Method and device for controlling high-inertia high-power electric machines

Abstract

The application discloses a control method and device of a high-inertia high-power motor. The application is used for a driving motor of an aviation test bed, and comprises a starting control process. Specifically, a load stress signal is obtained through a tension and compression force sensor, and a load actual torque is calculated and compared with a critical torque. In response to being less than the critical torque, a maximum starting angular acceleration is used as a target angular acceleration, and in response to being greater than or equal to the critical torque, a target angular acceleration of the driving motor is determined according to a preset torque. The target angular acceleration is used as a target control variable frequency drive to drive the driving motor to start. The application further comprises a running control process. Specifically, a speed regulating type and a speed regulating slope are determined according to a preset terminal speed and an actual speed collected, and the variable frequency drive is controlled to drive the driving motor to run according to the speed regulating type and the speed regulating slope. The application can overcome the technical bottleneck under the high-inertia high-power working condition, reduce the cost and avoid speed overshoot in the whole intelligent adaptive control process.

Description

Technical Field

[0001] This invention relates to the field of aerospace test bench technology, specifically to a control method and device for a high-inertia, high-power motor, particularly a control method and device for a drive motor of an aerospace test bench. Background Technology

[0002] Aircraft test benches are indispensable core ground testing equipment for the development, type approval, performance verification, and modification and upgrading of aircraft and their power systems. Their drive motors are mostly of medium-high voltage, high power, and high inertia type.

[0003] Existing conventional motor control methods include direct start, soft start, variable frequency speed control, and vector control. These methods perform well in low-voltage, low-power motors, but they have significant shortcomings in medium- and high-voltage, high-inertia motor scenarios: First, conventional control methods are prone to speed overshoot and control instability during acceleration and deceleration, making it difficult to meet the high-precision speed control requirements of test benches. Second, due to the voltage withstand limitations of electrical components, medium- and high-voltage frequency converters cannot fully implement functions such as vector control, torque control, and V / F control like low-voltage frequency converters, resulting in limited control capabilities. Third, the overload capacity of medium- and high-voltage frequency converters is significantly lower than that of the test bench drive motors. For example, motors typically support starting with 2 times overload, while medium- and high-voltage frequency converters typically support a maximum of 1.2 times overload. To meet the starting requirements of high-inertia loads on test benches, it is necessary to upgrade the frequency converter's selection level, leading to a substantial increase in cost.

[0004] Therefore, there is an urgent need for a control method that enables smooth starting and high-precision speed regulation of high-inertia, high-power motors, within the constraints of inverter control capabilities and selection costs. Summary of the Invention

[0005] In view of this, embodiments of the present invention provide a control method and apparatus for a high-inertia, high-power motor, aiming to overcome the technical bottleneck of the drive motor of the aerospace test bench under high-inertia, high-power conditions, and to achieve reliable and rapid response of high-inertia, high-torque during startup and smooth speed control during operation.

[0006] To achieve the above objectives, according to a first aspect of the present invention, a control method for a high-inertia, high-power motor is provided for a drive motor of an aerospace test bench, the method comprising start-up control processing and operation control processing; The startup control process includes: The force signal of the load is obtained by using a tension / compression sensor configured on the load of the drive motor; The actual load torque is calculated based on the force signal, and compared with a preset critical torque. If the actual load torque is less than the critical torque, the maximum starting angular acceleration of the drive motor is used as the target angular acceleration. If the actual load torque is greater than or equal to the critical torque, the target angular acceleration of the drive motor is determined based on a preset torque that is less than the critical torque. The target angular acceleration is used as the target to control the frequency converter to drive the drive motor to start; The operation control process includes: The actual speed of the drive motor is obtained based on the speed signal collected by the speed encoder coupled to the drive motor; The speed regulation type and speed regulation slope are determined based on the preset endpoint speed and the actual rotational speed, and the frequency converter is controlled to drive the drive motor to run based on the speed regulation type and the speed regulation slope.

[0007] Furthermore, the frequency converter is a medium-high voltage frequency converter, and the frequency converter is configured to support overloads of up to 1.2 times the rated power of the drive motor.

[0008] Furthermore, the frequency converter is a medium-high voltage frequency converter of 3kV, 6kV or 10kV level. The medium-high voltage frequency converter is connected to the programmable controller of the drive motor through a communication protocol and to the drive motor through a control interface.

[0009] Furthermore, using the formula The actual torque of the load is calculated, where, This indicates the actual torque of the load. Indicates the driving arm. This indicates the tensile or compressive force value collected by the tensile / compressive sensor.

[0010] Furthermore, determining the starting angular acceleration of the drive motor based on a preset torque less than the critical torque includes: determining the starting angular acceleration of the drive motor based on a minimum preset torque less than the critical torque.

[0011] Furthermore, the speed regulation type is determined based on the preset endpoint speed and the actual rotational speed, including: The speed regulation type is determined based on the difference between the endpoint speed and the real-time rotational speed. The speed regulation type includes acceleration, deceleration, and constant speed operation.

[0012] Furthermore, the speed regulation slope is determined based on the preset endpoint speed and the actual rotational speed, including: The difference between the endpoint speed and the real-time rotational speed is divided by a preset speed regulation time ratio and corrected to obtain the calculated speed regulation slope.

[0013] Furthermore, controlling the inverter to drive the drive motor according to the speed regulation type and the speed regulation slope includes: Based on the speed regulation type and the speed regulation slope, a periodic pulse trigger is used to adjust the target speed of each periodic pulse so that the target speed approaches the endpoint speed. When the deviation between the actual rotational speed and the endpoint speed falls within the allowable range, the target speed is locked, and the speed regulation type is determined to be uniform speed operation.

[0014] Furthermore, based on the speed regulation type and the speed regulation slope, a target speed is triggered by a periodic pulse and adjusted for each periodic pulse to make the target speed approach the endpoint speed, including: In response to the speed regulation type being the acceleration, the target speed of the next cycle pulse is set to the sum of the actual rotational speed and the speed regulation slope; In response to the speed regulation type being the deceleration, the target speed of the next cycle pulse is set to the difference between the actual rotational speed and the speed regulation slope; In response to the speed regulation type being uniform speed operation, the target speed of the next cycle pulse is set to the actual rotational speed; Upon triggering of the next cycle pulse, the target speed is output to the frequency converter.

[0015] According to a second aspect of the present invention, a control device for a high-inertia, high-power motor is provided for a drive motor of an aerospace test bench, comprising: A tension / compression sensor is configured to couple with the load of the drive motor and acquire the force signal of the load; A speed encoder is configured to be coupled to the drive motor and acquire the speed signal of the drive motor; A frequency converter is configured to connect to the drive motor and drive the drive motor to start and run; A programmable logic controller is configured to receive the force signal and the speed signal, and control the frequency converter using the method described in the first aspect of the present invention.

[0016] The embodiments of the present invention have at least one of the following advantages or beneficial effects: This invention effectively reduces the capacity requirements for inverter selection by employing a load force sensing and dual-mode switching mechanism during the startup phase. Specifically, when the actual load torque is greater than or equal to the critical torque (i.e., high-inertia heavy-load condition), the target angular acceleration is determined based on a preset torque less than the critical torque, enabling startup with minimal angular acceleration and fundamentally reducing the peak startup torque. Therefore, the inverter does not need to be redundantly selected based on the conventional 1.7 times motor power rating; it only needs to be selected based on a rating close to the motor's rated power to meet startup requirements, significantly reducing the hardware procurement cost and system integration investment of the inverter.

[0017] This invention abandons the traditional PID control method, which is prone to overshoot, in its operation control processing. Based on the speed regulation type judgment and speed regulation slope calculation of the difference between the final speed and the actual rotational speed, it uses periodic pulse-triggered step-by-step speed adjustment to make the target speed monotonically approach the final speed, and locks the target speed after the deviation enters the allowable range. This open-loop speed planning combined with closed-loop deviation verification control strategy fundamentally avoids speed overshoot during acceleration and deceleration, significantly improving the stringent speed control accuracy requirements of aerospace test benches.

[0018] This invention utilizes tension and compression sensors to perceive the load status in real time. During the startup phase, it automatically determines whether to adopt a fast or slow startup mode. During the operation phase, it automatically determines the acceleration, deceleration, or constant speed state based on the real-time difference between the final speed and the actual rotational speed, and calculates the appropriate speed regulation slope. The entire control process requires no manual intervention and has a strong adaptive capability to different load conditions, covering the entire operating range of the aerospace test bench from no-load commissioning to full-load testing. Furthermore, in slow startup mode, the target angular acceleration is determined based on the minimum preset torque less than the critical torque, enabling heavy-load startup with the lowest possible starting torque. This maximizes the protection of the frequency converter from overload impacts, improving the safety and reliability of system operation.

[0019] To address the limitation of medium and high voltage frequency converters in achieving vector control, torque control, and other control functions due to the voltage withstand level of electrical components, this invention uses tension and compression sensors and speed encoders in conjunction with a programmable logic controller (PLC) to handle all core control logic, simplifying the frequency converter into an actuator for speed commands. This bypasses the limitations of the control functions inherent in medium and high voltage frequency converters, achieving high-precision speed closed-loop control under existing hardware conditions, and possesses strong engineering practical value.

[0020] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained through the details specifically pointed out in the description and drawings. Attached Figure Description

[0021] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0022] Figure 1 This is a schematic diagram of the main flow of the control method for a high-inertia, high-power motor according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the logic program segment configuration for acceleration / deceleration time and speed regulation slope in a programmable logic controller according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the logic program segment configuration for determining the speed regulation type in a programmable logic controller according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the logic program segment configuration for clock generation in a programmable logic controller according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the speed regulation logic program segment configuration in the programmable logic controller of this invention embodiment; Figure 6 This is a schematic diagram of the configuration of the logic program segment in the programmable logic controller of this invention to achieve the set deviation; Figure 7 This is a schematic diagram of the main modules of the control device for a high-inertia, high-power motor according to an embodiment of the present invention. Detailed Implementation

[0023] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0024] To address the technical bottleneck of drive motors on aerospace test benches operating under high inertia and high power conditions, this invention provides a control method and device for high inertia and high power motors. Firstly, it solves the problem of excessive starting torque requiring high-power redundant inverter selection and resulting in high equipment costs. Secondly, it overcomes the limitations of medium- and high-voltage inverters in control function and their inability to achieve high-precision and stable speed regulation, thus improving speed control stability. Thirdly, it achieves intelligent adaptive control throughout the entire process of high-inertia motor starting, acceleration / deceleration, and constant speed operation, avoiding speed overshoot.

[0025] Example 1 Figure 1 This is a schematic diagram of the main flow of a control method for a high-inertia, high-power motor according to an embodiment of the present invention. As shown in the figure, the control method for a high-inertia, high-power motor in this embodiment of the present invention is used for the drive motor of an aerospace test bench, and includes the following steps S101 to S105 for start-up control processing and steps S106 and S107 for operation control processing.

[0026] Specifically, in this embodiment and some embodiments of the present invention, the startup control process includes: Step S101: Obtain the force signal of the load by means of a tension / compression sensor configured on the load of the drive motor; Step S102: Calculate the actual load torque based on the force signal, and compare the actual load torque with a preset critical torque; Step S103: In response to the actual load torque being less than the critical torque, the maximum starting angular acceleration of the drive motor is used as the target angular acceleration. Step S104 responds to the actual load torque being greater than or equal to the critical torque by determining the target angular acceleration of the drive motor based on a preset torque less than the critical torque; Step S105: Using the target angular acceleration as the target, control the frequency converter to drive the drive motor to start; Specifically, in this embodiment and some embodiments of the present invention, the operation control process includes: Step S106: Obtain the actual speed of the drive motor based on the speed signal collected by the speed encoder coupled to the drive motor; Step S107: Determine the speed regulation type and speed regulation slope based on the preset endpoint speed and the actual rotational speed, and control the frequency converter to drive the drive motor to run based on the speed regulation type and the speed regulation slope.

[0027] Specifically, in this embodiment and some embodiments of the present invention, the frequency converter is a medium-high voltage frequency converter, and the frequency converter is configured to support overloads of up to 1.2 times the rated power of the drive motor.

[0028] Specifically, in this embodiment and some embodiments of the present invention, the frequency converter is a medium-high voltage frequency converter of 3kV, 6kV or 10kV level. The medium-high voltage frequency converter is connected to the programmable controller of the drive motor through a communication protocol and to the drive motor through a control interface.

[0029] Specifically, in this embodiment and some embodiments of the present invention, step S102 uses the formula The actual torque of the load is calculated, where, This indicates the actual torque of the load. Indicates the driving arm. This indicates the tensile or compressive force value collected by the tensile / compressive sensor.

[0030] It is understandable that in this embodiment and some embodiments of the present invention, the principle of motor starting torque control is derived from the principle of rigid body rotation, specifically, the starting torque is equal to the product of the moment of inertia and the angular acceleration. Furthermore, the relationship between torque and drive motor power is... ,in, It is torque, the unit is... ; This indicates the output power, measured in kW. Represents rotational speed, in units of It is evident that by comparing the actual load torque with the critical torque supported by the drive motor and the frequency converter, two different starting modes can compensate for the limited overload capacity of medium and high voltage frequency converters.

[0031] Specifically, in this embodiment and some embodiments of the present invention, one starting mode is to start the drive motor by using the maximum starting angular acceleration of the drive motor as the target angular acceleration in step S103, and another mode is to determine the target angular acceleration of the drive motor in step S104 based on a preset torque that is less than the critical torque, and then start the drive motor by using the target angular acceleration.

[0032] Specifically, in this embodiment and some embodiments of the present invention, step S104 specifically involves determining the starting angular acceleration of the drive motor based on a minimum preset torque that is less than the critical torque.

[0033] Specifically, in this embodiment and some embodiments of the present invention, step S107, which determines the speed regulation type based on the preset endpoint speed and the actual rotational speed, includes: determining the speed regulation type based on the difference between the endpoint speed and the real-time rotational speed, wherein the speed regulation type includes acceleration, deceleration, and constant speed operation.

[0034] Specifically, in this embodiment and some embodiments of the present invention, step S107, which determines the speed regulation slope based on the preset endpoint speed and the actual rotational speed, includes: dividing the difference between the endpoint speed and the real-time rotational speed by a preset speed regulation time ratio and making corrections to obtain the calculated speed regulation slope.

[0035] Specifically, in this embodiment and some embodiments of the present invention, step S107 controls the inverter to drive the drive motor according to the speed regulation type and the speed regulation slope, including steps S107a and S107b.

[0036] Step S107a: Based on the speed regulation type and the speed regulation slope, a periodic pulse trigger is used to adjust the target speed of each periodic pulse so that the target speed approaches the endpoint speed. Step S107b: When the deviation between the actual rotational speed and the endpoint speed falls within the allowable range, the target speed is locked, and the speed regulation type is determined to be uniform speed operation.

[0037] Specifically, in this embodiment and some embodiments of the present invention, step S107a includes steps S107a1 to S107a4: Step S107a1: In response to the speed regulation type being the acceleration, the target speed of the next cycle pulse is set to the sum of the actual rotational speed and the speed regulation slope; Step S107a2, in response to the speed regulation type being the deceleration, the target speed of the next cycle pulse is set to the difference between the actual rotational speed and the speed regulation slope; Step S107a3: In response to the speed regulation type being uniform speed operation, the target speed of the next cycle pulse is set to the actual rotational speed. Step S107a4: Upon triggering the next cycle pulse, the target speed is output to the frequency converter.

[0038] More specifically, in this embodiment and some embodiments of the present invention, a programmable logic controller is used to implement the above-mentioned control method for a high-inertia, high-power motor.

[0039] Figure 2 This is a schematic diagram illustrating the configuration of logic program segments for acceleration / deceleration time and speed regulation slope in a programmable logic controller according to an embodiment of the present invention. Specifically, as shown... Figure 2 As shown in Table 1, the logical configuration of acceleration / deceleration time and speed regulation slope in this embodiment and some embodiments of the present invention is as shown in Table 1.

[0040] Table 1

[0041] Figure 3 This is a schematic diagram of the logic program segment configuration for determining the speed regulation type in a programmable logic controller according to an embodiment of the present invention. Specifically, as shown... Figure 3 As shown in Table 2, the logic configuration for determining the speed regulation type is as follows in this embodiment and some embodiments of the present invention.

[0042] Table 2

[0043] Figure 4 This is a schematic diagram illustrating the configuration of the clock generation logic segment in a programmable logic controller according to an embodiment of the present invention. Specifically, as shown... Figure 4 As shown, in this embodiment and some embodiments of the present invention, the logic configuration for clock generation includes a 450ms clock 1 and a 50ms clock 2.

[0044] Figure 5 This is a schematic diagram illustrating the configuration of the speed regulation logic segment in a programmable logic controller according to an embodiment of the present invention. Specifically, as shown... Figure 5 As shown in Table 3, in this embodiment and some embodiments of the present invention, the speed adjustment logic configuration is as follows: a speed fine-tuning is performed once in each clock cycle.

[0045] Table 3

[0046] Figure 6 This is a schematic diagram illustrating the configuration of logic program segments in a programmable logic controller (PLC) according to an embodiment of the present invention to achieve a set deviation. Specifically, as shown... Figure 6 As shown in this embodiment and some embodiments of the present invention, if it is determined whether the deviation between the real-time speed and the final set speed (end point speed) is within the range of allowable positive or negative deviation, the output value of the programmable logic controller is locked, the adjustment ends, and uniform speed operation begins.

[0047] It is understood that in this embodiment and some embodiments of the present invention, the control method can change the endpoint speed (set speed) at any time during the process to achieve high-precision, overshoot-free stable speed control, meeting the high speed regulation accuracy requirements of aerospace test benches.

[0048] Example 2 Figure 7 This is a schematic diagram of the component modules of a control device for a high-inertia, high-power motor according to an embodiment of the present invention. Figure 7 As shown, the control device for a high-inertia, high-power motor of the present invention in this embodiment is used for the drive motor of an aerospace test bench, and includes: A tension / compression sensor is configured to couple with the load of the drive motor and acquire the force signal of the load; A speed encoder is configured to be coupled to the drive motor and acquire the speed signal of the drive motor; A frequency converter is configured to connect to the drive motor and drive the drive motor to start and run; A programmable logic controller is configured to receive the force signal and the speed signal, and control the frequency converter using the method described in the first aspect of the present invention.

[0049] Based on the detailed description of the embodiments of the present invention above, it can be more clearly understood that the present invention has the following advantages: This invention effectively reduces the capacity requirements for inverter selection by employing a load force sensing and dual-mode switching mechanism during the startup phase. Specifically, when the actual load torque is greater than or equal to the critical torque (i.e., high-inertia heavy-load condition), the target angular acceleration is determined based on a preset torque less than the critical torque, enabling startup with minimal angular acceleration and fundamentally reducing the peak startup torque. Therefore, the inverter does not need to be redundantly selected based on the conventional 1.7 times motor power rating; it only needs to be selected based on a rating close to the motor's rated power to meet startup requirements, significantly reducing the hardware procurement cost and system integration investment of the inverter.

[0050] This invention abandons the traditional PID control method, which is prone to overshoot, in its operation control processing. Based on the speed regulation type judgment and speed regulation slope calculation of the difference between the final speed and the actual rotational speed, it uses periodic pulse-triggered step-by-step speed adjustment to make the target speed monotonically approach the final speed, and locks the target speed after the deviation enters the allowable range. This open-loop speed planning combined with closed-loop deviation verification control strategy fundamentally avoids speed overshoot during acceleration and deceleration, significantly improving the stringent speed control accuracy requirements of aerospace test benches.

[0051] This invention utilizes tension and compression sensors to perceive the load status in real time. During the startup phase, it automatically determines whether to adopt a fast or slow startup mode. During the operation phase, it automatically determines the acceleration, deceleration, or constant speed state based on the real-time difference between the final speed and the actual rotational speed, and calculates the appropriate speed regulation slope. The entire control process requires no manual intervention and has a strong adaptive capability to different load conditions, covering the entire operating range of the aerospace test bench from no-load commissioning to full-load testing. Furthermore, in slow startup mode, the target angular acceleration is determined based on the minimum preset torque less than the critical torque, enabling heavy-load startup with the lowest possible starting torque. This maximizes the protection of the frequency converter from overload impacts, improving the safety and reliability of system operation.

[0052] To address the limitation of medium and high voltage frequency converters in achieving vector control, torque control, and other control functions due to the voltage withstand level of electrical components, this invention uses tension and compression sensors and speed encoders in conjunction with a programmable logic controller (PLC) to handle all core control logic, simplifying the frequency converter into an actuator for speed commands. This bypasses the limitations of the control functions inherent in medium and high voltage frequency converters, achieving high-precision speed closed-loop control under existing hardware conditions, and possesses strong engineering practical value.

[0053] In summary, the control method and device for high-inertia, high-power motors provided in this invention overcome the technical bottlenecks of drive motors on aerospace test benches under high-inertia, high-power conditions. Specifically, firstly, it solves the problem of high starting torque requiring high-power redundant selection of frequency converters and high equipment costs; secondly, it overcomes the limitations of medium- and high-voltage frequency converters in control functions and the inability to achieve high-precision and stable speed regulation, thus improving speed control stability; and thirdly, it achieves intelligent adaptive control of the entire process of high-inertia motor starting, acceleration, deceleration, and constant speed, avoiding speed overshoot.

[0054] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A control method for a high-inertia, high-power motor, used as a drive motor for an aerospace test bench, characterized in that, The method includes startup control processing and operation control processing; The startup control process includes: The force signal of the load is obtained by using a tension / compression sensor configured on the load of the drive motor; The actual load torque is calculated based on the force signal, and compared with a preset critical torque. If the actual load torque is less than the critical torque, the maximum starting angular acceleration of the drive motor is used as the target angular acceleration. If the actual load torque is greater than or equal to the critical torque, the target angular acceleration of the drive motor is determined based on a preset torque that is less than the critical torque. The target angular acceleration is used as the target to control the frequency converter to drive the drive motor to start; The operation control process includes: The actual speed of the drive motor is obtained based on the speed signal collected by the speed encoder coupled to the drive motor; The speed regulation type and speed regulation slope are determined based on the preset endpoint speed and the actual rotational speed, and the frequency converter is controlled to drive the drive motor to run based on the speed regulation type and the speed regulation slope.

2. The method according to claim 1, characterized in that, The frequency converter is a medium-high voltage frequency converter, and the frequency converter is configured to support overloads of up to 1.2 times the rated power of the drive motor.

3. The method according to claim 2, characterized in that, The frequency converter is a medium-high voltage frequency converter of 3kV, 6kV or 10kV level. The medium-high voltage frequency converter is connected to the programmable controller of the drive motor through a communication protocol and to the drive motor through a control interface.

4. The method according to claim 1, characterized in that, Using formula The actual torque of the load is calculated, where, This indicates the actual torque of the load. Indicates the driving arm. This indicates the tensile or compressive force value collected by the tensile / compressive sensor.

5. The method according to claim 4, characterized in that, Determining the starting angular acceleration of the drive motor based on a preset torque less than the critical torque includes: determining the starting angular acceleration of the drive motor based on a minimum preset torque less than the critical torque.

6. The method according to claim 1, characterized in that, The speed regulation type is determined based on the preset endpoint speed and the actual rotational speed, including: The speed regulation type is determined based on the difference between the endpoint speed and the real-time rotational speed. The speed regulation type includes acceleration, deceleration, and constant speed operation.

7. The method according to claim 6, characterized in that, Determining the speed regulation slope based on the preset endpoint speed and the actual rotational speed includes: The difference between the endpoint speed and the real-time rotational speed is divided by a preset speed regulation time ratio and corrected to obtain the calculated speed regulation slope.

8. The method according to claim 7, characterized in that, Controlling the inverter to drive the drive motor according to the speed regulation type and the speed regulation slope includes: Based on the speed regulation type and the speed regulation slope, a periodic pulse trigger is used to adjust the target speed of each periodic pulse so that the target speed approaches the endpoint speed. When the deviation between the actual rotational speed and the endpoint speed falls within the allowable range, the target speed is locked, and the speed regulation type is determined to be uniform speed operation.

9. The method according to claim 8, characterized in that, Based on the speed regulation type and the speed regulation slope, a target speed for each periodic pulse is triggered and adjusted to make the target speed approach the endpoint speed, including: In response to the speed regulation type being the acceleration, the target speed of the next cycle pulse is set to the sum of the actual rotational speed and the speed regulation slope; In response to the speed regulation type being the deceleration, the target speed of the next cycle pulse is set to the difference between the actual rotational speed and the speed regulation slope; In response to the speed regulation type being uniform speed operation, the target speed of the next cycle pulse is set to the actual rotational speed; Upon triggering of the next cycle pulse, the target speed is output to the frequency converter.

10. A control device for a high-inertia, high-power motor, used as a drive motor for an aerospace test bench, characterized in that, include: A tension / compression sensor is configured to couple with the load of the drive motor and acquire the force signal of the load; A speed encoder is configured to be coupled to the drive motor and acquire the speed signal of the drive motor; A frequency converter is configured to connect to the drive motor and drive the drive motor to start and run; A programmable logic controller is configured to receive the force signal and the speed signal, and control the frequency converter using the method described in any one of claims 1 to 9.

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