Motor torque coefficient identification method and device and motor control device and judgment device

A technology of motor torque and torque coefficient, applied in the field of online identification method and identification device of motor torque coefficient, can solve problems such as acceleration error, interference, error, etc., achieve accurate identification results, accurate observation results, and wide application range Effect

Active Publication Date: 2017-05-03
SHANGHAI MITSUBISHI ELEVATOR CO LTD
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Problems solved by technology

[0008] Third, since some disturbances will inevitably be introduced during the acceleration acquisition process, this will lead to a certain error in the obtained acceleration. The torque is calculated by dividing the product of the acceleration with the error and the moment of inertia by the corrected current value. Coefficient, the calculated torque coefficient must contain the error caused by the acceleration error;
[0010] Fifth, this method does not consider the situation with unbalanced torque loads such as elevators, and does not

Method used

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  • Motor torque coefficient identification method and device and motor control device and judgment device
  • Motor torque coefficient identification method and device and motor control device and judgment device
  • Motor torque coefficient identification method and device and motor control device and judgment device

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Embodiment 1

[0083] In order to realize the online identification of the torque coefficient of the elevator drive motor, the motor torque coefficient identification device includes a disturbance torque observer, a torque current calculator and a torque coefficient identifier, wherein:

[0084] The disturbance torque observer is used to observe the disturbance torque in the motor drive system. As mentioned above, the specific form can be extended state observer (ESO), equivalent input disturbance observer, unknown input observer (UIO) or other Observers, filters, etc. that can observe disturbances;

[0085] The torque current calculator is used to calculate the torque current of the motor, and the current information required for calculation can be the detection result of the current detection device 8, or the motor current obtained after the coordinate transformation of the detection result of the current detection device 8, or the The current command value of the current controller output...

Embodiment 2

[0096] Embodiment 2 is similar to Embodiment 1, and only the differences are described.

[0097] Compared with Embodiment 1, the torque coefficient identifier of this embodiment first calculates the output torque of the motor according to the disturbance observation results output by the disturbance torque observer, then calculates the torque current of the motor, and then respectively Calculate the integral value of the motor output torque and the integral value of the torque current in the same time period, and finally calculate the motor torque coefficient by using the integral value of the motor output torque, the integral value of the torque current and the integration time.

[0098] After selecting an integration period, the bilateral integration of formula (14a) is obtained:

[0099]

[0100] Considering that the torque coefficient of the elevator drive motor 9 is approximately a constant value, so there are:

[0101]

[0102] In the formula, Δt=t 2 -t 1 .

[...

Embodiment 3

[0112] Embodiment 3 is similar to Embodiment 1, and only the differences are described. Compared with Embodiment 1, the motor torque coefficient identification device of this embodiment also adds an acceleration calculator.

[0113] The acceleration calculator is used to calculate the acceleration of the elevator drive motor 9, and the required speed information can be the detection result of the speed detection device 14, or the speed instruction from the host controller 16.

[0114] Different from the torque coefficient identifier in Embodiment 1, the torque coefficient identifier of this embodiment is based on the disturbance torque observation result output by the disturbance torque observer, the acceleration of the motor output by the acceleration calculator information and the torque current output by the torque current calculator or its instruction value to calculate the torque coefficient of the motor, specifically, firstly, according to the disturbance observation res...

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Abstract

The invention discloses a motor torque coefficient identification method and device. A disturbance torque observer is used to observe disturbance torque in a motor motion equation. An observation result is used to calculate the actual output torque of a motor. According to the calculated actual output torque of the motor and the actual torque current of the motor or the command value, a motor torque coefficient is calculated. In addition, the invention further provides a motor control device using the identification device and a motor judging device using the identification device. According to the invention, the identification method directly uses the actual output torque and the torque current of the motor to calculate the motor torque coefficient; the driving performance of the motor is not affected; online real-time identification of the motor torque coefficient is realized, and the identification result is accurate; and the identification method has a wide application range, and can be applied to special applications such as elevators with unbalanced torque load.

Description

technical field [0001] The invention relates to motor technology, in particular to an on-line identification method and identification device for a torque coefficient of a motor, as well as a motor control device and a motor judging device including the torque coefficient identification device. Background technique [0002] The torque coefficient refers to the torque generated by the unit current of the motor, which can be expressed in N·m / A, and is an important parameter that characterizes the output torque capability of the motor. Generally speaking, there is always a certain deviation between the design value and the actual value of the torque coefficient of the motor, and this deviation is subsequently called the torque coefficient deviation. In the motor drive system, the torque coefficient will appear in the tuning process of the speed loop controller parameters. When the deviation of the torque coefficient is large, the controller parameters obtained based on the desi...

Claims

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Application Information

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IPC IPC(8): H02P21/14
Inventor 陈玉东应崇礼孔喆季荣斌陆文杰马祎炜
Owner SHANGHAI MITSUBISHI ELEVATOR CO LTD
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