52 results about "Torque error" patented technology

The invention discloses a weight coefficient-free model prediction control system and method for a permanent magnet synchronous motor, and particularly belongs to the field of permanent magnet synchronous motor control. The control system comprises a direct current voltage source, a three-phase converter, a permanent magnet synchronous motor, a rotating speed outer ring PI control module, an MTPA flux linkage calculation module and a model prediction control module. The control method comprises the following implementation steps: firstly, establishing a torque and flux linkage prediction model of the permanent magnet synchronous motor; then, a reference torque amplitude value and a reference flux linkage amplitude value are obtained through a rotating speed outer ring PI controller and a maximum torque per ampere (MTPA) calculation module respectively; secondly, constructing an independent torque cost function and a flux linkage cost function according to the torque error and the flux linkage error, and forming a cascade form; evaluating the switching states by using a cost function, selecting two vectors from the eight switching states of the converter by using the independent cost function of the torque (or flux linkage), and selecting an optimal vector from the two vectors by using the independent cost function of the flux linkage (or torque); and finally, the execution sequence of the torque and flux linkage cost function is alternated in each subsequent period. Compared with the prior art, the method avoids complex weight coefficient design through a cost function cascading mode, alternates the execution sequence of the cost functions in each period, dynamically balances the weights of the two control targets, and reduces the number of calculation times.

The invention provides an electric power steering active return control method and system, and belongs to the field of electric power steering systems.The electric power steering active return control method comprises the steps that in the rotating process of a vehicle steering wheel, zone control is conducted with the steering wheel rotating angle as the benchmark, and original request torque is obtained; estimating the inertia moment of the steering wheel in the steering wheel aligning process; and calculating the original request torque and the steering wheel inertia torque to obtain a corrected steering wheel torque, and correcting the steering wheel torque according to the corrected steering wheel torque. According to the technical scheme, the aligning torque error caused by rotating speed fluctuation of the steering wheel is eliminated, and particularly under the working condition that a driver is completely released from the hand, the stability of aligning control is remarkably improved.

The invention relates to the technical field of torque control, in particular to a motor torque control method, system, equipment and medium, and the method comprises the following steps: obtaining a winding temperature rise and rotating speed signal through a temperature and rotating speed sensor, calculating the resistance and flux linkage offset, and filtering to obtain a torque evaluation parameter; the acceleration and inertia reference are compared to obtain inertia disturbance, a least square method is combined to calculate a compensation coefficient, a current component is corrected to synthesize an expected torque, a torque error is calculated to judge whether the torque reaches the standard or not, and a torque control result is output and optimized. Load changes are quickly responded through filtering and inertia disturbance recognition, differential calculation is conducted on the relation between acceleration and a correction coefficient to act on a current component, torque output is stable, coefficient iterative optimization is promoted through error comparison, fluctuation is reduced, efficiency is improved, and reliable control over the motor under the complex working condition is kept.

The present application belongs to the field of shift control, and specifically provides an AMT natural gas commercial vehicle shift torque control method, device, equipment and storage medium, the method comprising: calculating a predicted shift point and calculating a predicted shift time in real time according to the predicted shift point; adjusting the engine torque after reaching the predicted shift time; the predicted shift time is earlier than the actual shift time; after reaching the actual shift time, the target torque required by the current AMT is calculated, and the current engine torque is monitored at the same time; comparing the error between the target torque and the current engine torque, and adjusting the requested torque in real time by using a PID controller. After the torque reduction starts, the AMT target torque and the current natural gas engine torque during the shift process are compared in real time, the current natural gas engine requested torque is adjusted by PID control, the current natural gas engine torque and the AMT required target torque are changed synchronously, and the torque control hysteresis problem during the shift of the matched AMT natural gas commercial vehicle can be avoided.

A method for controlling a torque output of a hybrid power machine, comprising the following: during a temporary increase in torque in response to a change in the target output torque of a powertrain (200), setting a power machine output torque and a motor output torque in response to a change in the target output torque of the powertrain (200), Adjusting the motor output torque in response to a response to a speed of a drive wheel (285) of a torque converter (206), characterized by Adjusting the power machine output torque for a power machine torque error in response to the settings of a motor torque.

The application discloses a kind of inertia simulation systems of direct drive type intelligent riding platform, including simulation inertia control system, inverter and motor;Simulation inertia control system, based on the dynamic compensation torque signal generated by motor acceleration change, for compensating the torque error generated by the difference between the rotational inertia of motor output and target rotational inertia under the same driving torque, it converts the dynamic compensation torque signal into the control signal of inverter, controls the voltage signal of inverter to motor, so that the torque generated by motor and target torque error tend to 0.The application also provides a kind of inertia simulation method of direct drive type intelligent riding platform.The application replaces the mechanical flywheel and transmission structure design necessary in traditional method, so that the mechanical structure of riding platform is simplified, so as to improve the operation reliability of riding platform, save hardware cost, and reduce the overall weight of riding platform system.

The application discloses a permanent magnet synchronous motor model prediction torque control method based on a hybrid mode optimization. The method first constructs a reference voltage vector through a torque error target function and a discretization prediction model of the permanent magnet synchronous motor, and then designs a hybrid mode optimization algorithm. The algorithm first designs a double-vector mode optimization on the sector boundary of a voltage space vector diagram, and then designs a three-vector optimization mode based on a discrete space vector modulation inside the sector. The optimal synthesized voltage vector obtained by the hybrid mode optimization algorithm is transmitted to a voltage error target function to realize the switching of the two modes, so that the control execution mode and the optimal synthesized voltage vector are determined. The control method disclosed by the application has high freedom to adjust the amplitude and position of the synthesized voltage vector, and thus has high steady-state performance of the control system and fast torque dynamic response in the full speed range.

The invention provides a vehicle load estimation method, device and equipment, a medium and a program product, and relates to the technical field of vehicles. According to the vehicle load estimation method, the real-time motor torque, namely the starting motor torque when the target vehicle is started is used as the direct representation of the anti-slip force to replace a dynamic gradient signal (such as a gradient angle) of a traditional gradient sensor, so that a torque error caused by a gradient sensor signal error of the target vehicle on the gradient is eliminated; and the anti-slip slope force is input into a preset load estimation model for load estimation, so that the target load of the target vehicle is obtained, and the load estimation precision and accuracy are improved.

The invention discloses a device and method for detecting the torque value of an oil casing hydraulic clamp, and relates to the field of natural gas production, and the key points of the technical scheme are as follows: when the torque value of the oil casing hydraulic clamp is detected, an oil casing is mounted on a test system; the simulation device is used for simulating the hanging load of the oil casing, the stress of a hydraulic clamp and the angle of the oil casing in the torque screwing-on process of the oil casing; the testing system comprises a first conversion connector, a torque sensor and a second conversion connector. The first adapter, the torque sensor and the second adapter are connected in sequence; and the data analysis system is connected with the torque sensor and is used for converting the electric signal generated by the torque sensor into a torque value and determining the torque error of the oil casing hydraulic clamp according to the torque value of the hydraulic clamp, the torque value detected by the torque sensor and the torque range of the hydraulic clamp.

The invention provides a calibration torque sectional type dynamic correction method and device based on an angle sensor, and relates to the field of torque measuring equipment calibration, and the method comprises the steps: constructing a plurality of sectional correction functions corresponding to a plurality of load intervals through torque load time-varying regularity analysis, so as to generate a correction function load mapping relation set; after the real-time torque measured value and the real-time inclination angle are received, the real-time torque measured value is adopted to traverse a plurality of load intervals in the correction function load mapping relation set, and a real-time correction function is positioned and called; and a real-time torque correction value is calculated and output by inputting the real-time inclination angle and the real-time torque measured value into the real-time correction function. The technical problem that torque calibration full-range systematic errors are caused by moment arm inclination nonlinear deformation in the prior art is solved. The technical effects of effectively eliminating systematic deviation caused by nonlinear change of the inclination of the force arm and realizing closed-loop correction of the torque error of the torque measurement equipment are achieved.

The present application relates to a kind of based on test bench silicon oil fan clutch simulation model correction method, belong to vehicle thermal management simulation and parameter correction technical field.The method obtains the active end speed, fan speed, transmission torque and shell temperature in silicon oil fan clutch test bench test, and calculates test slip rate;Establish simulation model and set initial viscosity-temperature function, initial heat transfer coefficient and initial flow resistance coefficient;Simulation torque, simulation shell temperature and simulation slip rate are obtained by simulation;Simulation results are compared with test results, and torque error, temperature error and slip rate error are calculated;According to error result, viscosity-temperature function, heat transfer coefficient and flow resistance coefficient are iteratively corrected until error meets preset threshold, and the corrected simulation model is output.The method can improve the comprehensive prediction accuracy of silicon oil fan clutch simulation model to torque, temperature and slip rate.

The application discloses a kind of live-line working robot working state on-line monitoring method, system and equipment, the application includes based on target tightening torque, target axial pretightening force and target nut angle and is tightened to nut, generates actual tightening torque, actual axial pretightening force and actual nut angle;Using the target tightening torque of nut, target axial pretightening force, target nut angle, actual tightening torque, actual axial pretightening force and actual nut angle, the tightening torque error, axial pretightening force error and nut angle error of nut are calculated;Using tightening torque error, axial pretightening force error and nut angle error, the degree of rotation of nut is calculated, and according to degree of rotation, nut is rotated, target monitoring information is generated and sent to man-machine interface.Solve the technical problems that nut tightening state does not have perfect monitoring method, and there is security risk.The application acquires nut working state in real time, and then improves the reliability of live-line working robot operation.

The utility model relates to the technical field of torsion spring detection, in particular to a torsion spring tolerance performance detection device, which comprises a test board provided with a fixed column, a torsion spring main body and a test component. The torsion spring body is transversely installed on the fixing column in a penetrating mode. The testing component comprises a torque testing block, a torque sensor is arranged on the end side of the torque testing block, the defects of traditional manual detection are effectively overcome through automatic structural design, a reciprocating motor drives a rotating shaft and the torque testing block to rotate through a transmission gear and a gear block, manual torque application is replaced, and the testing efficiency is improved. An operator only needs to set parameters to start a detection process, the labor intensity is greatly reduced, meanwhile, the torque sensor monitors and feeds back torque data in real time, the torque error can be controlled within an extremely small range in combination with precise regulation and control of the reciprocating motor by the controller, and compared with a traditional manual mode, the precision and stability of torque application are remarkably improved.

The invention discloses a motor torque ripple suppression method, a controller and a vehicle, and relates to the technical field of vehicles. The motor torque ripple suppression method comprises the steps of collecting a time domain torque error of a motor in a time domain, and mapping the time domain torque error to a space domain associated with a rotor position of the motor to obtain a torque error-rotor position comparison table; iteratively updating the spatial domain torque compensation scale based on the torque error-rotor position comparison table; inquiring the updated spatial domain torque compensation scale according to the real-time rotor position to obtain a torque compensation signal; and performing torque compensation control on the motor according to the torque compensation signal. According to the method, the torque ripple suppression of the motor can be realized, so that the electromagnetic noise can be reduced, the power output stability is improved, and the driving experience of a driver and passengers is improved.

This application relates to a synchronization control method, device, electronic device, and medium. The method includes: acquiring the current accelerator pedal displacement and current brake pedal displacement collected by a driving robot, and the current hub speed and current output torque collected by a hub-turning device, as well as the current time synchronization error between the driving robot and the hub-turning device; determining the current speed error based on the current accelerator pedal displacement, current brake pedal displacement, and current hub speed, and determining the current torque error based on the current output torque according to a preset dynamic correction model; and performing synchronization control on the driving robot and the hub-turning device based on at least one of the current time synchronization error, current speed error, and current torque error. This solves the problems of asynchronous driving commands and resistance loading, lag in system dynamic response, and excessive synchronization errors under acceleration and braking conditions in related technologies, achieving synchronized control between the driving robot and the hub-turning device.

The present invention relates to a method (10) for operating a sensor system (50) of an electric bicycle (100), wherein the sensor system (50) comprises a torque sensor (55) which is designed as a magnetoelastic sensor and which is configured to determine a torque on a shaft (101) based on the detection of changes in a magnetic field, comprising the steps: detecting (1) a homogeneous magnetic flux density using the torque sensor (55), determining (2) a torque on the shaft (101) using the torque sensor (55), and detecting (3) a torque error of the determined torque when the detected homogeneous magnetic flux density is greater than or equal to a predetermined first threshold value.

The invention relates to the technical field of motor control, in particular to a low-speed large-torque control method and system for an industrial robot joint motor, and the method comprises the steps: collecting the voltage of a DC bus, each phase of current of a stator, and the position and rotating speed of a rotor, and carrying out the coordinate transformation of each phase of current of the stator according to the position of the rotor; obtaining d-axis current and q-axis current of the synchronous rotating coordinate system; solving a stator flux linkage estimation value and an electromagnetic torque estimation value according to the d-axis current, the q-axis current and preset motor parameters, and generating a torque error and a flux linkage error; the torque error passes through a torque regulator to obtain a load angle instruction, and the flux linkage error and the rotating speed pass through a flux linkage regulator to obtain a voltage vector amplitude instruction and a voltage vector angle instruction; generating a d-axis voltage instruction and a q-axis voltage instruction; constructing an inverter nonlinear voltage disturbance estimation model, defining d-axis disturbance voltage and q-axis disturbance voltage as disturbance voltage states, and merging the disturbance voltage states into an extended Kalman filtering state space model; executing extended Kalman filtering prediction and correction to obtain a d-axis disturbance voltage estimated value and a q-axis disturbance voltage estimated value; forming a voltage compensation amount and superposing the voltage compensation amount to obtain a compensation voltage instruction; driving pulses are generated through inverse coordinate transformation and space vector modulation, and low-speed large-torque online compensation is achieved. According to the invention, the problems that the output pole voltage of the joint motor of the industrial robot has unexpected distortion and further shows control nonlinearity and the distortion voltage is difficult to directly sense and measure can be solved.

The application discloses a kind of permanent magnet synchronous motor prediction control methods based on cross optimization, it is related to motor control field, specific method is, the stator flux, stator current and electromagnetic torque prediction equation of permanent magnet synchronous motor discrete model are established;In each control cycle, the torque and flux linkage corresponding to all stator voltage vectors in inverter respectively are predicted, the normalized torque error and normalized flux linkage error corresponding to all stator voltage vectors respectively are calculated, each normalized torque error, flux linkage error is arranged in ascending order respectively, and the first 50% stator voltage vector of sorting is selected as flux linkage and torque optimal set respectively;Then the cross error in each optimal set is calculated, and finally the stator voltage vector with minimum cross error is selected as the optimal voltage vector.

The invention relates to the technical field of industrial driving, and discloses a torque prediction control method and system for a switched reluctance motor, and the method comprises the following steps: S1, employing an improved torque distribution function control strategy, and dividing a commutation interval into an interval I and an interval II through compensating a torque error of an exit conduction phase during a demagnetization period; s2, an improved power converter topological structure is adopted, only one switch is used for each phase of the topological structure, and four mode working processes of a magnetization mode, a follow current mode, a demagnetization mode and parallel conduction of the next phase and demagnetization of the previous phase are realized by controlling the on and off of the switches; and S3, constructing a motor mathematical model through a table look-up method, and determining a torque value based on the flux linkage, the angle, the ampere meter, the current, the angle and the torque table. The power converter of the SRM is optimized through topology, elements are fewer, a single current sensor is used for current regulation at each phase, and the cost and complexity of the converter are further reduced.

A method for operating a sensor system of an electric bicycle is disclosed. The sensor system includes a torque sensor formed as a magnetoelastic sensor and configured to ascertain a torque on a shaft based on a detection of changes of a magnetic field. The method includes (i) detecting a homogeneous magnetic flux density by way of the torque sensor, (ii) ascertaining a torque on the shaft by way of the torque sensor, and (iii) detecting a torque error of the ascertained torque when the detected homogeneous magnetic flux density is greater than or equal to a predetermined first threshold value.

The invention discloses a switched reluctance motor model prediction control method based on fuzzy weight regulation, which introduces a fuzzy logic weight regulation mechanism on the basis of traditional model prediction control, and constructs a discrete time prediction model by collecting the rotating speed, phase current, voltage and load torque information of a motor in real time, so as to predict a switched reluctance motor model. And combined prediction of the current and the torque is realized. And establishing a multi-target cost function according to a prediction result, taking a torque error and a current error as optimization targets, and adjusting a weight coefficient in the cost function on line by using a fuzzy controller according to a real-time operation state, thereby dynamically balancing the torque tracking performance and the system stability. A load estimation module based on a sliding-mode observer is designed, an accurate torque estimation value is obtained through filtering processing, and the torque estimation value is fed back to a fuzzy controller to achieve self-adaptive optimization. According to the method, quick response and stable output can be kept under various operation conditions, the torque ripple is remarkably reduced, and the dynamic and steady-state performance of the system is improved.

The invention discloses an engine fault processing method, a vehicle and a storage medium, and relates to the technical field of automobile engineering. The method comprises the following steps: acquiring a plurality of fault categories of the engine and fault codes corresponding to the plurality of fault categories; in response to occurrence of any fault type of the operation fault, the start-up dragging fault and the flameout fault, and the accumulated occurrence frequency of any fault type of the operation fault, the start-up dragging fault and the flameout fault is smaller than or equal to a preset frequency threshold value, the engine is controlled to stop for a preset duration; in response to the fact that the cumulative occurrence frequency of any fault type of the operation fault, the starting dragging fault and the flameout fault is larger than a preset frequency threshold value, or a starting response abnormal fault or an engine torque error fault occurs, the vehicle is controlled to be powered off at high voltage; and displaying a fault code corresponding to the at least one fault category at a preset position of the vehicle. The technical problem that the driving efficiency is affected due to the fact that an engine fault processing method in the prior art is not flexible enough is solved.

Systems and methods for dual motor torque monitoring are provided. One method includes determining torque errors for a first motor, determining torque errors for a second motor, determining combined torque errors for the first motor and the second motor, determining a torque fault based on the torque errors for the first motor, the torque errors for the second motor and the combined torque errors, and executing a predetermined function based on the torque fault. In one example, the predetermined function may include transmitting a torque fault notification message from a motor control unit processor to a vehicle control system processor.

The invention relates to the field of motor control methods, in particular to a motor torque precision control method and device, a medium and equipment, and the method comprises the steps: obtaining a first stator flux linkage estimation value of a d axis and a second stator flux linkage estimation value of a q axis of a stator when a motor operates at a low speed, the first stator flux linkage estimated value is the sum of the flux linkage of the permanent magnet and the flux linkage generated by the d-axis current through the inductor, and the second stator flux linkage estimated value is the flux linkage generated by the q-axis current of the stator through the inductor; when the motor runs at a high speed, acquiring third stator flux linkage estimated values of the d axis and the q axis of the stator, calculating a difference value between the voltage signal and the current signal of the d axis and the q axis of the stator, and performing integration to obtain the third stator flux linkage estimated value and an actual flux linkage estimated value of the motor; and calculating the ratio of the actual flux linkage estimated value to the initial permanent magnet flux linkage to obtain a torque error compensation coefficient of the permanent magnet flux linkage influenced by the temperature, and correcting a q-axis current instruction output by the MTPA lookup table based on the torque error compensation coefficient to correct a torque error. According to the invention, temperature compensation is carried out on motor torque control, so that the motor can accurately and stably output at different temperatures, and the torque output precision of the motor is improved.

The invention discloses a torque control method and system based on a fuzzy adaptive switching gain mechanism, and belongs to the field of motor driving, and the method comprises the steps: obtaining a current electromagnetic torque; obtaining a phase torque instruction based on the torque distribution function and a preset target torque value; obtaining a current torque error based on the phase torque instruction and the current electromagnetic torque, and obtaining a linear sliding mode face value based on the current torque error; based on the Lyapunov function, the linear sliding mode face value and the preset switching gain, obtaining a sliding mode control equation about the control law; obtaining an input language variable based on the Lyapunov time derivative; obtaining real-time fuzzy output based on the input language variable and a preset fuzzy rule; and obtaining a correction control law based on the real-time fuzzy output. According to the torque control method and system based on the fuzzy self-adaptive switching gain mechanism, the problem of torque fluctuation in the prior art is solved, and disturbance and uncertainty in the high-frequency switching process are effectively restrained.

This application discloses a method, apparatus, device, and readable storage medium for suppressing compressor speed fluctuations. This application relates to the field of motor control technology. The compressor speed fluctuation suppression method includes: determining the minimum torque error average value of the compressor within a preset period based on preset conventional phase compensation values ​​and phase compensation adjustment values; adjusting the phase of the observed torque of the compressor based on the target phase compensation value corresponding to the minimum torque error average value to obtain the target torque; determining a current command compensation value based on the target torque; compensating the current command of the motor system to which the compressor belongs based on the current command compensation value; and controlling the operation of the motor system based on the compensated current command. This application solves the problems of compressor vibration and noise deterioration, as well as limited load capacity and operating range, caused by the inability to effectively suppress speed fluctuations during low-frequency compressor operation.

The invention discloses a permanent magnet synchronous motor prediction control method based on cross optimization, and relates to the field of motor control, and the method specifically comprises the steps: building a stator magnetic flux, stator current and electromagnetic torque prediction equation of a permanent magnet synchronous motor discrete model; in each control period, predicting torques and flux linkages respectively corresponding to all stator voltage vectors in the inverter, calculating normalized torque errors and normalized flux linkage errors respectively corresponding to all the stator voltage vectors, and performing ascending order arrangement on the normalized torque errors and the flux linkage errors respectively, the sorted front 50% stator voltage vectors are used as a flux linkage optimal selection set and a torque optimal selection set; and then calculating a crossover error of each optimal set, and finally selecting a stator voltage vector with the minimum crossover error as an optimal voltage vector. Therefore, flux linkage out-of-control caused by a traditional fixed screening rule is avoided, the method adapts to all working condition requirements and adapts to working condition changes while the weight factors are eliminated, meanwhile, the calculation amount is small, and the complexity is low.

The invention provides an integrated braking control system, a control method thereof, a vehicle and a storage medium, and relates to the technical field of vehicle braking. The method comprises the steps that current braking condition information is obtained; according to the braking working condition information, target pressure needing to be achieved in a hydraulic loop is determined; according to the target pressure and the real-time state information of the integrated brake control system, target torque needed by a motor is determined; calculating the actual torque of the motor according to the real-time state information; calculating a torque error between the target torque and the actual torque of the motor; and controlling a motor to output corresponding driving torque according to the torque error so as to realize vehicle braking. The brake failure risk caused by inaccurate pressure detection can be avoided, and the brake reliability, stability and control precision of the integrated brake control system are improved.

This invention discloses a torque-angle sensor for measuring minute torque, comprising a housing, a torque elastomer, a bearing, a strain gauge, a PCBA circuit board, and an angle detection module. The housing contains an inner cavity, within which the torque elastomer is rotatably mounted. The torque elastomer includes a support shaft, a deformation portion, and a sensor output shaft. The bearing is fixedly mounted within the left end of the inner cavity. The left end of the support shaft passes through the bearing and is supported and positioned by it. The right end of the support shaft, the deformation portion, and the sensor output shaft are all suspended and do not contact the housing. The sensor output shaft extends to the right beyond the housing. The strain gauge is attached to the deformation portion. The angle detection module cooperates with the left end of the support shaft. In this invention, the end of the torque elastomer with the strain gauge is not supported and positioned by the bearing, which eliminates the initial torque error introduced by the bearing, significantly improving the sensor's sensitivity to torque measurement and enabling accurate measurement of the minute torque of a micro-motor. This invention can simultaneously measure torque and angle.