Motor starting control adjusting method and system

Abstract

The invention relates to the technical field of motor adjustment, in particular to a motor starting control adjustment method and system.The motor starting control adjustment method comprises the steps that motor operation parameters are obtained in real time, a real-time load torque estimation value is estimated, and then dynamic starting voltage adjustment and self-adaptive starting time optimization are synchronously executed based on the estimation value; the optimal starting voltage is quickly determined by querying the mapping relation in voltage regulation, and it is ensured that the output torque accurately matches the load requirement; in time optimization, the starting duration is dynamically adjusted according to the instantaneous change rate of a real-time load torque estimation value so as to adapt to different working conditions; and finally, a comprehensive control instruction is generated in combination with the change trend of the real-time load torque estimated value, so that the voltage and the time parameters are coordinated and matched, and the beneficial effects of smooth starting process, energy efficiency improvement and reliability enhancement are jointly realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor regulation, in particular to a motor starting control regulation method and system. BACKGROUND

[0002] In the field of motor starting control, traditional starting methods usually rely on fixed starting voltage settings or simple timing-based control strategies. These methods may barely meet the basic requirements when the load conditions are relatively stable, but in actual industrial applications, the load torque of the motor often presents dynamic change characteristics. For example, due to the nonlinearity of the mechanical transmission system, random fluctuations of the working load, or interference from environmental factors, it is difficult for fixed parameter starting schemes to effectively adapt. In the prior art, although some improved methods attempt to adjust the starting process by monitoring current or speed signals, such methods often have response lag problems and cannot accurately capture the instantaneous changes in load torque in real time, thereby easily causing excessive starting current, increased mechanical stress, or excessively long starting time.

[0003] In addition, the setting of traditional starting time is mostly based on offline calculation or empirical values, lacking dynamic response capability to real-time load conditions, which may lead to redundant time consumption in the starting process under light load conditions, reducing overall efficiency, or the risk of starting failure due to insufficient starting time under heavy load scenarios. Another common limitation is that the selection of starting voltage is usually too conservative to ensure starting reliability, but this will cause unnecessary energy consumption and heat accumulation problems. Although some advanced schemes use closed-loop control mechanisms, such as PID regulator-based designs, their parameter tuning is complex and less adaptable to nonlinear loads, making it difficult to maintain optimal performance under varying load conditions. Therefore, the existing technology generally has problems of insufficient smoothness in the starting process, low energy efficiency, and poor reliability, and there is an urgent need for an intelligent control method that can real-time perceive load changes and dynamically adjust key parameters. SUMMARY

[0004] The present application aims to provide a motor starting control regulation method and system to solve the problems raised in the background. The specific technical problems include how to synchronize the dynamic starting voltage regulation and adaptive starting time optimization based on real-time load torque estimates to solve the problems of starting irregularity, low efficiency, and poor reliability caused by dynamic changes in load torque during the motor starting process.

[0005] To achieve the above-mentioned purpose, one of the purposes of the present application is a motor starting control regulation method, comprising the following method steps: S1, real-time acquisition of the operating parameters of the motor, wherein the operating parameters include stator voltage, stator current and rotor speed. By real-time acquisition of the key operating parameters of the motor, such as stator voltage, stator current and rotor speed, a high-timeliness data basis is provided for subsequent accurate control. This step solves the problem that the load transient change cannot be perceived due to the dependence on fixed parameters or lagging signals. Its effect is to ensure that the input information of the entire control system can truly reflect the current dynamic operating state of the motor, thus creating a prerequisite for realizing accurate load torque estimation and adaptive adjustment, thereby avoiding control mismatch caused by inaccurate or delayed information from the source.

[0006] S2, real-time load torque estimation based on the operating parameters, to obtain a real-time load torque estimation value, and the calculation process of the real-time load torque estimation value specifically includes: substituting the operating parameters into a pre-established motor state space model and calculating using a Luenberger state observer to output the real-time load torque estimation value; wherein: the motor state space model is composed of a voltage equation, a motion equation and a torque equation of the motor, the voltage equation is used to describe the relationship between the stator voltage and the stator current and the rotor speed, the motion equation is used to describe the relationship between the electromagnetic torque of the motor and the load torque and the rotor speed, and the torque equation is used to describe the relationship between the electromagnetic torque of the motor and the stator current; the calculation process of the Luenberger state observer specifically includes: calculating the predicted value of the state variable according to the operating parameters and the motor state space model; comparing the predicted value with the measured value of the sensor to obtain a difference signal; multiplying the difference signal by a pre-calculated optimal feedback gain matrix to generate a compensation amount, and performing closed-loop correction on the predicted state of the motor state space model.

[0007] This step S2 uses a state space model established based on the physical law of the motor and a Luenberger state observer to accurately estimate the load torque which cannot be directly measured in real time. Its technical effect lies in that it converts the easily measured electrical parameters (voltage, current) and mechanical parameters (speed) into the important load torque information which is difficult to obtain directly, and effectively suppresses the interference of model errors and measurement noise through a closed-loop correction mechanism, thereby outputting a high-credibility real-time load torque estimation value. This step solves the core problem that the key state quantity (load torque) in the control system is unknown or estimated inaccurately, and provides an accurate basis for subsequent intelligent decision-making.

[0008] S3, dynamic start voltage regulation based on the real-time load torque estimation value, the optimal start voltage is dynamically calculated and output by querying the pre-set voltage and torque mapping relationship, and the calculation process of the optimal start voltage specifically includes: The real-time load torque estimation value is compared with the load torque sequence arranged in ascending order in the preset voltage-torque mapping table, and the linear interpolation algorithm is used to calculate and output the optimal starting voltage.

[0009] Based on the real-time load torque estimation value, the adaptive starting time optimization is synchronously performed, the duration of the motor starting process is dynamically adjusted by analyzing the instantaneous change rate of the real-time load torque estimation value, and the optimized starting time parameter is obtained, wherein the generation process of the starting time parameter specifically includes: The real-time load torque estimation value obtained in the continuous control period is calculated by first-order backward difference, and the instantaneous change rate is obtained. The absolute value of the instantaneous change rate is compared with a preset positive threshold value. When the absolute value of the instantaneous change rate is greater than the positive threshold value, the total duration at present is increased by a predetermined fixed time increment. When the absolute value of the instantaneous change rate is less than or equal to the positive threshold value, the total duration at present is reduced by a predetermined fixed time increment. In the initialization and running process of the whole starting stage, the total duration after each adjustment is taken as the basis for the next adjustment, and the final total duration is taken as the optimized starting time parameter.

[0010] This step S3 is the core link of the cooperative optimization based on the real-time load torque estimation value, and its effect is reflected in two aspects of synchronous execution. On the one hand, dynamic starting voltage adjustment is performed, and the optimal starting voltage accurately matched with the real-time load torque is quickly determined by querying the preset mapping table and using linear interpolation, so that the motor output torque is always consistent with the load demand, and the problems of starting impact or insufficient torque caused by improper voltage setting are effectively solved. On the other hand, adaptive starting time optimization is performed, and the starting total time is dynamically adjusted by analyzing the instantaneous change rate of the load torque. When the load changes sharply, the starting process is automatically prolonged to ensure smoothness, and when the load changes gently, the time is shortened to improve efficiency. The synchronous execution of the two solves the problems of starting unevenness and low energy efficiency caused by the fixed parameter control unable to adapt to the dynamic change of the load.

[0011] S4, based on the optimal starting voltage and the starting time parameter, and according to the change trend of the real-time load torque estimation value, a comprehensive control instruction is generated to drive the motor to complete the starting process, wherein: The change trend of the real-time load torque estimation value specifically includes: A judgment window is set, which contains a continuous and a number of preset control periods; The change amount of the real-time load torque estimation value at the current time relative to the value at the previous time is calculated, and the change amount is recorded in the judgment window. If all the change values recorded in the judgment window are positive values, it is determined as an increasing trend; If all the change values recorded in the judgment window are negative values, it is determined as a decreasing trend; If the change values recorded in the judgment window exist both positive values and negative values, it is determined as a fluctuation trend.

[0012] The generation process of the comprehensive control instruction specifically includes: For the increasing trend, a positive offset is added to the best starting voltage in the first half of the starting process time axis, and the positive offset is linearly reduced to zero in the second half of the starting process time axis; for the decreasing trend, a negative offset is subtracted from the best starting voltage in the first half of the starting process time axis, and the negative offset is linearly reduced to zero in the second half of the starting process time axis; for the fluctuation trend, the output voltage is maintained equal to the best starting voltage.

[0013] Step S4 further introduces a forward-looking judgment on the load torque change trend, and generates a final comprehensive control instruction accordingly; its technical effect lies in that it can identify whether the load is in an increasing, decreasing or fluctuation trend, and apply intelligent feedforward compensation on the starting voltage reference for different trends (such as appropriately increasing the voltage in the early stage of the increasing trend to offset the load growth inertia), so as to realize active adaptation to future short-term changes of the load instead of passive response; this step effectively solves the problem of adjustment lag in the later stage of the starting process and the destruction of smoothness caused by sudden change of the load trend, significantly improves the robustness and reliability of the starting process, and ensures smooth and efficient torque output in the entire optimized starting time.

[0014] The second object of the present application is a motor starting control adjustment method system, which comprises a parameter acquisition module, a load torque estimation module, an adaptive starting optimization module and a comprehensive control instruction module, wherein: The parameter acquisition module acquires the running parameters of the motor in real time; The load torque estimation module performs real-time load torque estimation based on the running parameters to obtain a real-time load torque estimation value; The adaptive starting optimization module performs dynamic starting voltage adjustment based on the real-time load torque estimation value, dynamically calculates and outputs the best starting voltage by querying the pre-set voltage and torque mapping relationship; The adaptive starting optimization module synchronously performs adaptive starting time optimization based on the real-time load torque estimation value, dynamically adjusts the duration of the motor starting process by analyzing the instantaneous change rate of the real-time load torque estimation value, and obtains an optimized starting time parameter; The comprehensive control instruction module generates a comprehensive control instruction to drive the motor to complete the starting process based on the best starting voltage and the starting time parameter, and according to the change trend of the real-time load torque estimation value.

[0015] Compared with the prior art, the present application has the following advantages: By accurately estimating the load torque in real time, and dynamically adjusting the starting voltage and optimizing the starting time based on the same, the motor starting process can actively adapt to the real-time changes and trends of the load, thereby effectively solving the problems of large starting impact, poor smoothness, high energy consumption and insufficient reliability caused by fixed parameters and response lag in the traditional method, and achieving a high degree of unification of smooth and smooth starting process, energy efficiency improvement and strong adaptability. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a schematic diagram of the overall method steps of the present application; Figure 2 is a schematic diagram of the core process of step S3 of the present application; Figure 3 is a schematic diagram of the overall module process of the present application.

[0017] In the figure: 100, parameter acquisition module; 200, load torque estimation module; 300, adaptive starting optimization module; 400, comprehensive control instruction module. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0019] Next, please refer to Figure 1 One of the purposes of the present embodiment is a motor starting control and regulation method.

[0020] The specific steps are as follows: S1, real-time acquisition of motor operating parameters, specifically including: The acquired operating parameters mainly include electrical parameters and mechanical parameters of the motor, among which the stator current in the electrical parameters is the key acquisition object because it directly reflects the load torque change trend of the motor. At the same time, the stator voltage of the stator winding is also monitored synchronously, which is used to calculate the real-time input power of the motor and assist in judging its operating point. The rotor speed of the motor is the core of the mechanical parameters, which directly reflects the actual operating state of the motor rotor; The electrical parameters and the mechanical parameters are not independently collected, but are synchronously obtained through the special sensors deployed on the motor body and the driving circuit; for example, a current transformer or a Hall current sensor is used to isolate and measure the stator current, to ensure safety and accuracy; a photoelectric encoder or a magneto- electric speed sensor is used to capture the rotational speed change of the motor shaft in real time; the analog signals output by all sensors are processed through a signal conditioning circuit, including filtering to eliminate high-frequency interference, amplification to match the input range of the sampling circuit, and finally converted into a discrete digital signal sequence by an analog-to-digital converter in the control unit at a preset high sampling frequency. The cooperation of this series of hardware and software constitutes the physical basis of data acquisition.

[0021] S2, to realize dynamic perception of the motor load state, real-time load torque estimation is performed based on the operating parameters, to obtain a real-time load torque estimation value, specifically including: The real-time collected operating parameters are taken as inputs and substituted into a motor state space model previously established in the control unit, which is composed of a voltage equation, a motion equation and a torque equation of the motor. The voltage equation is used to describe the relationship between the motor stator voltage and the stator current and the rotor speed, the motion equation is used to describe the relationship between the motor electromagnetic torque and the load torque and the rotor speed, and the torque equation is used to describe the relationship between the motor electromagnetic torque and the stator current; wherein: The voltage equation is the core of describing the energy exchange relationship of the motor circuit, which is specifically a set of differential equations. The equation establishes the dynamic balance relationship between the input voltage at both ends of the motor stator winding and the stator current flowing in the winding and the real-time speed of the motor rotor. It reveals that the stator voltage is mainly used to overcome the induced electromotive force generated in the stator winding due to the change of current, which is proportional to the rate of change of current. At the same time, the voltage also needs to balance the back electromotive force generated in the stator winding due to the rotation of the rotor cutting the magnetic induction lines, which is proportional to the speed of the rotor. Therefore, the voltage equation completely describes how the applied voltage drives the current and overcomes the back electromotive force, thereby establishing the dynamic process of the rotating magnetic field, which is the theoretical basis for analyzing the electrical dynamic characteristics of the motor. The motion equation is the core of describing the mechanical motion relationship of the motor, which is essentially a differential equation based on Newton's second law or the torque balance principle of a rotating system. The equation defines the dynamic relationship between the electromagnetic torque, the load torque and the rotor speed acceleration of the motor. The equation shows that the electromagnetic torque generated inside the motor is used to offset part of the externally applied load torque, and the remaining part is converted into a dynamic torque that causes the motor rotor to produce angular acceleration, which is proportional to the moment of inertia of the motor rotor. Therefore, the motion equation accurately describes the mechanical process of how the electromagnetic torque overcomes the load and drives the rotor to accelerate rotation, closely linking the electrical output of the motor with the mechanical motion state. The torque equation is a core algebraic relation describing the essence of energy conversion of the motor; the equation explicitly shows that there is a direct proportional relationship between the electromagnetic torque generated inside the motor and the amplitude of the stator current; under certain magnetic field conditions, the greater the amplitude of the stator current, the greater the electromagnetic torque generated. This equation reveals the fundamental principle of the motor converting electrical energy (represented by current) into mechanical energy (represented by torque), and is a quantitative description of the entire electromechanical energy conversion process; it provides a direct theoretical basis for accurately controlling the motor output torque by controlling the stator current; Subsequently, a deterministic Luenberger state observer is started, which takes the motor state space model as the core, and two calculation processes run in parallel inside it. One is to calculate the predicted values of a set of motor state variables in real time, including predicted current and predicted speed, based on the control voltage signal of the electrical parameter in the current input operating parameter and the built-in motor state space model. The second is to compare the predicted values with the real current and real speed measured by the sensor in real time, and multiply the difference signal obtained by a pre-off-line calculated optimal feedback gain matrix to generate a compensation amount for correcting the prediction of the motor state space model. The compensation amount is fed back to the input end of the motor state space model to correct the predicted state of the motor state space model in a closed loop, so that the state output of the motor state space model of the Luenberger state observer can gradually approach the real running state of the motor. In this convergence state, a state variable in the Luenberger state observer that is specially constructed according to the motor torque equation to represent the load torque has an output value that is a high-precision real-time load torque estimate. The above process can effectively suppress the interference of model parameter slight mismatch and measurement noise, and finally continuously output an estimated signal that can quickly and accurately track the real load torque change.

[0022] Please refer to Figure 2 , S3, based on the real-time load torque estimate, perform dynamic start voltage regulation, dynamically calculate and output the optimal start voltage by querying the pre-stored voltage and torque mapping relationship, specifically including: A voltage and torque mapping relationship table is used, which is pre-established and stored in the non-volatile memory of the control unit. The mapping relationship table is obtained by offline testing of a specific motor during the design phase of the motor control system, and the specific generation method is: On the experimental platform, the motor is subjected to a series of known and stable load torque, and for each load torque value, the optimal starting voltage value that can make the motor start smoothly without stalling or overcurrent is tested and recorded, thereby forming a set of discrete but complete corresponding data pairs from load torque to optimal starting voltage, which is finally solidified as the lookup table; in actual operation, when the real-time load torque estimation value is obtained, it is used as the input query amount, and compared with the load torque sequence arranged in ascending order in the mapping relationship table, and the specific query calculation process adopts a certain linear interpolation algorithm, and the specific process is as follows: Firstly, interval positioning is performed in the table, and the interval in which the current load torque estimation value is located is found, i.e. two adjacent torque preset points in the table are determined, so that the current load torque estimation value is greater than or equal to the torque value of the former preset point, and at the same time less than or equal to the torque value of the latter preset point; then, according to the specific position of the current load torque estimation value in the interval, the linear interpolation formula is applied, and the optimal starting voltage value corresponding to the voltage value of the two preset points at the ends of the interval is calculated; if the load torque estimation value is equal to a certain calibration point in the table, the preset voltage value corresponding to the point is directly output, and the optimal starting voltage value calculated in real time through the deterministic lookup table and interpolation algorithm is directly output to the power driving unit of the motor as the given instruction of the voltage loop, so as to realize accurate and dynamic adjustment of the motor terminal voltage.

[0023] Based on the real-time load torque estimation value, adaptive starting time optimization is synchronously performed, the duration of the motor starting process is dynamically adjusted by analyzing the instantaneous change rate of the real-time load torque estimation value, and the optimized starting time parameter is obtained, which specifically includes: The adaptive starting time optimization is a deterministic prediction adjustment process based on the dynamic characteristics of the load, and the core of the technical scheme is to perform differential operation on the real-time load torque estimation value to accurately obtain the instantaneous change rate, and the change rate is directly used as the basis for adjusting the starting time; firstly, numerical differential calculation is performed on the real-time load torque estimation value sequence obtained in a plurality of continuous control periods, and a first-order backward difference algorithm is adopted, i.e. the load torque estimation value of the current period is subtracted from the load torque estimation value of the last period, and then divided by the time length of the control period, thereby obtaining an instantaneous change rate quantitative index reflecting the change speed of the load torque; Subsequently, the absolute value of the instantaneous change rate is compared with a preset single positive threshold, which is a non-negative constant determined based on the inertia of the motor system and the requirement of smooth starting, and the comparison and adjustment logic is as follows: When the absolute value of the instantaneous change rate is greater than the preset positive threshold, it indicates that the load torque is rapidly increasing or decreasing, and there is a risk of causing unstable starting. At this time, the starting extension mechanism increases the total duration of the current starting process by a predetermined fixed time increment based on the current value. Conversely, when the absolute value of the instantaneous change rate is less than or equal to the preset positive threshold, it indicates that the load change is within the allowed smooth range. The starting shortening mechanism reduces the total duration by a predetermined fixed time increment based on the current value. This dynamic adjustment process is executed throughout the starting phase. Each adjustment is based on the comparison result of the absolute value of the latest change rate and the same threshold. During the initialization and running of the entire starting phase, the total duration after each adjustment is used as the basis for the next adjustment, and the final total duration is used as the optimized starting time parameter. Finally, the system outputs an optimized starting time parameter that has been determined after multiple iterations of optimization, which is the total duration of the current starting process. This scheme ensures the accuracy and consistency of the time optimization response through a certain threshold and explicit binary decision logic.

[0024] S4, based on the optimal starting voltage and the optimized starting time parameter, and according to the change trend of the real-time load torque estimate, a comprehensive control instruction is generated to drive the motor to complete the starting process, specifically including: The generation of the comprehensive control instruction is a collaborative decision-making process. It takes the optimal starting voltage determined in step S3 as the given instruction reference of the voltage control loop, and takes the optimized starting time parameter obtained from the adaptive starting time optimization link in step S4 as the timing framework of the entire starting phase. Within this framework, first, the change trend of the real-time load torque estimate is judged. A judgment window is set, which contains a continuous and pre-set number of control periods. The change amount of the real-time load torque estimate at the current time relative to the previous time is calculated and recorded in the continuous change amount within the judgment window. If all change amounts recorded in the judgment window are positive, it is determined to be an increasing trend. If all change amounts recorded in the judgment window are negative, it is determined to be a decreasing trend. If the change amounts recorded in the judgment window contain both positive and negative values, it is determined to be a fluctuating trend. For the increasing trend, in the first half of the start process timeline, the output voltage value is increased by a positive offset dynamically calculated according to the change size on the optimal starting voltage reference; in the second half of the start process timeline, the positive offset is linearly reduced to zero, so that the output voltage smoothly returns to the optimal starting voltage reference; for the decreasing trend, in the first half of the start process timeline, the output voltage value is reduced by a negative offset dynamically calculated according to the change size on the optimal starting voltage reference; in the second half of the start process timeline, the negative offset is linearly reduced to zero; for the fluctuation trend, the output voltage is maintained equal to the optimal starting voltage reference. Finally, the comprehensive control instruction integrated with voltage setting, time constraint and load trend feedforward is sent to the power driving unit of the motor, to accurately control the switching state of the power device, thereby driving the motor to complete the entire starting process.

[0025] Please refer to Figure 3 The second purpose of the embodiment is to provide a motor starting control adjustment method system, comprising a parameter acquisition module 100, a load torque estimation module 200, an adaptive starting optimization module 300 and a comprehensive control instruction module 400, wherein: The parameter acquisition module 100 acquires the running parameters of the motor in real time; The load torque estimation module 200 performs real-time load torque estimation based on the running parameters to obtain a real-time load torque estimation value; The adaptive starting optimization module 300 performs dynamic starting voltage adjustment based on the real-time load torque estimation value, and dynamically calculates and outputs the optimal starting voltage by querying the pre-set voltage and torque mapping relationship; The adaptive starting optimization module 300 synchronously performs adaptive starting time optimization based on the real-time load torque estimation value, and dynamically adjusts the duration of the motor starting process by analyzing the instantaneous change rate of the real-time load torque estimation value to obtain the optimized starting time parameter; The comprehensive control instruction module 400 generates a comprehensive control instruction to drive the motor to complete the starting process based on the optimal starting voltage and the starting time parameter, and according to the change trend of the real-time load torque estimation value.

[0026] The basic principles, main features and advantages of the present application are shown and described above. Those skilled in the art should understand that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only preferred examples of the present application and are not intended to limit the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A method of motor start control regulation, characterized in that, The method comprises the following steps: S1, acquiring the running parameters of the motor in real time; S2, performing real-time load torque estimation based on the running parameters to obtain a real-time load torque estimation value; S3, based on the real-time load torque estimation value, performing dynamic starting voltage adjustment, and dynamically calculating and outputting the optimal starting voltage by querying the preset voltage-torque mapping relationship; Based on the real-time load torque estimation value, synchronously performing adaptive starting time optimization, dynamically adjusting the duration of the motor starting process by analyzing the instantaneous change rate of the real-time load torque estimation value, and obtaining the optimized starting time parameter; S4, based on the optimal starting voltage and starting time parameter, and according to the change trend of the real-time load torque estimation value, generating a comprehensive control instruction to drive the motor to complete the starting process.

2. A motor starting control method according to claim 1, characterized in that, The running parameters include stator voltage, stator current and rotor speed.

3. A motor starting control method as recited in claim 1, wherein The calculation process of the real-time load torque estimation value specifically includes: Substitute the running parameters into the pre-established motor state space model, and calculate using the Luenberger state observer to output the real-time load torque estimation value.

4. A method of motor start control regulation as claimed in claim 3, wherein, The motor state space model is composed of a voltage equation, a motion equation and a torque equation of the motor, the voltage equation is used to describe the relationship between the motor stator voltage and the stator current and the rotor speed, the motion equation is used to describe the relationship between the motor electromagnetic torque and the load torque and the rotor speed, and the torque equation is used to describe the relationship between the motor electromagnetic torque and the stator current.

5. A motor starting control method according to claim 3, wherein The calculation process of the Luenberger state observer specifically includes: According to the running parameters and the one kind of motor state space model, the predicted value of the state variable is calculated; the difference signal is obtained by comparing the predicted value with the sensor measured value; the compensation quantity is generated by multiplying the difference signal by the pre-calculated optimal feedback gain matrix, and the predicted state of the motor state space model is closed-loop corrected.

6. A motor starting control method as recited in claim 1, wherein The calculation process of the optimal starting voltage specifically includes: The real-time load torque estimation value is compared with the load torque sequence arranged in ascending order in the preset voltage-torque mapping table, and the optimal starting voltage is calculated and output by using the linear interpolation algorithm.

7. A motor starting control method as recited in claim 1, wherein The generation process of the starting time parameter specifically includes: First-order backward difference calculation is performed on the real-time load torque estimation value obtained in the continuous control period to obtain the instantaneous change rate; The absolute value of the instantaneous change rate is compared with a preset positive threshold value; When the absolute value of the instantaneous change rate is greater than the positive threshold value, the total duration is increased by a predetermined fixed time increment; When the absolute value of the instantaneous change rate is less than or equal to the positive threshold value, the total duration is reduced by a predetermined fixed time increment; During the initialization and operation of the entire starting stage, the total duration after each adjustment is used as the reference for the next adjustment, and the final total duration is used as the optimized starting time parameter.

8. A motor starting control method as recited in claim 1, wherein The characteristics of the application are: The change trend of the real-time load torque estimation value specifically includes: A judgment window is set, which contains a continuous and quantity preset control period; calculating a variation of the real-time load torque estimation value at the current time relative to a value at a previous time, and recording the variation in the judgment window; if all the variations recorded in the judgment window are positive values, determining an increasing trend; if all the variations recorded in the judgment window are negative values, determining a decreasing trend; if the variations recorded in the judgment window include both positive values and negative values, determining a fluctuation trend.

9. A motor starting control method as recited in claim 1, wherein The generation process of the comprehensive control instruction specifically includes: for the increasing trend, adding a positive offset to the optimal starting voltage in the first half of the starting process time axis, and linearly reducing the positive offset to zero in the second half of the starting process time axis; for the decreasing trend, subtracting a negative offset from the optimal starting voltage in the first half of the starting process time axis, and linearly reducing the negative offset to zero in the second half of the starting process time axis; and for the fluctuation trend, maintaining the output voltage equal to the optimal starting voltage.

10. A system using a motor start control adjustment method comprising any one of the claims 1-9, characterized in that, The system comprises a parameter acquisition module (100), a load torque estimation module (200), an adaptive starting optimization module (300), and a comprehensive control instruction module (400), wherein: The parameter acquisition module (100) acquires the running parameters of the motor in real time; The load torque estimation module (200) performs real-time load torque estimation based on the running parameters to obtain a real-time load torque estimation value; The adaptive starting optimization module (300) performs dynamic starting voltage adjustment based on the real-time load torque estimation value, dynamically calculates and outputs an optimal starting voltage by querying a preset voltage-torque mapping relationship; The adaptive starting optimization module (300) synchronously performs adaptive starting time optimization based on the real-time load torque estimation value, dynamically adjusts the duration of the motor starting process by analyzing the instantaneous variation rate of the real-time load torque estimation value, and obtains an optimized starting time parameter; The comprehensive control instruction module (400) generates a comprehensive control instruction to drive the motor to complete the starting process based on the optimal starting voltage and starting time parameter, and according to the variation trend of the real-time load torque estimation value.

Images