Load identification method and system for an electric motor in an installed state

Abstract

The application provides a load identification method and system of an electric motor in an installed state, comprising: for an eccentric electric motor with a force sensor, analyzing and identifying an operating speed of the electric motor; taking the identified operating speed of the eccentric electric motor as an excitation to calibrate a transfer function of an electromechanical system to be identified; collecting a vibration signal near a hanging part of the electromechanical system to be identified when the electric motor is stably operating; and identifying the load of the vibration signal to obtain an amplitude and a position coordinate of an excitation force of the electric motor in an operating state. The application can realize the load identification method in the installed state, and can accurately identify the operating excitation force by simply measuring the electric motor without knowing the mass, stiffness, mode and other information.

Description

Technical Field

[0001] This invention belongs to the field of system load identification technology, specifically relating to a method and system for identifying the load of an electric motor in its installed state. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Equipment containing electric motors is one of the most widely used devices in electromechanical systems. Due to manufacturing processes, electric motors generate periodic excitation forces on the system during operation. When performing mechanical calculations and analysis on the entire electromechanical system, it is necessary to accurately determine the magnitude and location of the excitation force exerted by the motor on the system in order to precisely assess the impact of the motor's vibration on the overall performance of the electromechanical system. This is of great significance for improving the accuracy of response prediction and performance analysis of electromechanical systems.

[0004] From the perspective of excitation force measurement methods, load identification can be divided into direct measurement methods and indirect measurement methods. Direct measurement methods require a force sensor to be directly connected in series along the load transmission path, which is inconvenient for engineering implementation. Indirect measurement methods identify the load on the electromechanical system by collecting other response signals from the electromechanical system, such as acceleration, displacement, and pressure, and using pre-calibrated coefficients.

[0005] Load identification is the second inverse problem in structural dynamics, involving the estimation of dynamic loads on a structure based on its dynamic characteristics and measured dynamic response. In recent years, many domestic and international scholars have summarized and analyzed the research progress in load identification. In the frequency domain, the relationship between the system's input excitation and output response is linear. Load identification only requires inverse operations on the system characteristic matrix, making it easy to implement. However, frequency domain methods require Fourier transforms of the test signal, necessitating a certain length of signal samples. Therefore, frequency domain methods are generally only applicable to steady-state dynamic loads or random loads. Compared to frequency domain methods, time domain methods do not require Fourier transforms of the acquired signal, and their identification accuracy is unaffected by the signal acquisition method. Furthermore, time domain identification methods can handle transient impact loads. And for nonlinear systems, time domain methods have even greater advantages.

[0006] How to accurately identify the working excitation force of equipment containing electric motors at the work site without knowing information such as mass, stiffness, and modal characteristics, simply by measuring the motor, is crucial for system analysis and calculation, and is also a problem that urgently needs to be solved in this field. Summary of the Invention

[0007] To address the aforementioned problems, this invention proposes a method for identifying the load of an electric motor in its installed state. This invention does not require prior knowledge of mass, stiffness, modal characteristics, or other information; it only requires simple measurement to accurately identify the motor's operating excitation force.

[0008] According to some embodiments, the present invention adopts the following technical solution:

[0009] In the first aspect, a method for identifying the load of an electric motor in its installed state is disclosed, including:

[0010] For an eccentric motor equipped with a force sensor, the operating signal of the motor is analyzed and identified to determine its operating speed.

[0011] Using the identified eccentric motor operating speed as excitation, the transfer function of the electromechanical system to be identified is calibrated.

[0012] Collect vibration signals near the suspension on the electromechanical system to be identified when the motor is operating stably;

[0013] Load identification is performed on the vibration signal to obtain the amplitude and position coordinates of the excitation force on the motor's operating state.

[0014] As a further technical solution, the operating speed of the electric motor is obtained by analyzing the motor's operating signal. The specific steps are as follows:

[0015] Vibration sensors are placed at the connection points between equipment containing electric motors and foundations to collect acceleration signals when the electric motors are operating.

[0016] The acceleration signal is subjected to Fast Fourier Decomposition to identify the motor's operating speed.

[0017] As a further technical solution, the transfer function of the recognition system is calibrated, and the specific steps are as follows:

[0018] Plan N response test points on the equipment where the motor is located. The response acquisition direction is vertical and they are distributed at the corners of the suspended equipment. The response test points are also excitation points.

[0019] System calibration: At the first excitation point, install an eccentric motor capable of measuring excitation force, and simultaneously collect acceleration signals from the first to Nth response points and force signals from the excitation point;

[0020] Repeat the system calibration steps while keeping the sampling rate constant, excite the remaining 2 to N points, and record the force signal at the excitation point and the acceleration signal at the response point;

[0021] Find the root mean square value of the force signal at all excitation points;

[0022] The response signal under unit excitation force is obtained based on the root mean square value, which is the calibrated time-domain transfer function.

[0023] As a further technical solution, after obtaining the calibrated time-domain transfer function, the method further includes: unifying the initial phase and length of each transfer function, specifically:

[0024] Extract a segment of the stationary state from the time-domain transfer function, requiring the starting point to be a peak, the ending point to be a trough, and the number of data points to be consistent.

[0025] As a further technical solution, the specific method for collecting vibration signals near the suspension on the electromechanical system to be identified when the motor is operating stably is as follows:

[0026] Vibration sensors are set up at N test points to collect acceleration signals, i.e. vibration signals, of equipment with motors in stable operating conditions.

[0027] As a further technical solution, the steps for load identification of vibration signals are as follows:

[0028] When equipment equipped with an electric motor is in stable operation, the acceleration signal from point 1 to N is fitted using calibration coefficients.

[0029] The residual between the acceleration signal at points 1 to N fitted with weighted coefficients and the actual measured system response;

[0030] Solve the residual minimization problem to obtain the weighting coefficients;

[0031] The amplitude of the excitation force and spatial coordinates of the motor are obtained based on the weighting coefficients.

[0032] As a further technical solution, the point-by-point comparison method is used when solving the residual minimization problem.

[0033] Secondly, a load identification system for an electric motor in its installed state is disclosed, comprising:

[0034] The signal recognition module is configured to analyze and identify the operating speed of an eccentric motor with a force sensor by analyzing the motor's operating signal.

[0035] The transfer function calibration module is configured to calibrate the transfer function of the electromechanical system to be identified, using the identified eccentric motor operating speed as the excitation.

[0036] The vibration signal acquisition module is configured to: acquire vibration signals near the suspension on the electromechanical system to be identified when the motor is operating stably;

[0037] The load identification module is configured to identify the load on the vibration signal and obtain the amplitude and position coordinates of the excitation force on the motor's operating state.

[0038] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0039] This invention discloses a load identification method for an electric motor in its installed state. Targeting the characteristic of eccentric motors with force sensors that allow for vibration data calibration of the system, the method proposes using the Fast Fourier Transform (FFT) method to analyze the motor's operating signal to obtain its operating speed. Then, using the eccentric motor at this speed, the system's transfer function is obtained through multi-point calibration. Finally, the Monte Carlo optimization method is employed to determine the weighting coefficients of each transfer function, thereby identifying the amplitude and position coordinates of the excitation force in the motor's operating state.

[0040] The technical solution of this invention can realize a load identification method in the installation state. This invention does not require known information such as mass, stiffness, and modality; it can accurately identify the working excitation force simply by measuring it.

[0041] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

[0042] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0043] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0044] Figure 1 This is a flowchart of a load identification method for an electric motor in its installed state according to the present invention;

[0045] Figure 2 This is a schematic diagram of the device containing the motor suspension installation in this invention;

[0046] Figure 3 This is a time-domain signal diagram of the acceleration response at point B when point A is excited.

[0047] Figure 4 This is a graph showing the relationship between the acceleration response error of this invention and the calculation weights of points A and B;

[0048] Figure 5 This is a comparison diagram of the actual excitation position of the electric motor and the load identification position of the present invention. Detailed implementation method:

[0049] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0050] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0051] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0052] Example 1:

[0053] In this embodiment, an eccentric motor is used as an example for illustration, but this does not mean that the method provided by the present invention is only applicable to load identification of eccentric motors in the installed state. It can also be applied to load identification of motors in the installed state, depending on the type of motor.

[0054] See appendix Figure 1 As shown in the figure, an embodiment of the present invention discloses a load identification method for an electric motor in its installed state, the specific steps of which are as follows:

[0055] Step 1: Collect vibration signals from the equipment containing the motor to identify its operating speed;

[0056] When this step is specifically implemented:

[0057] 1-1) Place a vibration sensor at the connection point between the equipment containing the electric motor and the foundation to collect the acceleration signal when the electric motor is working.

[0058] In this embodiment, the specific location for placing the vibration sensor is shown in the appendix. Figure 2 As shown at point A, when collecting the acceleration signal of the motor during operation, the sampling rate is more than 2.5 times the estimated operating speed of the motor. In this example, the sampling rate is set to 1024Hz.

[0059] 1-2) Perform Fast Fourier Decomposition on the acceleration signal to identify the motor's operating speed and obtain the rotational frequency.

[0060] Specifically, the Fourier decomposition method is Discrete Fourier Decomposition. The equipment containing the electric motor is specifically equipment driven by a motor.

[0061] In this example, the identified motor operating speed is 60 rpm.

[0062] Step 2: Using an eccentrically excited motor with a force sensor, the system to be identified is excited at the speed of 60 rpm identified in Step 1. The transfer function of the system is calibrated by applying a load excitation and obtaining the excitation input.

[0063] When this step is specifically implemented:

[0064] 2-1) Plan N response test points A1-A on the equipment where the motor is located. N The response acquisition direction is vertical, the number of test points must be ≥3, and they must be distributed at the corners of the suspended equipment. The geometric coordinates of the test points are A1(x). A1 ,y A1 )~A N (x AN ,y AN The response test point is also the stimulus point;

[0065] If four test points A1-A4 are planned and located at the four corners of the suspended equipment to collect vertical vibration signals, then their geometric coordinates are A1(-1,-1)-A4(1,-1). The test points are also the excitation points.

[0066] 2-2) System Calibration: At the first excitation point, install an eccentric motor capable of measuring excitation force, and simultaneously collect the acceleration signals Y at the first to Nth response points. 11 ~Y 1N The force signal F1 at the excitation point; where Y is the subscript, the first number represents the excitation point, and the second number represents the response point;

[0067] In a specific example, an eccentric motor capable of measuring excitation force is installed at the first excitation point A1, and the acceleration signals Y of the responses at points A1 to A4 are collected simultaneously. 11 ~Y 14 The force signal F1 at the excitation point has a sampling rate of 512Hz.

[0068] 2-3) Repeat step 2-2), keeping the sampling rate constant, to excite the remaining points 2 to N, and record the excitation point signals F2 to F... N Response signal Y 21 -Y NN ;

[0069] In a specific example, the other three points are excited, and the excitation signals F2 to F4 are recorded, along with the response signal Y. 21 ~Y 44 .

[0070] 2-4) Determine the excitation signals F1 to F2. N The root mean square values ​​F′1~F′ N ;

[0071] In a specific example, the root mean square values ​​F′1 to F′4 of the excitation signals F1 to F4 are calculated.

[0072] 2-5) The response signal under unit excitation force is obtained by the following formula, which is the calibrated time-domain transfer function;

[0073] T' ij =Y ij / F i '(i=1,2,...,N,j=1,2,...,N)

[0074] When planning 4 test points A1-A4, the calibrated time-domain transfer function;

[0075] T' ij =Y ij / F i '(i=1,2,3,4,j=1,2,3,4).

[0076] 2-6) Unifying the initial phase and length of each transfer function: Extract a segment of the stationary state from the time-domain transfer function, requiring the starting point to be a peak, the ending point to be a trough, and the number of data points to be consistent, thus obtaining T'. ij .

[0077] In step two, the eccentric motor with a force sensor has an adjustable speed, and the force sensor only measures the vertical component of the excitation force.

[0078] Step 3:

[0079] Collect vibration signals near the suspension point on the system to be identified when the motor is operating stably: N vibration sensors are arranged at the N test points corresponding to those in step two to collect acceleration signals Z′1~Z′1 containing the motor's stable operating state. N In this embodiment, the vibration signal collected when the motor is operating stably is more accurate and has a higher signal-to-noise ratio.

[0080] In a specific example, vibration sensors are placed at four test points to collect acceleration signals Z′1 to Z′4 of the equipment containing the electric motor under stable operating conditions. See [link / reference] Figure 2 As shown in the attached document.

[0081] Step Four:

[0082] Load identification is performed on the vibration signal from step three:

[0083] 4-1) When the equipment equipped with the motor is in stable operation, the acceleration signals Z1 to Z2 at points 1 to N are fitted using calibration coefficients. N It can be represented as:

[0084] Z1=φ1·T 11 +φ2·T21 +…φ N ·T N1

[0085] Z2=φ1·T 12 +φ2·T 22 +…φ N ·T N2

[0086] Z N =φ1·T 1N +φ2·T 2N +…φ N ·T NN

[0087] Among them, φ1~φ N The weight coefficients to be identified have values ​​ranging from [0,1].

[0088] In a specific example, the acceleration signals Z1 to Z4 at points 1 to 4 fitted using calibration coefficients can be expressed as:

[0089] Z1=φ1·T 11 +φ2·T 21 +φ3·T 31 +φ4·T 41

[0090] Z2=φ1·T 12 +φ2·T 22 +φ3·T 32 +φ4·T 42

[0091] Z3=φ1·T 13 +φ2·T 23 +φ3·T 33 +φ4·T 43

[0092] Z4=φ1·T 14 +φ2·T 24 +φ3·T 34 +φ4·T 44

[0093] Among them, φ1~φ4 are the weight coefficients to be identified, and their values ​​are all in the range of [0,1].

[0094] 4-2) Define the 1-N point responses Z1-Z2 using weighted coefficients. N The system response Z′1~Z′ obtained from actual measurements N The residuals between them are:

[0095] err=|Z1-Z′1|+|Z2-Z′2|+…+|Z N -Z′N |

[0096] In a specific example, the residuals between the 1-4 point responses Z1-Z4 fitted using weighted coefficients and the actual measured system responses Z′1-Z′4 are:

[0097] err=|Z1-Z′1|+|Z2-Z′2|+|Z3-Z′3|+|Z4-Z′4|.

[0098] 4-3) The Monte Carlo method is used to solve the err minimization problem, and the weight coefficients φ1~φ are obtained. N .

[0099] In a specific example, the Monte Carlo method is used to solve the problem of minimizing err. The weight coefficients to be identified, φ1-φ4, are calculated at intervals of 0.05 within the range [0, 1]. The relationship between φ1 and φ2 and err is as follows: Figure 4 The values ​​for φ1 to φ4 are calculated to be 50%, 25%, 0%, and 25%, respectively.

[0100] 4-4) The amplitude of the excitation force of the electric motor is:

[0101] Z1=φ1·T 11 +φ2·T 21 +…φ N ·T N1

[0102] Z2=φ1·T 12 +φ2·T 22 +…φ N ·T N2

[0103] Z N =φ1·T 1N +φ2·T 2N +…φ N ·T NN

[0104] The spatial coordinates are:

[0105] X=φ1·(x A1 ,y A1 )+φ2·(x A2 ,y A2 )+…φ N ·(x AN ,y AN ).

[0106] In step four, when using the Monte Carlo method to solve the minimization problem, a point-by-point comparison method is employed.

[0107] In a specific example, the amplitude of the excitation force of the electric motor is:

[0108] Z1 = 0.5·T 11 +0.25·T 21 +0·T 31 +0.25·T 41

[0109] Z2 = 0.5·T 12 +0.25·T 22 +0·T 32 +0.25·T 42

[0110] Z3 = 0.5·T 13 +0.25·T 23 +0·T 33 +0.25·T 43

[0111] Z4 = 0.5·T 14 +0.25·T 24 +0·T 34 +0.25·T 44

[0112] The spatial coordinates are:

[0113] X=φ1·(x A1 ,y A1 )+φ2·(x A2 ,y A2 )+φ2·(x A3 ,y A3 )+φ4·(x A4 ,y A4 )

[0114] = 0.5·(-1, -1) + 0.25·(-1, 1) + 0·(-1, -1) + 0.25·(1, -1)

[0115] = (-0.5, -0.5)

[0116] Comparison of actual motor excitation points and excitation points identified by this method: Figure 5 The two completely overlap.

[0117] This step is a specific example of load identification. It proposes to analyze the motor's operating signal using the Fast Fourier Transform method to obtain its operating speed, and then use an eccentric motor to perform multi-point calibration of the system at this speed to obtain the system transfer function. Finally, the Monte Carlo optimization method is used to obtain the weighting coefficients of each transfer function, thereby identifying the amplitude of the excitation force and the position coordinates of the motor's operating state.

[0118] Example 2:

[0119] Based on the method of Embodiment 1, a load identification system for an electric motor in its installed state is disclosed, comprising:

[0120] The signal recognition module is configured to analyze and identify the operating speed of an eccentric motor with a force sensor by analyzing the motor's operating signal.

[0121] The transfer function calibration module is configured to calibrate the transfer function of the electromechanical system to be identified, using the identified eccentric motor operating speed as the excitation.

[0122] The vibration signal acquisition module is configured to: acquire vibration signals near the suspension on the electromechanical system to be identified when the motor is operating stably;

[0123] The load identification module is configured to identify the load on the vibration signal and obtain the amplitude and position coordinates of the excitation force on the motor's operating state.

[0124] Example 3:

[0125] The purpose of this embodiment is to provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method in the first embodiment described above.

[0126] Example 4

[0127] The purpose of this embodiment is to provide a computer-readable storage medium.

[0128] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the steps of the method in the first embodiment described above.

[0129] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0130] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0131] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0132] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0133] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0134] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A method for identifying the load of an electric motor in its installed state, characterized in that, include: For an eccentric motor equipped with a force sensor, the operating speed is determined by analyzing and identifying the motor's operating signal. Using the identified eccentric motor's operating speed as excitation, the transfer function of the electromechanical system to be identified is calibrated. The specific steps for calibrating the transfer function of the system to be identified are as follows: Plan N response test points on the equipment where the motor is located. The response acquisition direction is vertical and they are distributed at the corners of the suspended equipment. The response test points are also excitation points. System calibration: At the first excitation point, install an eccentric motor capable of measuring excitation force, and simultaneously collect acceleration signals from the first to Nth response points and force signals from the excitation point; Repeat the system calibration steps while keeping the sampling rate constant, excite the remaining 2 to N points, and record the force signal at the excitation point and the acceleration signal at the response point; Find the root mean square value of the force signal at all excitation points; The response signal under unit excitation force is obtained based on the root mean square value, which is the calibrated time-domain transfer function. Collect vibration signals near the suspension on the electromechanical system to be identified when the motor is operating stably; Load identification is performed on the vibration signal to obtain the amplitude and position coordinates of the excitation force on the motor's operating state.

2. The load identification method for an electric motor in its installed state as described in claim 1, characterized in that, The operating speed of the electric motor is determined by analyzing its operating signal. The specific steps are as follows: Vibration sensors are placed at the connection points between equipment containing electric motors and foundations to collect acceleration signals when the electric motors are operating. The acceleration signal is subjected to Fast Fourier Decomposition to identify the operating speed of the motor.

3. The load identification method for an electric motor in its installed state as described in claim 1, characterized in that, After obtaining the calibrated time-domain transfer function, the process also includes: unifying the initial phase and length of each transfer function, specifically: Extract a segment of the stationary state from the time-domain transfer function, requiring the starting point to be a peak, the ending point to be a trough, and the number of data points to be consistent.

4. The load identification method for an electric motor in its installed state as described in claim 1, characterized in that, The specific method for collecting vibration signals near the suspension on the electromechanical system to be identified when the motor is operating stably is as follows: Vibration sensors are set up at N test points to collect acceleration signals, i.e. vibration signals, of equipment with motors in stable operating conditions.

5. The load identification method for an electric motor in its installed state as described in claim 1, characterized in that, The steps for load identification of vibration signals are as follows: When equipment equipped with an electric motor is in stable operation, the acceleration signal at points 1 to N is fitted using calibration coefficients. The residual between the acceleration signal at points 1 to N fitted with weighted coefficients and the actual measured system response; Solve the residual minimization problem to obtain the weighting coefficients; The amplitude of the excitation force and spatial coordinates of the motor are obtained based on the weighting coefficients.

6. The load identification method for an electric motor in its installed state as described in claim 5, characterized in that, The point-by-point comparison method is used to solve the residual minimization problem.

7. A load identification system for an electric motor in its installed state, characterized in that, include: The signal recognition module is configured to analyze and identify the operating speed of an eccentric motor with a force sensor by analyzing the motor's operating signal. The transfer function calibration module is configured to: use the identified eccentric motor operating speed as excitation to calibrate the transfer function of the electromechanical system to be identified; the specific steps for calibrating the transfer function of the system to be identified are as follows: Plan N response test points on the equipment where the motor is located. The response acquisition direction is vertical and they are distributed at the corners of the suspended equipment. The response test points are also excitation points. System calibration: At the first excitation point, install an eccentric motor capable of measuring excitation force, and simultaneously collect acceleration signals from the first to Nth response points and force signals from the excitation point; Repeat the system calibration steps while keeping the sampling rate constant, excite the remaining 2 to N points, and record the force signal at the excitation point and the acceleration signal at the response point; Find the root mean square value of the force signal at all excitation points; The response signal under unit excitation force is obtained based on the root mean square value, which is the calibrated time-domain transfer function. The vibration signal acquisition module is configured to: acquire vibration signals near the suspension on the electromechanical system to be identified when the motor is operating stably; The load identification module is configured to identify the load on the vibration signal and obtain the amplitude and position coordinates of the excitation force on the motor's operating state.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the method described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it performs the steps of the method described in any one of claims 1-6 above.

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