Double-inertia system parameter identification method and device, equipment and storage medium

Abstract

The invention discloses a gap-containing double-inertia system parameter identification method, device and equipment and a storage medium, and the method comprises the steps: driving a motor to rotate reversely in a direction opposite to one direction after the motor rotates forwardly in the one direction, and enabling the reverse rotation speed to be greater than the forward rotation speed; motor motion parameters in the reverse rotation period are obtained, and a gap between the motor side transmission part and the load side transmission part is determined according to the motor motion parameters; acquiring first torque data and first speed data of the motor in the gap interval; and determining the motor side inertia and the motor side damping of the system according to the first torque data and the first speed data. According to the method, the elastic link and the gap between the motor and the load are considered, the mechanical parameters in the double-inertia model containing the gap are identified, and parameter identification is performed based on the operation data in the gap interval, so that the system performance is improved, vibration is suppressed, and efficient and stable operation of the system is ensured.

Description

Technical Field

[0001] The present application relates to the field of servo drive technology, and in particular to a dual-inertia system parameter identification method, device, equipment and storage medium. Background Art

[0002] With the development of my country's national economy and the improvement of enterprise automation level, the demand for high-performance servo systems is also increasing. In order to achieve functional diversity, the power transmission between the motor and the load in the servo system is mostly carried out by transmission shafts, belts, reducers, ball screws, gears, reduction boxes and other mechanisms. The introduction of elastic connections will bring large tracking errors to the system, causing mechanical resonance and reducing the safety of the system. When there are components such as ball screws, gears, and reduction boxes in the transmission device, gaps will inevitably be introduced into the system, which will aggravate the wear of mechanical components, bring strong impact and noise to the system, and seriously reduce the control accuracy and frequency response performance of the system. Summary of the invention

[0003] The embodiments of the present application provide a dual-inertia system parameter identification method, device, equipment and storage medium, aiming to solve the problem of mechanical resonance caused by the tracking error of the servo system, suppress the vibration of the system, and improve the system control accuracy and frequency response performance.

[0004] The embodiment of the present application provides a method for identifying parameters of a dual-inertia system with a gap, the method comprising:

[0005] After the motor is driven to rotate forward in one direction, the motor is then driven to rotate reversely in a direction opposite to the one direction, and the reverse speed is greater than the forward speed;

[0006] Acquiring the motor motion parameters during the reversal period, and determining the gap between the motor-side transmission part and the load-side transmission part according to the motor motion parameters;

[0007] Acquire first torque data and first speed data of the motor in the gap interval;

[0008] The system motor-side inertia and motor-side damping are determined according to the first torque data and the first speed data.

[0009] Optionally, the method further comprises: driving the motor to rotate forward and reverse multiple times at a preset speed curve to obtain second torque data and second speed data of the motor;

[0010] determining a system total inertia and a system total damping according to the second torque data and the second speed data;

[0011] After determining the system motor side inertia and motor side damping according to the first torque data and the first speed data, the method further includes:

[0012] Determine the load side inertia according to the total system inertia and the motor side inertia; and / or,

[0013] The load side damping is determined according to the total system damping and the motor side damping.

[0014] Optionally, determining the total system inertia and the total system damping according to the second torque data and the second speed data further includes:

[0015] The total inertia of the system and the total damping of the system, as well as the positive load side force and the reverse load side force are determined according to the second torque data and the second speed data and a preset kinematics formula.

[0016] Optionally, the method further includes:

[0017] Based on the motor side inertia, the motor side damping, the load side inertia, the load side damping, the positive load side force, the reverse load side force, the gap and a preset initial transmission shaft stiffness value, the control system operates through a preset dual-inertia model.

[0018] Optionally, the method further includes:

[0019] Adjust the transmission shaft stiffness value, drive the motor to run and obtain the target transmission shaft stiffness value when the system vibration is minimal.

[0020] Optionally, the motor motion parameters include motor current, motor speed and motor position.

[0021] In addition, to achieve the above-mentioned purpose, the embodiment of the present application further provides a dual-inertia system parameter identification device with a gap, and the dual-inertia system parameter identification device with a gap includes:

[0022] A drive command unit, used to drive the motor to rotate forward in one direction, and then drive the motor to reverse in a direction opposite to the one direction, and the reverse speed is greater than the forward speed;

[0023] a parameter identification unit, used for acquiring the motor motion parameters during the reversal period, and determining the gap between the motor-side transmission part and the load-side transmission part according to the motor motion parameters;

[0024] The parameter identification unit is further used to obtain the first torque data and the first speed data of the motor in the gap interval, and determine the system motor side inertia and the motor side damping according to the first torque data and the first speed data.

[0025] Optionally, the drive instruction unit is also used to drive the motor to rotate forward and reverse multiple times at a preset speed curve;

[0026] The parameter identification unit is further used to obtain second torque data and second speed data of the motor, determine the system total inertia and the system total damping according to the second torque data and the second speed data; and determine the load side inertia according to the system total inertia and the motor side inertia; and / or determine the load side damping according to the system total damping and the motor side damping.

[0027] In addition, to achieve the above-mentioned purpose, an embodiment of the present application provides a parameter identification device, which includes: a memory, a processor, and a dual-inertia system parameter identification program with gap stored in the memory and running on the processor, and when the dual-inertia system parameter identification program with gap is executed by the processor, the steps of the dual-inertia system parameter identification method with gap as described above are implemented.

[0028] In addition, to achieve the above-mentioned purpose, an embodiment of the present application provides a computer-readable storage medium, which stores a dual-inertia system parameter identification program with a gap, and when the dual-inertia system parameter identification program with a gap is executed by a processor, the steps of the dual-inertia system parameter identification method with a gap described in the claim are implemented.

[0029] A technical solution of a dual-inertia system parameter identification method, device, equipment and storage medium provided in the embodiments of the present application, the dual-inertia system identification method with gap provided in the present application drives the motor to rotate forward in one direction, and then drives the motor to reverse in the direction opposite to the said direction, and the reversal speed is greater than the forward speed; obtains the motor motion parameters during the reversal period, and determines the gap between the motor-side transmission part and the load-side transmission part according to the motor motion parameters; obtains the motor first torque data and first speed data in the gap interval; thereby determining the system motor-side inertia and motor-side damping according to the first torque data and the first speed data. The present application takes into account the elastic link and gap between the motor and the load, identifies the mechanical parameters in the dual-inertia model with gap, and performs parameter identification based on the operating data in the gap interval, thereby improving the system performance, suppressing vibration, and ensuring efficient and stable operation of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a structural block diagram of the dual-inertia system model with gap in this application;

[0031] Figure 2 This is a flow chart of the parameter identification method of a dual-inertia system with gap in this application;

[0032] Figure 3 This is a functional module diagram of the dual-inertia model parameter identification device with gap in the present application;

[0033] Figure 4 This is a schematic diagram of the structure of a parameter identification device involved in an embodiment of the present application.

[0034] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. The above-mentioned drawings are only an embodiment diagram, not the entire application. DETAILED DESCRIPTION

[0035] In order to better understand the above technical solution, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0036] In the servo system, the power transmission between the motor and the load is mostly carried out by transmission shafts, belts, reducers, ball screws, gears, reduction boxes and other mechanisms, which will inevitably introduce elastic connections and gaps into the system. During the operation of the motor, the gap between the motor and the load will affect the operation of the motor. If the gap is too large, the load of the motor will increase and the service life of the motor will be affected; if the gap is too small, the motor will overheat and even burn out in serious cases. Therefore, during the design and installation of the motor, it is necessary to select a suitable transmission mechanism and assembly process to ensure that the gap between the motor and the load is appropriate.

[0037] In the dual-inertia model, due to the manufacturing and assembly errors of mechanical components such as gears and bearings in the transmission system, as well as the wear caused during use, there will be a certain amount of clearance in the transmission system, and the existence of the clearance will affect the dynamic performance of the transmission system. When the transmission system switches from one direction to another, the clearance will cause the output shaft to be unable to follow the movement of the input shaft in a short time, resulting in hysteresis or dead zone. This will have an adverse effect on the accuracy and stability of the system. In order to consider the influence of the clearance in the dual-inertia model, a nonlinear link can be introduced into the model to simulate the existence of the clearance. This nonlinear link can be a dead zone link or a hysteresis link, depending on the size of the clearance and the characteristics of the system. By introducing the clearance in the model, the dynamic behavior of the transmission system can be more accurately described, including the hysteresis and dead zone phenomenon during the commutation process. This helps to better predict the response of the system and optimize its performance.

[0038] In addition, the existing servo system mechanical parameter identification process ignores the torsional characteristics and clearance of the transmission device, regards the entire system as a single inertia system, and only identifies the load inertia and friction. However, the actual system has transmission shafts, gears, screws and other mechanisms. If these elastic factors and clearances are not taken into account in the design of the controller, it may cause mechanical resonance, inaccurate speed control and other problems.

[0039] In servo control, motor inertia is usually related to the current and voltage response of the motor, while load inertia is related to the rotational inertia of the mechanical load. By combining these two inertias, a more accurate description of the dynamic behavior of the motor can be achieved, including its speed, torque, and power response. Figure 1 The figure shows a block diagram of a dual-inertia system model with a gap provided by an embodiment of the present application. The model describes the behavior of the servo system based on two independent physical inertias. Considering the gap between the motor and the load, the dual-inertia model can be composed of two inertia blocks and a damper, wherein one inertia block represents the inertia of the motor and the other inertia block represents the inertia of the load. There is a gap between the two inertia blocks, and the effect of the gap can be simulated by adjusting the parameters of the damper.

[0040] Among them, Te is the motor torque, ωm is the motor speed, ωL is the load speed, TfL is the load side force, Jm is the motor side inertia, JL is the load side inertia, KmL is the transmission shaft stiffness, Dm is the motor side damping coefficient, DL is the load side damping coefficient, and b is 1 / 2 of the gap. Among them, the motor torque Te, motor speed ωm, and load speed ωL are real-time variables. The parameters that need to be identified include the load side force TfL, motor side inertia Jm, load side inertia JL, transmission shaft stiffness KmL, motor side damping coefficient Dm, load side damping coefficient DL, and gap 2b in the model.

[0041] In response to the above problems, a method for identifying parameters of a dual-inertia system with a gap is provided in an embodiment of the present application, including driving the motor to rotate forward in one direction, and then driving the motor to reverse in a direction opposite to the one direction, and the reversal speed is greater than the forward speed; obtaining the motor motion parameters during the reversal period, and determining the gap between the motor-side transmission part and the load-side transmission part according to the motor motion parameters; obtaining the first torque data and the first speed data of the motor in the gap interval; and determining the system motor-side inertia and motor-side damping according to the first torque data and the first speed data. The present application takes into account the elastic link and gap between the motor and the load, and identifies the mechanical parameters in the dual-inertia model with a gap. The parameter identification results can be used in the design of a servo controller to improve performance, suppress vibration, and ensure efficient and stable operation of the system.

[0042] like Figure 2 As shown, the present application provides a flow chart of a dual-inertia system parameter identification method with a gap. The dual-inertia system parameter identification method with a gap of the present application is applied to a parameter identification device, and the parameter identification device can be a servo drive or a host computer. The parameter identification device is used to identify the above parameters of the servo system. Specifically, the dual-inertia system parameter identification method with a gap includes the following steps:

[0043] Step S21, after driving the motor to rotate forward in one direction, the motor is then driven to rotate reversely in a direction opposite to the one direction, and the reverse rotation speed is greater than the forward rotation speed.

[0044] Specifically, the servo system generates a low-speed forward rotation instruction for the motor, and then generates a high-speed reverse rotation instruction to drive the motor to rotate forward and reverse.

[0045] Step S22, obtaining the motor motion parameters during the reversal period, and determining the gap between the motor-side transmission part and the load-side transmission part according to the motor motion parameters.

[0046] The gap refers to the maximum angle at which the motor side mechanism can rotate without contacting the load side mechanism when the load side mechanism is fixed. During high-speed reversal of the motor, the contact between the drive side transmission part connected to the motor and the load side transmission part connected to the load can be detected based on the motor, the motor current or the motor speed signal, thereby determining the gap value between the motor side transmission part and the load side transmission part.

[0047] It should be noted that the above-mentioned gap identification can be measured based on the motor position signal, or based on the motor position signal and current signal at the same time, or based on the motor position signal and speed signal at the same time, or other signal combinations, which are not limited here.

[0048] Step S23, obtaining first torque data and first speed data of the motor in the gap interval, and determining the system motor side inertia and motor side damping according to the first torque data and the first speed data.

[0049] Since the motor and the load are not in contact in the gap interval, the load does not exert force on the motor, so the inertia and damping of the motor side can be solved based on the operating data in the gap interval. Specifically, the first torque data Te and the first speed data ωm of the motor in the gap interval are obtained, and the motor side inertia Jm and the motor side damping Dm are calculated by substituting Te and ωm into the following kinematic formula (1) using an optimization algorithm.

[0050]

[0051] Specifically, the first torque data and the first speed data are data sets within the gap interval, and the above-mentioned optimization algorithm can be a curve fitting algorithm such as the least squares method, which is not limited here.

[0052] The embodiment of the present application takes into account the elastic link and gap between the motor and the load, identifies the mechanical parameters in the dual-inertia model containing the gap, and identifies the motor side inertia Jm and the motor side damping Dm according to the operating data in the gap range. It can be used in the design of the servo controller to improve performance, suppress vibration, and ensure efficient and stable operation of the system.

[0053] Optionally, the embodiment of the present application further provides a method for identifying other parameters in the dual-inertia model such as inertia and damping on the load side, which specifically includes the following steps:

[0054] Step S200: driving the motor to rotate forward and reverse multiple times at a preset speed curve.

[0055] Specifically, the preset speed curve may be a step-change curve from zero to the maximum speed. When rotating forward and reverse from zero to the maximum speed, the motor torque and speed continuously change and are different when rotating forward and reverse.

[0056] Step S201: Acquire second torque data and second speed data of the motor, and determine the total inertia of the system and the total damping of the system according to the second torque data and the second speed data.

[0057] Specifically, the first torque data Te and the first speed data ωm of the motor during forward and reverse rotation are obtained, and according to the following kinematic formula (2), the optimization algorithm is used to substitute Te and ωm to calculate the total inertia Jall, the total damping Dall, the positive load side force TfL+, and the reverse load side force TfL-.

[0058]

[0059] It should be noted that since the load side forces are different during forward and reverse rotation, in the specific parameter solution process, the forward load side force TfL+ is calculated based on the motor torque curve and speed curve during the forward rotation of the motor, and the forward load side force TfL- is calculated based on the motor torque curve and speed curve during the reverse rotation of the motor.

[0060] Specifically, the second torque data and the second speed data are data sets during forward and reverse rotation, and the above-mentioned optimization algorithm can be a curve fitting algorithm such as the least squares method, which is not limited here.

[0061] Step S202: Determine the load side inertia according to the total inertia of the system and the motor side inertia, and determine the load side damping according to the total damping of the system and the motor side damping.

[0062] After the system total inertia Jall and the system total damping Dall, as well as the motor side inertia Jm and the motor side damping Dm are identified, the load side inertia JL=Jall-Jm, and the load side damping DL=Dall-Dm.

[0063] according to Figure 1The dual-inertia system model with gap has been identified. Since the motor side inertia Jm, motor side damping Dm, load side inertia JL, load side damping JL, positive load side force TfL+, reverse load side force TfL-, and gap value 2b have been identified, the parameters to be identified in the dual-inertia system model with gap are the transmission shaft stiffness value K mL .

[0064] Step 203: Based on the motor side inertia, the motor side damping, the load side inertia, the load side damping, the positive load side force, the reverse load side force, the gap and the preset initial transmission shaft stiffness value, the control system operates through a preset dual-inertia model.

[0065] Specifically, the initial transmission shaft stiffness value is preset, the dual-inertia model is substituted into the servo PI control system, and the control parameters are designed according to the above model parameters (motor side inertia Jm, motor side damping Dm, load side inertia JL, load side damping JL, positive load side force TfL+, reverse load side force TfL-, gap value 2b) to make the system pre-operational.

[0066] Step 204: Adjust the transmission shaft stiffness value, drive the motor to run and obtain the target transmission shaft stiffness value when the system vibration level is minimum.

[0067] Specifically, adjust the transmission shaft stiffness value K mL The motor is driven to rotate forward and reverse at a preset cycle, and the target transmission shaft stiffness KmL is searched with the minimum vibration level within the same cycle as the goal.

[0068] The embodiment of the present application takes into account the elastic link and gap between the motor and the load, and identifies the mechanical parameters in the dual-inertia model with gap: motor side inertia Jm, motor side damping Dm, load side inertia JL, load side damping JL, positive load side force TfL+, reverse load side force TfL-, gap value 2b, transmission shaft stiffness KmL, etc. The parameter identification results can be used in the design of the servo controller to improve performance, suppress vibration, and ensure efficient and stable operation of the system.

[0069] like Figure 3 As shown, the present application provides a dual-inertia system parameter identification device with a gap, comprising:

[0070] The driving instruction unit 31 is used to drive the motor to rotate forward in one direction, and then drive the motor to rotate reversely in a direction opposite to the one direction, and the reverse speed is greater than the forward speed.

[0071] The parameter identification unit 32 is used to obtain the motor motion parameters during the reversal period, and determine the gap between the motor-side transmission part and the load-side transmission part according to the motor motion parameters.

[0072] The parameter identification unit 32 is further used to obtain the first torque data and the first speed data of the motor in the gap interval, and determine the system motor side inertia and the motor side damping according to the first torque data and the first speed data.

[0073] The driving instruction unit 31 is also used to drive the motor to rotate forward and reverse multiple times at a preset speed curve.

[0074] The parameter identification unit 32 is also used to obtain second torque data and second speed data of the motor, determine the system total inertia and the system total damping according to the second torque data and the second speed data; and determine the load side inertia according to the system total inertia and the motor side inertia; and / or determine the load side damping according to the system total damping and the motor side damping.

[0075] The specific implementation of the dual-inertia system parameter identification device with gap in the present application is basically the same as the various embodiments of the dual-inertia system parameter identification method with gap mentioned above, and will not be repeated here.

[0076] The embodiment of the present application takes into account the elastic link and gap between the motor and the load, and identifies the mechanical parameters in the dual-inertia model with gap: motor side inertia Jm, motor side damping Dm, load side inertia JL, load side damping JL, positive load side force TfL+, reverse load side force TfL-, gap value 2b, transmission shaft stiffness KmL, etc. The parameter identification results can be used in the design of the servo controller to improve performance, suppress vibration, and ensure efficient and stable operation of the system.

[0077] Based on the same inventive concept, Figure 4 As shown, Figure 4 This is a schematic diagram of the structure of the hardware operating environment of the parameter identification device involved in the embodiment of the present application. The parameter identification device may include: a processor 1001, such as a CPU, a memory 1005, a user interface 1003, a network interface 1004, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen, an input unit such as a keyboard, and the user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or it may be a stable memory, such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0078] Those skilled in the art will understand that Figure 4The parameter identification device structure shown in does not constitute a limitation on the parameter identification device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently. Specifically, the parameter identification device may be a servo drive or a host computer.

[0079] like Figure 4 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a dual-inertia parameter identification method program with a gap. The operating system is a program for managing and controlling the hardware and software resources of the parameter identification device, the dual-inertia parameter identification method program with a gap, and the operation of other software or programs.

[0080] exist Figure 4 In the parameter identification device shown, the user interface 1003 is mainly used to connect to the terminal and communicate data with the terminal; the network interface 1004 is mainly used for the background server and communicates data with the background server; the processor 1001 can be used to call the dual-inertia parameter identification method program with gap stored in the memory 1005.

[0081] In this embodiment, the parameter identification device includes: a memory 1005, a processor 1001, and a dual-inertia parameter identification method program with a gap stored in the memory and executable on the processor, wherein when the processor 1001 calls the dual-inertia parameter identification method program with a gap stored in the memory 1005, the following operations are performed:

[0082] After the motor is driven to rotate forward in one direction, the motor is then driven to rotate reversely in a direction opposite to the one direction, and the reverse speed is greater than the forward speed;

[0083] Acquiring the motor motion parameters during the reversal period, and determining the gap between the motor-side transmission part and the load-side transmission part according to the motor motion parameters;

[0084] The first torque data and the first speed data of the motor in the gap interval are acquired, and the system motor side inertia and the motor side damping are determined according to the first torque data and the first speed data.

[0085] Based on the same inventive concept, an embodiment of the present application also provides a computer-readable storage medium, which stores a dual-inertia parameter identification method program with a gap. When the dual-inertia parameter identification method program with a gap is executed by a processor, the various steps of the dual-inertia parameter identification method with a gap as described above are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0086] Since the storage medium provided in the embodiments of the present application is the storage medium used to implement the method of the embodiments of the present application, based on the method introduced in the embodiments of the present application, the person skilled in the art can understand the specific structure and deformation of the storage medium, so it is not repeated here. All storage media used in the methods of the embodiments of the present application belong to the scope of protection of this application.

[0087] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system 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 system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0088] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0089] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, TV, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0090] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for identifying parameters of a dual-inertia system with a gap, characterized in that: The method comprises: After the motor is driven to rotate forward in one direction, the motor is then driven to rotate reversely in a direction opposite to the one direction, and the reverse speed is greater than the forward speed; Acquiring the motor motion parameters during the reversal period, and determining the gap between the motor-side transmission part and the load-side transmission part according to the motor motion parameters; The first torque data and the first speed data of the motor in the gap interval are acquired, and the system motor side inertia and the motor side damping are determined according to the first torque data and the first speed data.

2. The method for identifying parameters of a dual-inertia system with gap according to claim 1, characterized in that: The method further comprises: The drive motor rotates forward and reverse multiple times at a preset speed curve; Acquire second torque data and second speed data of the motor, and determine the total inertia of the system and the total damping of the system according to the second torque data and the second speed data; After determining the system motor side inertia and motor side damping according to the first torque data and the first speed data, the method further includes: Determine the load side inertia according to the total system inertia and the motor side inertia; and / or, The load side damping is determined according to the total system damping and the motor side damping.

3. The method for identifying parameters of a dual-inertia system with gap according to claim 2, characterized in that: The determining of the total system inertia and the total system damping according to the second torque data and the second speed data further includes: The total inertia of the system and the total damping of the system, as well as the positive load side force and the reverse load side force are determined according to the second torque data and the second speed data and a preset kinematics formula.

4. The method for identifying parameters of a dual-inertia system with gap according to claim 3, characterized in that: The method further comprises: Based on the motor side inertia, the motor side damping, the load side inertia, the load side damping, the positive load side force, the reverse load side force, the gap and a preset initial transmission shaft stiffness value, the control system operates through a preset dual-inertia model.

5. The method for identifying parameters of a dual-inertia system with gap according to claim 4, characterized in that: The method further comprises: The transmission shaft stiffness value is adjusted to drive the motor to run and obtain a target transmission shaft stiffness value when the system vibration level is minimum.

6. The method for identifying parameters of a dual-inertia system with gap according to claim 1, characterized in that: The motor motion parameters include any one or a combination of the following parameters: motor current, motor speed and motor position.

7. A dual-inertia system parameter identification device with gap, characterized in that: The dual-inertia system parameter identification device with gap comprises: A drive command unit, used to drive the motor to rotate forward in one direction, and then drive the motor to reverse in a direction opposite to the one direction, and the reverse speed is greater than the forward speed; a parameter identification unit, used for acquiring the motor motion parameters during the reversal period, and determining the gap between the motor-side transmission part and the load-side transmission part according to the motor motion parameters; The parameter identification unit is further used to obtain the first torque data and the first speed data of the motor in the gap interval, and determine the system motor side inertia and the motor side damping according to the first torque data and the first speed data.

8. The dual-inertia system parameter identification device with gap as claimed in claim 7, characterized in that: The drive command unit is also used to drive the motor to rotate forward and reverse multiple times at a preset speed curve; The parameter identification unit is further used to obtain second torque data and second speed data of the motor, determine the total inertia of the system and the total damping of the system according to the second torque data and the second speed data; and determine the load side inertia according to the total inertia of the system and the motor side inertia; And / or, the load side damping is determined according to the total system damping and the motor side damping.

9. A parameter identification device, characterized in that: The parameter identification device includes: a memory, a processor, and a dual-inertia system parameter identification program with gap stored in the memory and running on the processor. When the dual-inertia system parameter identification program with gap is executed by the processor, the steps of the dual-inertia system parameter identification method with gap described in any one of claims 1-6 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a dual-inertia system parameter identification program with a gap, and when the dual-inertia system parameter identification program with a gap is executed by a processor, the steps of the dual-inertia system parameter identification method with a gap described in any one of claims 1-6 are implemented.

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