A load motor control method and system

Abstract

The application provides a load motor control method and system, the method comprises the following steps: collecting real-time position signals of the load motor, and converting the real-time position signals into corresponding target voltage signals, and transmitting the target voltage signals to a real-time simulation system; solving the target voltage signals by the real-time simulation system to generate corresponding torque control signals in real time, and converting the torque control signals into corresponding initial control voltage signals in real time through a preset converter; preprocessing the initial control voltage signals based on a preset rule to generate corresponding target control voltage signals in real time, and controlling the load motor according to the target control voltage signals. The application can accurately and effectively control the load motor, thereby eliminating the deviation and improving the test efficiency.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to a load motor control method and system. Background Technology

[0002] With the advancement of technology and the rapid development of the times, people have developed hybrid power systems consisting of drive motors and engines. Among them, the hybrid transmission controller is an important control component for the power output of hybrid vehicles. Therefore, the performance of the hybrid transmission controller directly affects the performance of the power output.

[0003] Existing hybrid transmissions and control systems require software and hardware development and testing before leaving the factory. Software development and testing are mainly completed through existing hardware-in-the-loop simulation systems. Specifically, during the testing process, the shifting mechanism and cooling system actuator motor inside the hybrid transmission need a load system to limit or act as resistance to balance the motor's movement. The transmission contains real mechanical components as loads. This solution uses a load motor to replace the real mechanical components and simulates the movement of the real mechanical components inside the transmission through load motor control, thereby conducting corresponding shifting tests and cooling system tests.

[0004] Furthermore, in practical applications, the control accuracy of the load motor directly affects the control accuracy of the hybrid transmission's shift motor and cooling motor. As a result, when the control of the load motor deviates, it can easily cause the shift motor inside the hybrid transmission to malfunction or experience shift timeouts. Moreover, the control of the load motor is easily affected by circuit system and voltage fluctuations, resulting in jitter and noise, which in turn reduces the control efficiency of the load motor and consequently reduces the testing efficiency of the hybrid transmission. Summary of the Invention

[0005] Based on this, the purpose of the present invention is to provide a load motor control method and system to solve the problem that deviations are prone to occur in the process of controlling the load motor in the prior art, which leads to the shift motor inside the hybrid transmission easily losing control and shifting timeout.

[0006] The first aspect of the present invention proposes: A load motor control method, wherein the method includes: The system acquires the real-time position signal of the load motor, converts the real-time position signal into a corresponding target voltage signal, and transmits the target voltage signal to the real-time simulation system accordingly. The target voltage signal is processed by the real-time simulation system to generate a corresponding torque control signal in real time, and the torque control signal is converted into a corresponding initial control voltage signal in real time by a preset converter. The initial control voltage signal is preprocessed based on preset rules to generate a corresponding target control voltage signal in real time, and the load motor is controlled according to the target control voltage signal.

[0007] The beneficial effects of this invention are as follows: by acquiring the real-time position signal of the load motor in real time, the current real-time position signal can be converted into a target voltage signal for subsequent analysis and processing. Based on this, the current target voltage signal can be processed in real time by the existing real-time simulation system, and the corresponding torque control signal can be calculated. Specifically, in order to facilitate subsequent control, the current torque control signal needs to be converted into a target control voltage signal that can be recognized by the controller, and the control of the current load motor can be completed, thereby eliminating deviations and improving test efficiency.

[0008] Furthermore, the step of processing the target voltage signal through the real-time simulation system to generate the corresponding torque control signal in real time includes: When the target voltage signal is detected to be input into the real-time simulation system, the target voltage signal is processed in real-time by the preset calculation algorithm inside the real-time simulation system in order to detect the target position corresponding to the load motor in real time. The first preset algorithm calculates in real time the inertial torque, frictional torque, and elastic torque generated by the load motor at the target position, and calculates the torque control signal in real time based on the inertial torque, frictional torque, and elastic torque.

[0009] Furthermore, the expression for the preset solution algorithm is:

[0010] in, : Load motor position, Voltage-position conversion constant, : Low voltage value at the location of the load motor : High voltage value at the location of the load motor Motor position offset constant.

[0011] Furthermore, the expression for the first preset algorithm is:

[0012] in, Inertial torque signal Friction torque signal : Elastic torque signal, T load Torque control signal;

[0013] in, : Moment of inertia of the load ( ), : Load angular velocity (rad / s);

[0014] in, Viscous damping coefficient ( ), : Load angular velocity (rad / s);

[0015] Among them, K s Torsional coefficient ( ), Angular displacement of the motor Angular displacement of the load motor.

[0016] Furthermore, the step of preprocessing the initial control voltage signal based on preset rules to generate the corresponding target control voltage signal in real time includes: When the initial control voltage signal is acquired in real time, the initial control voltage signal is filtered by the second preset algorithm to generate the corresponding intermediate control voltage signal in real time. The target control voltage signal is generated based on the intermediate control voltage signal.

[0017] Furthermore, the step of generating the target control voltage signal based on the intermediate control voltage signal includes: When the intermediate control voltage signal is acquired in real time, the intermediate control voltage signal is parsed and processed in real time to obtain the corresponding upper voltage limit and lower voltage limit respectively. Real-time determination of whether the lower voltage limit value meets the preset requirements; If it is determined in real time that the lower voltage limit has reached the preset requirement, the upper voltage limit and the lower voltage limit are immediately summed to calculate the corresponding target voltage value in real time, and the target control voltage signal is generated according to the target voltage value.

[0018] Furthermore, the expression for the second preset algorithm is: V=V t-1 +V PI +V remove_noise Among them, V t-1 Voltage value of the previous cycle, V PI : The voltage values ​​regulated by terms P and I, Vremove_noise : Noise reduction voltage value.

[0019] The second aspect of the present invention proposes: A load motor control system, wherein the system comprises: The acquisition module is used to acquire the real-time position signal of the load motor, convert the real-time position signal into a corresponding target voltage signal, and transmit the target voltage signal to the real-time simulation system accordingly. The conversion module is used to process the target voltage signal through the real-time simulation system to generate the corresponding torque control signal in real time, and to convert the torque control signal into the corresponding initial control voltage signal in real time through a preset converter. The control module is used to preprocess the initial control voltage signal based on preset rules to generate the corresponding target control voltage signal in real time, and to control the load motor according to the target control voltage signal.

[0020] Furthermore, the conversion module is specifically used for: When the target voltage signal is detected to be input into the real-time simulation system, the target voltage signal is processed in real-time by the preset calculation algorithm inside the real-time simulation system in order to detect the target position corresponding to the load motor in real time. The first preset algorithm calculates in real time the inertial torque, frictional torque, and elastic torque generated by the load motor at the target position, and calculates the torque control signal in real time based on the inertial torque, frictional torque, and elastic torque.

[0021] Furthermore, the expression for the preset solution algorithm is:

[0022] in, : Load motor position, Voltage-position conversion constant, : Low voltage value at the location of the load motor : High voltage value at the location of the load motor Motor position offset constant.

[0023] Furthermore, the expression for the first preset algorithm is:

[0024] in, Inertial torque signal Friction torque signal : Elastic torque signal, T load Torque control signal;

[0025] in, : Moment of inertia of the load ( ), : Load angular velocity (rad / s);

[0026] in, Viscous damping coefficient ( ), : Load angular velocity (rad / s);

[0027] Among them, K s Torsional coefficient ( ), Angular displacement of the motor Angular displacement of the load motor.

[0028] Furthermore, the control module is specifically used for: When the initial control voltage signal is acquired in real time, the initial control voltage signal is filtered by the second preset algorithm to generate the corresponding intermediate control voltage signal in real time. The target control voltage signal is generated based on the intermediate control voltage signal.

[0029] Furthermore, the control module is specifically used for: When the intermediate control voltage signal is acquired in real time, the intermediate control voltage signal is parsed and processed in real time to obtain the corresponding upper voltage limit and lower voltage limit respectively. Real-time determination of whether the lower voltage limit value meets the preset requirements; If it is determined in real time that the lower voltage limit has reached the preset requirement, the upper voltage limit and the lower voltage limit are immediately summed to calculate the corresponding target voltage value in real time, and the target control voltage signal is generated according to the target voltage value.

[0030] Furthermore, the expression for the second preset algorithm is: V=V t-1 +V PI +V remove_noise Among them, V t-1 Voltage value of the previous cycle, V PI : The voltage values ​​regulated by terms P and I, V remove_noise : Noise reduction voltage value.

[0031] The third aspect of the present invention proposes: A computer includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the load motor control method as described above.

[0032] The fourth aspect of the present invention proposes: A readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the load motor control method as described above.

[0033] Additional aspects and advantages 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. Attached Figure Description

[0034] Figure 1 A flowchart of the load motor control method provided in the first embodiment of the present invention; Figure 2 This is a structural block diagram of the load motor control system provided in the third embodiment of the present invention.

[0035] The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention. Detailed Implementation

[0036] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of the invention are illustrated in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0037] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0038] Unless otherwise defined, 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. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0039] Please see Figure 1The figure shows the load motor control method provided in the first embodiment of the present invention. The load motor control method provided in this embodiment can accurately and effectively complete the precise control of the load motor, thereby eliminating deviations and improving the testing efficiency.

[0040] Specifically, this embodiment provides: A load motor control method specifically includes the following steps: Step S10: Collect the real-time position signal of the load motor, convert the real-time position signal into a corresponding target voltage signal, and transmit the target voltage signal to the real-time simulation system accordingly; It should be noted that existing load motors require rotation during testing, and the test is completed during this rotation. Therefore, in practical applications, it is necessary to precisely control the rotation position of the load motor and eliminate control deviations to improve test accuracy. Specifically, in order to accurately and effectively control the load motor, this invention will collect the real-time position signal of the load motor. Based on this, in order to facilitate subsequent recognition and analysis by the processor, the current real-time position signal needs to be immediately converted into a target voltage signal that can be processed. At the same time, the target voltage signal is transmitted to the internal system of the existing real-time simulation system. It should be pointed out that this real-time simulation system is used to test hybrid transmissions for subsequent processing.

[0041] Step S20: The target voltage signal is processed by the real-time simulation system to generate a corresponding torque control signal in real time, and the torque control signal is converted into a corresponding initial control voltage signal in real time by a preset converter. It should be noted that after the target voltage signal is transmitted to the internal system of the real-time simulation system in real time using the above method, the target voltage signal can be processed by the algorithm pre-set within the real-time simulation system and converted into the corresponding torque control signal in real time. However, since the torque control signal cannot be directly identified and utilized, it needs to be converted into a control signal that can be adapted to the controller in real time. Specifically, this invention will input the current torque control signal into the internal system of the existing I / O board in real time and realize the real-time conversion processing of the current torque control signal. Specifically, it can be converted into the required initial control voltage signal in real time for subsequent processing.

[0042] Step S30: The initial control voltage signal is preprocessed based on preset rules to generate a corresponding target control voltage signal in real time, and the load motor is controlled according to the target control voltage signal.

[0043] It should be noted that after obtaining the required initial control voltage signal in real time through the above steps, in order to prevent the load motor from jittering and to avoid interference from external signals, the present invention will immediately preprocess the current initial control voltage signal according to pre-set rules. Specifically, the preprocessing may include specific filtering and anti-jitter processing. Based on this, it can be processed into the final target control voltage signal, and the target control voltage signal is transmitted to the controller in real time. Finally, the movement of the load motor is controlled according to the voltage information of the target control voltage signal, which can eliminate the generation of control deviation and improve the testing efficiency.

[0044] Second Embodiment Furthermore, the step of processing the target voltage signal through the real-time simulation system to generate the corresponding torque control signal in real time includes: When the target voltage signal is detected to be input into the real-time simulation system, the target voltage signal is processed in real-time by the preset calculation algorithm inside the real-time simulation system in order to detect the target position corresponding to the load motor in real time. The first preset algorithm calculates in real time the inertial torque, frictional torque, and elastic torque generated by the load motor at the target position, and calculates the torque control signal in real time based on the inertial torque, frictional torque, and elastic torque.

[0045] It should be noted that after the target voltage signal is input into the real-time simulation system through the above steps, the algorithm calculation module will then be entered. At the same time, the current target voltage signal will be processed in real time through the calculation algorithm, so that the target position of the load motor can be calculated immediately based on the current target voltage signal. Based on this, using the current target position as the calculation basis, the present invention can immediately calculate the inertial torque, friction torque and elastic torque generated by the current load motor at the current target position through the set first preset algorithm, and immediately integrate the three torque signals in real time to calculate the torque control signal for subsequent processing.

[0046] Furthermore, the expression for the preset solution algorithm is:

[0047] in, : Load motor position, Voltage-position conversion constant, : Low voltage value at the location of the load motor : High voltage value at the location of the load motor Motor position offset constant.

[0048] Furthermore, the expression for the first preset algorithm is:

[0049] in, Inertial torque signal Friction torque signal : Elastic torque signal, T load Torque control signal;

[0050] in, : Moment of inertia of the load ( ), : Load angular velocity (rad / s);

[0051] in, Viscous damping coefficient ( ), : Load angular velocity (rad / s);

[0052] Among them, K s Torsional coefficient ( ), Angular displacement of the motor Angular displacement of the load motor.

[0053] Furthermore, the step of preprocessing the initial control voltage signal based on preset rules to generate the corresponding target control voltage signal in real time includes: When the initial control voltage signal is acquired in real time, the initial control voltage signal is filtered by the second preset algorithm to generate the corresponding intermediate control voltage signal in real time. The target control voltage signal is generated based on the intermediate control voltage signal.

[0054] It should be noted that after obtaining the required initial control voltage signal in real time through the above steps, in order to objectively and effectively complete the preprocessing of the current initial control voltage signal, the present invention will sequentially perform filtering and jitter removal operations on the current initial control voltage signal. Specifically, the present invention can first perform real-time filtering processing on the current initial control voltage signal through the following second preset algorithm, and can filter it into the required intermediate control voltage signal accordingly. Based on this, the jitter removal operation is immediately performed on the current intermediate control voltage signal to generate the target control voltage signal mentioned above for subsequent processing.

[0055] Furthermore, the step of generating the target control voltage signal based on the intermediate control voltage signal includes: When the intermediate control voltage signal is acquired in real time, the intermediate control voltage signal is parsed and processed in real time to obtain the corresponding upper voltage limit and lower voltage limit respectively. Real-time determination of whether the lower voltage limit value meets the preset requirements; If it is determined in real time that the lower voltage limit has reached the preset requirement, the upper voltage limit and the lower voltage limit are immediately summed to calculate the corresponding target voltage value in real time, and the target control voltage signal is generated according to the target voltage value.

[0056] It should be noted that after obtaining the required intermediate control voltage signal in real time through the above steps, further jitter removal is needed to prevent jittering in the load motor. Therefore, this invention performs real-time analysis of the current intermediate control voltage signal, simultaneously resolving the upper and lower voltage limits contained within it. It's important to note that in existing motor control technology, the upper voltage limit can only be calculated after the lower voltage limit has accumulated. Specifically, if the upper voltage limit is processed before the lower voltage limit has accumulated, it will cause… The load motor exhibits vibration and noise. To prevent this, the present invention continuously checks whether the detected lower voltage limit has reached a preset requirement. Specifically, it checks whether the current lower voltage limit has reached its maximum value. If so, it immediately sums the current upper and lower voltage limits to calculate the corresponding target voltage value. Based on this, the target voltage value is then converted into the required target control voltage signal in real time. Conversely, if not, the upper voltage limit cannot be processed. Subsequent operations can only be performed after the current lower voltage limit has reached its maximum value to facilitate subsequent processing.

[0057] Furthermore, the expression for the second preset algorithm is: V=V t-1 +V PI +V remove_noise Among them, V t-1 Voltage value of the previous cycle, V PI : The voltage values ​​regulated by terms P and I, V remove_noise : Noise reduction voltage value.

[0058] Please see Figure 2 The third embodiment of the present invention provides: A load motor control system, wherein the system comprises: The acquisition module is used to acquire the real-time position signal of the load motor, convert the real-time position signal into a corresponding target voltage signal, and transmit the target voltage signal to the real-time simulation system accordingly. The conversion module is used to process the target voltage signal through the real-time simulation system to generate the corresponding torque control signal in real time, and to convert the torque control signal into the corresponding initial control voltage signal in real time through a preset converter. The control module is used to preprocess the initial control voltage signal based on preset rules to generate the corresponding target control voltage signal in real time, and to control the load motor according to the target control voltage signal.

[0059] Furthermore, the conversion module is specifically used for: When the target voltage signal is detected to be input into the real-time simulation system, the target voltage signal is processed in real-time by the preset calculation algorithm inside the real-time simulation system in order to detect the target position corresponding to the load motor in real time. The first preset algorithm calculates in real time the inertial torque, frictional torque, and elastic torque generated by the load motor at the target position, and calculates the torque control signal in real time based on the inertial torque, frictional torque, and elastic torque.

[0060] Furthermore, the expression for the preset solution algorithm is:

[0061] in, : Load motor position, Voltage-position conversion constant, : Low voltage value at the location of the load motor : High voltage value at the location of the load motor Motor position offset constant.

[0062] Furthermore, the expression for the first preset algorithm is:

[0063] in, Inertial torque signal Friction torque signal : Elastic torque signal, T load Torque control signal;

[0064] in, : Moment of inertia of the load ( ), : Load angular velocity (rad / s);

[0065] in, Viscous damping coefficient ( ), : Load angular velocity (rad / s);

[0066] Among them, K s Torsional coefficient ( ), Angular displacement of the motor Angular displacement of the load motor.

[0067] Furthermore, the control module is specifically used for: When the initial control voltage signal is acquired in real time, the initial control voltage signal is filtered by the second preset algorithm to generate the corresponding intermediate control voltage signal in real time. The target control voltage signal is generated based on the intermediate control voltage signal.

[0068] Furthermore, the control module is specifically used for: When the intermediate control voltage signal is acquired in real time, the intermediate control voltage signal is parsed and processed in real time to obtain the corresponding upper voltage limit and lower voltage limit respectively. Real-time determination of whether the lower voltage limit value meets the preset requirements; If it is determined in real time that the lower voltage limit has reached the preset requirement, the upper voltage limit and the lower voltage limit are immediately summed to calculate the corresponding target voltage value in real time, and the target control voltage signal is generated according to the target voltage value.

[0069] Furthermore, the expression for the second preset algorithm is: V=Vt-1 +V PI +V remove_noise Among them, V t-1 Voltage value of the previous cycle, V PI : The voltage values ​​regulated by terms P and I, V remove_noise : Noise reduction voltage value.

[0070] The fourth embodiment of the present invention provides a computer, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the load motor control method as described above.

[0071] The fifth embodiment of the present invention provides a readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the load motor control method as described above.

[0072] In summary, the load motor control method and system provided in the above embodiments of the present invention can accurately and effectively control the load motor, while eliminating control deviations and thus improving testing efficiency.

[0073] It should be noted that the above modules can be functional modules or program modules, and can be implemented through software or hardware. For modules implemented through hardware, the above modules can reside in the same processor; or the above modules can be located in different processors in any combination.

[0074] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-including system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0075] More specific examples of computer-readable media (a non-exhaustive list) include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0076] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0077] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0078] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A load motor control method, characterized in that, The method includes: The system acquires the real-time position signal of the load motor, converts the real-time position signal into a corresponding target voltage signal, and transmits the target voltage signal to the real-time simulation system accordingly. The target voltage signal is processed by the real-time simulation system to generate a corresponding torque control signal in real time, and the torque control signal is converted into a corresponding initial control voltage signal in real time by a preset converter. The initial control voltage signal is preprocessed based on preset rules to generate a corresponding target control voltage signal in real time, and the load motor is controlled according to the target control voltage signal. The step of preprocessing the initial control voltage signal based on preset rules to generate the corresponding target control voltage signal in real time includes: When the initial control voltage signal is acquired in real time, the initial control voltage signal is filtered by the second preset algorithm to generate the corresponding intermediate control voltage signal in real time. The target control voltage signal is generated based on the intermediate control voltage signal. The step of generating the target control voltage signal based on the intermediate control voltage signal includes: When the intermediate control voltage signal is acquired in real time, the intermediate control voltage signal is parsed and processed in real time to obtain the corresponding upper voltage limit and lower voltage limit respectively. Real-time determination of whether the lower voltage limit value meets the preset requirements; If it is determined in real time that the lower voltage limit has reached the preset requirement, the upper voltage limit and the lower voltage limit are immediately summed to calculate the corresponding target voltage value in real time, and the target control voltage signal is generated according to the target voltage value.

2. The load motor control method according to claim 1, characterized in that: The step of processing the target voltage signal through the real-time simulation system to generate the corresponding torque control signal in real time includes: When the target voltage signal is detected to be input into the real-time simulation system, the target voltage signal is processed in real-time by the preset calculation algorithm inside the real-time simulation system in order to detect the target position corresponding to the load motor in real time. The first preset algorithm calculates in real time the inertial torque, frictional torque, and elastic torque generated by the load motor at the target position, and calculates the torque control signal in real time based on the inertial torque, frictional torque, and elastic torque.

3. The load motor control method according to claim 1, characterized in that: The expression for the second preset algorithm is: V=V t-1 +V PI +V remove_noise Among them, V t-1 Voltage value of the previous cycle, V PI : The voltage values ​​regulated by terms P and I, V remove_noise : Noise reduction voltage value, V represents the intermediate control voltage signal.

4. A load motor control system, characterized in that, The system for implementing the load motor control method as described in any one of claims 1 to 3 includes: The acquisition module is used to acquire the real-time position signal of the load motor, convert the real-time position signal into a corresponding target voltage signal, and transmit the target voltage signal to the real-time simulation system accordingly. The conversion module is used to process the target voltage signal through the real-time simulation system to generate the corresponding torque control signal in real time, and to convert the torque control signal into the corresponding initial control voltage signal in real time through a preset converter. The control module is used to preprocess the initial control voltage signal based on preset rules to generate the corresponding target control voltage signal in real time, and to control the load motor according to the target control voltage signal.

5. A computer, 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 computer program, it implements the load motor control method as described in any one of claims 1 to 3.

6. A readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the load motor control method as described in any one of claims 1 to 3.

Images