprises: acquiring wheel speed information of a vehicle and calculating a jitter amount of a wheel speed based on the wheel speed information; acquiring motor actual torque and calculating a torque difference between the motor actual torque and motor target torque; and activating a jitter control module to perform jitter control in response to the wheel speed of the vehicle falling below a set wheel speed, an absolute value of the jitter amount exceeding a calibration threshold and the torque difference equaling zero, wherein performing the jitter control comprises: acquiring compensation torque based on the jitter amount and controlling a motor to output the compensation torque to suppress jitter of a motor speed. Accordingly, the technical solution of the present application enables the proactive execution of motor jitter control by automatically recognizing road excitations and intelligently determining the conditions for executing jitter control, thereby effectively reducing vehicle vibrations, decreasing vehicle noise levels and enhancing ride comfort.

The invention provides a position correction method and device based on a Hall sensor, equipment and a medium. The position correction method comprises the following steps: controlling a permanent magnet synchronous motor to run to a first state; the method comprises the following steps: under the condition that the permanent magnet synchronous motor runs to a first state, acquiring six time intervals # imgabs0 #, # imgabs1 #, # imgabs2 #, # imgabs3 #, # imgabs4 # and # imgabs5 # corresponding to a rising edge and a falling edge of a Hall sensor; the installation error of the Hall sensor is calculated according to the six time intervals; performing angle and speed correction compensation in vector control of the permanent magnet synchronous motor according to the installation error; wherein the first state is that the motion state of the permanent magnet synchronous motor is a constant-speed rotation state. The technical problem that high-performance control of the permanent magnet synchronous motor is not facilitated due to the fact that deviation of a Hall sensor is not considered in calculation of the rotor position in the prior art is solved.

The invention discloses a dynamic working condition data flow-oriented brushless motor driving adjustment method and system. The method relates to the technical field of brushless motor driving adjustment, and comprises the following steps: dynamic response quantification, dynamic response optimization, driving stability quantification and driving stability optimization. Whether dynamic response optimization is carried out or not is judged according to the obtained working condition switching dynamic response value, if yes, brushless motor driving adjustment is carried out after dynamic response optimization is qualified, if not, brushless motor driving adjustment is directly carried out, and the brushless motor driving stable value is obtained according to quantization of the obtained driving stable parameters. According to the brushless motor driving stable value, whether motor driving stability optimization is carried out or not is judged, so that the brushless motor driving adjustment stability in high-load working condition switching of a product based on brushless motor driving is improved; the problem that the brushless motor driving adjustment stability is low due to control output fluctuation in the high-load working condition switching process of a product based on brushless motor driving is solved.

The invention discloses a model-free predictive control harmonic and torque ripple suppression method for a permanent magnet synchronous motor. The method comprises the following steps: sampling physical information of the permanent magnet synchronous motor; performing Clarke transformation on the obtained three-phase current, and performing Park transformation by applying the sampled rotor position to obtain actual current under the dq axis; according to the obtained dq-axis actual current and the motor winding voltage, updating an ESO-based hyper-local model after forward Euler method discrete transformation; calculating a control voltage by applying a traditional dead-beat current control method through a disturbance update value obtained through calculation; and carrying out inverse Park conversion on the deadbeat control voltage obtained after calculation, then carrying out traditional SVPWM modulation to obtain a three-phase PWM waveform, and inputting the three-phase PWM waveform into a driver to control the permanent magnet synchronous motor. According to the method, current ripples and torque ripples of model-free predictive control of the permanent magnet synchronous motor can be remarkably reduced, high-frequency harmonics in the operation process of the motor can be remarkably reduced, and the calculation burden is reduced.

The invention relates to the technical field of motor driving, and discloses a brushless motor non-inductive FOC driving method and device, and the method comprises the steps: collecting a first three-phase stator current and a bus voltage of a brushless motor, and calculating a rotor position estimation value; performing coordinate transformation on the first three-phase stator current to obtain a first d-axis actual current and a first q-axis actual current, and calculating a first d-axis current error and a first q-axis current error; calculating a d-axis first-order integral value, a d-axis double-integral accumulated value, a q-axis first-order integral value and a q-axis double-integral accumulated value, and constructing a d-axis double-integral sliding mode surface and a q-axis double-integral sliding mode surface; according to the method, a d-axis compensation voltage instruction is generated based on the d-axis double-integral sliding mode surface, a q-axis compensation voltage instruction is generated based on the q-axis double-integral sliding mode surface, the d-axis compensation voltage instruction and the q-axis compensation voltage instruction are applied to the brushless motor, the problem of magnetic field orientation deviation caused by position estimation lag in non-inductive FOC driving is solved, and the output efficiency of the motor is improved.

The invention relates to a computer implemented method (10) for automatically generating a compensating signal to compensate for at least one disturbance introduced by at least one component of a robotic device, the method (10) comprising the following steps: • Receiving (REC1), by means of a first communication interface, a first dataset characterizing a state of the at least one component of the robotic device; • Performing the following steps by means of a first calculator: o Computing (CMP1) a motion signal using the first dataset, said motion signal resulting from at least one motion of the robotic device, and characterizing at least one disturbance introduced by at least one component of the robotic device; o Automatically generating (GEN1) the compensating signal using said determined at least one parameter.