Motor rotation inertia identification method and device

Abstract

The present application relates to a method and device for identifying the moment of inertia of a motor. After controlling the motor so that the motor rotates to a set speed, a specific frequency wave is superimposed on the speed command to obtain a frequency modulation command. The output torque and feedback speed are sampled at the zero-crossing point of the superimposed specific frequency wave, and operations are performed according to the output torque sampling information and the feedback speed sampling information to obtain the real part, imaginary part and phase angle of the speed signal and torque signal with the same frequency as the frequency modulation command. The phase angle difference between the speed signal and the torque signal is calculated, and the characteristic value is selected from each phase angle difference, and the real axis and the imaginary axis are determined according to the real part and imaginary part corresponding to the characteristic value. According to the real axis and the imaginary axis, the speed amplitude is determined, and according to the real axis, the imaginary axis and the speed amplitude, the motor moment of inertia parameters are determined. It avoids the problem that the actual application can only rotate in one direction, which makes the identification impossible, and overcomes the influence of the zero-frequency Coulomb friction and load torque. There is no need to set the performance parameters of the identification algorithm, and it is easy to implement.

Description

Technical Field

[0001] The present application relates to the technical field of servo motors, and in particular to a method and device for identifying the rotational inertia of a motor. Background Art

[0002] The motor's moment of inertia refers to the inertia exhibited by the motor when it rotates. The same amount of moment of inertia will have different effects on torques of different sizes, which has an important impact on the speed and stability of system response. Therefore, in the actual motor application process, it is necessary to accurately identify the motor's moment of inertia to ensure the control stability and accuracy of the servo motor system.

[0003] At present, the motor rotation inertia identification scheme can be divided into two categories: offline identification and online identification. The offline identification method usually requires the motor to be rotated forward and reversed to a certain speed, and the acceleration is integrated to solve the inertia. This method requires the motor to be rotated forward and reversed to avoid the influence of Coulomb friction, which is often not possible in practical applications. The sampling of motor torque, speed and other signals may also be interfered by noise, especially the sampling of small signals near the zero point of the speed, which will produce large identification errors. The online identification method generally adopts algorithms based on modern control theory, such as recursive least squares method, disturbance observer, model reference adaptive method, etc., which have the disadvantages of complex calculation and algorithm parameters cannot adapt to all occasions. In addition, most of these algorithms ignore the influence of Coulomb friction. These problems will directly affect the accuracy and consistency of inertia identification.

[0004] It can be seen that the current motor rotation inertia identification solutions all have the above shortcomings. Summary of the invention

[0005] Based on this, it is necessary to address the shortcomings of the current motor rotational inertia identification solutions, and the embodiments of the present disclosure provide a motor rotational inertia identification method and device.

[0006] At least one embodiment of the present disclosure provides a method for identifying the rotational inertia of a motor, comprising the steps of:

[0007] Controlling the motor to rotate the motor to a set speed; wherein the control instruction corresponding to reaching the set speed is a speed instruction;

[0008] Superimposing a specific frequency wave on the speed command to obtain a frequency modulation command to adjust the speed of the motor;

[0009] Sampling the output torque and the feedback speed at the zero-crossing point of the superimposed specific frequency wave to obtain output torque sampling information and feedback speed sampling information;

[0010] Performing calculations according to the output torque sampling information and the feedback speed sampling information to obtain the real part, imaginary part and phase angle of the speed signal and torque signal having the same frequency as the frequency modulation instruction respectively;

[0011] Calculating the phase angle difference between the speed signal and the torque signal, selecting a characteristic value from each of the phase angle differences, and determining a real axis and an imaginary axis according to the real part and the imaginary part corresponding to the characteristic value;

[0012] Determining a rotation speed amplitude according to the real axis and the imaginary axis;

[0013] The motor rotation inertia parameter is determined according to the real axis, the imaginary axis and the speed amplitude.

[0014] The above-mentioned motor rotation inertia identification method controls the motor to rotate to the set speed, and then superimposes a specific frequency wave on the speed command to obtain a frequency modulation command to adjust the speed of the motor. The output torque and feedback speed are sampled at the zero-crossing point of the superimposed specific frequency wave to obtain output torque sampling information and feedback speed sampling information. According to the output torque sampling information and the feedback speed sampling information, operations are performed to obtain the real part, imaginary part and phase angle of the speed signal and torque signal with the same frequency as the frequency modulation command. The phase angle difference between the speed signal and the torque signal is calculated, and the characteristic value is selected from each phase angle difference, and the real axis and the imaginary axis are determined according to the real part and imaginary part corresponding to the characteristic value. According to the real axis and the imaginary axis, the speed amplitude is determined, and the motor rotation inertia parameters are determined according to the real axis, the imaginary axis and the speed amplitude. Based on this, the problem that the actual application can only rotate in one direction, resulting in the inability to perform identification, is avoided, and the influence of zero-frequency Coulomb friction and load torque is overcome. There is no need to set the performance parameters of the identification algorithm, and it is easy to implement.

[0015] As one of the optional embodiments, the process of controlling the motor to rotate the motor to a set speed includes the steps of:

[0016] The motor is controlled by a speed closed loop to rotate to a constant set speed and keep the speed tracking.

[0017] As one of the optional embodiments, the process of superimposing a specific frequency wave on the speed instruction to obtain a frequency modulation instruction to adjust the speed of the motor includes the steps of:

[0018] A sine wave of a specific frequency is superimposed on the rotation speed instruction; wherein the specific frequency is 3%-8% of the speed loop bandwidth.

[0019] As one of the optional embodiments, the process of sampling the output torque at the zero-crossing point of the superimposed specific frequency wave comprises the steps of:

[0020] The output torque is calculated based on the output current at the zero-crossing point of the superimposed specific frequency wave.

[0021] As one of the optional embodiments, the process of selecting a characteristic value from each of the phase angle differences comprises the steps of:

[0022] The middle value of each phase angle difference is selected as the characteristic value.

[0023] As one of the optional embodiments, the process of determining the rotation speed amplitude according to the real axis and the imaginary axis comprises the steps of:

[0024] The real axis and the imaginary axis are squared and then squared to obtain the rotation speed amplitude.

[0025] As one of the optional embodiments, the process of determining the motor rotational inertia parameter according to the real axis, the imaginary axis and the speed amplitude comprises the steps of:

[0026] determining a viscosity coefficient according to a quotient of a real axis component corresponding to the output torque and the speed amplitude;

[0027] Determine the product of the rotation speed amplitude and the angular velocity; wherein the angular velocity is the angular velocity corresponding to the frequency modulation instruction;

[0028] The inertia value is determined according to the quotient of the imaginary axis component corresponding to the output torque and the product.

[0029] At least one embodiment of the present disclosure further provides a motor moment of inertia identification device, comprising:

[0030] A speed control module, used to control the motor so that the motor rotates to a set speed; wherein the control instruction corresponding to reaching the set speed is a speed instruction;

[0031] A command frequency modulation module, used for superimposing a specific frequency wave on the speed command to obtain a frequency modulation command to adjust the speed of the motor;

[0032] A data sampling module, used for sampling the output torque and the feedback speed at the zero-crossing point of the superimposed specific frequency wave to obtain output torque sampling information and feedback speed sampling information;

[0033] A first operation module, used to perform operation according to the output torque sampling information and the feedback speed sampling information, and respectively obtain the real part, imaginary part and phase angle of the speed signal and torque signal with the same frequency as the frequency modulation instruction;

[0034] A second operation module calculates the phase angle difference between the speed signal and the torque signal, selects a characteristic value from each of the phase angle differences, and determines a real axis and an imaginary axis according to the real part and the imaginary part corresponding to the characteristic value;

[0035] A third operation module, used for determining a rotation speed amplitude according to the real axis and the imaginary axis;

[0036] The parameter identification module is used to determine the motor rotation inertia parameter according to the real axis, the imaginary axis and the speed amplitude.

[0037] The above-mentioned motor rotation inertia identification device controls the motor to rotate to the set speed, and then superimposes a specific frequency wave on the speed command to obtain a frequency modulation command to adjust the speed of the motor. The output torque and feedback speed are sampled at the zero-crossing point of the superimposed specific frequency wave to obtain output torque sampling information and feedback speed sampling information. According to the output torque sampling information and the feedback speed sampling information, operations are performed to obtain the real part, imaginary part and phase angle of the speed signal and torque signal with the same frequency as the frequency modulation command. The phase angle difference between the speed signal and the torque signal is calculated, and the characteristic value is selected from each phase angle difference, and the real axis and the imaginary axis are determined according to the real part and imaginary part corresponding to the characteristic value. According to the real axis and the imaginary axis, the speed amplitude is determined, and according to the real axis, the imaginary axis and the speed amplitude, the motor rotation inertia parameters are determined. Based on this, the problem that the actual application can only rotate in one direction, resulting in the inability to perform identification, is avoided, and the influence of zero-frequency Coulomb friction and load torque is overcome. There is no need to set the performance parameters of the identification algorithm, and it is easy to implement.

[0038] At least one embodiment of the present disclosure further provides a data control device, including:

[0039] one or more memories non-transitorily storing computer-executable instructions;

[0040] One or more processors are configured to execute computer executable instructions, wherein the computer executable instructions, when executed by the one or more processors, implement the motor rotation inertia identification method according to any embodiment of the present disclosure.

[0041] The above-mentioned data control device controls the motor to rotate to the set speed, and then superimposes a specific frequency wave on the speed command to obtain a frequency modulation command to adjust the speed of the motor. The output torque and feedback speed are sampled at the zero-crossing point of the superimposed specific frequency wave to obtain output torque sampling information and feedback speed sampling information. According to the output torque sampling information and the feedback speed sampling information, operations are performed to obtain the real part, imaginary part and phase angle of the speed signal and torque signal with the same frequency as the frequency modulation command. The phase angle difference between the speed signal and the torque signal is calculated, and the characteristic value is selected from each phase angle difference, and the real axis and the imaginary axis are determined according to the real part and imaginary part corresponding to the characteristic value. According to the real axis and the imaginary axis, the speed amplitude is determined, and the motor rotation inertia parameters are determined according to the real axis, the imaginary axis and the speed amplitude. Based on this, the problem that the actual application can only rotate in one direction, resulting in the inability to perform identification, is avoided, and the influence of zero-frequency Coulomb friction and load torque is overcome. There is no need to set the performance parameters of the identification algorithm, and it is easy to implement.

[0042] At least one embodiment of the present disclosure further provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, a method for identifying the rotational inertia of a motor according to any embodiment of the present disclosure is implemented.

[0043] The above-mentioned non-transient computer-readable storage medium controls the motor to rotate to the set speed, and then superimposes a specific frequency wave on the speed command to obtain a frequency modulation command to adjust the speed of the motor. The output torque and feedback speed are sampled at the zero-crossing point of the superimposed specific frequency wave to obtain output torque sampling information and feedback speed sampling information. According to the output torque sampling information and the feedback speed sampling information, operations are performed to obtain the real part, imaginary part and phase angle of the speed signal and torque signal with the same frequency as the frequency modulation command. The phase angle difference between the speed signal and the torque signal is calculated, and the characteristic value is selected from each phase angle difference, and the real axis and the imaginary axis are determined according to the real part and imaginary part corresponding to the characteristic value. According to the real axis and the imaginary axis, the speed amplitude is determined, and the motor rotation inertia parameters are determined according to the real axis, the imaginary axis and the speed amplitude. Based on this, the problem that the actual application can only rotate in one direction, resulting in the inability to perform identification, is avoided, and the influence of zero-frequency Coulomb friction and load torque is overcome. There is no need to set the performance parameters of the identification algorithm, and it is easy to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a flow chart of a method for identifying the moment of inertia of a motor according to an embodiment;

[0045] Figure 2 A flow chart of a method for identifying the moment of inertia of a motor according to a preferred embodiment;

[0046] Figure 3 A module structure diagram of a motor rotation inertia identification device according to an embodiment;

[0047] Figure 4 A schematic block diagram of a data control device provided for at least one embodiment of the present disclosure;

[0048] Figure 5 A schematic diagram of a non-transitory computer-readable storage medium provided for at least one embodiment of the present disclosure. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0050] Unless otherwise defined, the technical terms or scientific terms used in the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0051] In order to keep the following description of the embodiments of the present disclosure clear and concise, the present disclosure omits detailed descriptions of some known functions and known components.

[0052] An embodiment of the present disclosure provides a method for identifying the rotational inertia of a motor.

[0053] Figure 1 FIG. 1 is a flow chart of a method for identifying the moment of inertia of a motor according to an embodiment of the present invention. Figure 1 As shown, a motor rotation inertia identification method according to an embodiment includes steps S100 and S106:

[0054] S100, controlling the motor to rotate to a set speed; wherein the control instruction corresponding to reaching the set speed is a speed instruction;

[0055] S101, superimposing a specific frequency wave on the speed instruction to obtain a frequency modulation instruction to adjust the speed of the motor;

[0056] S102, sampling the output torque and the feedback speed at the zero-crossing point of the superimposed specific frequency wave to obtain output torque sampling information and feedback speed sampling information;

[0057] S103, performing calculations according to the output torque sampling information and the feedback speed sampling information to obtain the real part, imaginary part and phase angle of the speed signal and torque signal having the same frequency as the frequency modulation instruction respectively;

[0058] S104, calculating the phase angle difference between the speed signal and the torque signal, selecting a characteristic value from each of the phase angle differences, and determining a real axis and an imaginary axis according to the real part and the imaginary part corresponding to the characteristic value;

[0059] S105, determining a rotation speed amplitude according to the real axis and the imaginary axis;

[0060] S106, determining a motor rotational inertia parameter according to the real axis, the imaginary axis and the speed amplitude.

[0061] In the servo system, the controller controls the speed of the motor based on the control logic. The control logic includes PID closed-loop control, etc. According to the corresponding speed command, the controller controls the motor to reach the set speed.

[0062] As a preferred implementation method, Figure 2 The flowchart of the motor moment of inertia identification method of the preferred embodiment is as follows: Figure 2 As shown, the process of controlling the motor to rotate the motor to a set speed in step S100 includes step S200:

[0063] S200, using a speed closed loop to control the motor to rotate to a constant set speed and keep tracking the speed.

[0064] Based on the controller, the motor is controlled by a speed closed loop to rotate to a constant set speed, and speed tracking is used to keep the set speed at a better constant effect to avoid the large lag effect of loop tracking. Through speed closed loop and speed tracking, the stability of the motor speed command is guaranteed, and the accuracy of identification is guaranteed.

[0065] After the speed command is superimposed with a specific frequency wave, the speed corresponding to the frequency modulation command also changes. The superposition of the specific frequency wave facilitates subsequent sampling and identification, and can also avoid the influence of the errors of the original controller and motor on the identification.

[0066] As a preferred implementation method, Figure 2 As shown, in step S101, the process of superimposing a specific frequency wave on the speed instruction to obtain a frequency modulation instruction to adjust the speed of the motor includes step S201:

[0067] S201, a sine wave with a specific frequency is superimposed on the speed command, wherein the specific frequency is 3%-8% of the speed loop bandwidth, wherein the speed loop bandwidth corresponds to the speed closed-loop control of the motor.

[0068] Superimposing a sine wave of a specific frequency facilitates the subsequent FFT (Fast Fourier Transformation) sampling, and can also avoid the influence of the loop tracking performance on the sampling effect in step S101. Among them, the selection of a specific frequency should meet the requirement that the sampling algorithm can accurately identify the frequency point. Taking FFT sampling as an example, if the FFT sampling frequency is fs and the number of sampling points is N, the frequency point that can be accurately identified is a multiple of fs / N. Selecting this frequency point can avoid the problem of frequency leakage.

[0069] According to the above requirements, a speed loop bandwidth of 3%-8% is selected for a specific frequency. As a preferred embodiment, a speed loop bandwidth of 5% is preferably selected for a specific frequency.

[0070] At the zero-crossing point corresponding to the frequency modulation instruction, sampling of the output torque and the feedback speed is started, and output torque sampling information is obtained according to the output torque sampling, and feedback speed sampling information is obtained according to the feedback speed sampling.

[0071] As a preferred implementation, the process of sampling the output torque at the zero-crossing point of the superimposed specific frequency wave comprises the steps of:

[0072] The output torque is calculated based on the output current at the zero-crossing point of the superimposed specific frequency wave.

[0073] In practical applications, the output torque can be calculated based on the output current, reducing the sampling workload and data processing workload.

[0074] The operation is performed according to the output torque sampling information and the feedback speed sampling information, and the operation method is adapted to the sampling method. Taking FFT sampling as an example, the real part, imaginary part and phase angle of the speed signal and the torque signal with the same frequency as the frequency modulation instruction can be obtained according to the FFT operation, that is, the real part, imaginary part and phase angle of the speed signal, and the real part, imaginary part and phase angle of the torque signal. Among them, the speed signal corresponds to the feedback speed sampling information, and the torque signal corresponds to the output torque sampling information.

[0075] According to the phase angle of the speed signal and the phase angle of the torque signal, the phase angle difference between the two is calculated, and the characteristic value is selected from multiple phase angle differences to improve the reference value of the data. Among them, the characteristic value can be selected from the average value or the middle value of multiple phase angle differences, and the middle value is preferably used. For example, three FFT sampling and correlation operations are performed at the zero-crossing point of the superimposed specific frequency wave to obtain three phase angle differences, and the middle value of the three phase angle differences is selected, and the middle value is stored as the characteristic value, and the stored characteristic value corresponds to the real axis and imaginary axis of the torque, and the real axis and imaginary axis of the speed.

[0076] Among them, the real axis is constructed according to the real part, and the imaginary axis is constructed according to the imaginary part.

[0077] According to the real axis and the imaginary axis, the speed amplitude of the motor can be calculated. As a preferred implementation method, Figure 2 As shown, the process of determining the speed amplitude according to the real axis and the imaginary axis in step S105 includes step S202:

[0078] S202, performing square root processing on the sum of the real axis and the imaginary axis to obtain the rotation speed amplitude.

[0079] The motor rotation inertia parameters are determined according to the real axis, imaginary axis and speed amplitude. The motor rotation inertia parameters include viscosity parameters and inertia value.

[0080] As a preferred implementation method, Figure 2 As shown, the process of determining the motor rotation inertia parameter according to the real axis, the imaginary axis and the speed amplitude in step S106 includes steps S203 to S205:

[0081] S203, determining a viscosity coefficient according to a quotient of a real axis component corresponding to the output torque and the speed amplitude;

[0082] S204, determining the product of the rotation speed amplitude and the angular velocity; wherein the angular velocity is the angular velocity corresponding to the frequency modulation instruction;

[0083] S205: Determine an inertia value according to a quotient of an imaginary axis component corresponding to the output torque and the product.

[0084] Taking FFT sampling and calculation as an example, the FFT real-axis component of the output torque sampled at the zero point is the sine wave component, and the FFT imaginary-axis component is the cosine wave component. Therefore, the torque sine component should be divided by the speed amplitude to obtain the viscosity coefficient, and the torque cosine component should be divided by the product of the speed amplitude and the angular velocity to obtain the inertia value.

[0085] The motor rotation inertia identification method of any of the above embodiments controls the motor to rotate to a set speed, and then superimposes a specific frequency wave on the speed command to obtain a frequency modulation command to adjust the speed of the motor. The output torque and feedback speed are sampled at the zero-crossing point of the superimposed specific frequency wave to obtain output torque sampling information and feedback speed sampling information. According to the output torque sampling information and the feedback speed sampling information, operations are performed to obtain the real part, imaginary part and phase angle of the speed signal and torque signal with the same frequency as the frequency modulation command. The phase angle difference between the speed signal and the torque signal is calculated, and the characteristic value is selected from each phase angle difference, and the real axis and the imaginary axis are determined according to the real part and imaginary part corresponding to the characteristic value. According to the real axis and the imaginary axis, the speed amplitude is determined, and according to the real axis, the imaginary axis and the speed amplitude, the motor rotation inertia parameters are determined. Based on this, the problem that the actual application can only rotate in one direction, resulting in the inability to perform identification, is avoided, and the influence of zero-frequency Coulomb friction and load torque is overcome. There is no need to set the performance parameters of the identification algorithm, and it is easy to implement.

[0086] The disclosed embodiment also provides a device for identifying the rotational inertia of a motor.

[0087] Figure 3 FIG. 1 is a block diagram of a motor moment of inertia identification device according to an embodiment of the present invention. Figure 3 As shown, a motor rotation inertia identification device according to one embodiment includes:

[0088] The speed control module 100 is used to control the motor so that the motor rotates to a set speed; wherein the control instruction corresponding to reaching the set speed is a speed instruction;

[0089] The command frequency modulation module 101 is used to superimpose a specific frequency wave on the speed command to obtain a frequency modulation command to adjust the speed of the motor;

[0090] A data sampling module 102 is used to sample the output torque and the feedback speed at the zero-crossing point of the superimposed specific frequency wave to obtain output torque sampling information and feedback speed sampling information;

[0091] A first operation module 103 is used to perform operation according to the output torque sampling information and the feedback speed sampling information to obtain the real part, imaginary part and phase angle of the speed signal and torque signal with the same frequency as the frequency modulation instruction respectively;

[0092] The second operation module 104 calculates the phase angle difference between the speed signal and the torque signal, selects a characteristic value from each of the phase angle differences, and determines the real axis and the imaginary axis according to the real part and the imaginary part corresponding to the characteristic value;

[0093] A third operation module 105 is used to determine a rotation speed amplitude according to the real axis and the imaginary axis;

[0094] The parameter identification module 106 is used to determine the motor rotation inertia parameters according to the real axis, the imaginary axis and the speed amplitude.

[0095] The above-mentioned motor rotation inertia identification device controls the motor to rotate to the set speed, and then superimposes a specific frequency wave on the speed command to obtain a frequency modulation command to adjust the speed of the motor. The output torque and feedback speed are sampled at the zero-crossing point of the superimposed specific frequency wave to obtain output torque sampling information and feedback speed sampling information. According to the output torque sampling information and the feedback speed sampling information, operations are performed to obtain the real part, imaginary part and phase angle of the speed signal and torque signal with the same frequency as the frequency modulation command. The phase angle difference between the speed signal and the torque signal is calculated, and the characteristic value is selected from each phase angle difference, and the real axis and the imaginary axis are determined according to the real part and imaginary part corresponding to the characteristic value. According to the real axis and the imaginary axis, the speed amplitude is determined, and according to the real axis, the imaginary axis and the speed amplitude, the motor rotation inertia parameters are determined. Based on this, the problem that the actual application can only rotate in one direction, resulting in the inability to perform identification, is avoided, and the influence of zero-frequency Coulomb friction and load torque is overcome. There is no need to set the performance parameters of the identification algorithm, and it is easy to implement.

[0096] At least one embodiment of the present disclosure further provides a data control device. Figure 4 A schematic block diagram of a data control device provided by at least one embodiment of the present disclosure. Figure 4As shown, the data control device 20 may include one or more memories 200 and one or more processors 201. The memory 200 is used to store computer executable instructions non-transiently; the processor 201 is used to run the computer executable instructions, and when the computer executable instructions are run by the processor 201, the processor 201 may execute one or more steps in the motor rotation inertia identification method according to any embodiment of the present disclosure.

[0097] The specific implementation and related explanation of each step of the motor moment of inertia identification method can be found in the above-mentioned motor moment of inertia identification method embodiment, which will not be elaborated here. It should be noted that Figure 4 The components of the data control device 20 shown are merely exemplary and non-limiting. The data control device 20 may also have other components according to actual application requirements.

[0098] In one embodiment, the processor 201 and the memory 200 can communicate with each other directly or indirectly. For example, the processor 201 and the memory 200 can communicate via a network connection. The network may include a wireless network, a wired network, and / or any combination of a wireless network and a wired network, and the present disclosure does not limit the type and function of the network. For another example, the processor 201 and the memory 200 can also communicate via a bus connection. The bus may be a peripheral component interconnect standard (PCI) bus or an extended industrial standard architecture (EISA) bus, etc. For example, the processor 201 and the memory 200 may be arranged at a remote data server end (cloud) or a distributed energy system end (local end), or may be arranged at a client end (e.g., a mobile device such as a mobile phone). For example, the processor 201 may be a device having data processing capability and / or instruction execution capability such as a central processing unit (CPU), a tensor processor (TPU), or a graphics processor GPU, and may control other components in the data prediction device 20 to perform desired functions. The central processing unit (CPU) may be an X86 or ARM architecture, etc.

[0099] In one embodiment, the memory 200 may include any combination of one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, erasable programmable read-only memory (EPROM), portable compact disk read-only memory (CD-ROM), USB memory, flash memory, etc. One or more computer executable instructions may be stored on the computer-readable storage medium, and the processor 201 may execute the computer executable instructions to implement various functions of the data prediction device 20. Various applications and various data, as well as various data used and / or generated by the application, etc. may also be stored in the memory 200.

[0100] It should be noted that the data control device 20 can achieve technical effects similar to those of the aforementioned motor rotational inertia identification method, and the repeated parts will not be repeated.

[0101] At least one embodiment of the present disclosure also provides a non-transitory computer-readable storage medium. Figure 5 A schematic diagram of a non-transitory computer-readable storage medium provided for at least one embodiment of the present disclosure. Figure 5 As shown, one or more computer executable instructions 301 may be non-transitory stored on a non-transitory computer readable storage medium 30. For example, when the computer executable instructions 301 are executed by a computer, the computer may execute one or more steps in the motor rotation inertia identification method according to any embodiment of the present disclosure.

[0102] In one embodiment, the non-transitory computer-readable storage medium 30 may be applied to the above-mentioned data control device 20 , for example, it may be the memory 200 in the data control device 20 .

[0103] In one embodiment, the description of the non-transitory computer-readable storage medium 30 may refer to the description of the memory 200 in the embodiment of the data control device 20, and the repeated parts will not be repeated.

[0104] It should be noted that the memory 200 stores different non-transiently stored computer executable instructions, and the data control device 20 corresponds to a firmware upgrade device. When the computer executable instructions are executed by the processor 201, the processor 201 can execute one or more steps in the motor rotation inertia identification method according to any embodiment of the present disclosure.

[0105] There are a few points to note about this disclosure:

[0106] (1) The drawings of the embodiments of the present disclosure only relate to the structures related to the embodiments of the present disclosure, and other structures may refer to the general design.

[0107] (2) For the sake of clarity, the thickness and size of layers or structures are exaggerated in the drawings used to describe the embodiments of the present invention. It is understood that when an element such as a layer, film, region, or substrate is referred to as being "on" or "under" another element, the element may be "directly" "on" or "under" the other element, or there may be intervening elements.

[0108] (3) In the absence of conflict, the embodiments of the present disclosure and the features in the embodiments may be combined with each other to obtain new embodiments. The above are only specific implementations of the present disclosure, but the protection scope of the present disclosure is not limited thereto. The protection scope of the present disclosure shall be subject to the protection scope of the claims.

[0109] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0110] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A method for identifying the moment of inertia of a motor, characterized in that: Includes steps: Controlling the motor to rotate the motor to a set speed; wherein the control instruction corresponding to reaching the set speed is a speed instruction; Superimposing a specific frequency wave on the speed command to obtain a frequency modulation command to adjust the speed of the motor; Sampling the output torque and the feedback speed at the zero-crossing point of the superimposed specific frequency wave to obtain output torque sampling information and feedback speed sampling information; Performing calculations according to the output torque sampling information and the feedback speed sampling information to obtain the real part, imaginary part and phase angle of the speed signal and torque signal having the same frequency as the frequency modulation instruction respectively; Calculating the phase angle difference between the speed signal and the torque signal, selecting a characteristic value from each of the phase angle differences, and determining a real axis and an imaginary axis according to the real part and the imaginary part corresponding to the characteristic value; Determining a rotation speed amplitude according to the real axis and the imaginary axis; Determine the motor moment of inertia parameter according to the real axis, the imaginary axis and the speed amplitude; The process of superimposing a specific frequency wave on the speed instruction to obtain a frequency modulation instruction to adjust the speed of the motor includes the steps of: A sine wave of a specific frequency is superimposed on the rotation speed instruction; wherein the specific frequency is 3%-8% of the speed loop bandwidth.

2. The method for identifying the moment of inertia of a motor according to claim 1, characterized in that: The process of controlling the motor to rotate to a set speed comprises the steps of: The motor is controlled by a speed closed loop to rotate to a constant set speed and keep the speed tracking.

3. The method for identifying the moment of inertia of a motor according to claim 1, characterized in that: The process of sampling the output torque at the zero-crossing point of the superimposed specific frequency wave comprises the steps of: The output torque is calculated based on the output current at the zero-crossing point of the superimposed specific frequency wave.

4. The method for identifying the motor moment of inertia according to claim 1, characterized in that: The process of selecting characteristic values ​​from each of the phase angle differences comprises the steps of: The middle value of each phase angle difference is selected as the characteristic value.

5. The method for identifying the moment of inertia of a motor according to claim 1, characterized in that: The process of determining the speed amplitude according to the real axis and the imaginary axis comprises the steps of: The real axis and the imaginary axis are squared and then squared to obtain the rotation speed amplitude.

6. The method for identifying the moment of inertia of a motor according to claim 1, characterized in that: The process of determining the motor rotational inertia parameter according to the real axis, the imaginary axis and the speed amplitude comprises the steps of: determining a viscosity coefficient according to a quotient of a real axis component corresponding to the output torque and the speed amplitude; Determine the product of the rotation speed amplitude and the angular velocity; wherein the angular velocity is the angular velocity corresponding to the frequency modulation instruction; The inertia value is determined according to the quotient of the imaginary axis component corresponding to the output torque and the product.

7. A motor moment of inertia identification device, characterized in that: include: A speed control module, used to control the motor so that the motor rotates to a set speed; wherein the control instruction corresponding to reaching the set speed is a speed instruction; A command frequency modulation module, used for superimposing a specific frequency wave on the speed command to obtain a frequency modulation command to adjust the speed of the motor; A data sampling module, used for sampling the output torque and the feedback speed at the zero-crossing point of the superimposed specific frequency wave to obtain output torque sampling information and feedback speed sampling information; A first operation module, used to perform operation according to the output torque sampling information and the feedback speed sampling information, and respectively obtain the real part, imaginary part and phase angle of the speed signal and torque signal with the same frequency as the frequency modulation instruction; A second operation module calculates the phase angle difference between the speed signal and the torque signal, selects a characteristic value from each of the phase angle differences, and determines a real axis and an imaginary axis according to the real part and the imaginary part corresponding to the characteristic value; A third operation module, used for determining a rotation speed amplitude according to the real axis and the imaginary axis; A parameter identification module, used for determining the motor rotation inertia parameter according to the real axis, the imaginary axis and the speed amplitude; The process of superimposing a specific frequency wave on the speed instruction to obtain a frequency modulation instruction to adjust the speed of the motor includes the steps of: A sine wave of a specific frequency is superimposed on the rotation speed instruction; wherein the specific frequency is 3%-8% of the speed loop bandwidth.

8. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the motor rotation inertia identification method as described in any one of claims 1 to 6 is implemented.

9. A data control device, comprising: one or more memories non-transitorily storing computer-executable instructions; One or more processors are configured to run computer executable instructions, wherein the computer executable instructions, when executed by the one or more processors, implement the motor rotation inertia identification method as described in any one of claims 1 to 6.

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