3results about How to "Improve torque control accuracy" patented technology

The invention discloses an electric drive system rotary transformer zero position self-learning and curing system, which comprises a mechanical alignment module for driving a motor rotor to rotate to a preset mechanical zero position and generating a zero position offset value; after the motor reaches the rated rotating speed, the control module sends a rotary transformer zero-position self-learning enable signal, so that a motor controller executes current closed-loop control based on a zero-position offset value, a d-axis current instruction in a rotor synchronous rotating coordinate system is set to be a negative value and a q-axis current instruction is set to be zero, and an actual torque value is obtained; the zero calibration module obtains an average torque value through the actual torque value, calculates the deviation between the average torque value and a zero reference torque value, and when the deviation is larger than a positive deviation threshold value or smaller than a negative deviation threshold value, adjusts a zero offset value and triggers the control module to recollect the actual torque value; and obtaining a final zero offset value until the deviation is smaller than or equal to the positive deviation threshold value and larger than or equal to the negative deviation threshold value. The torque control precision and the operation reliability of the electric drive system are improved.

This invention relates to the field of permanent magnet synchronous motor vector control technology, specifically to a rapid calibration method for permanent magnet synchronous motors in new energy vehicles. It includes a calibration table for the maximum torque-to-current ratio; a calibration table for the motor flux linkage; a calibration table for the motor inductance; and obtaining the target torque T. req And by consulting the calibrated lookup tables, the required d-axis current i to be output is obtained. dref and q-axis requested current i qref This method does not require the motor to operate at high speeds, reducing risks and minimizing the need for high-speed testing benches. It also offers high calibration efficiency and high control precision.

The application provides a control method and device of a robot joint module, and relates to the technical field of robot joint control. The method comprises the following steps: a first model for representing the correlation relationship among q-axis current, rotating speed and torque is constructed through dynamometer calibration; a torque instruction value is generated according to a force control instruction of the robot joint module; a q-axis current instruction value is obtained according to the torque instruction value and the first model; a reference voltage instruction value is generated based on the q-axis current instruction value through a unified controller, and the robot joint module is controlled, wherein the unified controller comprises a current controller with two-pole and two-zero structure. The application replaces the traditional complex parameter modeling with the correlation model constructed by the actual calibration data, reduces the dependence of the controller on the prior knowledge of the controlled object, directly connects the force control output and the current control link through the unified controller, reduces the control level, and realizes the high-precision and high-dynamic-response torque control of the robot joint under the condition of the general microprocessor computing power.