A device, method, apparatus and medium for testing pulsating torque of electric motor

Abstract

This application discloses a device, method, apparatus, and medium for testing the pulsating torque of an electric motor. The device includes a control unit, a brake motor, a motor under test, a torque sensor, and an acceleration sensor. The control unit is connected to both the brake motor and the motor under test, and is used to keep both motors in a constant speed mode or a constant torque mode. The brake motor is connected to the motor under test. The torque sensor and acceleration sensor are placed on the connecting shaft between the brake motor and the motor under test to obtain the angular acceleration and torque of the motor under test. The control unit is connected to the torque sensor and the angular acceleration sensor. The additional torque is determined by the angular acceleration and the moment of inertia of the rotor of the motor under test, and torque compensation is performed. It can be seen that the additional torque is calculated using the moment of inertia and angular acceleration, and torque compensation is performed based on the value of the additional torque. No additional equipment is used, reducing the size and weight of the testing equipment and improving the accuracy of testing the pulsating torque of the electric motor.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and in particular to a device, method, apparatus and medium for testing the pulsating torque of a motor. Background Art

[0002] Due to the existence of many factors such as the magnetic pole structure, commutation and fluctuation of the driving current, the output torque of the motor will fluctuate, that is, the output torque of the motor will fluctuate around the average output torque value at an angle of 2π. This fluctuating torque is called pulsating torque. Pulsating torque is particularly obvious when the motor is running at a low speed. Excessive pulsating torque will seriously affect the output load characteristics of the motor. Therefore, it is necessary to test the pulsating torque during the research and development and production process. The current method for testing the pulsating torque of the motor generally uses a braking device as a simulated load, and connects the shaft to the motor under test through a torque sensor. The measurement and control machine controls the motor under test and the braking device to run at a constant torque at a specific speed. The torque sensor collects data along the rotor of the motor under test for one rotation, and the pulsating torque related parameters of the motor under test under the current stable speed condition are obtained through calculation and analysis.

[0003] The braking device used as a simulated load often uses an electric motor as the braking source. Due to the physical structure of the electric motor, the instantaneous angular velocity of the rotor along each circumferential angle is not consistent during one rotation of the motor, which results in angular acceleration during one rotation of the motor under test at a stable speed. Due to the rotational inertia of the motor rotor under test, additional torque will be generated under the action of the angular acceleration. The additional torque will be detected by the torque sensor and superimposed on the pulsating torque of the motor under test, thereby reducing the accuracy of the pulsating torque test. The current technology is to reduce the angular acceleration by adding a large rotational inertia disk. However, the addition of the rotational inertia disk increases the volume and weight of the mechanical braking device, and the rotational inertia disk cannot be infinite in actual applications, so the reduction of the angular acceleration is limited.

[0004] In view of the above technology, finding a method to improve the test accuracy is an urgent problem to be solved by people in this field. Summary of the invention

[0005] The purpose of the present application is to provide a device, method, apparatus and medium for testing the pulsating torque of an electric motor.

[0006] In order to solve the above technical problems, the present application provides a device for testing the pulsating torque of a motor, comprising: a measurement and control machine, a brake motor, a motor to be tested, a torque sensor and an acceleration sensor;

[0007] The brake motor is connected to the motor under test via a connecting shaft; the acceleration sensor and the torque sensor are placed on the connecting shaft to obtain the angular acceleration and torque of the motor under test when it rotates;

[0008] The measurement and control machine is respectively connected to the brake motor, the motor under test, the acceleration sensor and the torque sensor, and is used to control the brake motor and the motor under test to be in a constant speed mode or a constant torque mode, and the brake motor and the motor under test are not in the same working mode, and is used to obtain the angular acceleration and the torque, and determine the additional torque according to the rotational inertia of the rotor of the motor under test and the angular acceleration. When the additional torque is greater than 0, the result obtained by subtracting the additional torque from the torque is used as the compensated torque. When the additional torque is not greater than 0, the result obtained by adding the opposite of the additional torque to the torque is used as the compensated torque.

[0009] Preferably, the acceleration sensor is an angular acceleration sensor.

[0010] Preferably, the angular acceleration sensor and the torque sensor are placed on the connecting shaft via a coupling.

[0011] Preferably, the angular acceleration sensor and the torque sensor are placed in the middle of the connecting shaft.

[0012] Preferably, the brake motor is an electric motor or a brake.

[0013] Preferably, the angular acceleration sensor and the torque sensor record the angular acceleration and the torque when the measured motor rotates one circle.

[0014] In order to solve the above problems, the present application also provides a method for testing the pulsating torque of a motor, which is applied to the above-mentioned device for testing the pulsating torque of a motor, comprising:

[0015] Controlling the brake motor and the motor under test to be in a constant speed or constant torque working mode, wherein the brake motor and the motor under test are not in the same working mode;

[0016] Acquire the angular acceleration and torque of the motor under test according to the acceleration sensor and the torque sensor;

[0017] determining an additional torque according to the moment of inertia of the rotor of the motor under test and the angular acceleration;

[0018] When the additional torque is greater than 0, a result obtained by subtracting the additional torque from the torque is used as the compensated torque;

[0019] When the additional torque is not greater than 0, a result obtained by adding the torque to the inverse of the additional torque is used as the compensated torque.

[0020] In order to solve the above problems, the present application also provides a device for testing the pulsating torque of a motor, which is applied to the above-mentioned device for testing the pulsating torque of a motor, comprising:

[0021] A control module, used for controlling the brake motor and the motor under test to be in a constant speed or constant torque working mode, wherein the brake motor and the motor under test are not in the same working mode;

[0022] An acquisition module, used for acquiring the angular acceleration and torque of the motor under test according to the acceleration sensor and the torque sensor;

[0023] A confirmation module, used for determining the additional torque according to the moment of inertia of the rotor of the motor under test and the angular acceleration;

[0024] a first compensation module, configured to, when the additional torque is greater than 0, obtain a result obtained by subtracting the additional torque from the torque as a compensated torque;

[0025] The second compensation module is used for, when the additional torque is not greater than 0, adding the torque to the inverse of the additional torque to obtain a result as the compensated torque.

[0026] To solve the above problems, the present application also provides a device for testing the pulsating torque of a motor, comprising a memory for storing a computer program;

[0027] A processor is used to implement the steps of the above-mentioned method for testing the pulsating torque of the motor when executing the computer program.

[0028] To solve the above problems, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for testing the pulsating torque of an electric motor as described above are implemented.

[0029] The present application provides a device for testing the pulsating torque of an electric motor, comprising: a measuring and controlling machine, a brake motor, a motor to be tested, a torque sensor and an acceleration sensor, wherein the measuring and controlling machine is respectively connected to the brake motor and the motor to be tested, and is used to put the brake motor and the motor to be tested in a constant speed mode or a constant torque mode, the brake motor is connected to the motor to be tested, the torque sensor and the acceleration sensor are placed on the connecting shaft between the brake motor and the motor to be tested, and are used to obtain the angular acceleration and torque when the motor to be tested rotates, the measuring and controlling machine is respectively connected to the torque sensor and the angular acceleration sensor, and is used to obtain the torque and angular acceleration, and confirm the additional torque according to the angular acceleration and the moment of inertia of the rotor of the motor to be tested, and compensate the torque. It can be seen that this device calculates the additional torque through the moment of inertia and angular acceleration, and compensates the torque according to the positive and negative of the additional torque, without using additional additional equipment, reducing the volume and weight of the test equipment, and improving the accuracy of testing the pulsating torque of the motor.

[0030] On this basis, the present application also provides a method for testing the pulsating torque of an electric motor, which is applied to the above-mentioned device for testing the pulsating torque of an electric motor, and the effect is the same as above.

[0031] On this basis, the present application also provides a device for testing the pulsating torque of an electric motor and a computer-readable storage medium, with the same effects as above. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 A structural diagram of a device for testing the pulsating torque of a motor provided in an embodiment of the present application;

[0034] Figure 2 A flow chart of a method for testing the pulsating torque of a motor provided in an embodiment of the present application;

[0035] Figure 3 A structural diagram of a device for testing the pulsating torque of a motor provided in an embodiment of the present application;

[0036] Figure 4 A structural diagram of a device for testing the pulsating torque of a motor provided in another embodiment of the present application. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0038] The core of this application is to provide a device, method, apparatus and medium for testing the pulsating torque of an electric motor.

[0039] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0040] Figure 1 The structure diagram of the device for testing the pulsating torque of the motor provided in the embodiment of the present application is as follows: Figure 1 The structure of the equipment for testing the pulsating torque of an electric motor is described below.

[0041] The output torque of the motor will fluctuate due to many factors such as its magnetic pole structure, commutation and fluctuation of the driving current, that is, the output torque of the motor will fluctuate around the average output torque value at an angle of 2π after one rotation. This fluctuating torque is called pulsating torque. Pulsating torque is particularly obvious when the motor is running at a low speed. Excessive pulsating torque will seriously affect the output load characteristics of the motor. Therefore, it is necessary to test the pulsating torque during the research and development and production process. The braking device used as a simulated load often uses an electric motor as the braking source. Due to the physical structure of the electric motor, the transient angular velocity of its rotor along each circular angle is not consistent during one rotation, which causes angular acceleration to be generated along one circle when the motor under test rotates at a stable speed.

[0042] At present, the angular acceleration is reduced by adding a large inertia disk, but the addition of the inertia disk increases the volume and weight of the mechanical brake device, and the inertia disk cannot be infinitely large in practical applications, so the reduction of the angular acceleration is limited.

[0043] Therefore, if Figure 1As shown, an apparatus for testing the pulsating torque of an electric motor provided in an embodiment of the present application includes a measuring and controlling machine, a brake motor, a motor to be tested, a torque sensor and an acceleration sensor, wherein the brake motor is connected to the motor to be tested via a connecting shaft; the acceleration sensor and the torque sensor are placed on the connecting shaft, and are used to obtain the angular acceleration and torque of the motor to be tested when the motor is rotating; the measuring and controlling machine is respectively connected to the brake motor, the motor to be tested, the acceleration sensor and the torque sensor, and is used to control the brake motor and the motor to be tested to be in a constant speed mode or a constant torque mode, and the brake motor and the motor to be tested are not in the same working mode, and are used to obtain the angular acceleration and torque, and the additional torque is determined according to the moment of inertia and angular acceleration of the rotor of the motor to be tested (hereinafter referred to as the rotor), and when the additional torque is greater than 0, the result obtained by subtracting the additional torque from the torque is used as the compensated torque, and when the additional torque is not greater than 0, the result obtained by adding the torque to the opposite number of the additional torque is used as the compensated torque.

[0044] It is worth noting that the brake motor, the motor under test, the acceleration sensor and the torque sensor need to be coaxially connected, but the specific connection method is not limited. It can be through a coupling or other methods, as long as the coaxiality is guaranteed. In addition, there is no limitation on the acceleration sensor, which can be an angular acceleration sensor or an angular position encoder, and can be selected according to the specific implementation method. In addition, the embodiments of the present application do not limit the brake motor, which can be a motor or a brake, and there is no limitation on this, and the brake motor can be selected according to the specific implementation situation.

[0045] In addition, because the acceleration sensor is coaxial with the motor under test and the brake motor, there is no limit on the installation position of the acceleration sensor. It can be at both ends of the connecting shaft or in the middle of the connecting shaft. The angular acceleration of each position on an axis is the same, so it only needs to be ensured between the motor under test and the brake motor. In addition, the torque sensor needs to be between the brake motor and the motor under test, but the specific position is not limited. In addition, the brake motor and the motor under test are in constant speed or constant torque mode, and the brake motor and the motor under test are not in the same working mode, that is, when the motor under test is in constant speed mode, the brake motor is in constant torque mode, and vice versa. On this basis, the measurement and control machine determines the additional torque generated by the angular acceleration by obtaining the parameters read by the acceleration sensor. The additional torque is determined by the product of the moment of inertia of the rotor and the angular acceleration, and the torque is compensated according to the current torque read by the torque sensor. When the additional torque is greater than 0, the torque minus the additional torque is used as the compensated torque, and when the additional torque is not greater than 0, the torque plus the opposite of the additional torque is used as the compensated torque. It is worth noting that if the rotational inertia of the motor rotor is not given, the rotational inertia of the rotor can be calculated by obtaining the mass of the rotor and the geometric dimensions of the rotor.

[0046] This embodiment provides a device for testing the pulsating torque of an electric motor, comprising: a measuring and controlling machine, a brake motor, a motor to be tested, a torque sensor and an acceleration sensor, wherein the measuring and controlling machine is respectively connected to the brake motor and the motor to be tested, and is used to put the brake motor and the motor to be tested in a constant speed mode or a constant torque mode, the brake motor is connected to the motor to be tested, the torque sensor and the acceleration sensor are placed on the connecting shaft between the brake motor and the motor to be tested, and are used to obtain the angular acceleration and torque when the motor to be tested rotates, the measuring and controlling machine is respectively connected to the torque sensor and the angular acceleration sensor, and is used to obtain the angular acceleration and the torque, and confirm the additional torque according to the angular acceleration and the moment of inertia of the rotor of the motor to be tested, and compensate the torque. It can be seen that this device calculates the additional torque through the moment of inertia and the angular acceleration, and compensates the torque according to the positive and negative of the additional torque, without using additional additional equipment, reducing the volume and weight of the test equipment, and improving the test accuracy of the pulsating torque.

[0047] On the basis of the above embodiments, the types of acceleration sensors are limited, and the connection methods of the acceleration sensors and torque sensors with the connection shafts are limited.

[0048] The acceleration sensor uses an angular acceleration sensor, which can directly obtain the angular acceleration value of the rotor at the current position, while the angular position encoder needs to first obtain the current position parameters and obtain the angular acceleration value through calculation. In addition, this embodiment is only a preferred implementation and is not limited to the angular acceleration sensor.

[0049] The angular acceleration sensor and torque sensor are connected to the connecting shaft through a coupling, which is also called a coupling. It is a mechanical component used to firmly connect the driving shaft and the driven shaft in different mechanisms to rotate together and transmit motion and torque. Sometimes it is also used to connect the shaft with other parts such as gears and pulleys. It is often composed of two halves, which are connected by keys or tight fits, fastened to the two ends of the shaft, and then connected in some way. The coupling can compensate for the offset between the two shafts due to inaccurate manufacturing and installation, deformation during operation or thermal expansion, including axial offset, radial offset, angular offset or combined offset, as well as mitigate impact and absorb vibration. Ensure that the angular acceleration sensor and torque sensor are coaxially connected to the motor and brake motor under test.

[0050] In addition, as a preferred embodiment, the installation positions of the angular acceleration sensor and the torque sensor are limited. Although the angular acceleration sensor, the torque sensor, the motor to be tested and the brake motor are on a connecting shaft, in the case of coaxiality, the angular acceleration at each position is the same, and the corresponding parameters can be accurately obtained no matter where they are installed, but considering the convenience of installation, they are installed in the middle of the connecting shaft. In addition, the torque sensor only needs to be ensured to be between the motor to be tested and the brake motor, so the torque sensor and the angular acceleration sensor can be installed in the middle of the connecting shaft, which is convenient for the installation of the angular acceleration and torque sensors. In addition, if the motor to be tested or the brake motor itself is equipped with an angular position encoder, the equipment for testing the pulsating torque of the motor can also be directly used, without the need for a dedicated acceleration sensor.

[0051] The installation method and installation position of the angular acceleration and torque sensors provided in this embodiment and the measured motor and brake motor are connected through a coupling, and the angular acceleration sensor and torque sensor are installed in the middle of the connecting shaft, which ensures the accuracy of the parameters and the installation method is relatively simple.

[0052] As a preferred embodiment, the brake motor uses a motor or a brake as a simulated load of the motor under test, but the type of the brake motor is not limited to the motor, and can also be a brake. When the motor is selected, the motor can provide a counter torque for braking, and when the brake is selected, the brake can provide a braking torque. In addition, the specific types of the motor and the brake are not limited. In addition, in the specific implementation, the type of the brake motor can be selected according to the specific situation.

[0053] In a specific embodiment, the angular acceleration sensor and the torque sensor may only record the situation where the motor rotates less than one circle or the motor rotates multiple circles, resulting in waste of resources or inaccurate information. Taking this situation into consideration, the present embodiment limits the number of circles recorded by the angular acceleration sensor and the torque sensor, wherein the angular acceleration sensor and the torque sensor record the angular acceleration and torque when the measured motor rotates one circle.

[0054] It is worth noting that this embodiment is only a preferred implementation method and is not limited to recording multiple weeks. In the test equipment, it is sufficient to record the parameters of the motor under test for one week. Recording multiple weeks of data may result in data duplication, but it is also possible to record multiple weeks of parameters to analyze the repeatability of the pulsating torque, and finally take the average value of the parameters as the final parameter.

[0055] The angular acceleration sensor and torque sensor provided in this embodiment record the angular acceleration and torque of the motor under test when it rotates one circle, avoiding the waste of resources or inaccurate information caused by over-recording or under-recording of the angular acceleration sensor and the torque sensor, thereby improving the accuracy of the test.

[0056] On the basis of the above embodiment, this embodiment further provides a method for testing the pulsating torque of a motor, which is applied to a device for testing the pulsating torque of a motor. Figure 2 A flow chart of a method for testing the pulsating torque of a motor provided in an embodiment of the present application, as shown in the figure, the method for testing the pulsating torque of a motor comprises the following steps:

[0057] S10: Control the brake motor and the motor under test to operate in a constant speed or constant torque mode.

[0058] S11: Obtaining the angular acceleration and torque of the motor under test according to the acceleration sensor and the torque sensor.

[0059] S12: confirming the additional torque according to the moment of inertia and angular acceleration of the rotor of the motor under test.

[0060] S13: Determine whether the additional torque is greater than 0, if so, proceed to step S14, if not, proceed to step S15.

[0061] S14: The result obtained by subtracting the additional torque from the torque is used as the compensated torque.

[0062] S15: The torque is added to the negative number of the additional torque, and the result is used as the compensated torque.

[0063] The beneficial effects produced by the present method embodiment correspond to the beneficial effects produced by the above-mentioned device embodiment, and will not be described in detail in this embodiment.

[0064] Figure 3A structural diagram of a device for testing the pulsating torque of a motor provided in an embodiment of the present application, such as Figure 3 As shown, the device for testing the pulsating torque of the motor includes:

[0065] A control module 15, used to control the brake motor and the motor under test to be in a constant speed or constant torque working mode, wherein the brake motor and the motor under test are not in the same working mode;

[0066] An acquisition module 16, used for acquiring the angular acceleration and torque of the motor under test according to the acceleration sensor and the torque sensor;

[0067] A confirmation module 17, used to confirm the additional torque caused by the angular acceleration according to the moment of inertia and angular acceleration of the rotor;

[0068] A first compensation module 18, for subtracting the additional torque from the torque as a compensated torque when the additional torque is greater than 0;

[0069] The second compensation module 19 is used for, when the additional torque is not greater than 0, adding the torque to the inverse of the additional torque to obtain a result as the compensated torque.

[0070] Figure 4 A structural diagram of a device for testing the pulsating torque of a motor provided in another embodiment of the present application, such as Figure 4 As shown, the device for testing the pulsating torque of the motor includes: a memory 20 for storing a computer program;

[0071] The processor 21 is used to implement the steps of the method for testing the pulsating torque of the motor mentioned in the above embodiment when executing the computer program.

[0072] The device for testing the pulsating torque of a motor provided in this embodiment may include but is not limited to a smart phone, a tablet computer, a laptop computer or a desktop computer.

[0073] Among them, the processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 can be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 21 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 21 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 21 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0074] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used to store the following computer program 201, wherein, after the computer program is loaded and executed by the processor 21, it can implement the relevant steps of the method for testing the pulsating torque of the motor disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 202 may include Windows, Unix, Linux, etc. Data 203 may include but is not limited to a method for testing the pulsating torque of the motor, etc.

[0075] In some embodiments, the device for testing the pulsating torque of a motor may further include a display screen 22 , an input / output interface 23 , a communication interface 24 , a power supply 25 , and a communication bus 26 .

[0076] Those skilled in the art will understand that Figure 4 The structure shown in the figure does not constitute a limitation on the device for testing the pulsating torque of a motor, and may include more or less components than those shown in the figure.

[0077] Finally, the present application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps recorded in the above method embodiment are implemented.

[0078] It is understandable that if the method in the above embodiment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0079] The above is a detailed introduction to the equipment, method, device and medium for testing the pulsating torque of the motor provided by the present application. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referenced to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

[0080] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A device for testing the pulsating torque of an electric motor, characterized in that: include: Measurement and control machine, brake motor, motor under test, torque sensor and acceleration sensor; The brake motor is connected to the motor under test via a connecting shaft; the acceleration sensor and the torque sensor are placed on the connecting shaft to obtain the angular acceleration and torque of the motor under test when it rotates; The measurement and control machine is respectively connected to the brake motor, the motor under test, the acceleration sensor and the torque sensor, and is used to control the brake motor and the motor under test to be in a constant speed mode or a constant torque mode, and the brake motor and the motor under test are not in the same working mode. When the motor under test is in the constant speed mode, the brake motor is in the constant torque mode, and when the motor under test is in the constant torque mode, the brake motor is in the constant speed mode. The machine is used to obtain the angular acceleration and the torque, and determine the additional torque according to the moment of inertia of the rotor of the motor under test and the angular acceleration. The product of the moment of inertia of the rotor of the motor under test and the angular acceleration is the additional torque. When the additional torque is greater than 0, the result obtained by subtracting the additional torque from the torque is used as the compensated torque. When the additional torque is not greater than 0, the result obtained by adding the opposite of the additional torque to the torque is used as the compensated torque.

2. The device for testing the pulsating torque of an electric motor according to claim 1, characterized in that: The acceleration sensor is an angular acceleration sensor.

3. The device for testing the pulsating torque of an electric motor according to claim 2, characterized in that: The angular acceleration sensor and the torque sensor are placed on the connecting shaft via a coupling.

4. The device for testing the pulsating torque of an electric motor according to claim 3, characterized in that: The angular acceleration sensor and the torque sensor are placed in the middle of the connecting shaft.

5. The device for testing the pulsating torque of a motor according to claim 1, characterized in that: The brake motor is an electric motor or a brake.

6. The device for testing the pulsating torque of a motor according to claim 5, characterized in that: The angular acceleration sensor and the torque sensor record the angular acceleration and the torque when the motor under test rotates one circle.

7. A method for testing the pulsating torque of a motor, characterized in that: The device for testing the pulsating torque of a motor as claimed in claim 1 comprises: Control the brake motor and the motor under test to be in a constant speed or constant torque working mode, wherein the brake motor and the motor under test are not in the same working mode; when the motor under test is in a constant speed mode, the brake motor is in a constant torque mode, and when the motor under test is in a constant torque mode, the brake motor is in a constant speed mode; The angular acceleration and torque of the motor under test are obtained according to the acceleration sensor and the torque sensor; the product of the moment of inertia of the rotor of the motor under test and the angular acceleration is the additional torque; determining an additional torque according to the moment of inertia of the rotor of the motor under test and the angular acceleration; When the additional torque is greater than 0, a result obtained by subtracting the additional torque from the torque is used as the compensated torque; When the additional torque is not greater than 0, a result obtained by adding the torque to the inverse of the additional torque is used as the compensated torque.

8. A device for testing the pulsating torque of an electric motor, characterized in that: The device for testing the pulsating torque of a motor according to any one of claims 1 to 6 comprises: A control module, used for controlling the brake motor and the motor under test to be in a constant speed or constant torque working mode, wherein the brake motor and the motor under test are not in the same working mode; when the motor under test is in the constant speed mode, the brake motor is in the constant torque mode, and when the motor under test is in the constant torque mode, the brake motor is in the constant speed mode; An acquisition module, used for acquiring the angular acceleration and torque of the motor under test according to the acceleration sensor and the torque sensor; the product of the moment of inertia of the rotor of the motor under test and the angular acceleration is the additional torque; A confirmation module, used for determining the additional torque according to the moment of inertia of the rotor of the motor under test and the angular acceleration; a first compensation module, configured to, when the additional torque is greater than 0, obtain a result obtained by subtracting the additional torque from the torque as a compensated torque; The second compensation module is used for, when the additional torque is not greater than 0, adding the torque to the inverse of the additional torque to obtain a result as the compensated torque.

9. A device for testing the pulsating torque of an electric motor, characterized in that: comprising a memory for storing a computer program; A processor is used to implement the steps of the method for testing the pulsating torque of a motor as claimed in claim 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for testing the pulsating torque of a motor as claimed in claim 7 are implemented.

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