78 results about "Torque observer" patented technology

The invention relates to a robot contact force detecting method based on torque observation and friction identification. A robot kinetic model and a generalized momentum are adopted to establish a joint torque observer for detecting joint torque change caused by a tail end contact force; a mode of combining an exponential friction model and a sine cosine function is adopted to describe the joint friction effect of a robot provided with a harmonic gear driving structure, a joint torque observation quantity is utilized to identify a joint friction parameter when an end effector of the robot has no contact force effect, and a joint friction torque is calculated according to the identified friction parameter; the torque observation quantity in a theoretical operating state of the robot sis regarded as a system model error, and an accurate joint contact torque observation quantity is finally obtained after the influences of friction and the system model error are considered, and finally a tail end contact force is calculated through a force Jacobian matrix of the robot.

The present invention provides systems and methods of friction compensation in a steer-by-wire system or in a general electric steering system using control, estimation and modeling methodologies. A friction compensator in the steer-by-wire control system produces a friction compensating torque value equal and opposite in sign to the instantaneous friction torque. This compensating friction torque is added to the steering system control signal to eliminate the effects of friction present in the system such that the system performances are improved. The friction compensator produces the compensating friction torque according to one of two schemes: model-based or non-model based. The model-based scheme encompasses a number of different methods including a standard model-based scheme, a disturbance torque observer-based scheme, an adaptive friction compensation scheme, or a model reference adaptive control scheme. The non-model based scheme includes a fuzzy logic scheme.

The disclosed method for controlling speed of servo system of AC motor combines inner and outer two control rings. In the inner control ring, using coded disc measures speed of motor based on object of motor. Using load - torque observer carries out feedback control. In the outer control ring, using model of electrical motor through lowpass filter obtains estimated speed of rotor. Calculated average speed is input to feedback loop so as to form feedback control in close loop for whole control system. The method possesses high load capacity and capacity of anti external interference. The invention is suitable to control speed of AC servomotor.

The invention discloses a power switching coordination control method of a coaxial parallel hybrid electric vehicle with an engine torque observer. Based on the method of a least square support vector machine, the testing sampledatum of the engine rack performance aretrained; the distribution estimation algorithm is adopted to optimize the parameter C and Lambda of the least square support vector machine; and through off-line training and optimization to an engine toque module and based on the optimum parameters, the engine torque observer is built. The current throttle value percentage and rotary speed are inputted to acquire a real-time torque value, thus realizing on-line observation to the engine torque. During the switching process of switching a pure electric driving model to a pure engine driving model (different power sources) of the vehicle provided herein, section coordination control is carried out aiming to different power sources, thus realizing stable transition of the whole switching process and stable torque of power system output without fluctuation, and satisfying the requirement of vehicle driving total torque.

A reconfigurable mechanical arm decentralized control system and control method adopting position measuring belong to the field of robot control systems and control algorithms, and aim to solve the problems existing traditional reconfigurable mechanical arm control systems and methods thereof. The control method comprises the steps of initializing a system, detecting a reading of an incremental encoder to obtain position measuring information, and establishing a non-linear speed observer based on the information; according to the established non-linear speed observer, establishing a disturbance observation model; adopting an observation value obtaining a joint speed and a joint torque to establish a reconfigurable mechanical arm system dynamics model; by a given joint speed observer, a torque observer, expected dynamics information and the system dynamics model, adopting dynamics information of local joints to design a decentralized controller, compensating the modeling errors containing model determining items and friction and coupling items among joints, and inhibiting buffeting of the controller and enabling a mechanical arm joint to precisely trace an expected track.

The invention provides a torque closed-loop control method of an interior permanent magnet synchronous motor driving system for an automobile. The torque closed-loop control method combines a maximumtorque to current ratio algorithm with dual current loop flux-weakening control, utilizes an invented torque observer, corrects a set value of a quadrature axis current in real time by means of a torque closed loop PI adjuster, ensures that the motor output torque can track a torque instruction quickly and precisely in the case of errors in motor parameters, and further realizes high-precision torque closed-loop control of the driving system. The torque closed-loop control method has the advantages of clear principle and simple calculation, can be widely applied to interior permanent magnet synchronous motor driving systems for automobiles, can be popularized to the servo control of permanent magnet synchronous motor in other fields, and has high theoretical significance and engineering application value.

Embodiments of the invention disclose a torque control method for electro-magnetic doubly salient motors, relate to the technical field of variable magnetic reluctance type motor control, and aim at inhibiting torque pulsation and enhancing the torque performance of electro-magnetic doubly salient motors. According to the control method, a rotation speed and torque double loop locked control structure is adopted, the rotation speed and torque are used as controlled volumes, and the controlled volumes are driving signals of a power converter. The control principle is described as follows: the output of a rotation speed outer ring serves as a given value of the torque; a torque observer outputs a corresponding torque value according to an acquired three-phase current signal and an acquired rotor position signal to serve as a feedback value of the torque; and the given value and feedback value of the torque undergo hysteresis control and switching state query table to output correspondingpower converter driving signals. The method is suitable for the torque performance optimization of electro-magnetic doubly salient motors.

The invention discloses a control method of a brushless double-fed motor and an application thereof, relating to the field of motor control. In the control method, the observed control-side motor flux linkage and motor torque are used as feedback quantities to be compared with a given value by using the influence of a power-side motor on a control-side motor as the disturbance according to the basic principle of feedback control, a regulator regulates errors to obtain a control quantity under a synchronous coordinate system, and the control quantity is subject to rotation transformation and is converted to a control quantity under a static coordinate system so as to realize the control on the control-side motor flux linkage and motor torque. Flux linkage observer and torque observer models have less dependence on motor parameters; the control algorithm is simple and avoids the difficulty in solving the complicated nonlinear equation; and the invention can realize the effective control on the control-side motor flux linkage and motor torque in the dynamic / static process, thereby being especially applicable to variable-frequency speed-regulating, variable-speed constant-frequency constant-voltage and variable-frequency variable-voltage control systems of the brushless double-fed motor.

The method discloses a bearingless synchronous reluctance motor torque and suspension force direct controller and a construction method thereof. The bearingless synchronous reluctance motor torque and suspension force direct controller consists of a direct torque controller with a rotating speed and torque double closed loop and a suspension force direct controller with a rotor displacement and suspension force double closed loop, wherein the direct torque controller consists of two proportional plus integral (PI) controllers, a torque winding flux linkage and a torque observer, a reference flux linkage generating module and a space vector pulse width modulation module; and the suspension force direct controller consists of two proportional plus integral plus derivative (PID) controllers, a torque winding flux linkage and torque observer, a suspension force winding flux linkage observer, a suspension force estimation module, a force / flux linkage conversion module and a space vector pulse width modulation module. By the controller and the construction method, motor torque and radial suspension force are independently controlled, stable suspension and operation of a motor rotor are ensured and high motor operating performance is achieved.

The invention relates to a safe and efficient operation active adhesion controlling method for a motor train unit. The method comprises the following steps: S1, designing an adhesion torque observer for estimating an adhesion torque il between train wheels and a rail in real time according to a single-axis dynamical model and the full-dimensional state observer principle; S2, deriving an adaptive limiting torque Tlim of a traction motor according to the adhesion torque il, a body acceleration value a and a variable step length algorithm; and S3, designing an adhesion controller according to the daptive limiting torque Tlim of the traction motor and a motor output torque index value Tm* given by a superior traction control system, to coordinate traction control and adhesion control. The method effectively improves the traction braking efficiency of a train, reduces wheel-rail wear, strengthens safe and stable operation of the train, prolongs the service lives of wheels and rails, improves the comfort of passengers and reduces energy consumption of the train.

The present invention provides systems and methods of friction compensation in a steer-by-wire system or in a general electric steering system using control, estimation and modeling methodologies. A friction compensator in the steer-by-wire control system produces a friction compensating torque value equal and opposite in sign to the instantaneous friction torque. This compensating friction torque is added to the steering system control signal to eliminate the effects of friction present in the system such that the system performances are improved. The friction compensator produces the compensating friction torque according to one of two schemes: model-based or non-model based. The model-based scheme encompasses a number of different methods including a standard model-based scheme, a disturbance torque observer-based scheme, an adaptive friction compensation scheme, or a model reference adaptive control scheme. The non-model based scheme includes a fuzzy logic scheme.

The invention discloses a one-phase short-circuit fault-tolerant direct torque control method for a five-phase permanent magnet motor. The one-phase short-circuit fault-tolerant direct torque controlmethod comprises the steps of: when an open-circuit fault of an A phase occurs, deducing a healthy-phase open-circuit fault-tolerant current, a fault-tolerant transformation matrix T4 / 2 and an inversematrix thereof T2 / 4 according to constraint conditions that a stator flux linkage vector is unchanged before and after the fault, a sum of healthy-phase currents is zero and the copper consumption isminimum; when a short-circuit fault of the A phase occurs, deducing a residual healthy-phase compensation flux linkage according to the principles that the stator flux linkage vector is unchanged before and after the fault and the copper consumption is minimum, or according to the constraint conditions that the healthy-phase compensation current amplitudes are equal and a sum of healthy-phase compensation currents is zero; and acquiring a stator phase voltage command through combining a stator flux linkage with a torque observer, setting torque and stator flux linkage amplitude and carrying out coordinate transformation, and combining the voltage with a pulse width modulation technology based on zero-sequence voltage injection to achieve consistent steady-state performance and dynamic performance before and after the motor short-circuit fault. The one-phase short-circuit fault-tolerant direct torque control method has the advantages of constant switching frequency of an inverter and small CPU overhead.

The invention discloses a brushless direct current motor direct torque control system and control method, the system includes a photoelectric encoder, a stator current and terminal voltage detection circuit, a speed calculator, a speed error comparator, a speed regulator, and a flux linkage observer , Flux linkage error comparator, flux linkage hysteresis comparator, torque observer, torque error comparator, torque hysteresis comparator, PWM controller and three-phase bridge inverter circuit. The photoelectric encoder collects the position information of the motor rotor, calculates the actual speed according to the rotor position information, calculates the given value of the stator flux linkage according to the rotor position information and the reference torque, and collects the three-phase current and terminal voltage of the stator to calculate the actual electromagnetic torque And the actual stator flux, the PWM controller generates a voltage vector according to the torque error and the flux error, and drives the inverter circuit through the voltage vector to realize the stable operation of the motor. The invention does not need to calculate the flux linkage in real time, simplifies the system program, and improves the control efficiency.

The invention relates to a method for optimizing a DTC system of a six-phase asynchronous motor. The DTC system comprises an intermediate voltage vector selection unit, a fundamental voltage vector action time calculation unit, a speed regulator, a torque observer, a flux linkage observer, a torque hysteresis comparator, a flux linkage hysteresis comparator, a voltage 6s / 2s unit, a current 6s / 2s unit, a sector judgment unit, a space vector modulation generator and a speed measurement encoder. Compared with a traditional DTC system, intermediate voltage vectors serve as selected voltage vectors, zero vectors are evenly distributed in each switching period, and therefore current harmonics of a motor stator are improved and vector selection is simplified; the action time duty ratio of the intermediate voltage vectors in the next switching period is worked out through torque difference value variables in the current period and the moments when fundamental voltage vectors start to act are further worked out to compensate for a torque difference value, the torque ripple of the motor is reduced, and the switching frequency is kept constant.

The invention discloses a single-winding bearingless motor torque and suspension force direct controller and a construction method. The controller comprises a reference value calculation part and an observation value calculation part, wherein the observation value calculation part comprises a winding flux observer, a suspension force observer, a torque observer and two matrix transform modules; output of the first matrix transform module is connected with input of the winding flux observer; the output of the winding flux observer is connected with the suspension force observer and the torque observer respectively; the output of the second matrix transform module is connected with the winding flux observer and the torque observer respectively; a observed winding real-time flux is applied to the torque observer, the suspension force observer and a torque and suspension force voltage reference value generator; a voltage static coordinate instruction value is generated in the torque and suspension force voltage reference value generator according to a flux amplitude instruction value, real-time winding torque component flux amplitude and phase and an actual feedback current; and the torque and rotor radial suspension force are directly controlled.

An estimating method for transmitting torque of a dry type clutch in a vehicle, may include a slip determining step of determining by a processor whether only one clutch slips between an engine and a transmission, a transmitting torque estimating step of estimating a current transmitting torque of the dry type clutch by using a torque observer when the only one clutch slips as a result of performing the slip determining step, and an updating step of reflecting the current transmitting torque of the dry type clutch estimated in the transmitting torque estimating step and an actuator torque in the transmitting torque estimating step to a T-S (Torque-Stroke) curve.

The present invention provides a torque feedforward control method of a double-PWM permanent magnet electric driving system. According to the control method and control device, the load torque of a motor is converted into given torque current corresponding to the output torque of a generator, so that the output power of the generator can be rapidly changed, and therefore, the load torque response time of the motor can be shortened. According to a traditional double-PWM permanent magnet electric driving system, when the load torque of the motor changes, corresponding adjustment information is provided only after the voltage of a direct-current bus-bar changes, so that the output power of the generator is adjusted, and as a result the problem of the long load torque response time of the motor is brought about, while, with the torque feedforward control method and control device adopted, the problem can be solved. The invention also provides a torque feedforward control device of the double-PWM permanent magnet electric driving system. According to the control device, a torque observer and a torque current converter connected with the torque observer are only required to be additionally arranged between the motor and generator of the existing system, so that torque feedforward can be realized. The control device has the advantages of simple structure, convenient maintenance of the system and high response speed and convenience in use and generalization.

The invention discloses an adaptive direct torque control method for flux linkage of a non-salient pole type permanent magnet synchronous motor. The method comprises the following steps of: determining a quadrature axis component of a stator flux linkage required at a certain load torque according to motor torque observed by a torque observer; and synthesizing a rectangular axis component of the stator flux linkage to finally obtain a stator flux linkage reference in the direct torque control method by taking the flux linkage of the rotor permanent magnet as a direct axis component of the stator flux linkage by reducing direct axis current of the motor and improving a power factor angle, wherein the stator flux linkage reference adaptively changes along with the variation of the motor load torque; and high-power-factor running of the permanent magnet synchronous motor is realized while torque response rapidity is ensured.

A brushless double feed motor control device and a direct torque control method thereof. The device comprises a brushless double feed motor, a flux linkage, a torque observer, etc., wherein the torque observation is calculated under the stationary reference frames of a power winding and a control winding. The method comprises the following steps: the voltage and the current of the control winding, as well as the power winding are observed under a three-phase coordinate system and coordinate transformation is performed, so as to get the voltage and the current of the control winding, as well as the power winding under respective stationary reference frame; the flux linkages and the torques of the control winding and the power winding are calculated; and the voltage vector is selected through the sector the flux linkage is positioned which is determined by the flux linkage of the control winding, and the torque and flux linkage increments obtained by the demand and feedback of the torque, and those of the flux linkage of the control winding. By adopting the invention, the torque observation of the brushless double feed motor can be realized under the stationary reference frames of the power winding and the control winding, so as to avoid unstable observation results caused by rotational coordinate transformation and measuring error due to rotor angular velocity. The control system has simple structure and higher control accuracy.

Provided is a brushless double-fed motor direct torque control method capable of reducing torque pulsation. According to the technical scheme, a rotating speed PI adjuster, a torque PI controller, a magnetic linkage PI controller, a torque observer, a magnetic linkage observer, a 3 / 2 coordinate converter, an MT / [alpha][beta] coordinate converter, a spatial voltage vector PWM generator, an incremental encoder and a voltage and current sensor are installed in a brushless double-fed motor control system. In the operation process of a brushless double-fed motor, an inverter is controlled by a spatial vector modulation method. The PI controllers are used to replace double-hysteresis controllers used in a traditional direct torque control method, and a spatial vector modulation technology replaces voltage switching table and obtains a voltage vector random in size and direction by means of synthesis. From the simulation result, the method can effectively compensate the present torque and magnetic linkage errors and reduce the torque pulsation of the motor.

The invention relates to a variable frequency soft startup strategy based on torque control. The strategy comprises sampling motor stator three-phase voltage, and converting voltage value in a three-phase stationary coordinate system to a two-phase stationary coordinate system; sampling motor stator three-phase current, and converting current value in the three-phase stationary coordinate system to the two-phase stationary coordinate system; perform integral operation based on the DC voltage of a DC converter and the switch state, and observing magnetic linkage with a magnetic linkage observer without voltage detection; observing torque with a torque observer; performing soft startup semiconductor switch algorithm based on magnetic flux control and torque control; performing space vector pulse width modulation (SVPWM) algorithm; and performing algorithm to distinguish the startup state. The invention solves large startup current problem when the open-loop converter is subjected to large load inertia, reduces the startup current of large inertia load and the preserved allowance of front end power supply design, and improves the reliability of the converter.

The invention discloses a direct torque control system and method for improving motor torque performance. The direct torque control system comprises a torque regulator, a flux linkage regulator, a rotating speed regulator, a sector judgment module, a voltage vector option table generation module, a driving signal generation system, a duty ratio calculation module, a flux linkage observer for obtaining flux linkage information of a motor stator, a torque observer for obtaining electromagnetic torque information of the motor, and a rotating speed observer for obtaining the rotating speed of a motor output shaft. According to the direct torque control system and method, the motor can be effectively controlled.

The invention discloses a wind turbine simulator without operating rotating speed differential and a control method of the wind turbine simulator without operating rotating speed differential and belongs to the technical field of motor control. The wind turbine simulator comprises a direct current power supply, a three-phase inverter, a motor and a control circuit. The control circuit comprises an isolated driving circuit, a voltage and current sampling circuit, a position detecter, a velocity calculation circuit, a torque observer, a wind turbine torque calculation module, a first summator,an integrator, a second summator, a multiplying unit, a mechanical friction compensation module and a rotational inertia compensation module. The control method considers the influence of mechanical friction coefficient and rotational inertia and obtains driving signals of the isolated driving circuit according to the rotating speed of the motor, three-phase input voltage and three-phase input electrical current calculation torque of the motor. The wind turbine simulator without operating the rotating speed differential and the control method of the wind turbine simulator without operating the rotating speed differential reduces the influence which the differential operation exerts on the stability of the system, reduces phase shift of the rotating speed on a frequency domain and increases precision and adaptability of the simulator.

The invention discloses a motor moment-of-inertia identification method and device. The moment of inertia of a motor is calculated according to a real-time observation result, obtained by a disturbance torque observer, of disturbance torque in a motor motion equation, acceleration information and torque current of the motor or torque current instruction value. The identification method and device can realize online real-time identification of the moment of inertia of the motor without influencing driving performance of the motor or limiting operation mode of the motor. The invention also provides a motor control device using the motor moment-of-inertia identification device above.

The invention provides a power system active vibration-damping method based on an instant torque observer of an engine, and belongs to the field of electronic control of engines, motors or hybrid power systems. The power system active vibration-damping method includes that the engine operates according to set working conditions; under each working condition, a vehicle control unit acquires enginestate parameters and control parameters to add sensor signals; the instant torque observer of the engine acquires instant torque ripple signals of the engine through estimation of the parameters, thesensor signals and bent axle signals and sends the instant torque ripple signals to a motor controller; the motor controller calculates target harmonic torques, generates control signals and sends thecontrol signals to a motor; the motor generates corresponding harmonic torques according to the received control signals; the instant torques of the engine and the harmonic torques generated by the motor act on a drive shaft at the same time to achieve vibration damping of a power system. The power system active vibration-damping method has the advantages that additional hardware does not need tobe installed on the power system, the high-frequency harmonic torques added to the motor suppress the vibration of a transmission system, and the comfort level of driving a vehicle is improved.

The invention discloses a motor torque coefficient identification method and device. A disturbance torque observer is used to observe disturbance torque in a motor motion equation. An observation result is used to calculate the actual output torque of a motor. According to the calculated actual output torque of the motor and the actual torque current of the motor or the command value, a motor torque coefficient is calculated. In addition, the invention further provides a motor control device using the identification device and a motor judging device using the identification device. According to the invention, the identification method directly uses the actual output torque and the torque current of the motor to calculate the motor torque coefficient; the driving performance of the motor is not affected; online real-time identification of the motor torque coefficient is realized, and the identification result is accurate; and the identification method has a wide application range, and can be applied to special applications such as elevators with unbalanced torque load.

A clutch torque control method for a dual clutch transmission (DCT) vehicle may include a shift initiation determining step of determining whether power-on downshift in which a driver steps on an accelerator pedal to change a current shift stage to a lower shift stage is initiated, and a torque correcting step of correcting basic control torque according to torque-stroke (TS) curve characteristics for controlling a disengagement-side clutch within a real shift range in which a number of rotations of an engine is changed with observer torque calculated by a torque observer when the power-on downshift is initiated, and determining the corrected basic control torque into control torque of the disengagement-side clutch.

The invention relates to a pull rope type strength training instrument protection method and device and a strength training instrument, and the method comprises the steps: obtaining the rotating speedof a motor, judging whether the motor is in a stalling state or not according to the rotating speed of the motor, determining the stretching condition of a pull rope, and judging whether the physicalstrength of a user reaches the limit or not; obtaining a torque estimated value by inputting quadrature-axis current and rotating speed of a motor into a torque observer, judging whether a user outputs tension to a pull rope or not by comparing the torque estimated value with a set threshold value, and aiming at the condition that the physical strength of the user reaches the limit, adjusting theoutput torque of the motor to be a preset protection torque, so the pull rope is prevented from being rapidly withdrawn due to the fact that user tension is smaller than motor output load torque, andusers are prevented from being injured.