Load torque estimation method, system, electromechanical control system, method and electric machine

Abstract

The present application discloses a load torque estimation method, system, electromechanical control system, method and motor, including: receiving the actual mechanical speed of a rotating machine; using a load torque estimator to calculate an estimated load torque; wherein, the load torque The moment estimator is a closed-loop negative feedback system including the error, the transfer function of the controlled object and the transfer function of the feedback link, J represents the moment of inertia, s represents the differential function, and the transfer function of the controlled object is ω n Indicates the bandwidth of the load torque estimator. This application uses the load torque estimator of the closed-loop negative feedback system including the error, the transfer function of the controlled object and the transfer function of the negative feedback link to input the actual speed of the rotating machine to obtain the estimated load torque, so that the load The torque change rate no longer affects the estimation of the load torque, and the unbiased estimation of the load torque is realized, which solves the problem of the estimation deviation of the load torque in the existing load torque estimation method, and improves the estimation accuracy of the load torque Spend.

Description

technical field [0001] The invention relates to the field of electromechanical control, in particular to a load torque estimation method, system, electromechanical control system, method and motor. Background technique [0002] A typical electromechanical drive system such as figure 1 , where ω and J are the mechanical speed and moment of inertia of the rotating machinery respectively, and T e is the torque to drive the rotating machine, T d is the load torque that hinders the rotation of the rotating machine. Generally, T e is the measurable electromagnetic torque of the motor, but T d It varies with the load and has uncertainty. For electromechanical transmission systems that usually adopt closed-loop speed control, T d It is an external disturbance that affects the rotational speed of rotating machinery. In industrial fields such as metallurgy and steel rolling, due to the extremely high requirements on the dynamic speed drop and speed response of the motor, it is ...

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Problems solved by technology

[0005] The existing scheme assumes that the actual load torque T d The rate of change dT D / dt=0 (that is, remains unchanged), and in the actual electromechanical system, the load torque T d is always changing, dT D / dt≠0, so the observed by this observer and actual torque T d There are bound to be deviations, which lead to inaccurate estimation results, and the structure of the observer is relatively complicated, which needs to be determined after repeated debugging and testing. The design process is complicated and the technical requirements are high.

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