113 results about "Speed loop" patented technology

The invention discloses a PMSM speed regulation method (ILADRC) based on improved RLS identification and dynamic inverse control. According to the method, a layered framework is adopted; a linear expansion observer with fixed parameters is used for a bottom layer to ensure observation stability; the middle layer constructs a parameter identification regression model based on a generalized disturbance observation value by using an improved recursive least square algorithm, introduces an online correction mechanism, and performs online decoupling identification on input gain and pure physical disturbance of a speed ring by using the generalized disturbance observation value and a current instruction; and the upper layer reconstructs an adaptive dynamic inverse control law based on an identification result, weakens an algebraic coupling loop of observation and control, realizes no-static-error and no-overshoot rapid tracking of the system on a rotating speed instruction under a parameter mismatch working condition in combination with an acceleration error integral enhancement item, and effectively improves the dynamic performance and robustness of the motor under a parameter perturbation working condition.

The invention belongs to the technical field of permanent magnet synchronous motor control, and particularly discloses a permanent magnet synchronous motor finite time switching active-disturbance-rejection rotating speed control method, which comprises the following steps: acquiring a reference rotating speed and an actual rotating speed of a permanent magnet synchronous motor; the absolute value of the error between the reference rotating speed and the actual rotating speed is calculated and compared with a preset first threshold value and a preset second threshold value, and the stage of the permanent magnet synchronous motor is judged; constructing a finite time cascade expansion state observer comprising a first-stage finite time ESO and a second-stage linear ESO to observe the state and lumped disturbance of the permanent magnet synchronous motor; and based on the stage of the permanent magnet synchronous motor, selecting a composite state of the observation value of the first-stage finite time ESO, the observation value of the second-stage linear ESO or the observation value of the first-stage observer and the observation value of the second-stage observer generated based on the Bezier curve to generate the rotating speed loop control law of the permanent magnet synchronous motor. According to the invention, the problems that the transient anti-interference capability is weak and the current performance is reduced due to the fact that transient control and steady-state control are not distinguished in the prior art are solved.

The invention discloses an intelligent low-voltage servo system based on three-ring control, and relates to the technical field of servo control, and the system comprises a double-shaft servo driver, an azimuth servo motor, a pitching servo motor, an azimuth angle sensor and a pitching angle sensor. The double-shaft servo driver comprises a control board assembly and a driving board assembly. The control panel assembly comprises a position loop controller, a speed loop controller and a current loop controller, and a three-ring cascaded closed-loop control structure is formed based on the position loop controller, the speed loop controller and the current loop controller; and the driving board assembly comprises a power amplification circuit and is used for driving an azimuth servo motor or a pitching servo motor to operate according to the pulse width modulation signal output by the current loop controller. According to the invention, a three-loop control structure of a position loop, a speed loop and a current loop is adopted, and feedforward compensation, disturbance observation and an intelligent management strategy are integrated to improve the dynamic performance and robustness of the system.

The invention belongs to the technical field of electrical engineering, and particularly relates to a dynamic intelligent control method and system for a variable-frequency speed regulation system, and the method comprises the steps: in the offline stage of the system, automatically setting the total rotational inertia and the optimal compensation gain of the system through injecting a test torque and monitoring critical oscillation; in the online operation stage, active electromagnetic power is calculated by collecting bus voltage and current, theoretical inertia power is calculated by combining mechanical angular velocity, and the difference value of the active electromagnetic power and the theoretical inertia power is used as a disturbance power observation value after low-pass filtering; a singular-point-free equivalent angular velocity is constructed by using a set minimum effective rotating speed threshold value, disturbance power is converted into disturbance torque, and the zero-division singular problem of a low-speed region is effectively avoided; and calculating a compensation current, carrying out dynamic amplitude limiting according to the residual current margin of the frequency converter, and superposing the residual current to a speed ring for output. According to the method, the problem of calculation divergence of traditional power disturbance observation in a low-speed region is solved, and disturbance suppression and robust control in a full-speed region are realized on the premise of ensuring system safety.

The invention relates to the technical field of mechanical arm control, in particular to a mechanical arm speed control method based on load torque feedforward. The method comprises the following steps: acquiring an angular velocity and a three-phase current of a motor, and performing coordinate transformation to obtain a direct-axis current and a quadrature-axis current; generating a voltage control signal by using a current loop controller; generating a quadrature-axis current reference signal by using a speed ring controller; constructing a load torque observer based on the angular velocity and the quadrature-axis current to estimate the load torque in real time; an acceleration start flag and a deceleration start flag of the motor are detected, the estimated load torque is added to an input of the current loop controller as a feed-forward amount within a first predetermined time after the acceleration start flag is detected, and the feed-forward amount is removed from the input of the current loop controller within a second predetermined time after the deceleration start flag is detected. The constant parameters of the current loop and the speed loop controller are kept when the load and the rotational inertia change, and the stable suppression of the speed fluctuation is realized.

The invention discloses a motor control method and device, a motor, a storage medium and a computer program product, which are applied to a motor driving system, and the method comprises the steps: obtaining a rotating speed given value of the motor at the last moment, and determining an initial value of the rotating speed given value at the current moment based on the rotating speed acceleration; subtracting the initial value of the set rotating speed value from the actual rotating speed of the motor to obtain a rotating speed error, and outputting a rotating speed loop current instruction after the rotating speed error is adjusted by a rotating speed loop; acquiring a rotating speed loop current instruction to form current instruction sampling data; calculating an evaluation index representing the stability of the system based on the current instruction sampling data; according to the relationship between the stability evaluation index and a preset stability threshold value, combining a preset mapping weight, and dynamically adjusting the rotation speed acceleration; and the rotating speed set value of the next moment is updated by using the adjusted rotating speed acceleration, and a self-adaptive control closed loop is formed. According to the scheme, the stability and the loading speed of the motor driving system are improved.

The invention discloses a speed loop two-degree-of-freedom PI control method and device based on feedforward and a medium, and relates to the technical field of speed loop control methods.According to the method, on the premise that the bandwidth of an inner current loop is higher than that of a speed loop, a PI feedback steady state is adopted, and a disturbance observer is used for load disturbance estimation and compensation; feedforward forming is introduced to a given side, a'given-output 'closed loop is shaped into a first-order or critical damping second-order target model, and a disturbance observer time constant, a target bandwidth and a sampling period are systematically set. The device is composed of an error acquisition module, a PI feedback module, a disturbance observation module, a feed-forward forming module and an execution interface module. According to the scheme, under the condition that hardware is not changed, rapid low-overshoot tracking is achieved, the anti-interference performance is not weakened, parameters can be reused, and the method is suitable for servo scenes such as numerical control, robots and stabilized platforms.

The embodiment of the invention provides a motor speed observation method and device, electronic equipment and a storage medium, and the method comprises the steps: firstly, obtaining an electrical angle of a motor; then, gain processing is carried out based on the electrical angle, the observer proportional gain parameter and the observer integral gain parameter, and a proportional integral output value is obtained; next, feed-forward processing is carried out based on the electrical angle and a feed-forward gain parameter, a feed-forward output value is obtained, and the feed-forward gain parameter, an observer proportional gain parameter and an observer integral gain parameter are all generated based on the speed ring bandwidth of the speed ring; and finally, performing superposition processing based on the proportional integral output value and the feedforward output value to obtain a speed observation result of the motor, thereby greatly improving the observation real-time performance and accuracy of motor speed observation.

The invention provides a fault-tolerant control method and system for open-phase faults of a four-phase and three-phase permanent magnet synchronous motor, electronic equipment and a storage medium. Belongs to the technical field of motor control. The method is based on a 4DQ decoupling control framework, and an open-phase fault-tolerant control module is additionally arranged between a speed loop and a current loop. When the open-phase fault of the motor is detected, the module firstly identifies the number of sets of faulty windings, cuts off control signals of the faulty sets of windings, then averagely distributes q-axis total reference current output by a speed ring to the remaining healthy three-phase windings again according to the number of the faulty sets, and carries out necessary amplitude limiting processing. And finally, the current loop controller of each healthy winding drives the inverter to work according to the redistributed reference current. According to the invention, the structural advantage of independent isolation of the four-phase and three-phase motor windings is fully utilized, and the torque ripple is effectively suppressed and the stable operation of the motor is maintained through overload or derating operation of a healthy winding under the condition that a single set or multiple sets of windings have faults.

The application relates to a kind of linear vernier permanent magnet motor deadbeat control methods, on the basis of traditional DTC control, by introducing speed backstepping controller to replace traditional speed loop PI regulator, using deadbeat controller to replace current loop PI regulator, using improved double-sampling double-update SVPWM to replace traditional SVPWM modulation module.According to multiple simulation, the application can effectively reduce the overshoot of the system and effectively reduce the thrust ripple of the system on the basis of maintaining traditional DTC control, and improve the dynamic performance of the system.

The application relates to the technical field of servo control, in particular to a high-precision rate turntable servo control device, system and method. The device comprises a turntable, a motor, an encoder, a current sensor, a servo control unit, a servo driving unit and a power supply; the servo control unit is used for carrying out position loop calculation according to the target position sent by an upper computer and the position information fed back by the encoder at the current time, then calculating the predicted speed at the current time according to the position information fed back by the encoder at the current time, carrying out speed loop calculation according to the calculation result of the position loop, the position information fed back by the encoder at the current time and the predicted speed at the current time, and outputting the calculation result of the speed loop to the servo driving unit; the servo driving unit is used for generating driving current to the motor according to the calculation result of the speed loop and the current fed back by the current sensor, so that the motor directly drives the turntable to rotate. The scheme can greatly improve the rate accuracy of the turntable.

This invention belongs to the field of motor control technology and provides a sensorless control method based on I / F open-loop start-up and PLL dual improvement. The method includes: after motor start-up, when the start-up transition conditions are met, entering the start-up transition stage and executing I / F start-up control, including: constructing a flux linkage observer to estimate the rotor electrical angle in real time; inputting the rotor electrical angle to a pre-constructed improved PLL phase-locked loop to output the estimated speed; when the motor meets the stable closed-loop control conditions, entering the closed-loop operation stage, inputting the target speed and estimated speed to the speed loop to output torque current. In this invention, the start-up transition stage is directly fed back by the flux linkage observation angle, resulting in more complete decoupling of the current loop, allowing the system to enter the stable operating region earlier, and significantly shortening the adjustment time from start-up to stability; the start-up transition stage no longer relies on open-loop angle accumulation, avoiding current surges and torque pulsations caused by open-loop angle deviations.

The utility model discloses a parabolic radar jammer antenna servo control device, which relates to the technical field of radar jammers and comprises an antenna, the antenna is connected with a servo turntable display control unit, and the servo turntable display control unit is electrically connected with a display control computer. The servo turntable display control unit comprises an antenna control unit, a network switch, a shaft angle encoder and a servo driving unit; the servo driving unit comprises a motor, a motor controller, a control protection circuit, a direct current power supply and a distribution line; the servo driving unit is a rotating speed and current double-closed-loop speed regulation system. According to the utility model, the control protection and driving circuits are reasonably adopted, so that the safety, the response speed and the tracking precision of the system are improved; a double-loop design is adopted, a current loop provides a control object with a wide frequency for a speed loop, and the speed loop improves the low-speed stability of the system, expands the speed regulation range of the system, improves the disturbance resistance of a load, and provides a control object with a wide frequency for position control.

The invention discloses a servo system for a ship towing winch and a control method of the servo system. The servo system comprises a rectifying circuit, a three-phase full-bridge circuit, a braking circuit, a DSP control circuit, an output capacitor C, a brake control circuit and a rotary transformer decoding circuit. According to the servo driver, full electrification of releasing, recycling and zero-speed working condition maintaining of the ship winch is achieved, compared with a hydraulic driving device of a traditional winch, the defects that a hydraulic system is complex in structure, large in size and difficult to maintain are overcome, and an electric driving system is high in control precision, simpler to achieve and more convenient to operate. Compared with conventional alternating-current variable-frequency electric drive of an existing winch, servo drive is more suitable for the low-speed large-torque working condition, efficiency is higher, and cooperation of a PLC is not needed. Compared with a traditional speed loop and current loop control method, the control method for four-quadrant operation of the servo driver enables the winch to have an energy consumption braking function, and meanwhile the safety of the towing winch under the extreme working condition is guaranteed by being matched with a brake of the motor.

The application discloses a permanent magnet synchronous motor rotating speed control method, related devices and a permanent magnet synchronous motor, relates to the motor control field, and utilizes a dynamic estimation model of fusion of rotor position information, rotating speed information and total load disturbance of the permanent magnet synchronous motor to process the rotor position of the permanent magnet synchronous motor, namely, the rotating speed estimation value of the permanent magnet synchronous motor and the estimation value of the total load disturbance can be obtained. On the basis, the electromagnetic torque value of the permanent magnet synchronous motor is obtained by inputting the rotating speed request value at the current moment, the rotating speed estimation value and the estimation value of the total load disturbance obtained above into the rotating speed loop control model. The rotating speed estimation value and the total load disturbance estimation value of the permanent magnet synchronous motor are more accurate and reliable by only utilizing the rotor position of the permanent magnet synchronous motor, and then the rotating speed estimation value and the total load disturbance estimation value are processed, namely, the electromagnetic torque can be obtained. While reducing the artificial workload, precise control is realized.

This invention relates to the field of motor control technology and discloses a LADRC permanent magnet synchronous motor control system and method based on superspiral sliding mode. The system includes: a motor control inverter system for receiving the dq-axis stator voltage components and generating three-phase current signals for the permanent magnet synchronous motor; a current acquisition subsystem for receiving the three-phase current signals and generating dq-axis stator current components through Clark transformation and Park transformation; a first speed loop controller for designing an adaptive bandwidth function and introducing a superspiral sliding mode algorithm based on the target and actual speeds of the motor, generating corrected q-axis stator current components by performing error correction on the control system; a second current loop controller for performing q-axis PI control to obtain the q-axis stator voltage components; and a third current loop controller for performing d-axis PI control to obtain the d-axis stator voltage components. This invention effectively reduces chattering in the control system and improves the anti-interference capability and control performance of the control system under different operating conditions.

The invention provides a servo motor acceleration and deceleration curve implementation method and a servo motor control system, and belongs to the technical field of motor control. The method comprises the following steps: acquiring a target final speed value, a current actual speed value, a target acceleration value and an acceleration efficiency coefficient of the motor servo driver; constructing a smooth speed curve function based on the target final speed value C; calculating the difference value between the target speed and the actual speed, determining the motion direction according to the plus or minus of the difference value, and calculating the theoretical acceleration time T and the smoothing parameter b according to the acceleration; generating a continuous speed reference curve according to the smoothing parameter b and the target final speed C; the speed reference curve serves as a set value of a speed loop, closed-loop control is conducted on the motor through the PID controller, mechanical vibration and noise in the start-stop process are remarkably reduced, the service life of equipment is prolonged, and motion positioning precision and tracking stability are improved.

The invention relates to the technical field of synchronous motors, in particular to a synchronous motor control method, device and equipment and a synchronous motor system. The electromagnetic time constant of the synchronous motor is smaller than a first threshold value. The control method of the synchronous motor comprises the steps of determining an actual rotating speed and a target rotating speed; determining a target control current based on the actual rotating speed, the target rotating speed and a rotating speed loop control model; wherein the rotating speed loop control model is a relation between a rotating speed error determined based on a Lyapunov function and a target control current; determining a target control voltage corresponding to the target control current according to a current-voltage conversion model; wherein the current and voltage conversion model is used for eliminating direct-axis voltage in a synchronous motor state equation and deducing the determined relation between the target control current and the target control voltage; and controlling the synchronous motor according to the target control voltage.

The present application relates to a nonlinear multi-mode adaptive intelligent control method for large angle slewing in the field of radio tracking measurement, comprising the following steps: obtaining the maximum speed, maximum acceleration and speed loop gain parameters of measurement; calculating the antenna large angle slewing error, and using the last position loop regulator output speed to calculate the current position loop regulator output speed U n ; calculating the descending section position loop output speed value U d according to the antenna actual maximum speed, speed loop gain and antenna large angle slewing error; comparing the sizes of U d and U n ; if U n is greater than or equal to U d , then U d is assigned to U n ; if U n is less than U d , then the value of U n remains unchanged; calculating the gain control output U pi in the digital PI controller; comparing the sizes of the descending section position loop output speed value U d and the value of U pi ; if U d is greater than or equal to U pi , then U pi is assigned to U n ; if U d is less than the value of U pi , then the value of U n remains unchanged. The present application avoids excessive acceleration / deceleration, reduces the impact on the antenna transmission mechanism, and improves the service life of the antenna.

The invention belongs to an electromechanical actuator control method, and particularly relates to an electromechanical actuator speed control method based on load matching. The electromechanical actuator driving motor is a non-salient pole type permanent magnet synchronous motor adopting vector control, position, speed and current three-closed-loop control is adopted, and the inherent characteristic that the rotating speed of the motor is decreased along with increase of the load of the driving motor is considered. The magnitude of the speed loop instruction amplitude limiting value is adjusted in real time according to the magnitude of the load, so that the motor works within the mechanical characteristic range of the motor, especially under different working conditions such as a direct load or a reverse load, it is guaranteed that the rotating speed instruction of the driving motor does not exceed the mechanical characteristic boundary of the motor, and the performance of the motor can be exerted to the maximum extent. The main idea of the method is to properly process the collected motor current, so that the motor current can represent the size of the load; and dynamically adjusting a speed ring instruction amplitude limiting value according to the size of the load, and finally realizing speed control based on the load change of the actuator.

This application discloses a motor control method, including: Step A: Alignment control of the rotor, then forced commutation operation of the rotor, and back EMF zero-crossing signal; if a preset number of back EMF zero-crossing signals are continuously detected according to the predetermined commutation sequence, then Step B is executed; Step B: Speed ​​loop closed-loop control of the motor, and after the rotor speed is accelerated to a preset starting speed, back EMF zero-crossing signal is detected; then Step C is executed; Step C: Whenever a back EMF zero-crossing signal is detected, during the period from the detection time of the currently detected back EMF zero-crossing signal to the next commutation time, the drive signal for the motor is stopped, and the electrical angle corresponding to each back EMF is adjusted through the phase-locked loop until the electrical frequency output by the phase-locked loop converges to a target electrical frequency range. Then, the motor is controlled by FOC, avoiding problems such as loss of synchronism and difficulty in starting the FOC sine wave when the motor load torque is large.

The application relates to the technical field of servo driver control, in particular to a servo driver speed loop integral saturation overshoot suppression method. f The method comprises the following steps of: calculating an original feedforward speed instruction V fw ; calculating a dynamically adjusted feedforward speed instruction V C ; calculating a compensation speed speed instruction V cm ; calculating a limited compensation speed speed instruction V cmd ; calculating an original rotating speed instruction V cmd ; calculating a rotating speed instruction V ref after acceleration limitation according to V cmd ; calculating a feedforward torque instruction T f ; obtaining a speed error e v by subtracting the rotating speed instruction after acceleration limitation from a feedback speed; obtaining a compensation torque instruction after PI (proportional-integral) separation of the speed error e v ; adding the feedforward torque instruction T f and the compensation torque instruction to obtain a final torque instruction T cmd . The application realizes step-by-step reduction of speed loop overshoot, and solves the technical problem that, in the speed control mode of a permanent magnet synchronous motor, a large rotating speed instruction acceleration leads to speed overshoot.

This invention belongs to the field of motor control technology and discloses a dual-motor cooperative control driver and control method based on vector control. Through a built-in parallel two-level cross-coupling synchronous control strategy, the speed loop and clamping force loop are set up in parallel. A cross-compensation algorithm is executed so that the control setpoint of each motor is simultaneously adjusted by its own and the other motor's speed and clamping force errors, achieving adaptive weight adjustment logic to achieve multi-variable cooperation. The driver integrates a force feedback interface, which can be directly connected to a force sensor to form a clamping force-torque composite closed-loop control mode, realizing high-quality closed-loop control from command to output, improving the system's intelligence and control accuracy. The modular hardware design, combined with CAN communication and analog signal acquisition, enhances configuration flexibility and system integration convenience. Precise feedback from the resolver decoding module and current sampling module, and the driving of the three-phase full-bridge drive module, ensure high efficiency from signal sensing to power output.

The invention discloses a control method of a high-thrust tilting machine electric servo system for an unmanned aerial vehicle, and belongs to the technical field of tilting machine electric servo control, a two-stage closed loop is adopted, an inner ring is a speed ring, an outer ring is a position ring and is connected with a synchronous ring in series, and the control method comprises the following steps: S1, the position ring: controlling a steering engine to reach a specified position; s2, synchronous ring: controlling a steering engine to move according to a preset track; s3, speed ring: controlling the rotating speed of a motor according to the output of the position ring and the synchronous ring, and driving a steering engine to move; wherein the motor is a brushless direct current motor. The brushless direct current motor is used for replacing a permanent magnet synchronous motor, an angle sensor and a current sensor are not needed, and the hardware cost is low; and meanwhile, the complexity of a control algorithm of the tilting servo system is reduced. The method has high-precision position control, synchronous control and variable speed control capabilities, is suitable for various servo system application scenes, and has relatively high universality and popularization value.

The application discloses an online parameter self-tuning method and system of a variable-inertia servo system, and relates to the technical field of servo control. The method comprises the following steps: setting a speed loop expected performance index and injecting a test instruction; based on system feedback, performing a steady-state observation and a dynamic estimation algorithm in parallel, and obtaining a high-precision equivalent rotational inertia estimation value in real time through adaptive fusion; according to the estimation value and the set performance index, automatically calculating the proportional and integral gain parameters of the speed loop controller by using a preset mapping relationship; and finally, updating the parameters to the controller in real time to realize the self-adaptation to the load inertia change. The application considers the steady-state precision and dynamic rapidity of identification through composite inertia identification, and makes the tuning process intuitive and the system dynamic performance consistent through performance index mapping, thereby effectively solving the oscillation problem of the servo system under the variable-inertia working condition in a wide range.

This invention discloses a dynamic speed control system based on the speed feedback of a permanent magnet synchronous motor, relating to the field of motor speed control technology. It includes: a data acquisition module for acquiring three-phase stator current data, raw physical speed feedback data, and stator voltage command data of the motor, and inputting the stator voltage command data into a preset motor mathematical model to obtain model-estimated speed data; and a real-time deviation calculation module for calculating the real-time deviation divergence between the raw physical speed feedback data and the model-estimated speed data, obtaining residual fluctuation based on the three-phase stator current data, and mapping the real-time deviation divergence and residual fluctuation to obtain a dynamic feedback reliability factor. Its beneficial effects include reducing the fluctuation of the speed loop output torque current, extending the mechanical life of the motor, and improving the overall energy efficiency stability of the system.

The invention relates to a distributed servo motor control architecture and method based on a cloud License. The problem that in the prior art, a servo system cannot achieve balance between real-time performance and flexible subscription is solved. The system comprises an integrated intelligent motor, a motor main body, an encoder, a power conversion module and a current loop control unit are integrated in the integrated intelligent motor, and the current loop control unit executes current closed-loop operation in a first period; the integrated intelligent motor is in communication connection with the edge gateway and executes position loop or speed loop operation in a second period; the edge gateway is in communication connection with the cloud controller through a 6G network interface or a time sensitive network TSN, the cloud controller issues an advanced control algorithm or a control parameter to the edge gateway in a License packet form, and the edge gateway is provided with a local verification module. The method has the advantages of thoroughly getting rid of the network delay constraint, reducing the one-time purchase cost of a user, realizing non-stop when the network is disconnected, and meeting the harsh availability requirement of an industrial field.

The application relates to the technical field of data processing, and discloses an airborne optoelectronic platform turning system, which comprises the following: a nonlinear controller, a selection switch, a current loop controller, a power driving element, a motor, a current feedback element, a speed feedback element, an angular position feedback element, a first error transformation processing unit, a position loop controller, a second error transformation processing unit and a speed loop controller. The nonlinear given value output by the nonlinear controller is used to make the airborne optoelectronic platform rotate to a preset angle. However, the nonlinear given value will cause large overshoot, which is not conducive to the requirement of fast turning stability. Therefore, the second phase current is determined through the speed loop controller and the position loop controller, and the motor is controlled by adopting the closed-loop phase second phase current, so that the airborne optoelectronic platform is rotated to a position of 180 degrees, the overshoot amount of fast turning is reduced, and the 180-degree fast turning of the airborne optoelectronic platform is realized.

The invention discloses an online parameter self-tuning method and system for a variable inertia servo system, and relates to the technical field of servo control, and the method comprises the following steps: setting a speed ring expected performance index, and injecting a test instruction; steady-state observation and dynamic estimation algorithms are executed in parallel based on system feedback, and a high-precision equivalent rotational inertia estimated value is obtained in real time through adaptive fusion; according to the estimated value and a set performance index, automatically calculating proportion and integral gain parameters of a speed loop controller by using a preset mapping relation; and finally, the parameters are updated to a controller in real time, so that self-adaption to load inertia change is realized. According to the method, the steady-state precision and the dynamic rapidity of identification are both considered through composite inertia identification, the setting process is visual through performance index mapping, the dynamic performance of the system can be kept consistent, and the oscillation problem of the servo system under the wide-range variable inertia working condition is effectively solved.

The invention discloses a motor constant-speed starting method based on vector control. The motor constant-speed starting method comprises the steps that an electrical starting process is set to be an open-loop control stage, a semi-closed-loop control stage and a closed-loop control stage; in the open-loop control stage, the amplitude of the alpha-axis driving voltage V alpha op and the amplitude of the beta-axis driving voltage V beta op are gradually increased, and when the rotating angular speed of the open-loop driving voltage exceeds a preset closed-loop cutting speed threshold value, a semi-closed-loop control stage is started; in the semi-closed-loop stage, the climbing current is linearly increased to the last driving current Idrv applied in the open-loop stage and then enters the closed-loop control stage, and in the closed-loop control stage, a current loop takes Iqspd output by a speed loop as a torque current target value, and a driving voltage is generated through closed-loop control to drive a motor to operate.