CN104122035A - Direct-set load torque and rotational inertia simulating system and control method thereof - Google Patents

Direct-set load torque and rotational inertia simulating system and control method thereof Download PDF

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Publication number
CN104122035A
CN104122035A CN201410315638.4A CN201410315638A CN104122035A CN 104122035 A CN104122035 A CN 104122035A CN 201410315638 A CN201410315638 A CN 201410315638A CN 104122035 A CN104122035 A CN 104122035A
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torque
motor
controller
load
direct
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CN104122035B (en
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郝允志
林毓培
周黔
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Southwest University
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Southwest University
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Abstract

The invention provides a direct-set torque and rotational inertia simulating system and a control method thereof. The control method comprises providing the driving torque of the measurement input shaft of a torque sensor and collecting driving torque signals, computing the target torque of a load motor through a bench controller according to set load torque and set rotational inertia and the driving torque signals, sending load motor target torque instructions to a motor direct torque controller, and receiving the load motor target torque instructions and controlling the load motor to output corresponding torque through the motor direct torque controller. According to direct-set torque and rotational inertia simulating system and the control method thereof, by taking the torque as the controlled target, influence of acceleration computing errors on control precision can be avoided; adjusting control parameters according to different bench controllers can be omitted, and usage simplicity and dynamic responsiveness can be obtained; redundancy monitoring for the operation status of the bench controller can be achieved, so that the reliability of a bench can be enhanced.

Description

A kind of direct setting type load torque and moment of inertia simulation system and control method thereof
Technical field
The invention belongs to field of test instrument, relate in particular to a kind of direct setting type load torque and moment of inertia simulation system and control method thereof.
Background technology
In Test-bed for Mechanical Drive, inertial flywheel is a kind of conventional equipment, as brake tester, car transmissions testing table etc. all needs inertial flywheel.Different test occasions needs different moment of inertia, but the moment of inertia of the inertial flywheel processing is fixing, unadjustable, in order to meet the needs of different moment of inertia, can adopt the flywheel of a plurality of different moment of inertia, flywheel group, is combined into required moment of inertia.But flywheel group is expensive, and weight is large, high to requirement for dynamic balance, make troubles to the installation of testing table, and the potential safety hazard while there is high-speed rotation.Along with the development of electric machines control technology, the method for mechanical inertia electric analogy is suggested, and adopts driving moment and the loading moment of motor to carry out simulating flywheel moment of inertia.Take detent experiment table as example, adopt small flywheel to replace original large flywheel, drive motor continues to provide driving moment in braking procedure, makes up the difference between the inertia moment of small flywheel and the moment of inertia of large flywheel.For another example,, in system of vehicle transmission testing table, cancel flywheel, load motor simulated driving resistance and car load inertia.At present, the implementation method of moment of inertia electric analogy is to list the kinetics equation of kinematic train, calculates aimed acceleration, by the two closed-loop controls to motor, carrys out tracking target acceleration, identical acceleration while realizing with installation moment of inertia.But there are several problems in the method: (1), because acceleration is the differential of rotating speed, has amplification to tachometric survey error, and the method is usingd acceleration as controlling target, is unfavorable for improving control accuracy, has also increased control difficulty; (2) control algolithm in two closed-loop controls need to be adjusted control parameter according to different transmission stands, uses inconvenience; (3) owing to adopting closed-loop control, often there is contradiction in the indexs such as dynamic response, overshoot, stabilization time, can only take compromise to process, and sacrifices the precision of moment of inertia electric analogy.
Summary of the invention
The object of the present invention is to provide a kind of direct setting type load torque and moment of inertia simulation system, be intended to solve analogue means of the prior art use complicated, dynamic response performance is poor, need to adopt two closed-loop controls and adjust and control parameter, and depending on the problem of the error of calculation of acceleration.
Another object of the present invention is to provide the control method of above-mentioned direct setting type load torque and moment of inertia simulation system.
The present invention realizes like this, a kind of direct setting type load torque and moment of inertia simulation system, comprise analogue means, described analogue means comprises: input shaft, torque sensor, flywheel, load motor, according to the load torque of setting and moment of inertia, the driving torque calculated signals that collects, go out the stand controller of load motor target torque, according to the torque command control load motor receiving, export the motor Direct Torque Controller of corresponding moment of torsion; Wherein,
On described input shaft, be provided with successively torque sensor, flywheel, load motor; Described torque sensor, stand controller, motor Direct Torque Controller and load motor successively signal wire connect; Between described motor Direct Torque Controller and load motor, be electrically connected.
Preferably, described direct setting type load torque and moment of inertia simulation system also comprise redundancy monitoring system, described redundancy monitoring system also comprises speed probe on the basis of the original device of described simulation system, described speed probe is located on input shaft, and described speed probe is connected with stand controller signals.
Preferably, described direct setting type load torque and moment of inertia simulation system also comprise accuracy calibration system, on the basis of described accuracy calibration system other devices except flywheel, stand controller in comprising redundancy monitoring system, also comprise: drive motor, drive motor controller, sends rotating speed order, to motor Direct Torque Controller, sends torque command, reads the host computer of speed probe and torque sensor signal to drive motor controller; Wherein,
Described speed probe, torque sensor, drive motor controller, motor Direct Torque Controller are all connected with host computer signal, between drive motor controller and drive motor, comprise that signal is connected and is electrically connected, between motor Direct Torque Controller and load motor, comprise that signal is connected and is electrically connected.
The control method that the present invention further provides above-mentioned direct setting type load torque and moment of inertia simulation system, comprises the following steps:
The driving torque of S1, measurement input shaft also gathers driving torque signal;
S2, by stand controller, according to the load torque of setting and moment of inertia and driving torque calculated signals, go out load motor target torque, to motor Direct Torque Controller, send the order of load motor target torque;
S3, by motor Direct Torque Controller, receive load motor target torque order and control load motor is exported corresponding moment of torsion.
Preferably, before step S3, also comprise:
S30, motor model parameter is accurately provided to motor Direct Torque Controller, or by motor-driven testing table, the torque control accuracy of motor Direct Torque Controller is calibrated.
Preferably, in step S30, describedly by motor-driven testing table, the torque control accuracy of motor Direct Torque Controller is calibrated and is comprised following detailed process:
(1) host computer drive motor controller is set to rotating speed control mode, and the working speed of drive motor is set, i.e. the working speed of stand;
(2) host computer arranges the output torque of load motor by motor Direct Torque Controller, and waits for stable;
(3) read sensor is measured actual speed and torque;
(4) compare the error of setpoint torque and actual torque, obtain the correction factor of motor Direct Torque Controller;
(5) repeat different rotating speeds and torque are set, obtain correction factor table;
(6) torque of correction factor table input motor Direct Torque Controller is controlled to parameter, compensate former departure.
Preferably, after step S3, also comprise:
S4, by speed probe, the running status of analogue means is carried out to redundancy monitoring.
Preferably, described step S4 comprises following detailed process:
(1) read the rotating speed of speed probe, calculate actual acceleration and theoretical acceleration;
(2) by difference between actual acceleration and theoretical acceleration and the comparison of error permissible value, if exceed permissible error, and the duration surpass the permission time, do error and report to the police and process, in permissible error, continue operation.
Preferably, in step S2, the computing formula of described load motor torque is:
T m = ( 1 - J s + J m J r ) T d + J s + J m J r T r
In formula, T mfor load motor torque, T rfor load torque, T dfor driving torque, J sfor Rotary Inertia of Flywheel, J mfor load motor moment of inertia, J rfor load rotating inertia.
Than the shortcoming and defect of prior art, the present invention has following beneficial effect:
(1) conventional method is usingd acceleration as controlling target, and it is more responsive to tachometric survey error ratio to calculate acceleration, and the present invention is usingd torque as controlling target, has avoided the impact of the error of calculation of acceleration on control accuracy;
(2) conventional method adopts two closed-loop controls, rotating speed control algolithm wherein need to be adjusted control parameter according to different transmission stands, use inconvenience, and the present invention adopts Direct Torque Control mode, stand controller adopts open loop to control, and directly target torque order is sent to motor Direct Torque Controller, without adjusting control parameter according to different stand controllers, use simply, dynamic response performance is better;
(3) in control flow of the present invention, only gather driving torque sensor signal, tach signal is signal not necessarily, if have speed probe on stand controller, can be used to calculate acceleration, and compare with theoretical acceleration, stand controller operating condition is carried out to redundancy monitoring, improve the reliability of stand.
Accompanying drawing explanation
Fig. 1 is the working state schematic representation of simulation system in directly setting type of the present invention load torque and moment of inertia simulation system;
Fig. 2 is the simplification workflow schematic diagram of directly setting type of the present invention load torque and moment of inertia simulation system;
Fig. 3 is the working state schematic representation of redundancy monitoring system in directly setting type of the present invention load torque and moment of inertia simulation system;
Fig. 4 is the working state schematic representation of accuracy calibration system in directly setting type of the present invention load torque and moment of inertia simulation system;
Fig. 5 is the flow chart of steps of the control method of directly setting type of the present invention load torque and moment of inertia simulation system;
Fig. 6 is the stressed sketch of actual condition;
Fig. 7 is the stressed sketch of simulated condition;
Fig. 8 is stand controller workflow diagram;
Fig. 9 is the flow chart of steps of redundancy monitoring.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
A kind of direct setting type load torque and moment of inertia simulation system, as shown in Figure 1, comprise analogue means, described analogue means comprises input shaft, torque sensor, flywheel, load motor, according to the load torque of setting and moment of inertia, the driving torque calculated signals that collects, go out the stand controller of load motor target torque, according to the load motor target torque order control load motor receiving, export the motor Direct Torque Controller of corresponding moment of torsion; Wherein, on described input shaft, be provided with successively torque sensor, flywheel, load motor; Described torque sensor, stand controller, motor Direct Torque Controller and load motor successively signal wire connect, and between described motor Direct Torque Controller and load motor, are electrically connected.
In embodiments of the present invention, analogue means is a part for Approach for Vehicle Transmission System Test Bench, as shown in Figure 2, is used for load torque and the moment of inertia of fictitious load equipment.Driving arrangement is the power source of actual stand, and such as setting up car transmissions testing table, driving arrangement is motor car engine, also according to actual tested object, wheel box, detent etc. is installed in addition.The moment of inertia of the flywheel of simulation system is less than the flywheel of real system.
In embodiments of the present invention, adopt the flywheel of less inertia to replace original flywheel, adopt motor Direct Torque Controller to replace the two closed loop rotational speed governors of original motor, cancel speed probe, torque sensor is installed.
In embodiments of the present invention, first clearly the designing technique index of this simulation system (as shown in Figure 1), comprising: the maximum input torque T of input shaft dmaxwith maximum speed n dmax; The maximum load power P that can simulate rmax, rotation speed n during maximum load power prmax, maximum load torque T rmax, maximum rotation inertia J rmax.
1, torque sensor type selecting: torque range is greater than the maximum input torque of input shaft, the accuracy requirement that torque measurement precision meets analogue means, the highest permission working speed of torque sensor and is more than or equal to the maximum speed of input shaft.
2, load motor type selecting: select industrial standard variable-frequency motor to have good cost performance, international top-brand comprises ABB, Siemens etc., home brands comprise that Pekinese is supersynchronous, the Fu Tian in Shanghai etc., the rating of electric machine requires to comprise: load motor rated power P mmaxbe more than or equal to the maximum load power P that can simulate rmax, i.e. P mmax>=P rmax, load motor maximum speed n mmaxbe more than or equal to input shaft maximum speed n dmax, i.e. n mmax>=n dmax, the nominal torque T of load motor mmaxbe more than or equal to ( 1 - J s + J m J r max ) T d max + J s + J m J r max T r max , ? T m max ≥ ( 1 - J s + J m J r max ) T d max + J s + J m J r max T r max , J in formula sfor Rotary Inertia of Flywheel, J mfor electric machine rotation inertia.
3, motor Direct Torque Controller type selecting: the ACS800 Series Frequency Converter of selecting ABB AB, there is communication control interface to be connected with stand controller with Terminal control interface, receive the target torque order that stand controller sends, and the running state information of frequency converter and motor is passed to stand controller.
4, flywheel type selecting: flywheel is taked customization processing, meets the requirement of physical dimension, moment of inertia, maximum speed.Physical dimension aspect, the center height of stand has determined the maximum gauge of flywheel, the axial dimension of stand has determined the maximum ga(u)ge of flywheel; Moment of inertia aspect, need to match with the type selecting of load motor, meets see load motor type selecting; Maximum speed aspect, is determined by the maximum speed of stand, and the type selecting of the transient equilibrium of flywheel and bearing has been proposed to requirement.
5, stand controller type selecting: the embodiment of stand controller is a lot, can adopt industrial control computer, also can adopt embedded controller.Here introduce the industrial control computer mode that adopts: installation data capture card and communication card on the host slot of industrial control computer, data collecting card is for gathering the signal of torque sensor, communication interface on communication card sends target torque order to motor Direct Torque Controller, and data collecting card and communication interface can be as the interfaces of setting load torque and moment of inertia.
In further implementation process, for the running status of simulation system is carried out to redundancy monitoring, in embodiments of the present invention, described direct setting type load torque and moment of inertia simulation system also comprise redundancy monitoring system, as shown in Figure 3, described redundancy monitoring system also comprises speed probe on the basis of the original device of described simulation system, and described speed probe is located on input shaft, and described speed probe is connected with stand controller signals.Install speed probe additional and can carry out redundancy monitoring to the running status of simulation system.
In further implementation process, for guaranteeing the calibration to stand control accuracy, in embodiments of the present invention, described direct setting type load torque and moment of inertia simulation system, also comprise accuracy calibration system, described accuracy calibration system is motor-driven testing table, in comprising redundancy monitoring system, remove flywheel, on the basis of other devices outside stand controller, also comprise: drive motor, drive motor controller, to drive motor controller, send rotating speed order, send torque command to motor Direct Torque Controller, read the host computer of torque sensor and signals of rotational speed sensor, as shown in Figure 4, clearer being described as, described motor-driven testing table (accuracy calibration system) comprises input shaft, torque sensor, load motor, motor Direct Torque Controller, speed probe, drive motor controller, host computer, drive motor, wherein, on the input shaft of described drive motor, be provided with successively torque sensor, speed probe, load motor, described torque sensor, speed probe are connected with host computer signal wire, described host computer is connected with drive motor controller, motor Direct Torque controller signals line respectively, described drive motor controller is connected and is electrically connected with drive motor signal wire, and described motor Direct Torque Controller is connected and is electrically connected with load motor signal wire.
In embodiments of the present invention, the option of each device is specially:
1, drive motor type selecting: require to cover the working range of load motor, can adopt the motor with load motor same model.
2, drive motor controller type selecting: with the frequency converter that drive motor power matches, possess rotating speed control mode (current industrial frequency transformer has rotating speed control mode).
3, speed probe type selecting: generally adopt magnetoelectric tachometric transducer or code-wheel speed probe.
4, host computer type selecting: adopt industrial control computer, if the industrial control computer that stand controller also adopts, host computer can utilize this computing machine, but because function is different, upper computer software is different with the software of stand controller.Capture card is used for gathering speed probe and torque sensor signal, and communication port is used for sending rotating speed order to drive motor controller, and sends torque command to motor Direct Torque Controller.
The present invention further provides the control method of above-mentioned direct setting type load torque and moment of inertia simulation system, by the simulation system shown in Fig. 1, simulated control, as shown in Figure 5, comprised the following steps:
The driving torque of S1, measurement input shaft also gathers driving torque signal
In step S1, by torque sensor, measure the driving torque of input shaft and gather driving torque signal.
S2, by stand controller, according to the load torque of setting and moment of inertia and driving torque calculated signals, go out load motor target torque, to motor Direct Torque Controller, send the order of load motor target torque
In step S2, by stand controller, according to the load torque of setting and moment of inertia and driving torque calculated signals, go out required load motor torque.Wherein, the computing method of required load motor torque specifically comprise the following steps:
As shown in Figure 6, the stressed sketch that Fig. 6 is actual condition, w in figure rfor power angle speed, T dfor driving torque, T rfor load torque, J rfor load rotating inertia.The angular acceleration of actual condition calculates formula
dw r dt = T d - T r J r - - - ( 1 )
As shown in Figure 7, the stressed sketch that Fig. 7 is simulated condition, w in figure mfor power angle speed, T dfor driving torque, T mfor load motor torque, J sfor Rotary Inertia of Flywheel, J mfor load motor moment of inertia.The angular acceleration of simulated condition calculates formula
dw m dt = T d - T m J s + J m - - - ( 2 )
Require simulated condition and actual condition to there is identical angular acceleration,
dw m dt = dw r dt - - - ( 3 )
By formula (1), (2), (3), can be derived and be guaranteed simulated condition required load motor torque identical with actual condition, i.e. torque control target is
T m = ( 1 - J s + J m J r ) T d + J s + J m J r T r - - - ( 4 )
Formula does not comprise angular acceleration signal in (4), therefore load motor is taked torque control mode, adopt motor Direct Torque Controller, current advanced frequency converter provides Direct Torque Control function, can be used as the motor Direct Torque Controller in the present invention.
In step S2, the workflow of stand controller as shown in Figure 8, moves in circles, and every circulation comprises 4 steps, and wherein the 3rd step computational load motor torque is controlled target and adopted formula (4).
S3, by motor Direct Torque Controller, receive load motor target torque order and control load motor is exported corresponding moment of torsion
In step S3, by the reception load motor torque of motor Direct Torque Controller control load motor, export corresponding moment of torsion.In embodiments of the present invention, using torque as controlling target, avoided the impact of the error of calculation of acceleration on control accuracy; Adopt Direct Torque Control mode, stand controller adopts open loop to control, and directly target torque order is sent to motor Direct Torque Controller, without adjusting control parameter according to different stand controllers, uses simply, and dynamic response performance is better.
In further implementation process, for the running status of simulation system is carried out to redundancy monitoring, in embodiments of the present invention, in the control method of direct setting type load torque of the present invention and moment of inertia simulation system, as shown in Figure 5, after step S3, also comprise:
S4, by speed probe, the running status of stand controller is carried out to redundancy monitoring
In step S4, by the redundancy monitoring system shown in Fig. 3, simulation system is carried out to redundancy monitoring, more specifically, as shown in Figure 9, comprise following detailed process:
(1) read the rotating speed of speed probe, calculate actual acceleration and theoretical acceleration;
(2) by difference between actual acceleration and theoretical acceleration and permissible error comparison, if exceed permissible error, and the duration surpass the permission time (time that continues to exceed permissible error surpasses the permission time, such as continuous 10 second error be greater than 50rad/s 2), do error warning and process, in permissible error, continue operation.
In embodiments of the present invention, in control flow, only gather driving torque sensor signal, tach signal is signal not necessarily, in simulation system, there is speed probe, can be used to calculate acceleration, and compare with theoretical acceleration, the operating condition of simulation system is carried out to redundancy monitoring, improve the reliability of simulation system.
Illustrate: the equipment often easily breaking down is " torque sensor " and " motor Direct Torque Controller ", and other equipment are all reliable.(reliable by speed probe, do not allow perishable) gather tach signal and obtain acceleration, the error that compares theoretical value and actual value, for verifying whether torque sensor gathers correctly, or whether motor Direct Torque Controller breaks down, whether accurately realized torque and controlled target.
In further implementation process, because depending on, the simulation precision of simulation system the control accuracy of motor Direct Torque Controller to improve control accuracy, comprise two measures: (1) provides motor model parameter accurately to motor Direct Torque Controller; (2) by motor-driven testing table, the torque control accuracy of motor Direct Torque Controller is calibrated.Wherein, current motor Direct Torque Controller all has the automatic identifying function to the parameter of electric machine, can obtain motor model parameter substantially accurately, repeats no more here.
In embodiments of the present invention, by the motor-driven testing table shown in Fig. 4, the torque control accuracy of motor Direct Torque Controller is calibrated, comprises following detailed process:
(1) host computer drive motor controller is set to rotating speed control mode, and the working speed of drive motor is set, i.e. the working speed of stand;
(2) host computer arranges the output torque of load motor by motor Direct Torque Controller, and waits for stable;
(3) read sensor is measured actual speed and torque;
(4) compare the error of setpoint torque and actual torque, obtain the correction factor of motor Direct Torque Controller;
(5) repeat different rotating speeds and torque are set, obtain correction factor table;
(6) torque of correction factor table input motor Direct Torque Controller is controlled to parameter, compensate former departure.
It should be noted that, existing Electric Machine Control all has (comprising drive motor control and motor Direct Torque Controller) function of automatic Identification motor speed, just has small size error, is conventionally no more than 1%; On some motors, scrambler is installed, can measures accurately motor speed, can be used as speed probe and use.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.

Claims (9)

1. a direct setting type load torque and moment of inertia simulation system, it is characterized in that, comprise analogue means, described analogue means comprises: input shaft, torque sensor, flywheel, load motor, according to the load torque of setting and moment of inertia, the driving torque calculated signals that collects, go out the stand controller of load motor target torque, according to the torque command control load motor receiving, export the motor Direct Torque Controller of corresponding moment of torsion; Wherein,
On described input shaft, be provided with successively torque sensor, flywheel, load motor; Described torque sensor, stand controller, motor Direct Torque Controller and load motor successively signal wire connect; Between described motor Direct Torque Controller and load motor, be electrically connected.
2. direct setting type load torque as claimed in claim 1 and moment of inertia simulation system, it is characterized in that, described direct setting type load torque and moment of inertia simulation system also comprise redundancy monitoring system, described redundancy monitoring system also comprises speed probe on the basis of the original device of described simulation system, described speed probe is located on input shaft, and described speed probe is connected with stand controller signals.
3. direct setting type load torque as claimed in claim 2 and moment of inertia simulation system, it is characterized in that, described direct setting type load torque and moment of inertia simulation system also comprise accuracy calibration system, on the basis of described accuracy calibration system other devices except flywheel, stand controller in comprising redundancy monitoring system, also comprise: drive motor, drive motor controller, sends rotating speed order, to motor Direct Torque Controller, sends torque command, reads the host computer of speed probe and torque sensor signal to drive motor controller; Wherein,
Described speed probe, torque sensor, drive motor controller, motor Direct Torque Controller are all connected with host computer signal, between drive motor controller and drive motor, comprise that signal is connected and is electrically connected, between motor Direct Torque Controller and load motor, comprise that signal is connected and is electrically connected.
4. the control method of direct setting type load torque claimed in claim 3 and moment of inertia simulation system, is characterized in that, comprises the following steps:
The driving torque of S1, measurement input shaft also gathers driving torque signal;
S2, by stand controller, according to the load torque of setting and moment of inertia and driving torque calculated signals, go out load motor target torque, to motor Direct Torque Controller, send the order of load motor target torque;
S3, by motor Direct Torque Controller, receive load motor target torque order and control load motor is exported corresponding moment of torsion.
5. the control method of direct setting type load torque as claimed in claim 4 and moment of inertia simulation system, is characterized in that, before step S3, also comprises:
S30, motor model parameter is accurately provided to motor Direct Torque Controller, or by motor-driven testing table, the torque control accuracy of motor Direct Torque Controller is calibrated.
6. the control method of direct setting type load torque as claimed in claim 5 and moment of inertia simulation system, it is characterized in that, in step S30, describedly by motor-driven testing table, the torque control accuracy of motor Direct Torque Controller is calibrated and is comprised following detailed process:
(1) host computer drive motor controller is set to rotating speed control mode, and the working speed of drive motor is set, i.e. the working speed of stand;
(2) host computer arranges the output torque of load motor by motor Direct Torque Controller, and waits for stable;
(3) read sensor is measured actual speed and torque;
(4) compare the error of setpoint torque and actual torque, obtain the correction factor of motor Direct Torque Controller;
(5) repeat different rotating speeds and torque are set, obtain correction factor table;
(6) torque of correction factor table input motor Direct Torque Controller is controlled to parameter, compensate former departure.
7. the control method of direct setting type load torque as claimed in claim 6 and moment of inertia simulation system, is characterized in that, after step S3, also comprises:
S4, by speed probe, the running status of analogue means is carried out to redundancy monitoring.
8. the control method of direct setting type load torque as claimed in claim 7 and moment of inertia simulation system, is characterized in that, described step S4 comprises following detailed process:
(1) read the rotating speed of speed probe, calculate actual acceleration and theoretical acceleration;
(2) by difference between actual acceleration and theoretical acceleration and the comparison of error permissible value, if exceed permissible error, and the duration surpass the permission time, do error and report to the police and process, in permissible error, continue operation.
9. the control method of direct setting type load torque as claimed in claim 6 and moment of inertia simulation system, is characterized in that, in step S2, the computing formula of described load motor torque is:
T m = ( 1 - J s + J m J r ) T d + J s + J m J r T r
In formula, T mfor load motor torque, T rfor load torque, T dfor driving torque, J sfor Rotary Inertia of Flywheel, J mfor load motor moment of inertia, J rfor load rotating inertia.
CN201410315638.4A 2014-07-02 2014-07-02 A kind of directly setting type load torque and rotary inertia analog systems and control method thereof Expired - Fee Related CN104122035B (en)

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