MOTOR TESTING APPARATUS AND MOTOR TESTING METHOD

Abstract

To reduce a torque detection delay while suppressing effects due to noise at torque detection time in inertia simulated control.SOLUTION: There is provided a motor testing device, comprising: a current detection unit for detecting the current of a submitted motor or a load motor that applies a load to the submitted motor; a torque detection unit for detecting torque of the submitted motor or the load motor; a filter unit for filtering the detected torque value and outputting a filtered torque value; a torque estimation unit for outputting an estimated torque value of the submitted motor of the load motor on the basis of the detected current value of the submitted motor or the load motor on the side where the torque detection unit is provided, or on the basis of the detected current value and angular acceleration of the submitted motor or the load motor on the side where the torque detection unit is not provided and the inertia value of a revolving shaft that includes the submitted motor and the load motor; a torque estimation correction unit for approximating the estimated torque value to the filtered torque value and outputting a corrected torque value; and a control unit for controlling the load motor on the basis of the corrected torque value.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a torque estimation technique in a motor testing device and a motor testing method. [Background technology]

[0002] When evaluating a motor control system, a test motor and a load motor are placed opposite each other, and a specified load is applied by the load motor for evaluation. In this case, the inertia value of the load motor does not match the inertia value of the final product, such as a railway vehicle or automobile. Therefore, it is necessary to simulate the apparent inertia by controlling the load motor, which is called inertia simulation control. In addition to inertia, it is also possible to simulate running resistance and the damping rate of the rotating shaft, and related technologies are disclosed in Patent Documents 1 and 2, for example.

[0003] Inertia simulation control, the behavior (angular acceleration, rotational speed, etc.) when the test motor torque is input to the inertia to be simulated is calculated, and control is performed so that this matches the actual behavior of the load motor.

[0004] For this reason, in inertia simulation control, it is necessary to detect the torque of the test motor, and for that purpose a torque detector is provided in Patent Documents 1 and 2. Furthermore, in practice, since the torque detector contains noise, it is desirable to provide a low pass filter (LPF) after the torque detector, as disclosed in Patent Document 2. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 6737363 [Patent Document 2] JP 2014-142317 A Summary of the Invention [Problem to be solved by the invention]

[0006] In inertia simulation control, when a low-pass filter (LPF) is provided, a torque detection delay occurs, which causes a problem of reduced inertia simulation accuracy. Therefore, if the time constant of the low-pass filter (LPF) is lowered, the torque detection delay decreases, but the problem of being affected by detection noise remains. Therefore, an object of the present invention is to provide a technique for reducing the torque detection delay while suppressing the effect of noise during torque detection. [Means for solving the problem]

[0007] In order to solve the above problems, a representative motor testing device of the present invention includes a current detection unit provided on the side of the test motor or on the side of a load motor that applies a load to the test motor, which detects the current of the test motor or load motor and outputs a current detection value, a torque detection unit provided on the side of the test motor or load motor, which detects the torque of the test motor or load motor and outputs a torque detection value, a filter unit which filters the torque detection value and outputs a torque filter value, a torque estimation unit which outputs a torque estimate of the test motor or load motor based on the current detection value of the test motor or load motor on the side provided with the torque detection unit, or based on the current detection value and angular acceleration of the test motor or load motor on the side not provided with the torque detection unit and the inertia value of the rotating shaft including the test motor and the load motor, a torque estimation correction unit which makes the torque estimate value asymptotic to the torque filter value and outputs a torque correction value, and a control unit which controls the load motor based on the torque correction value. Effect of the Invention

[0008] According to the present invention, a motor testing device can achieve highly accurate and highly responsive torque detection. As a result, it is possible to eliminate the difference between when a motor control system is evaluated by the motor testing device and when it is in operation, and it is possible to improve the evaluation accuracy of motor or inverter efficiency, torque response, etc. Furthermore, problems, configurations and effects other than those described above will become apparent from the following description of the preferred embodiment of the invention. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing a configuration of a motor testing device according to a first embodiment of the present invention; [Diagram 2] FIG. 13 is a diagram showing waveforms of torque and rotation speed when a torque estimation correction unit is not used. [Diagram 3] FIG. 13 is a diagram showing waveforms of torque and rotation speed when a torque estimation unit is used. [Figure 4] FIG. 13 is a diagram showing waveforms of torque and rotation speed when a torque estimation correction unit is used. [Diagram 5] FIG. 11 is a diagram showing a part of the configuration of a motor testing device according to a second embodiment of the present invention. [Figure 6] FIG. 11 is a diagram showing a part of the configuration of a motor testing device according to a third embodiment of the present invention. [Figure 7] FIG. 11 is a diagram showing a part of the configuration of a motor testing device according to a fourth embodiment of the present invention. [Figure 8] FIG. 13 is a diagram showing a vehicle mechanism of a vehicle to be simulated in Example 4. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, with reference to the drawings, embodiments 1 to 4 will be described as modes for carrying out the present invention. Note that the present invention is not limited to these embodiments. In addition, in the description of the drawings, the same parts are denoted by the same reference numerals. EXAMPLES

[0011] FIG. 1 is a diagram showing a configuration of a motor testing device according to a first embodiment of the present invention. A test motor (Mt) 1 and a load motor (Mg) 2 are disposed opposite to each other and are driven by a test side inverter (INV) 3 and a load side inverter (INV) 4, respectively.

[0012] An actual inertia 5 is provided between the test motor (Mt) 1 and the load motor (Mg) 2, and its inertia value is designated as Jr. An example of this actual inertia 5 is a flywheel. Here, the test motor (Mt) 1, the load motor (Mg) 2, the real inertia 5, and the rotating shaft connecting them are assumed to be completely rigid bodies, and the rotation speed of each is ω r Let us assume that.

[0013] The current detection unit 6 detects the U-phase current i u , V phase current i v and W-phase current i w Detect.

[0014] The torque detector 7 detects the torque τ of the test motor (Mt) 1. t (Hereinafter, "test torque τ t ") is detected, and the torque detection value τ t-dtc The output is as follows:

[0015] The torque estimation unit 8 is composed of a three-phase to two-phase conversion circuit 8a and a current-torque conversion circuit 8b. u , V phase current i v and W-phase current i w The d-axis current i d and q-axis current i q The current-torque conversion circuit 8b converts the d-axis current i d and q-axis current i q The torque estimate τ t-obs Convert to.

[0016] The filter unit 9 detects the torque value τ t-dtc For example, a low-pass filter (LPF) is used to remove noise from the torque filter value τ t-LPF The filter unit 9 may be a band pass filter (BPF) or the like in addition to a low pass filter (LPF).

[0017] The torque estimation correction unit 10 calculates the torque estimation value τ t-obs and the torque filter value τ t-LPF Based on this, the torque correction value τ t-rev The torque correction value τ is output.t-rev is the final torque estimate of the test motor (Mt) 1.

[0018] The inertia simulation unit 11 calculates a torque correction value τ t-rev The inertia control circuit 11 is a means for apparently simulating the inertia value Jr of the actual inertia 5 to J based on the above, and is composed of a speed command calculation circuit 11a, a speed control circuit 11b, a torque-current conversion circuit 11c, a current control circuit 11d, and a two-phase to three-phase conversion circuit 11e.

[0019] The speed command calculation circuit 11a calculates a torque correction value τ t-rev Speed ​​command ω r * Calculate the following.

number

[0020] The speed control circuit 11b outputs a speed command ω r * and rotation speed ω r The torque command τ of the load motor (Mg)2 is set so that g * Calculate the following.

[0021] The torque-current conversion circuit 11c, unlike the current-torque conversion circuit 8b of the torque estimation unit 8, converts the torque command τ g * to d-axis current command i d * and q-axis current command i q * Calculate the following.

[0022] The current control circuit 11d outputs a d-axis current command i d * and q-axis current command i q * According to the motor voltage equation, the d-axis voltage command v d * and the q-axis voltage command v q * Calculate the following.

[0023] The two-phase to three-phase conversion circuit 11e converts the d-axis voltage command v d * and the q-axis voltage command v q * , U phase voltage command v u * , V phase voltage command v v * and W-phase voltage command v w * Convert to.

[0024] Next, the operating principle of the inertia simulation control will be described. When an inertia with an inertia value J is connected to the test motor (Mt) 1, the following (Equation 2) holds true.

number

[0025] In addition, the torque τ of the test motor (Mt) 1 t This can be ideally detected as the torque correction value τ t-rev If we assume that "τ t-rev = τ t "

[0026] "ω r = ω r * " and "τ t-rev = τ t ", then (Equation 1) and (Equation 2) are equivalent, and when viewed from the test motor (Mt) 1, it appears as if an inertia of inertia value J is connected beyond it.

[0027] The above is the principle of inertia simulation control, and the conditions for realizing this are the realization conditions (1) and (2) described below. (1) The speed control circuit 11b controls "ω r = ω r * " holds true. (2) By using an ideal torque detection method, t-rev = τt " holds true.

[0028] However, there are problems with the inertia simulation control, which will be explained below. In an actual machine, the torque detection value τ t-dtc contains noise. In order to remove this noise, a filter unit 9 is used, and the output of the filter unit 9 is a torque filter value τ t-LPF is the torque detection value τ t-dtc and the torque τ on the test piece t , which includes a delay.

[0029] 2 is a diagram showing waveforms of torque and rotation speed when the torque estimation correction unit 10 is not used. As shown in FIG. 2, at time t1, the test torque τ t When there is a step change in t ≠ τ t-LPF "

[0030] For this reason, "τ t-rev = τ t " and "τ t-rev = τ t-LPF " and (Equation 1) is calculated, the former speed command ω r ** and the latter speed command ω r * This difference is called the speed error Δω r (= ω r * - ω r ** ) Here, the speed command ω r ** is the ideal velocity command in the inertia simulation control.

[0031] On the other hand, speed command ω r * is the torque τ t The torque filter value τ t-LPF That is, the torque filter value τ is replaced by the torque filter value τ without providing the torque estimation correction unit 10 shown in FIG.t-LPF is a speed command when it is directly input to the speed command calculation circuit 11a. Speed ​​error Δω r When is negative, it indicates that the motor under test (Mt) 1 is not accelerating in proportion to the torque it has output, and that its apparent inertia is greater than J. In contrast, the speed error Δω r If is positive, the opposite is true.

[0032] In any case, the speed error Δω r represents the apparent inertial error, and its cause is "τ t-rev = τ t-LPF "By setting "τ t-rev = τ t-LPF ≠ τ t ", and the realization condition of the inertia simulation control (2) "τ t-rev = τ t " is not true.

[0033] If the time constant of the filter unit 9 is made smaller, the effect of the delay is reduced, but the system becomes more susceptible to the effect of noise, so that in the end, the condition (2) for realizing the inertia simulation control does not hold.

[0034] This is the problem of inertia simulation control. While maintaining the time constant of the filter unit 9, the torque correction value τ t-rev and its true value, the test torque τ t It is required to align the above.

[0035] In the present invention, the torque correction value τ t-rev and its true value, the test torque τ t In order to match these, the present invention is characterized by including a torque estimation unit 8 and a torque estimation correction unit 10. The effects thereof will be described below.

[0036] FIG. 3 is a diagram showing waveforms of torque and rotation speed when the torque estimation unit 8 is used. The torque estimation unit 8 estimates the torque based on the detected current value of the test motor (Mt) 1. The frequency band of the current detection unit 6 is 1 MHz to 100 MHz, which is higher than the frequency band of the torque detection unit 7, 1 kHz to 10 kHz.

[0037] Therefore, the torque estimate τ t-obs As shown in Fig. 3 at time t1, the torque τ t That is, at time t1, the torque estimation error Δτ t-obs is the torque detection error Δτ shown in Figure 2 at the same time t1. t-LPF Less than.

[0038] On the other hand, the current-torque conversion circuit 8b needs to refer to the parameters of the test motor (Mt) 1, which involves a setting error. Therefore, the torque estimation error Δτ t-obs does not necessarily converge to zero over time, and the speed error Δω r is likely to continue to increase.

[0039] Therefore, the torque estimation error Δτ t-obs In order to suppress the influence of t-obs While the basic value is the torque filter value τ t-LPF The torque correction value τ t-rev As shown in FIG. 1, the torque correction value τ t-rev and the torque filter value τ t-LPF The difference between the input and output is input to an integrator circuit 10a with a gain of K, and the result of integration (K / s) is expressed as the torque estimate τ t-obs Here, the integrator circuit 10a can be replaced with any function having such characteristics that the open-loop transfer function becomes stable.

[0040] FIG. 4 is a diagram showing waveforms of torque and rotation speed when the torque estimation correction unit 10 is used. Torque estimation error Δτ t-rev At time t1, the torque estimation error Δτ t-obsHowever, after time t1, the torque correction value τ t-rev is the torque filter value τ t-LPF In other words, the torque estimation error Δτ t-rev is the torque estimation error Δτ t-obs In comparison, the steady error after time t1 is reduced. Also, the torque detection error Δτ t-LPF In comparison, the transient error at time t1 is reduced.

[0041] In other words, the error is reduced in both the steady-state and transient states, so the speed error Δω r is the smallest among the characteristics shown in Figs. This is the torque estimate τ t-obs While the basic value is the torque filter value τ t-LPF The torque correction value τ t-rev This is the effect.

[0042] Generally speaking, the torque estimation correction unit 10 corrects the torque estimated value τ t-obs The feedforward side, the torque detection unit 7 and the filter unit 9 provide a torque filter value τ t-LPF This is a two-degree-of-freedom control system with the current detector 6 on the feedback side. By using this two-degree-of-freedom control system, both the responsiveness of the current detector 6 and the accuracy of the torque detector 7 are utilized. As a result, the torque correction value τ t-rev The torque τ on the test side t This allows it to follow the current with high response and precision, improving the accuracy of inertia simulation.

[0043] The input to the current-torque conversion circuit 8b is the d-axis current command i d * and q-axis current command i q * In this case, the current detection unit 6 can be omitted. EXAMPLES

[0044] Fig. 5 is a diagram showing a part of the configuration of a motor testing device according to Example 2 of the present invention. In Fig. 5, components in the control portion that are the same as those in the configuration of Example 1 shown in Fig. 1 are omitted. In the second embodiment, the U-phase current i u , V phase current i v and W-phase current i w is detected by the current detection unit 6.

[0045] The torque estimation unit 8 also estimates the U-phase current i u , V phase current i v and W-phase current i w The torque estimate value τ of the load motor (Mg) 2 is calculated by the three-phase to two-phase conversion circuit 8a and the current-torque conversion circuit 8b. g-obs Calculate the rotation speed ω of the load motor (Mg)2. r The torque value of the load motor (Mg) 2 is calculated by the differentiation circuit 8c and the inertia value multiplication circuit 8d using the input. Then, the torque estimation unit 8 calculates the torque estimation value τ t-obs Calculate the following.

number

[0046] Next, the torque τ on the test piece is calculated by (Equation 3). t Explain why we can estimate this. The torque of the load motor (Mg)2 (hereinafter, the load torque) is τ g Then, the following (Equation 4) holds.

number

[0047] The current-torque conversion circuit 8b ideally converts the torque estimate τ g-obs If we can calculate τ g-obs = τ g " If we substitute this into (Number 4), we get (Number 3).

[0048] In the configuration of the second embodiment shown in FIG. 5, compared to the configuration of the first embodiment shown in FIG. 1, a current detection unit 6 is provided on the load side, so that the current-torque conversion circuit 8b refers to the parameters of the load motor (Mg) 2. Since the load motor (Mg) 2 does not need to be changed to match the final product, as in the case of the test motor (Mt) 1, an advantage is that parameter measurement is completed only once. In addition, since the load motor (Mg) 2 may be a stationary type, it is possible to design the load motor (Mg) 2 specifically and grasp its parameters with high accuracy. As a result, the torque estimation error in the current-torque conversion circuit 8b can be reduced.

[0049] In the configuration of the first embodiment shown in FIG. 1 and the configuration of the second embodiment shown in FIG. 5, the torque estimation value τ t-obs and a torque filter value τ based on the torque detection unit 7. t-LPF The commonality is the use of

[0050] Generally speaking, the following four embodiments (a) to (d) are possible. (a) Current detection unit 6: sample side, torque detection unit 7: sample side (Example 1 shown in FIG. 1) (b) Current detection unit 6: load side, torque detection unit 7: test side (Example 2 shown in FIG. 5) (c) Current detection unit 6: test piece side, torque detection unit 7: load side (not shown) (d) Current detection unit 6: load side, torque detection unit 7: load side (not shown)

[0051] Here, when the current detection unit 6 and the torque detection unit 7 are provided on the same side as in (a) and (d) above, the torque can be estimated based on the current detection value using the configuration of the torque estimation unit 8 shown in Figure 1.

[0052] Furthermore, when the current detection unit 6 and the torque detection unit 7 are provided on opposite sides as in (b) and (c) above, the torque of the motor on the opposite side to the current detection side can be estimated by the configuration of the torque estimation unit 8 shown in FIG. 5. In this case, estimating the torque of the motor on the opposite side can be done by estimating the rotation speed ω r The angular acceleration (dω r / dt) and the inertia value J of the actual inertia 5 r This is possible by using

[0053] The present invention can be implemented in any of the above forms (a) to (d). However, when the current detection unit 6 in the above (b) and (d) is provided on the load side, there are advantages in that the parameter measurement can be completed only once because the load motor (Mg) 2 can be a stationary type, and that the parameters can be accurately grasped through a dedicated design. EXAMPLES

[0054] Fig. 6 is a diagram showing a part of the configuration of a motor testing device according to Example 3 of the present invention. In Fig. 6, components in the control portion that are the same as those in the configuration of Example 1 shown in Fig. 1 are omitted. In the third embodiment, a torque detection correction unit 12 is provided to detect the inertia (inertia value J t ) to correct the torque detection error caused by the

[0055] The torque detection correction unit 12 includes a differentiation circuit 12a and an inertia value multiplication circuit 12b, and detects the input rotation speed ω r For this, the torque detection error Δτ is expressed by the following (Equation 5). t-dtc Calculate the following.

number

[0056] In addition, the torque detection correction unit 12 corrects the torque detection error Δτ t-dtc The torque detection value τ t-dtc and add it to the torque detection correction value τ t-dtc ' will be output.

[0057] Next, the effect of the torque detection correction unit 12 will be described. r In comparison, the inertia value J of the test motor (Mt) 1 t When the torque τ on the test piece is not negligible, t Since the actual inertia 5 and the inertia of the test motor 1 itself are rotated by the above equation, the following equation (6) holds true.

number

[0058] Moreover, since the torque detection unit 7 detects the torque that rotates only the real inertia 5, the following (Equation 7) holds true.

number

[0059] Comparing the above (Equation 6) and (Equation 7), it is found that there is a torque detection error represented by (Equation 5). That is, the effect of the torque detection correction unit 12 is that this torque detection error can be corrected.

[0060] As a result, the inertia value J of the test motor (Mt) 1 t Compared to the actual inertia value J r In other words, the inertia value J r This makes it possible to design the motor test device to be small, thereby reducing the installation space required for the motor test device.

[0061] Furthermore, when the torque detection units 7 of (c) and (d) above are provided on the load side, the torque detection correction unit 12 can calculate the torque detection error using the inertia value Jg of the load motor (Mg) 1 in the same manner as in (Equation 5). EXAMPLES

[0062] Fig. 7 is a diagram showing a part of the configuration of a motor testing device according to a fourth embodiment of the present invention. In Fig. 7, components in the control portion that are the same as those in the configuration of the first embodiment shown in Fig. 1 are omitted. Fig. 8 is a diagram showing a vehicle mechanism of a vehicle to be simulated in the fourth embodiment.

[0063] The fourth embodiment includes a vehicle simulation circuit 11f, which is a substitute for the speed command calculation circuit 11a that is a component of the inertia simulation unit 11 of the first embodiment shown in Fig. 1. The speed command calculation circuit 11a of the first embodiment is intended to simulate the behavior when the actual inertia of the inertia value Jr is connected to the test motor (Mt) 1, whereas the vehicle simulation circuit 11f is intended to simulate the behavior when the vehicle mechanism shown in Fig. 8 is connected.

[0064] In the vehicle mechanism shown in FIG. 8, a gear ratio G r Inertia J at radius r through gear 13 w The wheel 14 has a mass M b The vehicle body 15 is connected to the wheel 14, and the wheel 14 rotates at a rotation speed ω w The vehicle 15 rotates at a speed of v b Move around with. Here, μ represents the coefficient of friction between the wheel 14 and the ground surface, W represents the total mass of the wheel 14 and the vehicle body 15, Wg represents the force that the wheel 14 exerts on the ground surface, and μWg represents the tangential force that the wheel 14 receives from the ground surface.

[0065] Next, it will be described how the vehicle mechanism shown in FIG. 8 is simulated by the vehicle simulation circuit 11f shown in FIG. The gear ratio multiplication circuit 11f1 in the vehicle simulation circuit 11f shown in FIG. 7 multiplies the gear ratio G r Depending on the torque τ t G r The gear ratio multiplication circuit 11f2 simulates the rotation speed ω w G r The speed command ω of the test motor 1 is r * This simulates the following:

[0066] The wheel speed calculation circuit 11f3 calculates the inertia J of the wheel 14 shown in FIG. w In response to w This simulates the determination of

[0067] The wheel radius multiplication circuit 11f4 multiplies the speed of the wheel 14 relative to the ground by rω w The wheel radius multiplication circuit 11f5 simulates that r times the tangential force μWg applied to the wheel 14 is fed back to the wheel 14 as torque.

[0068] The sliding speed of the wheel 14 relative to the ground surface v s is the velocity rω of the wheel 14 relative to the ground surface, as shown in FIG. w and the speed of body 15 v b It is calculated as the difference between

[0069] In addition, the friction coefficient calculation circuit 11f6 calculates the sliding speed v s A tangential force calculation circuit 11f7 calculates a tangential force μWg acting on the wheel 14 by multiplying the friction coefficient μ by the force Wg that the wheel 14 exerts on the ground surface.

[0070] The vehicle speed calculation circuit 11f8 calculates the tangential force μWg and the running resistance F d Based on the difference between the vehicle speed v b The vehicle resistance calculation circuit 11f9 calculates the vehicle speed v b Based on the running resistance F d Calculate the following.

[0071] As described above, the vehicle simulation circuit 11f simulates the vehicle mechanism shown in FIG. 8, and the speed command ω r * In response to this, the load motor 2 is controlled. As a result, when viewed from the test motor (Mt) 1, it is possible to simulate a vehicle mechanism as shown in FIG.

[0072] In addition, multiple test motors (Mt) 1, load motors (Mg) 2, and vehicle simulation circuits 11f may be prepared, and multiple test motors (Mt) 1 may drive wheels 14 connected to each of them, simulating a vehicle body 15 having multiple wheels 14.

[0073] In the vehicle mechanism shown in FIG. 8, the wheels 14 may spin due to a change in the friction coefficient μ. This is because the speed command ω r * When the load motor (Mg)2 speed control is performed, the rotation speed ω r At this time, in the evaluation of the control technology called slip re-adhesion control of the test motor (Mt) 1, the test side torque τ t Even in such a case, the torque estimation correction unit 10 of the present invention can estimate the sample torque τ t This allows the system to estimate the vehicle dynamics with high response and precision, and to simulate the vehicle mechanism as intended.

[0074] Although the first to fourth embodiments of the present invention have been described above, the present invention is not limited to the above-described first to fourth embodiments, and various modifications are possible without departing from the gist of the present invention. [Explanation of symbols]

[0075] 1... Test motor, 2... Load motor, 3... Test side inverter, 4... Load side inverter, 5...actual inertia, 6...current detection unit, 7...torque detection unit, 8...torque estimation unit, 8a...Three-phase to two-phase conversion circuit, 8b...Current-torque conversion circuit, 8c...Differential circuit, 8d...inertia value multiplication circuit, 9...filter section, 10...torque estimation correction unit, 10a...integration circuit, 11...inertia simulation unit, 11a...speed command calculation circuit, 11b...speed control circuit, 11c...torque-current conversion circuit, 11d...current control circuit, 11e...two-phase to three-phase conversion circuit, 12...torque detection correction unit, 12a...differential circuit, 12b...inertia value multiplication circuit, 13...gear, 14...wheel, 15...vehicle body

Claims

1. a current detection unit provided on the side of a test motor or on the side of a load motor that applies a load to the test motor, the current detection unit detecting a current of the test motor or the load motor and outputting a current detection value; a torque detection unit provided on the side of the test motor or the side of the load motor, which detects the torque of the test motor or the load motor and outputs a torque detection value; a filter unit that filters the torque detection value and outputs a torque filter value; a torque estimation unit that outputs a torque estimation value of the test motor or the load motor based on a current detection value of the test motor or the load motor on the side where the torque detection unit is provided, or based on a current detection value and an angular acceleration of the test motor or the load motor on the side where the torque detection unit is not provided, and an inertia value of a rotating shaft including the test motor and the load motor; a torque estimation correction unit that outputs a torque correction value by making the torque estimation value asymptotic to the torque filtered value; a control unit that controls the load motor based on the torque correction value; A motor testing device comprising:

2. 2. The motor testing device according to claim 1, The torque estimation correction unit configures a two-degree-of-freedom control system in which the torque estimation value is on the feedforward side and the torque filter value is on the feedback side. A motor testing device comprising:

3. 3. The motor testing device according to claim 1, The control unit has a speed command calculation circuit for the load motor, The speed command calculation circuit calculates a speed command value for the load motor based on the torque correction value and a predetermined inertia value. A motor testing device comprising:

4. 3. The motor testing device according to claim 1, The control unit has a vehicle simulation circuit, The vehicle simulation circuit calculates a speed command for the load motor based on the torque correction value, on a gear that connects the test motor and the vehicle wheel with a gear ratio, on physical quantities related to the wheel and the vehicle body to which the wheel is connected, and on the rotation speed of the wheel. The motor testing device is characterized by:

5. 5. A motor testing device according to claim 1, The torque detection correction unit further includes a torque detection correction value that is calculated based on the angular acceleration of the test motor or the load motor and the inertia value of the test motor or the load motor, and that is added to the torque detection value. A motor testing device comprising:

6. Detecting a current of a test motor or a load motor that applies a load to the test motor; A torque filter value is obtained by filtering the torque detection value of the test motor or the load motor. Calculating a torque estimate of the test motor or the load motor based on a current detection value of the test motor or the load motor on the side where torque detection is performed, or based on a current detection value and an angular acceleration of the test motor or the load motor on the side where torque detection is not performed, and an inertia value of a rotating shaft including the test motor and the load motor; obtaining a torque correction value by making the torque estimated value asymptotic to the torque filtered value; The load motor is controlled based on the torque correction value. A motor testing method comprising:

7. 7. A motor testing method according to claim 6, comprising the steps of: The torque correction value is calculated by making the torque estimated value asymptotic to the torque filtered value using a two-degree-of-freedom control system in which the torque estimated value is on the feedforward side and the torque filtered value is on the feedback side. A motor testing method comprising:

8. 8. A motor testing method according to claim 6 or 7, comprising: A torque detection correction value is calculated based on the angular acceleration of the test motor or the load motor and the inertia value of the test motor or the load motor, and is added to the torque detection value. A motor testing method comprising:

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