A motor control method and system based on physical inertia compensation

Abstract

The application discloses a motor control method and system based on physical inertia compensation, and the core principle is that active inertia determines response speed and passive inertia determines stability, and the steps are as follows: S1, calibrating reference parameters and collecting related data; S2, preprocessing data and calculating load inertia and deviation value; S3, solving target compensation inertia and corresponding parameters; S4, realizing targeted physical compensation through double compensation units; S5, verifying compensation effect; S6, forming double closed-loop control; S7, optimizing compensation model; and S8, triggering emergency protection when faults occur. The method takes active inertia determining response speed and passive inertia determining stability as the core, obtains reference parameters through three-level calibration of no-load, load and online, and realizes targeted physical compensation of active inertia and passive inertia through double compensation units through preprocessing, deviation calculation and target compensation calculation. In combination with feedback verification and double closed-loop control, the compensation precision is ensured. And through database optimization model and fault emergency strategy, the system reliability is improved.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to a motor control method and system based on physical inertia compensation. Background Technology

[0002] With the rapid development of industrial automation and intelligence, motors, as core power components, are widely used in various mechanical equipment. In actual operation, the load inertia of a motor often dynamically adjusts with changing working conditions. Examples include load switching during robot joint movement, load fluctuations during acceleration and deceleration of electric vehicles, load changes during precision machine tool processing, and high-frequency oscillations during simulated racing car steering wheel operation. In high-speed, high-frequency operating environments, low-inertia motors, while possessing high-speed response, lack sufficient stability to suppress motion oscillations. Conversely, high-inertia motors, while possessing sufficient stability to suppress motion oscillations, suffer from sluggish response, a persistent and difficult-to-solve problem.

[0003] In multi-motor collaborative operation scenarios, the synchronous operation of two motors is becoming increasingly common. In this scenario, there are special inertia characteristics: active inertia does not produce a superposition effect, while passive inertia will exhibit a doubling characteristic. This characteristic makes the matching relationship between motor inertia and load more complex, further aggravating the control problems caused by inertia mismatch.

[0004] In existing motor control technologies, most solutions to inertia mismatch problems employ algorithm-level compensation methods, such as inertia identification and algorithm compensation based on model reference adaptation and recursive least squares. These methods indirectly achieve inertia matching by correcting motor drive parameters through software algorithms. However, these methods have significant drawbacks: Firstly, algorithm compensation relies on precise mathematical models, but the nonlinearity and uncertainty of the load in actual operating conditions, coupled with the special variation patterns of active / passive inertia during multi-motor synchronous operation, can lead to a substantial increase in model errors, severely limiting compensation accuracy. Secondly, algorithm compensation is indirect and cannot change the motor's output inertia at the physical level. When the load inertia changes abruptly or the inertia characteristics of multi-motor synchronous operation change, the compensation response lags, easily leading to increased motor vibration and noise, and even control instability.

[0005] More importantly, existing technologies do not clearly distinguish the functional differences between active and passive inertia in motors. Active inertia is the core inertia component at the motor output end used to respond to load changes and determine the motor's response speed. The smaller the active inertia, the faster the motor's response speed, and vice versa. Passive inertia is the core inertia component of the motor body and transmission mechanism used to maintain stable operation and determine the motor's stability. The larger the passive inertia, the smoother the motor operation and the stronger its anti-interference ability, and vice versa, it is prone to vibration and instability. At the same time, existing technologies also fail to take into account the special rule that active inertia does not superimpose and passive inertia doubles when multiple motors operate synchronously, and cannot make adaptive adjustments for inertia changes under this operating condition. Existing compensation technologies mostly adopt a single inertia compensation mode, which cannot provide targeted compensation for the different functional requirements of active and passive inertia, nor can they adapt to the special inertia characteristics of multiple motors operating synchronously. This results in a trade-off between motor response speed and operational stability: if the focus is on improving response speed, the amount of inertia compensation will be reduced, leading to a decrease in stability; if the focus is on improving stability, the amount of inertia compensation will be increased, leading to a slower response speed. This contradiction is even more prominent under multi-motor synchronous operation, making it difficult to meet the high-precision control requirements under complex operating conditions.

[0006] Furthermore, some existing technologies increase motor inertia using a fixed inertia disk, but this method cannot achieve dynamic adjustment, can only adapt to specific load conditions, has poor versatility, and cannot cope with the dynamic changes of passive inertia doubling when multiple motors are running synchronously. Other technologies use electromagnetic coupling to adjust inertia, but this has problems such as limited compensation strength, high energy consumption, and complex structure. It also fails to distinguish between active and passive inertia, and does not consider the inertia characteristics of multiple motors running synchronously, making it impossible to simultaneously optimize response speed and stability. At the same time, most existing inertia compensation technologies do not consider inertia identification errors under low acceleration conditions, nor the problem of inertia compensation failing to converge under loading conditions. They also lack comprehensive active / passive inertia calibration methods and fault emergency strategies, further limiting their practical application scope.

[0007] Therefore, a motor control method and system based on physical inertia compensation is proposed to solve the above problems. Summary of the Invention

[0008] This invention overcomes the shortcomings of the prior art and provides a motor control method and system based on physical inertia compensation.

[0009] To achieve the above objectives, the technical solution adopted by this invention is as follows: a motor control method based on physical inertia compensation, which is based on the core principle that the active inertia of the motor determines the response speed and the passive inertia determines the stability. The method involves targeted physical compensation of the active and passive inertia, including the following steps: Based on the core principle that the active inertia of a motor determines its response speed and the passive inertia determines its stability, adjustable inertia is created by adjusting the rotational speed difference of the motor via a gear inertia disk. Targeted physical compensation is then performed on the active and passive inertia, including the following steps: S1. Reference Calibration and Data Acquisition: The system's inertia differentiation calculation module calibrates the motor's active and passive inertia reference parameters offline and stores them in the storage module. The system also collects motor operating parameters, load inertia data, and real-time status data of the motor's active and passive inertia in real time. The motor operating parameters include speed, torque, current, voltage, and acceleration; the load inertia data includes mass, size, shape, and speed. The active inertia is the inertia component at the motor output end used to respond to load changes and determine the response speed, while the passive inertia is the inertia component of the motor body and transmission mechanism used to maintain smooth operation and determine stability. S2. Data preprocessing and deviation calculation: Preprocess the collected data, remove abnormal data, calculate the real-time load inertia value, and determine the active inertia deviation value and passive inertia deviation value respectively by combining the reference parameters calibrated in step S1. S3. Target Compensation Amount and Parameter Calculation: Based on the principle of physical inertia compensation, the target active compensation inertia and corresponding active compensation parameters are calculated according to the active inertia deviation value, motor response speed requirements and preset control accuracy. Based on the passive inertia deviation value, motor operation stability requirements and preset control accuracy, calculate the target passive compensation inertia and the corresponding passive compensation parameters. The active compensation parameters include compensation response speed and compensation strength, and the passive compensation parameters include compensation stability and compensation duration. S4. Targeted physical compensation: Control the physical inertia compensation mechanism, and form an adjustable inertia by adjusting the rotation speed difference of the gear inertia disk motor. Compensate for active inertia and passive inertia respectively. Output the active and passive physical inertia compensation amount according to the target compensation inertia and corresponding parameters, optimize the motor response speed, improve the operation stability, and achieve initial inertia matching. S5. Compensation effect verification: The compensation effect data is collected in real time through the feedback adjustment module, and the active and passive inertia deviation values ​​after compensation are calculated respectively to determine whether both are within their respective preset error ranges. S6. Closed-loop control adjustment: If both deviation values ​​meet the standard, maintain the current compensation and drive parameters; if either deviation value exceeds the standard, return to step S3 to recalculate and adjust the compensation output to form a dual closed-loop control of active and passive inertia. S7. Compensation Model Optimization: Collect multiple compensation-related data to establish a compensation database, and optimize the target active and passive compensation inertia calculation models based on the database to simultaneously improve the matching accuracy of the two. S8. Fault Emergency Protection: The fault detection unit built into the physical inertia compensation module monitors the operating status of the compensation mechanism. When a fault is detected, an emergency switching strategy is triggered to ensure the temporary stable operation of the motor and avoid equipment damage.

[0010] In a preferred embodiment of the present invention, the offline calibration method for the reference parameters of the motor's active inertia and passive inertia in step S1 is as follows: S11. No-load calibration: Run the motor under no-load and collect inertia data from the active inertia acquisition area at the motor output end and the passive inertia acquisition area of ​​the motor body through the inertia sensor. Collect 10-20 sets of data continuously and take the average value as the initial reference value. S12, Load Calibration: Apply 50%, 75%, and 100% of the rated load respectively, repeat the acquisition process of step S11, calculate the inertia deviation under different loads, correct the initial reference value, obtain the active inertia and passive inertia reference parameters under different load conditions, and store them in the storage module. S13. Online calibration: Every 24 hours of operation, the reference parameters are calibrated based on the real-time collected inertia data to ensure calibration accuracy, with a calibration error ≤ ±1%.

[0011] In a preferred embodiment of the present invention, the method for calculating the real-time inertia value of the load in step S2 includes: If the load shape is axisymmetric, the formula is used. Calculation, where This represents the real-time inertia value of the load. For load quality, R is the load dimension, and R is the shape factor preset according to the specific type of axisymmetric load; If the load shape is non-axisymmetric, the load is modeled in advance using finite element analysis software, the mesh is divided and the mass distribution is defined, the rotational torque is applied and the load reference inertia is obtained. Combined with the real-time collected load rotation speed and acceleration, the real-time load inertia value is corrected to obtain the load real-time inertia value. The active inertia deviation value = |load real-time inertia value × response weighting coefficient - motor active inertia reference value| is used to quantify the matching deviation between the motor active inertia and the load response requirements. The passive inertia deviation value = |load real-time inertia value × stability weight coefficient - motor passive inertia reference value| is used to quantify the matching deviation between the motor passive inertia and the load stability requirements. The response weight coefficient and stability weight coefficient are preset according to the motor operating conditions, and the sum of the two is 1, to ensure a targeted balance between active and passive compensation.

[0012] In a preferred embodiment of the present invention, the calculation method for the target active compensation inertia and the target passive compensation inertia in step S3 is designed as follows: ,in, Active inertia compensation is used to precisely compensate for active inertia deviations and improve motor response speed. Here, k is the real-time inertia value of the load, and k1 is the response weighting coefficient. This is the reference parameter for the motor's active inertia. The active inertia reference threshold; ,in The passive inertia is used to accurately compensate for passive inertia deviations and improve motor operating stability. k2 is a stability weighting coefficient. This is the reference parameter for the passive inertia of the motor. The passive inertia reference threshold; where the active inertia reference threshold is... Passive inertia reference threshold .

[0013] In a preferred embodiment of the present invention, in step S4, the physical inertia compensation mechanism adopts an active and passive dual compensation unit design, respectively corresponding to the targeted compensation needs of active and passive inertia. The two are independently controlled and work together to ensure targeted compensation and no interference between them. The active compensation unit adopts a high-speed response adjustable inertia disk structure, which is specially adapted to the response speed compensation requirements of active inertia. It controls the rotation speed of the gear inertia disk motor through the servo drive component, quickly changes the motor's operating inertia, and outputs the active physical inertia compensation amount. The servo drive component has a response time of ≤30ms, an adjustment range of 0.01-0.1kg·m², and an adjustment accuracy of ≤±0.008kg·m², ensuring rapid matching of response speed requirements. The passive compensation unit adopts a gear inertia disk speed reduction algorithm, which is specially adapted to the stability compensation requirements of passive inertia. The electromagnetic drive component controls the difference in rotational speed between the inertia disk and the gear inertia disk, and smoothly adjusts the output passive physical inertia compensation amount. The adjustment accuracy of the electromagnetic drive component is ≤±0.005kg·m², ensuring smooth motor operation and avoiding interference with the motor response speed.

[0014] In a preferred embodiment of the present invention, in step S5, the feedback adjustment module collects data and verifies deviations for the compensation effects of active and passive inertia, specifically as follows: The system employs an encoder, torque sensor, inertia sensor, and vibration sensor to collaboratively acquire data at a frequency ≥100Hz and a data transmission delay ≤10ms. The preset error range for the active inertia deviation is ±3%, and the preset error range for the passive inertia deviation is ±5%. The required parameters for the compensated effect under different working conditions are as follows: High-speed response conditions: response delay ≤35ms, vibration amplitude ≤0.08mm, energy consumption reduction ≥15%; Stable operating conditions: response delay ≤50ms, vibration amplitude ≤0.05mm, energy consumption reduction ≥12%; Under sudden load conditions (load change rate ≥ 50% / s, load change range is 30%-100% of rated load): response delay ≤ 40ms, vibration amplitude ≤ 0.1mm, compensation convergence time ≤ 100ms.

[0015] In a preferred embodiment of the present invention, in step S8, the emergency switching strategy specifically includes: When a fault is detected in the active compensation unit, the compensation amount of the passive compensation unit is temporarily increased, and the motor operating speed is reduced to 70%-80% of the rated speed to maintain the basic operating stability of the motor. When a fault is detected in the passive compensation unit, the compensation amount of the active compensation unit is temporarily reduced to improve the motor response sensitivity, while the motor load is reduced to below 60% of the rated load to avoid increased vibration. When both compensation units fail, the control motor will slowly stop and an emergency alarm signal will be issued.

[0016] Another technical solution adopted in this invention is a motor control system based on physical inertia compensation, used to implement the control method described above. Based on the core principle that the motor's active inertia determines the response speed and passive inertia determines the stability, a targeted dual compensation unit and a distinguishing calculation module are set up. Adjustable inertia is formed by adjusting the rotational speed difference of the gear inertia disk motor, achieving targeted compensation of active and passive inertia, including: Data acquisition module: Used to collect motor operating parameters, load inertia data and real-time status data of motor active and passive inertia in real time, including encoder, torque sensor, current sensor, voltage sensor, inertia sensor and vibration sensor; among them, the inertia sensor collects active and passive inertia status in sections, and the vibration sensor monitors passive compensation stability. Data preprocessing module: Connects to the data acquisition module, filters, denoises, and removes outliers from the acquired data, and outputs valid data to provide a basis for inertia differentiation calculation and targeted compensation; Inertia Differentiation Calculation Module: Connects to the data preprocessing module, distinguishes between active and passive inertia states, calculates the real-time load inertia value, the deviation value between the two types of inertia, the target compensation inertia, and compensation parameters, and has a built-in calibration algorithm to complete the offline calibration and online calibration of the reference parameters; Physical inertia compensation module: Connects to the inertia differentiation and calculation module and the inertia compensation unit. It generates adjustable inertia by adjusting the rotational speed difference of the gear inertia disk motor, receives compensation parameters and outputs the corresponding compensation amount; it has a built-in fault detection unit to monitor the operating status of the compensation unit and trigger an emergency switching strategy. Drive control module: Connects to the inertia differentiation calculation module and the physical inertia compensation module respectively. Based on the target compensation inertia and motor operating parameters, it adjusts the motor drive current, voltage and speed to adapt to the compensation requirements and ensure that the compensation effect meets the standards. Feedback adjustment module: It is connected to the drive control module and the data acquisition module respectively. It collects relevant data after compensation, calculates the two types of inertia deviation values ​​after compensation and feeds them back to the inertia differentiation calculation module to form a dual closed-loop control to ensure compensation accuracy. Storage module: Connects the inertia differentiation calculation module and the feedback adjustment module, and stores the reference parameters, load data, compensation parameters, compensation database and optimized calculation model, providing data support for compensation optimization; Performance monitoring module and alarm module: The performance monitoring module is connected to the feedback adjustment module to monitor the motor response speed and operating stability and record relevant data; the alarm module is connected to the performance monitoring module and the feedback adjustment module to issue an alarm and trigger the emergency protection mechanism in case of abnormality.

[0017] In a preferred embodiment of the present invention, the inertia compensation unit in the physical inertia compensation module is structurally designed to meet its respective compensation requirements, and an adjustable inertia is formed by adjusting the speed difference between the gear inertia disk motor and the inertia disk motor. The adjustable inertia disk of the active compensation unit is movably connected to the motor shaft through a high-speed bearing. The friction disk is fixedly set at the output end of the motor shaft. The servo drive component is connected to the adjustable inertia disk and the gear inertia disk motor to quickly adjust the rotation speed difference of the gear inertia disk motor, realize the rapid contact or separation of the inertia disk and the friction disk, and accurately adjust the active physical inertia compensation amount. The adjustable inertia disk of the passive compensation unit is movably connected to the motor shaft through a damping bearing. The friction disk is fixedly installed on the side of the motor shaft body. The electromagnetic drive component connects the adjustable inertia disk and the gear inertia disk motor to smoothly adjust the speed difference of the gear inertia disk motor, control the contact pressure between the inertia disk and the friction disk, and slowly adjust the passive physical inertia compensation amount.

[0018] In a preferred embodiment of the present invention, the inertia differentiation calculation module adopts a dual-core microprocessor, which corresponds to the targeted calculation needs of active and passive inertia respectively. It integrates active inertia calculation algorithm and passive inertia calculation algorithm respectively, and can optimize the calculation accuracy of target active and passive compensation inertia in real time according to the compensation database, providing accurate parameters for adjusting the speed difference of the gear inertia disk motor. The active inertia calculation response time is ≤20ms, and the passive inertia calculation response time is ≤30ms; the microprocessor adopts the ARM architecture.

[0019] This invention addresses the shortcomings of the prior art and has the following beneficial effects: (1) This invention improves the offline calibration and online calibration method for active / passive inertia reference parameters. By combining no-load calibration and load calibration with online calibration, the accuracy of the reference parameters is ensured, providing a reliable basis for targeted compensation. This is different from the defects of the existing technology, such as vague reference parameters and lack of standardized calibration process, and improves the compensation accuracy.

[0020] The structure design adopts independent control and collaborative operation of active and passive compensation units. The structural parameters and adjustment range of each compensation unit are clearly defined. The active compensation unit focuses on rapid response, while the passive compensation unit focuses on stable operation. Both are adapted to their respective functional requirements, resulting in higher compensation accuracy and faster response speed. This effectively avoids vibration, increased noise, and control instability of the motor when the load inertia changes abruptly, while also avoiding mutual interference on response speed or stability during the compensation process.

[0021] The invention supplements experimental data on compensation effects under different operating conditions, clarifies key parameters such as response delay, vibration amplitude, and energy consumption reduction under scenarios such as high-speed response, stable operation, and sudden load changes, and intuitively verifies the superiority of the technical effect of the invention, exceeding the conventional expectations of those skilled in the art and further enhancing its inventiveness.

[0022] (2) The present invention refines the fault emergency switching strategy and designs differentiated emergency schemes for different fault scenarios of active and passive compensation units to ensure that the motor can temporarily operate stably or stop safely when the compensation unit fails, avoid equipment damage, improve the reliability and safety of the system, and enhance industrial applicability.

[0023] By combining a closed-loop control strategy, the feedback adjustment module collects the compensated data in real time and corrects the active and passive compensation parameters respectively, ensuring that the matching accuracy of active inertia, passive inertia and load inertia always meets the preset requirements. At the same time, it reduces motor energy consumption and improves motor operating efficiency and service life. Different inertia calculation methods are adopted for loads of different shapes. In particular, for non-axisymmetric loads, finite element modeling combined with real-time correction is used to improve the accuracy of load inertia calculation and solve the problem of large calculation errors for complex loads in existing technologies. It is also adapted to low acceleration and loading conditions, expanding the application range.

[0024] (3) The system structure of the present invention is reasonably designed, each module has a clear function and works together, can accurately distinguish between active and passive inertia, monitor the motor response speed and stability in real time, and has fault alarm and emergency protection functions. It has high reliability and is easy to implement in engineering and promote application. Attached Figure Description

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments; Figure 1 This is a flowchart of a preferred embodiment of the motor control method based on physical inertia compensation of the present invention; Figure 2 This is another flowchart of a preferred embodiment of the motor control method based on physical inertia compensation of the present invention; Figure 3 This is a preferred embodiment of the motor control system architecture based on physical inertia compensation of the present invention; Figure 4 This is a logic diagram of a motor control system based on physical inertia compensation according to a preferred embodiment of the present invention. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] 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 it can be fixed through another intermediate component. When a component is said to be "connected to" another component, it can be directly connected to the other component or it may be fixed through another intermediate component. When a component is said to be "set on" another component, it can be set directly on the other component or it may be set through another intermediate component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0028] 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 specification of this 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.

[0029] Example 1: Motor Control Method Based on Physical Inertia Compensation I. Experimental Environment and Hardware Parameters Motor model: Permanent magnet synchronous motor (rated power 5kW, rated speed 3000r / min, rated torque 15.9N・m); Data acquisition modules include: encoder (model E6B2-CWZ6C, 1024 lines resolution), torque sensor (model TQ-100, measurement range 0-100 N·m, accuracy ±0.1%), current sensor (model ACS712, measurement range 0-20 A), voltage sensor (model LV25-P, input 0-380 V), inertia sensor (model IMU-6050, measurement range ±2000° / s), and vibration sensor (model ADXL345, measurement range ±16 g). Physical inertia compensation mechanism: active compensation unit (servo drive component model SG90, adjustable inertia disk and gear inertia disk motor linkage design, adjustable inertia disk mass 0.3kg), passive compensation unit (electromagnetic drive component model MFZ1-2.5, adjustable inertia disk and gear inertia disk motor linkage design, adjustable inertia disk mass 0.6kg). Control core: Inertia differentiation calculation module (dual-core ARM Cortex-A9 microprocessor, 1GHz main frequency, which can provide accurate calculation parameters for the speed difference adjustment of the gear inertia disk motor). Load parameters: load mass 5kg, dimensions (diameter 0.2m, length 0.3m), cylindrical shape (axisymmetric), load speed synchronized with motor speed.

[0030] II. Method Implementation Steps (e.g.) Figure 1-2 (As shown) S1. Benchmark Calibration and Data Acquisition Offline calibration: S11. No-load calibration: Run the motor under no-load and collect inertia data from the motor output end (active inertia acquisition area) and the motor body (passive inertia acquisition area) through inertia sensors. Collect 15 sets of data continuously. The average value of the active inertia data is 0.03 kg·m², and the average value of the passive inertia data is 0.07 kg·m², which are used as the initial reference values. S12, Load Calibration: Apply 50% (7.95 N·m), 75% (11.93 N·m), and 100% (15.9 N·m) of the rated load respectively, repeat the data acquisition process in S11, calculate the inertia deviation under different loads, and obtain the following after correction: active inertia reference parameter 0.032 kg·m² and passive inertia reference parameter 0.073 kg·m² at 50% load; active inertia reference parameter 0.035 kg·m² and passive inertia reference parameter 0.075 kg·m² at 75% load; active inertia reference parameter 0.038 kg·m² and passive inertia reference parameter 0.078 kg·m² at 100% load, and store them to the SD card storage module; S13. Online calibration: Set to automatically calibrate every 24 hours of operation, with a calibration error ≤ ±1%.

[0031] Real-time data collection: The motor speed was 2000 r / min and the acceleration was 15 rad / s², which were collected by the encoder. The motor torque was 11.93 N·m (75% rated load) obtained by the torque sensor. The drive current of 8A is collected by a current sensor, and the drive voltage of 380V is collected by a voltage sensor. The system uses a vision sensor to collect data on the load's mass (5kg), dimensions (0.2m in diameter), shape (cylindrical), and rotation speed (2000r / min). The real-time values ​​of active inertia (0.034 kg·m²) and passive inertia (0.074 kg·m²) were collected using an inertial sensor.

[0032] S2. Data Preprocessing and Deviation Calculation Data preprocessing: The Kalman filter algorithm was used to filter and denoise the collected data, and one set of abnormal current data (9.8A) was removed by the 3σ criterion. Real-time load inertia calculation: The load is an axisymmetric cylinder, using the formula... Where R = 0.5 (preset shape factor for cylinder), Given FZL_i = 5kg and FCC_i = 0.2m, calculate FZG. i =0.5×5×0.2 2 =0.1kg・m 2 ; Deviation calculation: Set the high-speed response weighting coefficient k1=0.6 and the stability weighting coefficient k2=0.4 (the sum of the two is 1), and combine them with the baseline parameters under 75% load: Active inertia deviation = |0.1×0.6-0.035| = 0.025 kg・m²; Passive inertia deviation value = |0.1×0.4-0.075| = 0.035 kg・m².

[0033] S3. Calculation of Target Compensation Amount and Parameters Target active compensation inertia: using the formula ,in =0.01kg・m 2 (Active inertia reference threshold), calculated as follows =∣0.1×0.6−0.035−0.01∣=0.015kg·m²; Active compensation parameters: compensation response speed 0.005 kg・m² / ms, compensation force 4 N; Target passive compensation inertia: using the formula ,in =0.01kg・m 2 (Active inertia reference threshold), calculated as follows =∣0.1×0.6−0.035−0.01∣=0.015kg·m²; Passive compensation parameters: compensation stability level 3, compensation duration 60ms.

[0034] S4, Targeted Physical Compensation The servo drive component controlling the active compensation unit drives the adjustable inertia disk to slide along the motor shaft axis by adjusting the rotation speed of the gear inertia disk motor. The contact area with the friction disk is adjusted to 30%, and the output is 0.015 kg·m² of active physical inertia compensation (servo drive component response time 28ms≤30ms, adjustment accuracy ±0.006kg·m²≤±0.008kg·m²). The electromagnetic drive component controlling the passive compensation unit adjusts the contact pressure between the adjustable inertia disk and the friction disk to 0.3MPa by adjusting the difference in rotational speed between the gear inertia disk and the motor shaft, and outputs a passive physical inertia compensation of 0.045kg・m² (the adjustment accuracy of the electromagnetic drive component is ±0.003kg・m²≤±0.005kg・m²). At this point, the motor's active inertia is 0.034 + 0.015 = 0.049 kg·m², and its passive inertia is 0.074 + 0.045 = 0.119 kg·m², which is initially matched with the load's real-time inertia of 0.1 kg·m².

[0035] S5. Compensation effect verification The feedback adjustment module collects compensated data at a sampling frequency of 100Hz≥100Hz and a data transmission delay of 8ms≤10ms: motor speed 2000r / min, acceleration 14.8rad / s², real-time value of active inertia 0.048kg・m², real-time value of passive inertia 0.118kg・m², vibration amplitude 0.06mm; Calculate the deviation after compensation: Active inertia deviation value = |0.1×0.6-0.048| = 0.012 kg・m² (within the ±3% preset error range of ±0.006 kg・m²); Passive inertia deviation value = |0.1×0.4-0.118| = 0.078 kg・m² (exceeds the ±5% preset error range of ±0.008 kg・m²).

[0036] S6, Closed-loop control adjustment Return to S3 and recalculate: Adjust the passive compensation parameters, extend the compensation duration to 90ms, and maintain the target passive compensation inertia at 0.045kg・m². The passive physical inertia compensation is re-output, and the data is collected again for calculation: passive inertia deviation value = |0.1×0.4-0.075-0.045| = 0.000 kg・m², which meets the preset error range. The current compensation and drive parameters are maintained to form a dual closed-loop control of active and passive inertia.

[0037] S7, Compensation Model Optimization Collect the compensation data (active inertia deviation 0.025→0.012kg・m², passive inertia deviation 0.035→0.000kg・m², response delay 32ms, vibration amplitude 0.06mm) and store it in the compensation database; After accumulating 100 sets of compensation data, the calculation model was optimized using the gradient descent algorithm to provide more accurate parameters for adjusting the speed difference of the gear inertia disk motor, reducing the calculation error of the active compensation amount to ±0.002 kg・m².

[0038] S8, Fault Emergency Protection Simulated active compensation unit failure (servo drive component power failure): The system detects the fault through the built-in fault detection unit of the physical inertia compensation module, triggers the emergency strategy, increases the compensation amount of the passive compensation unit to 0.06 kg・m², and adapts the compensation amount change by adjusting the speed difference of the passive side gear inertia disk motor rotation speed. The motor speed drops to 1600 r / min (80% of the rated speed), and the vibration amplitude is maintained at 0.09 mm, maintaining basic operational stability. Simulate a passive compensation unit failure (short circuit in the electromagnetic drive assembly): reduce the compensation amount of the active compensation unit to 0.008 kg·m², and adapt the change in compensation amount by adjusting the speed difference of the active side gear inertia disk motor rotation speed to improve the motor response sensitivity. At the same time, the motor load is reduced to 9.54 N·m (below 60% of the rated load), and the vibration amplitude is controlled within 0.1 mm. Simulate a dual-compensation unit failure: control the motor to slowly stop at a deceleration of 5 r / min², and the audible and visual alarm module will issue an emergency alarm signal.

[0039] III. Implementation Results In this embodiment, the compensated motor, under high-speed response conditions at 75% rated load, exhibits the following characteristics: response delay of 32ms (≤35ms), vibration amplitude of 0.06mm (≤0.08mm), energy consumption reduction of 16% (≥15%), active inertia compensation accuracy of ±2.3% (≤±3%), and passive inertia compensation accuracy of ±3.1% (≤±5%), fully meeting the preset effect parameter requirements.

[0040] For sudden load changes (load change rate ≥ 50% / s, load change range is 30%-100% of rated load), this method can achieve a response delay ≤ 40ms, vibration amplitude ≤ 0.1mm, and compensation convergence time ≤ 100ms; for stable operation, it can achieve a response delay ≤ 50ms, vibration amplitude ≤ 0.05mm, and energy consumption reduction ≥ 12%.

[0041] Example 2: Motor Control System Based on Physical Inertia Compensation I. System Composition and Hardware Parameters (e.g.) Figure 3 (As shown) Data acquisition module: includes encoder, torque sensor, current sensor, voltage sensor, two inertia sensors, and vibration sensor. The parameters are the same as in Example 1. The inertia sensors collect active and passive inertia states in sections, and the vibration sensors monitor the passive compensation stability.

[0042] Data preprocessing module: Uses STM32F407 microprocessor, integrates Kalman filtering algorithm and 3σ outlier removal algorithm, operating voltage 3.3V, power consumption 0.5W; Inertia differentiation calculation module: Dual-core ARM Cortex-A9 microprocessor, 1GHz main frequency, active inertia calculation response time 18ms, passive inertia calculation response time 25ms, built-in calibration algorithm and model optimization algorithm, which can optimize the calculation accuracy of the target active and passive compensation inertia in real time according to the compensation database, and provide precise parameters for adjusting the speed difference of the gear inertia disk motor. The microprocessor adopts ARM architecture and is adapted to the operating requirements of harsh industrial environments. Physical inertia compensation module: Active compensation unit: active adjustable inertia disk (stainless steel, 0.3kg), active friction disk (fixed to the output end of the motor shaft), high-speed bearing (model 6204-HS), servo drive assembly (model SG90). The servo drive assembly connects the adjustable inertia disk and the gear inertia disk motor to quickly adjust the speed difference between the gear inertia disk motors. Passive compensation unit: passive adjustable inertia disk (stainless steel, weight 0.6kg), passive friction disk (fixed to the side of the motor shaft), damping bearing (model 6204-ZN), electromagnetic drive assembly (model MFZ1-2.5). The electromagnetic drive assembly connects the adjustable inertia disk and the gear inertia disk motor to smoothly adjust the speed difference between the gear inertia disk motors. Built-in fault detection unit (voltage detection accuracy ±0.01V, current detection accuracy ±0.01A) is used to monitor the operating status of the compensation unit and trigger emergency switching strategy; Drive control module: adopts PWM pulse width modulation chip TL494, output frequency adjustable from 1kHz to 30kHz, drive current 0-20A; Feedback adjustment module: adopts SPI high-speed data transmission interface, with a data transmission delay of 8ms; Storage module: 32GB SD card, read / write speed 10MB / s; Performance monitoring module and alarm module: The performance monitoring module records data such as response delay and vibration amplitude; the alarm module is an audible and visual alarm module (model LTE-1101J), with an operating voltage of 24V, which issues an alarm and triggers the emergency protection mechanism when the system is abnormal.

[0043] II. System workflow (e.g.) Figure 4 (As shown) Data acquisition: Each sensor collects motor operating parameters, load data, and inertia status data in real time and transmits them to the data preprocessing module; Data preprocessing: Filtering, denoising, and removing outliers from the collected data, and outputting valid data to the inertia discrimination calculation module; Inertia calculation and compensation parameter generation: The inertia differentiation calculation module calculates the real-time inertia value, inertia deviation value, target compensation inertia, and compensation parameters of the load, providing accurate parameters for the adjustment of the rotational speed difference of the gear inertia disk motor, and outputting them to the physical inertia compensation module and drive control module; Physical compensation and drive adjustment: The dual compensation unit of the physical inertia compensation module forms an adjustable inertia by adjusting the rotational speed difference of the gear inertia disk motor, and outputs corresponding compensation amounts respectively. The drive control module adjusts the motor drive current and voltage to adapt to the compensation requirements. Feedback and closed-loop control: The feedback adjustment module collects the compensated data, calculates the deviation value and feeds it back to the inertia differentiation calculation module. When the deviation exceeds the standard, the compensation parameters are readjusted to form a dual closed-loop control of active and passive inertia. Data storage and model optimization: The storage module stores various types of data, and the inertia differentiation calculation module optimizes the calculation model based on the database; Monitoring and Alarm: The performance monitoring module monitors the motor performance in real time, the fault detection unit monitors the operating status of the compensation unit, and the alarm module triggers alarms and emergency protection when abnormalities occur.

[0044] III. System Test Results Compensation accuracy: Active inertia compensation accuracy ±2.1%, passive inertia compensation accuracy ±3.5%; Response performance: Response delay 30ms, compensation convergence time 85ms under sudden load change condition (load change rate 50% / s); Stability: Vibration amplitude 0.05mm (stable operation), 0.07mm (high-speed response). Energy consumption: Compared with traditional systems without physical inertia compensation, energy consumption is reduced by 13% under stable operating conditions and by 16% under high-speed response conditions; Reliability: Continuous operation for 72 hours without failure, with a fault emergency response time of ≤10ms.

[0045] In the above embodiments, the present invention relies on the functional distinction between active inertia determining response speed and passive inertia determining stability. Adjustable inertia is formed by adjusting the rotational speed difference of the gear inertia disk motor. Through the independent collaborative design of the active compensation unit (servo drive + high-speed response inertia disk, response time ≤30ms, adjustment accuracy ≤±0.008kg・m²) and the passive compensation unit (electromagnetic drive + stable inertia disk, adjustment accuracy ≤±0.005kg・m²), the motor achieves a response delay as low as 32ms and vibration amplitude controlled at 0.06mm under high-speed response conditions at 75% rated load; the vibration amplitude is only 0.05mm under stable operation conditions. This solves the pain point of the single compensation mode in the prior art, which is incomplete and achieves the dual requirements of fast response and stable operation under dynamic load.

[0046] Meanwhile, by employing a three-level calibration feature of collecting 10-20 sets of data under no-load conditions, applying 50% / 75% / 100% load correction, and performing online calibration every 24 hours (error ≤ ±1%), combined with a differentiated calculation scheme of axisymmetric load formula calculation and non-axisymmetric load finite element modeling correction, and with the response weight coefficient and stability weight coefficient preset and summed to 1 according to the working conditions, the active inertia compensation accuracy reaches ±2.3% (≤ ±3%), and the passive inertia compensation accuracy reaches ±3.1% (≤ ±5%). Compared with existing compensation technologies without standardized calibration, the accuracy is significantly improved, ensuring the accuracy and reliability of compensation calculation under complex working conditions.

[0047] In addition, the feedback adjustment module collects data at a frequency of ≥100Hz (transmission delay ≤10ms), forming an independent closed-loop control of active and passive inertia. The compensation convergence time for sudden load changes (change rate ≥50% / s) is only 85ms (≤100ms), effectively avoiding instability caused by load fluctuations. At the same time, by collecting compensation data to establish a database, the gradient descent algorithm is used to optimize the calculation model, providing accurate parameters for the adjustment of the rotational speed difference of the gear inertia disk motor, reducing the calculation error of the active compensation amount to ±0.002kg・m², which is suitable for dynamic load scenarios in multiple fields such as industrial automation, robotics, electric vehicles, and racing simulation.

[0048] By accurately matching and compensating for inertia, the extra losses caused by motor inertia mismatch are avoided. Energy consumption is reduced by ≥15% in high-speed response conditions and ≥12% in stable operation conditions. At the same time, motor vibration and torque fluctuations are reduced, and mechanical wear is reduced. Tests show that the service life of the motor is extended by more than 20% compared to traditional systems without physical compensation, thus balancing energy saving and durability.

[0049] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These are all equivalent modifications and improvements made to the above embodiments based on the essential technology of the present invention, and all of these fall within the protection scope of the present invention.

Claims

1. A motor control method based on physical inertia compensation, characterized in that, Based on the core principle that the active inertia of a motor determines its response speed and the passive inertia determines its stability, adjustable inertia is created by adjusting the rotational speed difference of the motor via a gear inertia disk. Targeted physical compensation is then performed on the active and passive inertia, including the following steps: S1. Reference Calibration and Data Acquisition: The system's inertia differentiation calculation module calibrates the motor's active and passive inertia reference parameters offline and stores them in the storage module. The system also collects motor operating parameters, load inertia data, and real-time status data of the motor's active and passive inertia in real time. The motor operating parameters include speed, torque, current, voltage, and acceleration; the load inertia data includes mass, size, shape, and speed. The active inertia is the inertia component at the motor output end used to respond to load changes and determine the response speed, while the passive inertia is the inertia component of the motor body and transmission mechanism used to maintain smooth operation and determine stability. S2. Data preprocessing and deviation calculation: Preprocess the collected data, remove abnormal data, calculate the real-time load inertia value, and determine the active inertia deviation value and passive inertia deviation value respectively by combining the reference parameters calibrated in step S1. S3. Target Compensation Amount and Parameter Calculation: Based on the principle of physical inertia compensation, the target active compensation inertia and corresponding active compensation parameters are calculated according to the active inertia deviation value, motor response speed requirements and preset control accuracy. Based on the passive inertia deviation value, motor operation stability requirements and preset control accuracy, calculate the target passive compensation inertia and the corresponding passive compensation parameters. The active compensation parameters include compensation response speed and compensation strength, and the passive compensation parameters include compensation stability and compensation duration. S4. Targeted physical compensation: Control the physical inertia compensation mechanism, and form an adjustable inertia by adjusting the rotation speed difference of the gear inertia disk motor. Compensate for active inertia and passive inertia respectively. Output the active and passive physical inertia compensation amount according to the target compensation inertia and corresponding parameters, optimize the motor response speed, improve the operation stability, and achieve initial inertia matching. S5. Compensation effect verification: The compensation effect data is collected in real time through the feedback adjustment module, and the active and passive inertia deviation values ​​after compensation are calculated respectively to determine whether both are within their respective preset error ranges. S6. Closed-loop control adjustment: If both deviation values ​​meet the standard, maintain the current compensation and drive parameters; if either deviation value exceeds the standard, return to step S3 to recalculate and adjust the compensation output to form a dual closed-loop control of active and passive inertia. S7. Compensation Model Optimization: Collect multiple compensation-related data to establish a compensation database, and optimize the target active and passive compensation inertia calculation models based on the database to simultaneously improve the matching accuracy of the two. S8. Fault Emergency Protection: The fault detection unit built into the physical inertia compensation module monitors the operating status of the compensation mechanism. When a fault is detected, an emergency switching strategy is triggered to ensure the temporary stable operation of the motor and avoid equipment damage.

2. The motor control method based on physical inertia compensation according to claim 1, characterized in that: In step S1, the offline calibration method for the motor's active inertia and passive inertia reference parameters is as follows: S11. No-load calibration: Run the motor under no-load and collect inertia data from the active inertia acquisition area at the motor output end and the passive inertia acquisition area of ​​the motor body through the inertia sensor. Collect 10-20 sets of data continuously and take the average value as the initial reference value. S12, Load Calibration: Apply 50%, 75%, and 100% of the rated load respectively, repeat the acquisition process of step S11, calculate the inertia deviation under different loads, correct the initial reference value, obtain the active inertia and passive inertia reference parameters under different load conditions, and store them in the storage module. S13. Online calibration: Every 24 hours of operation, the reference parameters are calibrated based on the real-time collected inertia data to ensure calibration accuracy, with a calibration error ≤ ±1%.

3. The motor control method based on physical inertia compensation according to claim 1, characterized in that: In step S2, the method for calculating the real-time inertia value of the load includes: If the load shape is axisymmetric, the formula is used. Calculation, where This represents the real-time inertia value of the load. For load quality, R is the load dimension, and R is the shape factor preset according to the specific type of axisymmetric load; If the load shape is non-axisymmetric, the load is modeled in advance using finite element analysis software, the mesh is divided and the mass distribution is defined, the rotational torque is applied and the load reference inertia is obtained. Combined with the real-time collected load rotation speed and acceleration, the real-time load inertia value is corrected to obtain the load real-time inertia value. The active inertia deviation value = |load real-time inertia value × response weighting coefficient - motor active inertia reference value| is used to quantify the matching deviation between the motor active inertia and the load response requirements. The passive inertia deviation value = |load real-time inertia value × stability weight coefficient - motor passive inertia reference value| is used to quantify the matching deviation between the motor passive inertia and the load stability requirements. The response weight coefficient and stability weight coefficient are preset according to the motor operating conditions, and the sum of the two is 1, to ensure a targeted balance between active and passive compensation.

4. The motor control method based on physical inertia compensation according to claim 2, characterized in that: In step S3, the calculation methods for the target's active compensation inertia and passive compensation inertia are designed as follows: ,in, Active inertia compensation is used to precisely compensate for active inertia deviations and improve motor response speed. Here, k is the real-time inertia value of the load, and k1 is the response weighting coefficient. This is the reference parameter for the motor's active inertia. The active inertia reference threshold; ,in The passive inertia is used to accurately compensate for passive inertia deviations and improve motor operating stability. k2 is a stability weighting coefficient. This is the reference parameter for the passive inertia of the motor. The passive inertia reference threshold; where the active inertia reference threshold is... Passive inertia reference threshold .

5. The motor control method based on physical inertia compensation according to claim 1, characterized in that: In step S4, the physical inertia compensation mechanism adopts an active and passive dual compensation unit design, which respectively corresponds to the targeted compensation requirements of active and passive inertia. The two are independently controlled and work together to ensure targeted compensation and no interference between them: the active compensation unit adopts a high-speed response adjustable inertia disk structure, which is specially adapted to the response speed compensation requirements of active inertia. The rotation speed of the gear inertia disk motor is controlled by the servo drive component to quickly change the motor's operating inertia and output the active physical inertia compensation amount. The response time of the servo drive component is ≤30ms, the adjustment range is 0.01-0.1kg·m², and the adjustment accuracy is ≤±0.008kg·m², ensuring rapid matching of response speed requirements; The passive compensation unit adopts a gear inertia disk speed reduction algorithm, which is specially adapted to the stability compensation requirements of passive inertia. The electromagnetic drive component controls the difference in rotational speed between the inertia disk and the gear inertia disk, and smoothly adjusts the output passive physical inertia compensation amount. The adjustment accuracy of the electromagnetic drive component is ≤±0.005kg·m², ensuring smooth motor operation and avoiding interference with the motor response speed.

6. The motor control method based on physical inertia compensation according to claim 1, characterized in that: In step S5, the feedback adjustment module collects data and verifies deviations for the compensation effects of active and passive inertia, specifically as follows: The system employs an encoder, torque sensor, inertia sensor, and vibration sensor to collaboratively acquire data at a frequency ≥100Hz and a data transmission delay ≤10ms. The preset error range for the active inertia deviation is ±3%, and the preset error range for the passive inertia deviation is ±5%. The required parameters for the compensated effect under different working conditions are as follows: High-speed response conditions: response delay ≤35ms, vibration amplitude ≤0.08mm, energy consumption reduction ≥15%; Stable operating conditions: response delay ≤50ms, vibration amplitude ≤0.05mm, energy consumption reduction ≥12%; Under sudden load conditions, with a load change rate ≥ 50% / s and a load change range of 30%-100% of the rated load: response delay ≤ 40ms, vibration amplitude ≤ 0.1mm, and compensation convergence time ≤ 100ms.

7. The motor control method based on physical inertia compensation according to claim 1, characterized in that: In step S8, the emergency switching strategy specifically includes: When a fault is detected in the active compensation unit, the compensation amount of the passive compensation unit is temporarily increased. By adjusting the difference in rotational speed of the passive side gear inertia disk motor to adapt to the change in compensation amount, the motor operating speed is reduced to 70%-80% of the rated speed to maintain the basic operating stability of the motor. When a fault is detected in the passive compensation unit, the compensation amount of the active compensation unit is temporarily reduced. The motor response sensitivity is improved by adjusting the speed difference of the active side gear inertia disk motor to adapt to the change in compensation amount. At the same time, the motor load is reduced to below 60% of the rated load to avoid aggravated vibration. When both compensation units fail, the control motor will slowly stop and an emergency alarm signal will be issued.

8. A motor control system based on physical inertia compensation, characterized in that: To implement the control method described in any one of claims 1-7, based on the core principle that the active inertia of the motor determines the response speed and the passive inertia determines the stability, a targeted dual compensation unit and a distinguishing calculation module are set up. Adjustable inertia is formed by adjusting the rotational speed difference of the gear inertia disk motor, thereby achieving targeted compensation of active and passive inertia, including: Data acquisition module: Used to collect motor operating parameters, load inertia data and real-time status data of motor active and passive inertia in real time, including encoder, torque sensor, current sensor, voltage sensor, inertia sensor and vibration sensor; among them, the inertia sensor collects active and passive inertia status in sections, and the vibration sensor monitors passive compensation stability. Data preprocessing module: Connects to the data acquisition module, filters, denoises, and removes outliers from the acquired data, and outputs valid data to provide a basis for inertia differentiation calculation and targeted compensation; Inertia Differentiation Calculation Module: Connects to the data preprocessing module, distinguishes between active and passive inertia states, calculates the real-time load inertia value, the deviation value between the two types of inertia, the target compensation inertia, and compensation parameters, and has a built-in calibration algorithm to complete the offline calibration and online calibration of the reference parameters; Physical inertia compensation module: Connects to the inertia differentiation and calculation module and the inertia compensation unit. It generates adjustable inertia by adjusting the rotational speed difference of the gear inertia disk motor, receives compensation parameters and outputs the corresponding compensation amount; it has a built-in fault detection unit to monitor the operating status of the compensation unit and trigger an emergency switching strategy. Drive control module: Connects to the inertia differentiation calculation module and the physical inertia compensation module respectively. Based on the target compensation inertia and motor operating parameters, it adjusts the motor drive current, voltage and speed to adapt to the compensation requirements and ensure that the compensation effect meets the standards. Feedback adjustment module: It is connected to the drive control module and the data acquisition module respectively. It collects relevant data after compensation, calculates the two types of inertia deviation values ​​after compensation and feeds them back to the inertia differentiation calculation module to form a dual closed-loop control to ensure compensation accuracy. Storage module: Connects the inertia differentiation calculation module and the feedback adjustment module, and stores the reference parameters, load data, compensation parameters, compensation database and optimized calculation model, providing data support for compensation optimization; Performance monitoring module and alarm module: The performance monitoring module is connected to the feedback adjustment module to monitor the motor response speed and operating stability and record relevant data; the alarm module is connected to the performance monitoring module and the feedback adjustment module to issue an alarm and trigger the emergency protection mechanism in case of abnormality.

9. A motor control system based on physical inertia compensation according to claim 8, characterized in that: In the physical inertia compensation module, the structural design of the inertia compensation units is adapted to their respective compensation requirements, and adjustable inertia is formed by adjusting the speed difference of the gear inertia disk motor: The adjustable inertia disk of the active compensation unit is movably connected to the motor shaft through a high-speed bearing. The friction disk is fixedly set at the output end of the motor shaft. The servo drive component is connected to the adjustable inertia disk and the gear inertia disk motor to quickly adjust the rotation speed difference of the gear inertia disk motor, realize the rapid contact or separation of the inertia disk and the friction disk, and accurately adjust the active physical inertia compensation amount. The adjustable inertia disk of the passive compensation unit is movably connected to the motor shaft through a damping bearing. The friction disk is fixedly installed on the side of the motor shaft body. The electromagnetic drive component connects the adjustable inertia disk and the gear inertia disk motor to smoothly adjust the speed difference of the gear inertia disk motor, control the contact pressure between the inertia disk and the friction disk, and slowly adjust the passive physical inertia compensation amount.

10. A motor control system based on physical inertia compensation according to claim 8, characterized in that: The inertia differentiation calculation module adopts a dual-core microprocessor, which corresponds to the targeted calculation needs of active and passive inertia respectively. It integrates active inertia calculation algorithms and passive inertia calculation algorithms respectively, and can optimize the calculation accuracy of the target active and passive compensation inertia in real time according to the compensation database, providing accurate parameters for adjusting the speed difference of the gear inertia disk motor. The active inertia calculation response time is ≤20ms, and the passive inertia calculation response time is ≤30ms; the microprocessor adopts the ARM architecture.

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