Motor torque coefficient identification method and device, motor control device and judging device

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...

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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 disclose the processing method for unbalanced torque in such cases. If no processing is performed on unbalanced torque, the calculated There must be a significant deviation in the torque coefficient, because the corrected current includes not only the torque current for the motor to accelerate, but also the torque current for overcoming the unbalanced torque. Conversely, if the unbalanced torque is considered, then How to determine the unbalanced torque becomes an obstacle preventing the method from being applied to this type of occasion

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