865 results about "Load torque" patented technology

The invention provides a control method based on differential rotation speed torque distribution, which relates to the technical field of intelligent control and comprises the following steps: performing difference calculation on an initial input quantity and a preset rotation speed instruction to generate a rotation speed deviation signal and a deviation change rate, and establishing a dynamic membership function library through a fuzzy controller; mapping the rotating speed deviation and the change rate thereof into a fuzzy language variable, performing reasoning operation according to a preset fuzzy control rule base, and outputting a frequency regulation quantity and a torque compensation coefficient of the frequency converter; and reading the generated torque compensation coefficient and shaft system torque values actually measured by the two torquemeters, calculating a dynamic difference value between the current total load torque and the target torque, establishing a torque distribution weight model according to the transmission characteristics of the differential mechanism, and generating differential torque correction instructions of the two motors in combination with the real-time rotating speed values. The control performance of differential drive is improved.

The invention relates to an electric vehicle EMB system clamping force estimation method based on a pressure-sensor-free control strategy. Compared with the prior art, the defect that a pressure sensor of an EMB system cannot meet the actual use requirement is overcome. The method comprises the following steps: estimating load torque; torque estimation balance force is estimated according to the load torque and a transmission model; estimating a characteristic curve estimated clamping force through a characteristic curve dynamic stiffness model; and carrying out fusion estimation on clamping force of the EMB system. According to the method, a non-pressure sensor algorithm is designed to replace a pressure sensor, the clamping force generated when the EMB system works is optimally estimated in real time, and the problems that the cost of the pressure sensor is high, and the braking performance of the electric vehicle is reduced due to the fact that the precision of clamping force measurement is reduced or even the whole is invalid under the severe braking working condition are solved.

The invention discloses a mechanical transmission system fault trend prediction system based on dynamic feature recognition, and relates to the technical field of mechanical state monitoring. Comprising the following steps: synchronously acquiring a load torque signal and a lubrication state parameter signal of a transmission system and vibration acceleration signals of a plurality of measuring points through a signal acquisition module; the working condition decoupling characteristic generation module carries out time-frequency analysis on the vibration signal, calls a pre-stored load disturbance spectrum template according to a load torque signal to carry out adaptive differential processing so as to eliminate load fluctuation interference, and calls a correction rule set according to a lubrication state parameter signal to carry out form recombination on the signal so as to compensate the lubrication state influence; and finally outputting a working condition decoupling feature representing the health state of the mechanical part. And the trend prediction module calculates and obtains fault development trend and residual life estimation data through a pre-trained fault prediction model. According to the method, the dynamic characteristics representing the essential degradation of the part are effectively extracted, and the accuracy and reliability of fault trend prediction of the mechanical transmission system are improved.

The invention discloses an electromobile EMB system clamping force estimation method based on a non-pressure sensor, and relates to the technical field of distributed electric drive-by-wire automobiles, the viscous effect between a brake disc and a friction plate during actual braking is considered, and a clamping force dynamic stiffness model is established for predicting the clamping force; discretizing a description equation of the clamping force dynamic stiffness model, and establishing a discretized clamping force state space equation; according to the motor torque balance equation, designing a sliding-mode observer of the motor load torque for observing the load torque of the motor in real time in the braking process; according to a transmission model of the EMB system, a load torque observation value observed by the sliding mode observer in real time is converted into a clamping force observation value; and calculating an optimal clamping force estimated value at the current moment according to an optimal clamping force estimated value obtained at the previous moment by using a Kalman filtering algorithm in combination with the discretized clamping force state space equation and the clamping force observed value, so as to realize real-time optimal estimation of the clamping force. The problems that under the control of the pressure sensor, due to high temperature and high pressure during braking, the measuring precision of the pressure sensor is reduced, and even the whole pressure sensor is invalid are solved.

Disclosed is a low-precision incremental encoder-based method for ultra-low speed control of a servo system. According to the present invention, a fast speed observer in an ultra-low-speed working state is achieved, only a sampling speed and load torque in an M / T method need to be observed, and position information of an electric motor does not need to be observed, such that the structure of the observer is simplified, and calculation is simple and fast; moreover, the influence of a friction force and cogging torque on a speed change is considered, such that the speed observation precision is further improved. The fast speed observer can reduce hysteresis and measurement dead zones, such that the speed response and the speed control precision in a low-speed working state are greatly improved, the problem in a traditional observer of a large position deviation caused by nonlinear factors such as an external load is avoided, improving the stability and robustness of the system. According to the present invention, the processing of sampling measurement time at a medium-high speed and the processing of switching the observer at a low speed in the M / T method can optimize the speed measurement precision at both the medium-high speed and the ultra-low speed, and can better satisfy the requirements of apparatuses such as a radar on rotating speed control.

The invention relates to the technical field of industrial automation control, and discloses a water-based paint production and processing equipment control system, which comprises the following steps: acquiring stator current and rotor angular velocity, and reconstructing total load torque by using a sliding mode algorithm; extracting an input power low-frequency component to construct a heat dissipation slow manifold, and calculating a thermal drift disturbance component and an orthogonal residual component through orthogonal projection; on the basis of a two-component generation superposition instruction closed-loop adjustment driving mechanism, a double-time-scale orthogonal projection mechanism is utilized, non-structural thermal drift interference is automatically stripped under the condition that heat transfer parameters of equipment do not need to be predicted, the problem of control divergence caused by model parameter mismatch is solved, and decoupling control over the real rheological state of materials is achieved.

The invention relates to a stepping motor control method and device based on load torque, which mainly performs closed-loop control on a stepping motor by collecting current and voltage signals so as to optimize the working efficiency of the motor. According to the method, firstly, a current signal is filtered and compared with a target reference value, a current deviation is calculated, and if the deviation exceeds a threshold value, a target PWM signal is generated to adjust the current until the deviation is reduced to be within a preset range. When the current meets the requirement, a voltage commutation point and a current zero point are determined based on the voltage signal, the current load state and torque value are calculated by combining the time interval between the voltage commutation point and the current zero point with preset no-load time and out-of-step time, and the working current is adjusted according to the information, so that the working efficiency of the stepping motor is optimized.

The invention discloses an IADRC and torque compensation fused PMSM speed regulation control method. The method comprises the steps of establishing a mathematical model of a surface-mounted permanent magnet synchronous motor in a rotating coordinate system; an improved Luenberger load torque observer is designed; designing an active disturbance rejection controller; designing an improved super-spiral sliding mode algorithm; and designing an improved speed loop active disturbance rejection controller. The improved Luenberger observer identifies the load torque of the system in real time, and parameters obtained through identification are compensated to the improved active-disturbance-rejection controller, so that system oscillation caused by load change is avoided; a traditional non-linear state error feedback control rate in active disturbance rejection control is combined with a super-spiral sliding mode algorithm, and a new piecewise function is designed and applied to a sliding mode reaching law. According to the method, the response speed and the working efficiency of the system are effectively improved, meanwhile, the anti-interference performance of the system is enhanced, and the robustness of the system is improved.

The invention discloses a cascaded auto-disturbance rejection rotating speed stability control method with a quasi-resonance link based on propeller load, and the method comprises the following steps: S1, building a speed ring mathematical equation containing disturbance according to the basic structure and working principle of a surface-mounted permanent magnet synchronous motor; s2, according to aerodynamic characteristics of the propeller, establishing a mathematical model of tension and load torque of the propeller; s3, establishing a quasi-resonance cascade active-disturbance-rejection speed controller containing disturbance compensation according to the S1 and the S2, and performing stability analysis on a cascade expansion observer equation according to a Lyapunov stability theorem; and S4, a cascade active disturbance rejection control method with a quasi-resonance link is used to realize suppression of periodic and non-periodic disturbance of the rotating speed so as to realize high-performance speed control. According to the method, the motor and the propeller are integrally modeled, the influence of periodic disturbance and non-periodic disturbance on the rotating speed is considered at the same time, and the method has better dynamic performance and steady-state performance.

A multi-body dynamics simulation method, system, device and medium for a chain system, the method comprising: acquiring a connection relationship among a plurality of target components in the chain system, a structure parameter, a space environment parameter and a task parameter of each target component, and a physical property of a lubricating medium of the chain system under the space environment parameter; correcting the structure parameter of each target component based on the space environment parameter to obtain a target structure parameter; based on the target structure parameters and the connection relation, determining friction characteristic indexes and motion freedom degrees among the multiple target assemblies; constructing a lubrication-volatilization-friction coupling matrix among the plurality of target components; constructing a multi-body dynamic model according to the target structure parameters and the lubrication-volatilization-friction coupling matrix; and acquiring a rotating speed fluctuation curve and load torque data corresponding to the task parameters, and inputting the rotating speed fluctuation curve and the load torque data into the multi-body dynamic model to obtain a dynamic simulation result of the chain system. The reliability of multi-body dynamics simulation of the chain system can be improved.

The invention relates to the technical field of integrated control, in particular to a multi-energy valve integrated control method and system.The multi-energy valve integrated control method comprises the steps that operation records of a multi-energy valve are obtained, the energy supply rate, transmission delay and instantaneous pressure variation in each energy mode are calculated, and the displacement change rate and load torque deviation of a valve executing mechanism are obtained; and calculating an execution synchronization error under the multiple energy modes to obtain a multi-energy mode execution synchronization offset. According to the invention, by calculating the energy supply rate, transmission delay and instantaneous pressure variation in various energy modes and combining the displacement change rate and the load torque deviation of the valve actuating mechanism, the control capability of the execution synchronism of the energy modes is improved, and by combining the execution error brought by energy mode conversion, the trigger advance of a control signal is adjusted, so that the control accuracy of the energy modes is improved. The control signal time sequence is corrected, the coordination of energy scheduling is improved, the valve opening adjusting rate is optimized according to the fluid flow speed and pressure data, transient pressure impact is reduced, and the stability of the system is improved.

The invention discloses a sensorless model prediction speed control method for an induction motor, and the method comprises the steps: carrying out the modeling of a mathematical model of the induction motor based on a two-phase static coordinate system, and obtaining a mathematical model of the induction motor; constructing a full-order observer, and obtaining an estimated value of the rotating speed of the rotor of the induction motor and an estimated value of the flux linkage through the full-order observer; parameter identification of stator resistance is introduced into a motor rotating speed estimation and model prediction module; establishing a prediction model, predicting the stator flux linkage and the rotating speed at the k + 1 moment, and obtaining a stator flux linkage prediction value and a rotating speed prediction value; and finally, constructing a reduced order load torque observer, carrying out feedforward compensation on a speed outer ring of the control system, and improving the dynamic response of the system. According to the invention, the problem in the prior art that the system performance is reduced and even the system crashes due to sensor faults is solved.

The invention discloses an automobile EMB system clamping force accurate control method based on an extended state observer, and belongs to the technical field of electric automobile EMB systems, and the method comprises the following steps: S1, building a novel EMB system five-degree-of-freedom dynamic model containing a LuGre friction model by using an EMB system dynamic relationship; s2, simplifying the five-degree-of-freedom dynamic model of the novel EMB system, estimating the load torque of an EMB driving motor according to the extended state observer, and then estimating the clamping force of the EMB system according to the load torque and the simplified five-degree-of-freedom dynamic model of the novel EMB system; and S3, replacing the measured value to be a feedback value of clamping force closed-loop control of the EMB system according to the estimated EMB clamping force, and accurately controlling the clamping force by adopting fuzzy PID control. By the adoption of the automobile EMB system clamping force accurate control method based on the expansion state observer, the problems that a pressure sensor is high in cost and automobile braking performance is prone to being reduced are solved, and clamping force response is accurately controlled through a fuzzy PID closed loop.

The invention relates to the technical field of wind driven generator driving control, and discloses a wind driven generator rotor turning-over driving control method based on torque and rotating speed cooperation, which comprises the following steps: before operation, controlling a motor to execute forward and reverse quasi-static micro-motion, and collecting an average electromagnetic torque; pure gravity and friction components are separated by using torque arithmetic sum and difference, gravity model gain is corrected, and friction compensation is configured; a feed-forward torque is calculated in combination with a real-time angle, and friction compensation and speed loop feedback are superposed to generate a current instruction; according to the method, gravity and friction are decoupled through physical symmetry, model parameter errors are eliminated, hidden dangers of integral lag and out-of-control rotating speed when the variable polarity load passes through a dead point are avoided, and stability and safety of the turnover process of the hundred-ton rotor are ensured.

The invention relates to a tractor test data acquisition and fault diagnosis system, which belongs to the technical field of agricultural machinery, and comprises a multi-source heterogeneous data acquisition module for performing real-time data acquisition on the working state of the whole tractor through a sensor group deployed at a key part of the tractor; collecting a vibration signal measured by an engine body acceleration sensor; acquiring a real-time rotating speed measured by an engine rotating speed sensor; load torque measured by a torque sensor of the power output shaft is collected; the current instruction rotating speed obtained by the vehicle-mounted control unit is collected; the collected original data are transmitted to the dynamic state evaluation module in real time; the dynamic state evaluation module is used for receiving the multi-dimensional data; carrying out fusion analysis on the multi-dimensional data based on an instantaneous impact index model; according to the method, the system obtains the comprehensive and robust perception capability for the risk, the early-stage and composite impact risk can be accurately recognized, and the misjudgment rate caused by single index fluctuation is greatly reduced.

The invention relates to an FOC control method based on an automobile air conditioner module motor without a Hall sensor, and belongs to the technical field of automobile electronics. The method comprises the following steps: injecting double-frequency voltage pulses into a stator in stages to position a rotor; collecting current through a sampling resistor and filtering to construct a rotor flux linkage distribution model, and presetting rectangular axis current in combination with noise reduction of a miniature acoustic sensor and air speed gear of an air conditioner; an extended Kalman filter observer is adopted to reversely deduce the load torque, and the torque change rate is monitored to trigger instantaneous load impact protection; the voltage space vector amplitude is corrected through voltage feed-forward compensation, a resistor-capacitor series filter circuit is additionally arranged, and phase dislocation pulse width modulation is adopted for resisting interference; and establishing a motor efficiency-rotating speed-load three-dimensional optimization method, starting dynamic flux-weakening control, and estimating the winding temperature through the stator resistance to adjust the flux-weakening depth. Accurate starting and dynamic load adaptation of the Hall-sensor-free motor are achieved, starting out-of-step and noise exceeding are avoided, and stable air volume of an automobile air conditioner and long-term reliable operation of the motor are guaranteed.

The invention relates to the technical field of vehicle control, in particular to a torque control method and device of a vehicle transmission system and electronic equipment. The method includes: acquiring actually measured torsion angular velocity; calculating a transmission shaft torsion angular velocity, a transmission shaft torsion angle and a transmission shaft torsion rotating speed based on the actually measured torsion angular velocity; calculating the torque of the transmission shaft based on the pre-obtained equivalent damping coefficient and equivalent torsional rigidity as well as the calculated torsion angular velocity and torsion angle of the transmission shaft; calculating the required torque of the driven shaft based on the calculated torque of the transmission shaft and the pre-obtained load torque of the wheel end; anti-oscillation compensation torque is calculated according to the calculated torsion rotating speed of the transmission shaft and the pre-obtained rotational inertia of the driving end and the equivalent damping coefficient; and superposing the anti-oscillation compensation torque at the previous moment to the calculated required torque of the driven shaft to obtain the compensated required torque of the driven shaft, and outputting the compensated required torque of the driven shaft. The torque can be accurately controlled, and pause or movement is avoided.

The invention provides a non-cascade permanent magnet synchronous motor model prediction speed current control system and method, and relates to the technical field of motor control, the system realizes the tracking of the rotating speed and the current in the same loop by introducing a model prediction speed current controller, only needs to set three influence factor parameters, and can realize the tracking of the rotating speed and the current. And the parameter setting workload of the traditional double-PID controller is obviously reduced. By adopting the saturation function type sliding mode load observer, the problem of high-frequency buffeting is effectively relieved, and the accuracy of load torque estimation is improved. The model prediction speed current controller is based on a discretized permanent magnet synchronous motor model, voltage vector output is optimized by constructing a cost function, rapid tracking of current and speed is achieved, and the dynamic performance of the system is improved. The objective of the invention is to solve the problems of limited bandwidth, complex parameter setting and insufficient dynamic performance in a conventional cascade control structure.

The invention discloses a permanent magnet synchronous motor high-performance prediction control method based on a sliding-mode observer, and the method comprises the steps: S1, collecting the position and mechanical angular velocity information of a rotor, collecting the three-phase voltage and current data of a permanent magnet synchronous motor, and converting the three-phase voltage and current data into the voltage and current of a motor stator under a two-phase rotating coordinate system; s2, constructing a speed ring sliding-mode observer, estimating electrical and mechanical parameter perturbation interference and load torque interference on line, designing a rotating speed ring deadbeat prediction controller, outputting reference current at the next moment, and setting the amplitude limit of the output reference current; s3, a current loop sliding mode observer is constructed, electrical parameter perturbation interference is estimated online, a current loop prediction controller is designed in combination with the dead-beat prediction control principle, and voltage at the next moment is output; and S4, carrying out amplitude limiting modulation on the output voltage, obtaining a voltage under a static coordinate system through Park inverse transformation according to the voltage after amplitude limiting modulation, and outputting a switching signal to a three-phase inverter by combining a two-level space vector modulation module to drive the permanent magnet synchronous motor to operate.

Provided is a lens barrel capable of improving stop accuracy. A roller support shaft (61) is attached to an outer peripheral portion of a cam cylinder (16). A torque applying roller (102) is rotatably supported by the roller support shaft (61). A biasing ring (104) is fitted to an outer peripheral portion of a second fixed cylinder (12B) and is held to be movable in an axial direction. The biasing ring (104) is biased by a biasing spring (106) and pressed to abut against the torque applying roller (102). In a case where the cam cylinder (16) is rotated, the torque applying roller (102) rolls along the biasing ring (104). A load torque is applied to the rotation of the cam cylinder (16) by frictional force generated between the torque applying roller (102) and the roller support shaft (61) due to the rotation of the torque applying roller (102).

The invention relates to the technical field of hoisting equipment intelligent control based on multi-sensor cooperation, and discloses a hoisting equipment intelligent control method based on multi-sensor cooperation. A control unit reads and stores parameters such as air density, windward projection area, wind load arm length, arm section rotational inertia, rated output force of a hydraulic cylinder, sampling period and the like, and static self-inspection and dynamic calibration are performed on a wind speed sensor, a rotary encoder and a pressure sensor respectively; multiple paths of wind speeds are collected in parallel during operation, fused wind speeds are obtained through weighted fusion after abnormities are removed, and the wind load torque is calculated and limited by combining the windward area and the force arm length; reading two continuous encoder angle differences, performing amplitude limiting, calculating an angular velocity and kinetic energy, performing adaptive adjustment according to kinetic energy deviation, and performing amplitude limiting on a damping coefficient to generate a damping torque; and the amplitude-limited wind load torque and damping torque are synthesized into total control torque, and after amplitude limiting, the total control torque is converted into amplitude-limiting hydraulic cylinder operation output force which is issued and executed by a control unit.

The utility model discloses a gear detection device which comprises a frame body, a standard component mechanism, a test piece mechanism and a plane sliding table mechanism, the standard component mechanism comprises a standard gear piece and a load element, and the load element is connected to the standard gear piece to provide load torque for the standard gear piece. The test piece mechanism comprises a test assembly and a detection device, the test assembly is installed on the frame body and is used for fixing a test gear piece, the detection device is installed on the test assembly so as to collect and analyze data in the operation process of the test assembly, and the plane sliding table mechanism is installed on the frame body. According to the gear detection equipment provided by the technical scheme of the utility model, the torsional vibration sensor is adopted to measure torsional vibration, and the circular grating is adopted to measure transmission errors, so that single-meshing detection of a gear with a load can be realized, and the accuracy of a detection result can be further improved.

Provided are: a hoisting machine capable of smoothly mounting a member on a mounting surface; a hoisting machine system; and a method for using the hoisting machine system. A hoisting machine 1 comprises: a hoisting means 25; a drive motor 22 for rotating the hoisting means 25; a load calculation means 100b for calculating the load of the hoisting means 25; and a motor control means 100 for controlling the drive motor 22. The motor control means includes: a first torque control mode in which the torque of the drive motor 22 is controlled on the basis of a reference torque Tm0 corresponding to a reference load and a load torque Tl corresponding to the load; and a second torque control mode in which the torque of the drive motor 22 is controlled so that the torque is smaller by a predetermined amount as compared to the first torque control mode.

The invention discloses a feedforward LADRC rotating speed control method for a reduced-order load torque observer of a permanent magnet synchronous motor. Comprising the steps that a voltage equation and a motion equation of the permanent magnet synchronous motor are established, the motion equation of the permanent magnet synchronous motor is equivalent to a first-order anti-disturbance normal form, a linear active-disturbance-rejection rotating speed controller is established according to the first-order anti-disturbance normal form, and a reduced-order load torque observer is established according to the motion equation of the permanent magnet synchronous motor. The reduced-order load torque observer is combined with a linear active-disturbance-rejection rotating speed controller to obtain a permanent magnet synchronous motor linear active-disturbance-rejection rotating speed control method based on feedforward of the reduced-order load torque observer, so that accurate tracking of a reference rotating speed and effective suppression of high-order nonlinear time-varying load disturbance are realized. And the anti-disturbance performance of the permanent magnet synchronous motor is greatly enhanced.

The invention relates to the technical field of production control, and discloses a control method and system for waterproof material production, and the method comprises the steps: determining a mapping strategy, a traversal strategy or a model strategy based on the relation between all temperature change values and a standard temperature change value, when the mapping strategy is determined, determining a stirring rotating speed according to a temperature change value, and when the traversal strategy is determined, determining the stirring rotating speed; when the strategy is determined to be a traversal strategy, traversing the temperature influence chain in a historical influence set to determine the stirring speed, and when the strategy is determined to be a model strategy, performing fusion based on a sorting result to determine a temperature change influence value, determining the stirring speed based on the temperature change influence value, and determining a stirring load torque curve graph based on a collection time period; according to the relation between the minimum load torque and the load torque, the stirring rotating speed is determined to be adjusted or not adjusted, the stirring rotating speed is adjusted based on the stirring rotating speed adjusting factor, and production is completed according to the adjusted stirring rotating speed. According to the invention, the stability and reliability of waterproof material production are ensured.

The invention belongs to the technical field of cutter wear monitoring, and discloses a titanium alloy aviation structural member rough machining cutter wear self-adaptive monitoring method, which comprises the following steps: step 1, determining a cutter wear monitoring threshold T0 according to a machine tool spindle load torque value; 2, within the fixed period T1, a numerical control machine tool spindle load torque value set A in the rough machining process of a tool is collected; 3, performing low-pass filtering on the data in the set A to obtain a data set B; 4, performing kurtosis value analysis and evaluation processing on the set B to obtain a data set X; 5, performing data classification on the data set X by using a support vector machine, and obtaining a data set T by taking a set with the maximum number after classification; step 6, calculating a torque average value # imgabs0 # of the data set T; and step 7, performing cutter wear self-adaptive monitoring on the torque average value # imgabs1 # of each period according to a threshold value T0.

The invention relates to the technical field of motor control, and particularly provides a permanent magnet synchronous motor predictive current control method, which comprises the following steps of: establishing a basic mechanism equation of an inner ring and an outer ring in permanent magnet synchronous motor MPCC control, and introducing a lumped disturbance term and a current ripple term into a cost function of the inner ring, the robustness of the MPCC to mismatch of inductance, permanent magnet flux linkage and resistance parameters is improved; and a strong tracking dimension expansion Kalman filtering torque observer is designed on an outer ring, so that the influence of load torque disturbance and sensor measurement noise on the control performance of the motor is reduced. According to the method, the robustness of the MPCC on disturbance such as model internal parameter mismatch and model external uncertain load torque can be enhanced at the same time.

The invention relates to the technical field of motor operation control, in particular to an industrial servo motor operation control method and system, and the method comprises the steps: collecting the load torque data and rotational inertia data of a servo motor in real time; acquiring each oscillation time period and a constant time period; analyzing the vibration amplitude, the vibration frequency and the change rate of the load torque data in each oscillation time period, and obtaining a load torque oscillation coefficient of each oscillation time period; obtaining a rotational inertia abnormal value of each oscillation time period; acquiring a synchronization coefficient of load torque and rotational inertia change in each oscillation time period; the disturbance value of the servo motor in each oscillation time period is obtained; and obtaining an optimized value of a gain coefficient of a sliding mode surface in the sliding mode controller at the current moment. According to the application, buffeting caused by too sensitive response of the servo system to the disturbance is avoided, and the response speed of the servo system to the disturbance is improved, so that the control precision of the rotating speed of the servo motor is improved.

A motor control system includes a measurement interface designed to measure a mechanical angle of a shaft driven by a motor and a rotational speed of the shaft, and to generate a speed feedback signal representative of the rotational speed, a speed controller, and a current controller.The speed controller comprises an error component configured to generate a speed error signal based on the difference between a speed reference signal and the speed feedback signal; a proportional-integral controller configured to regulate a torque reference value based on the speed error signal and to maintain a speed reference value; and a load torque ripple compensator configured to apply a torque feedforward function to reduce load torque ripple in the torque reference value. The current controller is configured to drive motor currents to generate a torque equal to the torque reference value.

The present invention relates to an intelligent control method, device and equipment for a heavy-load robot, belonging to the field of heavy-load robots. The present invention calculates the torque information received by each lever arm in each operable posture according to the mass information of the goods and the operable posture data set of the heavy-load robot, and finally obtains the operating posture of the heavy-load robot in the process of picking and unloading goods according to the torque information received by each lever arm in the operable posture and the motion path of the position of the goods during the handling process, and controls the heavy-load robot according to the operating posture of the heavy-load robot in the process of picking and unloading goods. The present invention fully considers the change of the maximum load torque of each lever arm of the heavy-load robot under different operating postures, so that the heavy-load robot changes the operating posture according to the maximum load torque characteristics, which can increase the service life of the heavy-load robot, reduce the maintenance cost of the heavy-load robot, and make the control of the heavy-load robot more reasonable.