CN105424276A - Method and device for obtaining rotational inertia of motor - Google Patents

Abstract

The embodiments of the invention provide a method and a device for obtaining the rotational inertia of a motor. The method comprises: obtaining (n-1) actual rotational speed of the motor in the (n-1) period, wherein n is a positive integer; obtaining (n-1) derived rotational speed output by an adjustable model corresponding to the motor, wherein the (n-1) derived rotational speed is output by the adjustable model based on an (n-1) calculation result; obtaining an n calculation result according to the (n-1) actual rotational speed and the (n-1) derived rotational speed, wherein the n calculation result includes n rotational inertia related quantity; judging whether the n rotational inertia related quantity and the (n-1) rotational inertia related quantity in the (n-1) calculation result satisfy a preset relation or not; and when the n rotational inertia related quantity and the (n-1) rotational inertia related quantity satisfy the preset relation, determining n rotational inertia corresponding to the n rotational inertia related quantity as the actual rotational inertia of the motor.

Description

Method and device for obtaining rotational inertia of motor

Technical Field

The invention relates to the technical field of electronics, in particular to a method and a device for obtaining the rotational inertia of a motor.

Background

The moment of inertia is an important parameter of the motor. At present, when the motor is controlled, the rotational inertia of the specification parameters provided by a motor manufacturer is generally directly adopted. However, the moment of inertia is not a constant value, which is related to the actual operating conditions of the motor. For example, motors operate with and without fan blades, and the rotational inertia in both cases is very different. Therefore, the environment for testing the specification parameters is different from the actual application of the motor, which causes a larger or smaller error between the given moment of inertia and the actual moment of inertia in the specification parameters. And the error between the given moment of inertia and the actual moment of inertia can cause the technical problem of inaccurate control of the motor.

Disclosure of Invention

The embodiment of the application provides a method and a device for obtaining the rotational inertia of a motor, which are used for obtaining the rotational inertia of the motor.

In a first aspect, the present application provides a method for obtaining a rotational inertia of a motor, comprising:

acquiring the n-1 actual rotating speed of the motor in the n-1 period; n is a positive integer;

obtaining the n-1 th estimated rotating speed output by the adjustable model corresponding to the motor; the n-1 th estimated rotating speed is the rotating speed output by the adjustable model based on the n-1 th round calculation result;

obtaining the nth round of calculation result according to the n-1 actual rotating speed and the n-1 estimated rotating speed; the nth round of calculation result comprises nth moment of inertia related quantity;

judging whether the nth moment of inertia related quantity and the nth-1 st moment of inertia related quantity in the calculation result of the nth-1 st round meet a preset relation or not;

and when the relevant quantity of the nth rotational inertia and the relevant quantity of the (n-1) th rotational inertia meet the preset relation, determining the nth rotational inertia corresponding to the relevant quantity of the nth rotational inertia as the actual rotational inertia of the motor.

Optionally, after determining whether the nth relevant rotational inertia amount and the nth-1 relevant rotational inertia amount in the n-1 th round of calculation result satisfy a preset relationship, the method further includes:

and when the nth moment of inertia related quantity and the nth-1 moment of inertia related quantity do not meet the preset relation, inputting the nth calculation result into the adjustable model, so that the adjustable model outputs an nth estimated rotating speed different from the nth-1 estimated rotating speed in an n +1 th period based on the nth calculation result.

Optionally, obtaining an nth calculation result according to the n-1 th actual rotation speed and the n-1 st estimated rotation speed, where the nth calculation result includes:

obtaining the n-th round calculation result according to the following formula:

$\left\{\begin{array}{c}{a^{\′}}_n=a^{\′}\left(0\right)-\underset{i=0}{\overset{n-1}{\Σ}}{k}_1({\mathrm{\Ω}}_i-{{\mathrm{\Ω}}^{\′}}_i){{\mathrm{\Ω}}^{\′}}_i\mathrm{\Δ}T-k_2({\mathrm{\Ω}}_{n-1}-{{\mathrm{\Ω}}^{\′}}_{n-1}){{\mathrm{\Ω}}^{\′}}_{n-1}\\ {b^{\′}}_n=b^{\′}\left(0\right)+\underset{i=0}{\overset{n-1}{\Σ}}{k}_3({\mathrm{\Ω}}_i-{{\mathrm{\Ω}}^{\′}}_i)T_{ei}\mathrm{\Δ}T+k_4({\mathrm{\Ω}}_{n-1}-{{\mathrm{\Ω}}^{\′}}_{n-1})T_{en-1}\\ {c^{\′}}_n=c^{\′}\left(0\right)-\underset{i=0}{\overset{n-1}{\Σ}}{k}_5({\mathrm{\Ω}}_i-{{\mathrm{\Ω}}^{\′}}_i)\mathrm{\Δ}T-k_6({\mathrm{\Ω}}_{n-1}-{{\mathrm{\Ω}}^{\′}}_{n-1})\end{array}\right.;$

wherein,B_mn' is the n-th viscous friction coefficient, J_n' is the n-th moment of inertia, T_ln' is the n-th load torque,B_m0is the initial viscous friction coefficient, J, of the adjustable model₀Is the initial moment of inertia, T, of the adjustable model_l0Is the initial load torque, Ω, of the adjustable model_iIth actual rotational speed, omega'_iFor the i-th estimated rotation speed, Ω_n-1Is the actual rotation speed of n-1, omega'_n-1Estimating a rotation speed, T, for said n-1_eiIs the ith torque, T_en-1Is the n-1 th torque, k₁k₂k₃k₄k₅k₆Not equal to 0, Δ T is the period.

Optionally, when the n-th round calculation result at least includes J_n'、B_mn' and T_ln', the nth moment of inertia related quantity is J_nIf yes, judging whether the relevant quantity of the nth moment of inertia and the relevant quantity of the (n-1) th moment of inertia in the calculation result of the (n-1) th round meet the requirementA preset relationship comprising:

judging the n-1 th moment of inertia J_n-1' and J_n' is within a preset range; when J is_n-1' and J_n' when the ratio is within the preset range, it indicates that the nth rotational inertia related quantity and the n-1 th rotational inertia related quantity satisfy the preset relationship; wherein, J_n-1' is the n-1 th moment of inertia related quantity.

Optionally, when the n-th calculation result at least includes a_n'、b_n' and c_n', the nth moment of inertia related quantity is b_nIf yes, judging whether the nth moment of inertia related quantity and the nth-1 st moment of inertia related quantity in the n-1 st round of calculation result meet a preset relation or not, wherein the judging step comprises the following steps of:

judgment b_n-1' and b_n' whether the absolute value of the difference is less than a threshold; when the absolute value is smaller than the threshold, the nth moment of inertia related quantity and the (n-1) th moment of inertia related quantity meet the preset relation; wherein, b_n-1' is the n-1 th moment of inertia related quantity.

Optionally, the adjustable model outputs an nth estimated rotation speed different from the nth-1 estimated rotation speed in an n +1 th cycle based on the nth calculation result according to the following formula:

${J_n}^{\′}\frac{{{\mathrm{\Ω}}^{\′}}_n-{{\mathrm{\Ω}}^{\′}}_{n-1}}{\mathrm{\Δ}T}=T_{en}-{T_{ln}}^{\′}-{B_{mn}}^{\′}{{\mathrm{\Ω}}^{\′}}_n$

wherein omega_n' is the n-th estimated rotation speed, T_enIs the nth torque.

In another aspect, the present application provides an apparatus for obtaining a rotational inertia of a motor, including:

the actual rotating speed obtaining unit is used for obtaining the n-1 actual rotating speed of the motor in the n-1 period; n is a positive integer;

an estimated rotation speed obtaining unit for obtaining an n-1 th estimated rotation speed of the adjustable model output corresponding to the motor; the n-1 th estimated rotating speed is the rotating speed output by the adjustable model based on the n-1 th round calculation result;

the calculation unit is used for obtaining the calculation result of the nth round according to the n-1 actual rotating speed and the n-1 estimated rotating speed; the nth round of calculation result comprises nth moment of inertia related quantity;

the judging unit is used for judging whether the nth moment of inertia related quantity and the nth-1 st moment of inertia related quantity in the calculation result of the nth-1 st round meet a preset relation or not;

and the determining unit is used for determining the nth moment of inertia corresponding to the nth moment of inertia relevant quantity as the actual moment of inertia of the motor when the nth moment of inertia relevant quantity and the nth-1 moment of inertia relevant quantity meet the preset relation.

Optionally, the apparatus further comprises:

and the input unit is used for inputting the calculation result of the nth round into the adjustable model after judging whether the correlation quantity of the nth moment of inertia and the correlation quantity of the nth-1 moment of inertia in the calculation result of the nth round-1 meet a preset relation or not, so that the adjustable model outputs an nth estimated rotating speed different from the nth-1 estimated rotating speed in an n +1 th period based on the calculation result of the nth round when the correlation quantity of the nth moment of inertia and the correlation quantity of the nth-1 moment of inertia do not meet the preset relation.

Optionally, the calculating unit is configured to obtain the nth calculation result according to the following formula:

$\left\{\begin{array}{c}{a^{\′}}_n=a^{\′}\left(0\right)-\underset{i=0}{\overset{n-1}{\Σ}}{k}_1({\mathrm{\Ω}}_i-{{\mathrm{\Ω}}^{\′}}_i){{\mathrm{\Ω}}^{\′}}_i\mathrm{\Δ}T-k_2({\mathrm{\Ω}}_{n-1}-{{\mathrm{\Ω}}^{\′}}_{n-1}){{\mathrm{\Ω}}^{\′}}_{n-1}\\ {b^{\′}}_n=b^{\′}\left(0\right)+\underset{i=0}{\overset{n-1}{\Σ}}{k}_3({\mathrm{\Ω}}_i-{{\mathrm{\Ω}}^{\′}}_i)T_{ei}\mathrm{\Δ}T+k_4({\mathrm{\Ω}}_{n-1}-{{\mathrm{\Ω}}^{\′}}_{n-1})T_{en-1}\\ {c^{\′}}_n=c^{\′}\left(0\right)-\underset{i=0}{\overset{n-1}{\Σ}}{k}_5({\mathrm{\Ω}}_i-{{\mathrm{\Ω}}^{\′}}_i)\mathrm{\Δ}T-k_6({\mathrm{\Ω}}_{n-1}-{{\mathrm{\Ω}}^{\′}}_{n-1})\end{array}\right.;$

wherein,B_mn' is the n-th viscous friction coefficient, J_n' is the n-th moment of inertia, T_ln' is the n-th load torque,B_m0is the initial viscous friction coefficient, J, of the adjustable model₀Is the initial moment of inertia, T, of the adjustable model_l0Is the initial load torque, Ω, of the adjustable model_iIth actual rotational speed, omega'_iFor the i-th estimated rotation speed, Ω_n-1Is the actual rotation speed of n-1, omega'_n-1Estimating a rotation speed, T, for said n-1_eiIs the ith torque, T_en-1Is the n-1 th torque, k₁k₂k₃k₄k₅k₆Not equal to 0, Δ T is the period.

Optionally, when the n-th round calculation result at least includes J_n'、B_mn' and T_ln', the nth moment of inertia related quantity is J_n' the judging unit is used for judging the n-1 th moment of inertia J_n-1' and J_n' is within a preset range; when J is_n-1' and J_n' when the ratio is within the preset range, it indicates that the nth rotational inertia related quantity and the n-1 th rotational inertia related quantity satisfy the preset relationship; wherein, J_n-1' is the n-1 th moment of inertia related quantity.

Optionally, when the n-th calculation result at least includes a_n'、b_n' and c_n', the nth moment of inertia related quantity is b_n' then, the judging unit is used for judging b_n-1' and b_n' whether the absolute value of the difference is less than a threshold; when the absolute value is smaller than the threshold, the nth moment of inertia related quantity and the (n-1) th moment of inertia related quantity meet the preset relation; wherein, b_n-1' is the n-1 th moment of inertia related quantity.

Optionally, the adjustable model outputs an nth estimated rotation speed different from the nth-1 estimated rotation speed in an n +1 th cycle based on the nth calculation result according to the following formula:

${J_n}^{\′}\frac{{{\mathrm{\Ω}}^{\′}}_n-{{\mathrm{\Ω}}^{\′}}_{n-1}}{\mathrm{\Δ}T}=T_{en}-{T_{ln}}^{\′}-{B_{mn}}^{\′}{{\mathrm{\Ω}}^{\′}}_n$

wherein omega_n' is the n-th estimated rotation speed, T_enIs the nth torque.

One or more technical solutions in the embodiments of the present application have at least one or more of the following technical effects:

in the technical scheme of the embodiment of the application, the n-1 actual rotating speed of the motor in the n-1 period and the n-1 estimated rotating speed output by the adjustable model corresponding to the motor are obtained firstly. The n-1 th estimated rotating speed is the rotating speed output by the adjustable model based on the n-1 th calculation result; n is a positive integer. And then, obtaining an nth calculation result according to the (n-1) th actual rotating speed and the (n-1) th estimated rotating speed, wherein the nth calculation result comprises the nth moment of inertia related quantity. And then, judging whether the nth moment of inertia related quantity and the nth-1 st moment of inertia related quantity in the calculation result of the nth-1 st round meet a preset relation or not, and when the preset relation is met, determining that the nth moment of inertia corresponding to the nth moment of inertia related quantity is the actual moment of inertia of the motor. Therefore, the actual rotational inertia of the motor is obtained through the technical scheme in the embodiment of the application, and the motor can be controlled more accurately according to the actual rotational inertia.

Drawings

FIG. 1 is a flow chart of a method for obtaining a rotational inertia of a motor according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a model frame for obtaining the rotational inertia of a motor in the embodiment of the present application;

fig. 3 is a schematic structural diagram of a device for obtaining the rotational inertia of the motor in the embodiment of the present application.

Detailed Description

The embodiment of the application provides a method and a device for obtaining the rotational inertia of a motor, which are used for obtaining the rotational inertia of the motor.

The technical scheme provided by the application has the following general idea:

in the technical scheme of the embodiment of the application, the n-1 actual rotating speed of the motor in the n-1 period and the n-1 estimated rotating speed output by the adjustable model corresponding to the motor are obtained firstly. The n-1 th estimated rotating speed is the rotating speed output by the adjustable model based on the n-1 th calculation result; n is a positive integer. And then, obtaining an nth calculation result according to the (n-1) th actual rotating speed and the (n-1) th estimated rotating speed, wherein the nth calculation result comprises the nth moment of inertia related quantity. And then, judging whether the nth moment of inertia related quantity and the nth-1 st moment of inertia related quantity in the calculation result of the nth-1 st round meet a preset relation or not, and when the preset relation is met, determining that the nth moment of inertia corresponding to the nth moment of inertia related quantity is the actual moment of inertia of the motor. Therefore, the actual rotational inertia of the motor is obtained through the technical scheme in the embodiment of the application, and the motor can be controlled more accurately according to the actual rotational inertia.

The technical solutions of the present invention are described in detail below with reference to the drawings and specific embodiments, and it should be understood that the specific features in the embodiments and examples of the present invention are described in detail in the technical solutions of the present application, and are not limited to the technical solutions of the present application, and the technical features in the embodiments and examples of the present application may be combined with each other without conflict.

The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

In a first aspect, the present application provides a method for obtaining a rotational inertia of a motor, please refer to fig. 1, including the following steps:

s101: and acquiring the n-1 actual rotating speed of the motor in the n-1 period.

S102: and obtaining the n-1 th estimated rotating speed output by the adjustable model corresponding to the motor.

S103: and obtaining the n-th round of calculation results according to the n-1 actual rotating speed and the n-1 estimated rotating speed.

S104: and judging whether the nth moment of inertia related quantity and the nth-1 st moment of inertia related quantity in the calculation result of the nth-1 st round meet a preset relation.

S105: and when the relevant quantity of the nth rotational inertia and the relevant quantity of the (n-1) th rotational inertia meet the preset relation, determining the nth rotational inertia corresponding to the relevant quantity of the nth rotational inertia as the actual rotational inertia of the motor.

In S101, the actual rotation speed of the motor in the n-1 th period is obtained, specifically, the actual rotation speed of the motor in the n-1 th period is obtained through the detection of a rotation speed sensor or control software, in the embodiment of the present application, the period refers to each calculated period, and the period length Δ T may be consistent with the period of the pulse modulation signal, for example, 1.4 × 10^-4s to 2.5 × 10^-4Any length in s. In addition, n is a positive integer, for example, 3, 4, 10, or the like.

In S102, the n-1 th estimated rotation speed of the adjustable model output corresponding to the motor is obtained. In particular, during operation of the motor, a real model of the motor, i.e. the motor transfer function, is obtained. In the embodiment of the application, the transfer function of the adjustable model is a function with adjustable parameters, which is consistent with the actual model form of the motor. Therefore, the adjustable model is corresponding to the motor. The estimated rotation speed is a rotation speed obtained from a function and an input of the adjustable model. For example, a realistic model of an electric machine isWherein J is the actual moment of inertia of the motor, Ω is the actual rotational speed of the output, T_eFor the input torque command value, T_lFor actual load torque, B_mIs the actual viscous friction coefficient. The adjustable model is then in conformity with the actual model form of the motorWherein J 'is the moment of inertia of the adjustable model, omega' is the rotating speed output by the adjustable model, T_eFor inputting the torque of the adjustable model, the same as the torque command value of the input motor, T_l' load Torque for Adjustable model, B_m' is the viscous friction coefficient of the adjustable model.

The n-1 th estimated rotation speed is the rotation speed output by the adjustable model based on the previous round of calculation, i.e., the n-1 th round of calculation. Specifically, the adjustable model adjusts parameters such as the moment of inertia of the adjustable model, the load torque of the adjustable model and/or the viscous friction coefficient of the adjustable model based on the n-1 th round calculation result, and then outputs the n-1 th estimated rotational speed based on the input.

In a specific implementation process, when performing the nth calculation to obtain the actual moment of inertia of the motor, S101 may be performed before S102, S102 may be performed before S101, or S101 and S102 may be performed simultaneously, which is not limited in this application.

After the n-1 actual rotating speed and the n-1 estimated rotating speed are obtained, in S103, the n-th round of calculation is carried out based on the n-1 actual rotating speed and the n-1 estimated rotating speed, and then the n-th round of calculation result is obtained. As shown in fig. 2, in the embodiment of the present application, the actual rotation speed Ω obtained from the motor and the estimated rotation speed Ω' output by the adjustable model are input into the calculation module for calculation in each calculation. And the calculation module processes according to a preset algorithm and further outputs the calculation result of the current round.

Specifically, the nth calculation result in the embodiment of the present application includes the nth rotational inertia related quantity. In the embodiment of the present application, the relevant quantity of the nth moment of inertia may be the nth moment of inertia itself, or may be a dependent quantity of the nth moment of inertia, for example, a reciprocal value of the nth moment of inertia or a value 3 times the nth moment of inertia, and the present application is not particularly limited.

After the nth moment of inertia related quantity is obtained, in S104, whether the nth moment of inertia related quantity and the nth-1 st moment of inertia related quantity in the calculation result of the nth-1 st round meet a preset relation or not is judged. In the embodiment of the present application, the preset relationship indicates that the parameters of the adjustable model are consistent with or close to the parameters of the actual model of the motor. Further, when the nth rotational inertia related quantity and the nth-1 rotational inertia related quantity satisfy the preset relationship, the nth rotational inertia corresponding to the nth rotational inertia related quantity is determined as the actual rotational inertia of the motor in S105.

Specifically, since the functional form of the adjustable model is consistent with the form of the motor actual model, and the motor actual model represents the actual state of the motor, when the nth moment of inertia related quantity and the nth-1 moment of inertia related quantity satisfy the preset relationship, the parameter representing the adjustable model is adjusted to be consistent with or close to the parameter of the motor actual model, thereby representing that the adjustable model and the motor actual model at the moment are the same or close to the same. Therefore, the nth moment of inertia corresponding to the nth moment of inertia related quantity of the adjustable model is the same as or close to the actual moment of inertia of the motor, and therefore the nth moment of inertia can be used as the actual moment of inertia of the motor.

Therefore, as can be seen from the above description, when the nth relevant rotational inertia amount and the nth-1 th relevant rotational inertia amount satisfy the preset relationship, the adjustable model is equivalent to the actual model of the motor, and the nth rotational inertia amount of the adjustable model is equivalent to the actual rotational inertia amount of the motor, so that the actual rotational inertia amount of the motor is obtained by taking the nth rotational inertia amount as the actual rotational inertia amount.

In another embodiment of the present application, after S104, the method may further include:

and when the nth moment of inertia related quantity and the nth-1 moment of inertia related quantity do not meet the preset relation, inputting the nth calculation result into the adjustable model, so that the adjustable model outputs an nth estimated rotating speed different from the nth-1 estimated rotating speed in an n +1 th period based on the nth calculation result.

Specifically, when it is determined in S104 that the nth relevant rotational inertia amount and the nth-1 relevant rotational inertia amount do not satisfy the preset relationship, it indicates that the parameter of the adjustable model is not adjusted to be consistent or nearly consistent with the motor at this time, and therefore, the adjustable model still needs to continuously adjust the parameter. Therefore, in the embodiment of the application, when the nth moment of inertia related quantity and the nth-1 th moment of inertia related quantity do not meet the preset relationship, the nth round of calculation result output by the calculation module is further input into the adjustable model, so that the adjustable model adjusts parameters, and the nth estimated rotating speed different from the nth-1 th estimated rotating speed is output in the (n + 1) th period.

In the embodiment of the application, if the nth moment of inertia related quantity and the nth-1 moment of inertia related quantity do not meet the preset relation, inputting the nth round of calculation result into the adjustable model, and then executing S101 to S104 again until the nth moment of inertia related quantity and the nth-1 moment of inertia related quantity meet the preset relation, and determining the actual moment of inertia of the motor.

Next, how to obtain the n-th round calculation result will be described in detail.

In the embodiment of the present application, the n-th round calculation result is obtained according to the following formula (1):

$\left\{\begin{array}{c}{a^{\′}}_n=a^{\′}\left(0\right)-\underset{i=0}{\overset{n-1}{\Σ}}{k}_1({\mathrm{\Ω}}_i-{{\mathrm{\Ω}}^{\′}}_i){{\mathrm{\Ω}}^{\′}}_i\mathrm{\Δ}T-k_2({\mathrm{\Ω}}_{n-1}-{{\mathrm{\Ω}}^{\′}}_{n-1}){{\mathrm{\Ω}}^{\′}}_{n-1}\\ {b^{\′}}_n=b^{\′}\left(0\right)+\underset{i=0}{\overset{n-1}{\Σ}}{k}_3({\mathrm{\Ω}}_i-{{\mathrm{\Ω}}^{\′}}_i)T_{ei}\mathrm{\Δ}T+k_4({\mathrm{\Ω}}_{n-1}-{{\mathrm{\Ω}}^{\′}}_{n-1})T_{en-1}\\ {c^{\′}}_n=c^{\′}\left(0\right)-\underset{i=0}{\overset{n-1}{\Σ}}{k}_5({\mathrm{\Ω}}_i-{{\mathrm{\Ω}}^{\′}}_i)\mathrm{\Δ}T-k_6({\mathrm{\Ω}}_{n-1}-{{\mathrm{\Ω}}^{\′}}_{n-1})\end{array}\right.;$ formula (1)

In particular,B_mn' is the n-th viscous friction coefficient, J_n' is the n-th moment of inertia, T_ln' is the nth load torque.B_m0Initial viscous coefficient of friction for the adjustable model, J₀Initial moment of inertia, T, for adjustable models_l0To be at leastAnd adjusting the initial load torque of the model. B is_m0、J₀And T_l0And is arbitrarily set by those skilled in the art. Wherein, due to J₀Will be denominator, so J is set₀Any non-zero real number can be specifically set, and the application is not particularly limited. Omega_iThe ith actual rotating speed, namely the actual rotating speed of the motor in the ith period, omega'_iFor the ith estimated rotation speed, the rotation speed output in the ith cycle may be modeled.

At the initial time, a ' (0), B ' (0), c ' (0) is used as the initial value, or B is used as the initial value_m0、J₀And T_l0As an initial value, when n is 1, i.e., the 1 st round of calculation is performed, B is set to be_m0'＝B_m0、J₀'＝J₀And T_l0'＝T_l0Substitution intoOr a'₀＝a'(0),b'₀B '(0) and c'₀Substitution into c' (0)Obtaining the 0 th estimated rotation speed omega 'of the adjustable model'₀. Detecting the 0 th actual rotating speed omega output by the motor₀Further, Ω 'is added'₀And Ω₀Obtained by substituting the formula (1) ${a^{\′}}_1=a^{\′}\left(0\right)-\underset{i=0}{\overset{0}{\Σ}}\left(k_1\right({\mathrm{\Ω}}_0-{{\mathrm{\Ω}}^{\′}}_0\left){{\mathrm{\Ω}}^{\′}}_0\mathrm{\Δ}T\right)-k_2({\mathrm{\Ω}}_0-{{\mathrm{\Ω}}^{\′}}_n){{\mathrm{\Ω}}^{\′}}_0=a^{\′}\left(0\right)-k_1({\mathrm{\Ω}}_0-{{\mathrm{\Ω}}^{\′}}_0){{\mathrm{\Ω}}^{\′}}_0\mathrm{\Δ}T-k_2({\mathrm{\Ω}}_0-{{\mathrm{\Ω}}^{\′}}_0){{\mathrm{\Ω}}^{\′}}_0.$ So n in the embodiment of the present application starts from 1. To obtain b'₁And c'₁The process is similar.

When n is 2, i.e. the 2 nd calculation is made, a'₁b'₁And c'₁Substitution intoObtaining a 1 st estimated rotation speed omega'₁. And detects the 1 st actual rotation speed omega₁Obtained by substituting the formula (1)

The subsequent processes are analogized, and are not repeated herein.

In the embodiment of the present application, k₁And k₂In particular to a_n' arbitrary value of convergence, k₃And k₄In particular to b_n' arbitrary value of convergence, k₅And k₆In particular c is_nAny value of convergence. At the same time, k₁k₂k₃k₄k₅k₆Not equal to 0. In the concrete implementation process, k₁、k₂、k₃、k₄、k₅And k₆May or may not be identical.

Ω_n-1Is the actual rotation speed of n-1, omega'_n-1The rotational speed is estimated for the n-1 th rotation. T is_eiInputting the torque command values, T, of the adjustable model and the motor for the ith torque, i.e. the ith period_en-1The torque command values of the motor and the adjustable model are input for the (n-1) th torque, i.e., in the (n-1) th cycle. Δ T is the period.

In the embodiment of the application, the n-th round calculation result at least comprises J_n'、B_mn' and T_ln', or at least includes a_n'、b_n' and c_n'. Therefore, when the nth round of calculation needs to be performed, Ω will be_n-1And omega'_n-1Input to a computing module, and then meterThe calculation module performs the calculation based on formula (1) to obtain J_n'、B_mn' and T_ln', or a_n'、b_n' and c_n'。

In the embodiment of the present application, the actual model of the motor is:and then the adjustable model isWherein J is the actual moment of inertia of the motor, Ω is the actual rotational speed of the output, T_eAs input torque, B_mFor actual viscous coefficient of friction, T_lIs the actual load torque. J 'is the moment of inertia of the adjustable model, omega' is the rotation speed of the adjustable model output, T_eAs input torque, B_m' viscous coefficient of friction, T, for Adjustable model_ln' is the load torque of the adjustable model.

In a specific implementation process, there are various methods for obtaining the nth moment of inertia based on the (n-1) th actual rotational speed and the (n-1) th estimated rotational speed, for example, based on the lyapunov function, the bopft inequality, the least square method, and the like, and the present application is not limited specifically. In the embodiment of the present application, the derivation process of formula (1) will be obtained in detail by taking the boff function as an example.

First, letThe actual model of the motor can be deformed into:

the actual model of the motor can be deformed into:

$\stackrel{\·}{\mathrm{\Ω}}=-a\mathrm{\Ω}+{\mathrm{bT}}_e-c.$ formula (2)

Wherein, in the formula (2)"·" denotes a differential operator. Converting equation (2) to a matrix form, yielding:

$\stackrel{\·}{\mathrm{\Ω}}=A\mathrm{\Ω}+{\mathrm{BT}}_e+C.$ formula (3)

Wherein a ═ a ], B ═ B ], and C ═ C.

Similarly, the adjustable model can be deformed into:

${\stackrel{\·}{\mathrm{\Ω}}}^{\′}=A^{\′}{\mathrm{\Ω}}^{\′}+B^{\′}{T}_e+C^{\′},$ formula (4)

Wherein, ${\stackrel{\·}{\mathrm{\Ω}}}^{\′}=\frac{{\mathrm{d\Ω}}^{\′}}{dt},$

$A^{\′}=\[-a^{\′}\]=\[-\frac{{B_m}^{\′}}{J^{\′}}\],B^{\′}=\[b^{\′}\]=\[\frac{1}{J^{\′}}\],C^{\′}=\[-c^{\′}\]=\[-\frac{{T_l}^{\′}}{J^{\′}}\],$ B_m'is the viscous friction coefficient of the adjustable model to be determined, J' is the moment of inertia of the adjustable model to be determined, T_l' is the load torque of the adjustable model to be determined.

Then, equation (4) is subtracted from equation (3) to obtain

$\stackrel{\·}{e}=Ae+(A-A^{\′}){\mathrm{\Ω}}^{\′}+(B-B^{\′})T_e+(C-C^{\′}),$ Formula (5)

Wherein e- Ω'.

Then, add the linear compensator D to obtain the forward linear constant module

$\{\begin{array}{c}\stackrel{\·}{e}=Ae+I(-w)\\ y=De\end{array}.$ Formula (6)

Wherein, I is the unit matrix, I (-w) is the input of the forward constant module, y is the output of the linear part and the input of the nonlinear part, and w is the output of the nonlinear part.

As can be seen from equations (5) and (6),

I(-w)＝[A-A']Ω'+[B-B']T_e+[C-C']. Formula (7)

And I is a unit matrix, so w ═ A-A']Ω'-[B-B']T_e-[C-C']. Formula (8)

To make the system shown in fig. 2 a progressive hyperstable system requires a strict and positive transfer function of the equivalent forward block formed by equation (6). According to the positive theory of reality, the transfer function must satisfy the medium PA + A^TP ═ Q, and PI ═ D, P and Q are arbitrary positive definite symmetric matrices.

Suppose P is selected as [1 ]]I.e. let P be the identity matrix, then we can conclude that D ═ 1]， $PA+A^{T}P=-Q=\[-2a\].$ While $a=\frac{B_m}{J}>0,$ Therefore, it is not only easy to use $Q=\[2a\]=\[2\frac{B_m}{J}\]>0,$ Q is a positive definite matrix.

Further, the Bobo inequality isFormula (9)

γ₀For a finite real number, T represents the time difference between the time of calculation and the initial time, and is specifically equal to n Δ T. From the above equation (6) and equation (8), equation (9) can be converted into:

$\begin{array}{c}\mathrm{\η}(0,t)={\∫}_0^t{w}^{T}ydt={\∫}_0^t{w}^T\left(De\right)dt={\∫}_0^t{w}^{T}edt={\∫}_0^{t}wdt\\ =-{\∫}_0^t(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′})\left(\right(-a+a^{\′}){\mathrm{\Ω}}^{\′}+(b-b^{\′})T_e+(-c+c^{\′}\left)\right)dt\\ ={\∫}_0^t(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′})(a-a^{\′}){\mathrm{\Ω}}^{\′}dt+{\∫}_0^t(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′})(-b+b^{\′})T_{e}dt+{\∫}_0^t(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′})(c-c^{\′})dt\\ ={\mathrm{\η}}_1(0,t)+{\mathrm{\η}}_2(0,t)+{\mathrm{\η}}_3(0,t)\≥-{{\mathrm{\γ}}_0}^2.\end{array}$

as can be seen, the final η (0, t) ≧ γ₀ ²True, need η₁(0,t)≥-γ₁ ²,η₂(0,t)≥-γ₂ ²,η₃(0,t)≥-γ₃ ²，γ₁、γ₂、γ₃Are finite real numbers.

Therefore, suppose $a^{\′}=-{\∫}_0^t{G}_1(t,\mathrm{\τ})d\mathrm{\τ}-G_2(t,\mathrm{\τ})+a^{\′}\left(0\right).$ Formula (10)

Then ${\mathrm{\η}}_1(0,t)={\∫}_0^t(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′})(a-a^{\′}){\mathrm{\Ω}}^{\′}dt$ Is composed of

$\begin{array}{c}{\mathrm{\η}}_1(0,t)={\∫}_0^t(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′})(a-a^{\′}){\mathrm{\Ω}}^{\′}dt\\ ={\∫}_0^t(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′})\left({\∫}_0^t{G}_1\right(t,\mathrm{\τ})d\mathrm{\τ}+G_2(t,\mathrm{\τ})-a^{\′}(0)+a){\mathrm{\Ω}}^{\′}dt;\\ ={\∫}_0^t(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′}){\mathrm{\Ω}}^{\′}{\∫}_0^t\left(G_1\right(t,\mathrm{\τ})d\mathrm{\τ}-a^{\′}(0)+a)dt+{\∫}_0^t(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′}){\mathrm{\Ω}}^{\′}{G}_2(t,\mathrm{\τ})dt;\\ ={\mathrm{\η}}_{11}(0,t)+{\mathrm{\η}}_{12}(0,t).\end{array}.$

Further, suppose that $\stackrel{\·}{f\left(t\right)}=(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′}){\mathrm{\Ω}}^{\′},k_{1}f\left(t\right)={\∫}_0^t{G}_1(t,\mathrm{\τ})d\mathrm{\τ}-a^{\′}\left(0\right)+a,$ Then when k is₁When the pressure is higher than 0, the pressure is higher,

${\mathrm{\η}}_{11}(0,t)={\∫}_0^t\stackrel{\·}{f\left(t\right)}{k}_{1}f\left(t\right)dt=\frac{k_1}{2}\left(f^2\right(t)-f^2(0\left)\right)\≥-\frac{k_1}{2}{f}^2\left(0\right)\≥{{\mathrm{\γ}}_{11}}^2.$ formula (11)

In addition, to $k_{1}f\left(t\right)={\∫}_0^t{G}_1(t,\mathrm{\τ})d\mathrm{\τ}-a^{\′}\left(0\right)+a$ The two sides are derived to obtain the total,

$G_1(t,\mathrm{\τ})=k_1\stackrel{\·}{f\left(t\right)}=k_1(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′}){\mathrm{\Ω}}^{\′},$ formula (12)

Here, take G₂(t,τ)＝k₂(omega-omega ') omega', it is possible to make

${\mathrm{\η}}_{12}(0,t)={\∫}_0^t(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′}){\mathrm{\Ω}}^{\′}{G}_2(t,\mathrm{\τ})dt={\∫}_0^t{k}_2{\left(\right(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′}\left){\mathrm{\Ω}}^{\′}\right)}^{2}dt\≥-{{\mathrm{\γ}}_{12}}^2.$ Formula (13)

Further, combining equation (11) and equation (13), it can be seen that,

η₁(0,t)＝η₁₁(0,t)+η₁₂(0,t)≥-γ₁₁ ²-γ₁₂ ²≥-γ₁ ². Formula (14)

Therefore, the assumption of the above equation (10) holds, and thus

$a^{\′}=-{\∫}_0^t{k}_1(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′}){\mathrm{\Ω}}^{\′}d\mathrm{\τ}-k_2(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′}){\mathrm{\Ω}}^{\′}+a\left(0\right).$ Formula (15)

Converting d tau in equation (15) to dt to obtain the standard form of equation (15)

$a^{\′}=a^{\′}\left(0\right)-{\∫}_0^t{k}_2(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′}){\mathrm{\Ω}}^{\′}dt-k_2(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′}){\mathrm{\Ω}}^{\′}.$ Formula (16)

Similarly, it may be assumed that b' is pushed out η₂(0,t)≥-γ₂ ²Suppose c' is derived η₃(0,t)≥-γ₃ ²And then confirm that hypothetical b 'and c' hold, get

$b^{\′}=b^{\′}\left(0\right)+{\∫}_0^t{k}_3(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′})T_{e}dt+k_4(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′})T_e$ Formula (17)

And

$c^{\′}=c^{\′}\left(0\right)-{\∫}_0^t{k}_5(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′})dt-k_6(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′}),$ formula (18)

Combining the formula (16), the formula (17) and the formula (18), the formula (17) can be obtained

$\{\begin{array}{c}{a}^{\′}=a^{\′}\left(0\right)-{\∫}_0^t{k}_1(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′}){\mathrm{\Ω}}^{\′}dt-k_2(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′}){\mathrm{\Ω}}^{\′}\\ b^{\′}=b^{\′}\left(0\right)+{\∫}_0^t{k}_3(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′})T_{e}dt+k_4(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′})T_e\\ c^{\′}=c^{\′}\left(0\right)-{\∫}_0^t{k}_5(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′})dt-k_6(\mathrm{\Ω}-{\mathrm{\Ω}}^{\′})\end{array}.$ Formula (19)

Finally, discretizing the formula (19) to obtain

$\left\{\begin{array}{c}{a^{\′}}_n=a^{\′}\left(0\right)-\underset{i=0}{\overset{n-1}{\Σ}}{k}_1({\mathrm{\Ω}}_i-{{\mathrm{\Ω}}^{\′}}_i){{\mathrm{\Ω}}^{\′}}_i\mathrm{\Δ}T-k_2({\mathrm{\Ω}}_{n-1}-{{\mathrm{\Ω}}^{\′}}_{n-1}){{\mathrm{\Ω}}^{\′}}_{n-1}\\ {b^{\′}}_n=b^{\′}\left(0\right)+\underset{i=0}{\overset{n-1}{\Σ}}{k}_3({\mathrm{\Ω}}_i-{{\mathrm{\Ω}}^{\′}}_i)T_{ei}\mathrm{\Δ}T+k_4({\mathrm{\Ω}}_{n-1}-{{\mathrm{\Ω}}^{\′}}_{n-1})T_{en-1}\\ {c^{\′}}_n=c^{\′}\left(0\right)-\underset{i=0}{\overset{n-1}{\Σ}}{k}_5({\mathrm{\Ω}}_i-{{\mathrm{\Ω}}^{\′}}_i)\mathrm{\Δ}T-k_6({\mathrm{\Ω}}_{n-1}-{{\mathrm{\Ω}}^{\′}}_{n-1})\end{array}\right..$ Formula (1)

In the embodiment of the present application, the nth calculation result has two possibilities. First, at least J_n'、B_mn' and T_ln' as the nth round of calculation. In a specific implementation process, the nth calculation result further may include a_n'、b_n' and/or c_n' etc., the present application is not particularly limited. Second, at least a_n'、b_n' and c_n' as the nth round of calculation. In a specific implementation process, the nth calculation result further includes J_n'、B_mn' and/or T_ln'。

Because the nth calculation result has two possibilities, there are two specific implementation manners for determining whether the nth rotational inertia related quantity and the nth-1 rotational inertia related quantity satisfy the preset relationship in S104.

The first method comprises the following steps:

when the n-th calculation result at least includes J_n'、B_mn' and T_ln', and the nth moment of inertia related quantity is J_nWhen, S104 specifically includes:

judging the n-1 th moment of inertia J_n-1' and J_nWhether the ratio of' is within a preset range.

When the relevant quantity of the nth moment of inertia is the nth moment of inertia J_n' by itself, the n-1 st moment of inertia J in the n-1 st round of calculation results is obtained_n-1'. In a first implementation, J_n-1' in a positionIs the n-1 th moment of inertia related quantity. Then further obtain

In a first implementation manner, whether the nth rotational inertia related quantity and the nth-1 rotational inertia related quantity meet a preset relation is judged, specifically, whether the preset relation is judgedWhether it is within a preset range. In the embodiment of the present application, the predetermined range is a small range around 1, for example [0.995, 1.005 ]]Or [0.998, 1.002 ]]And the like. In a specific implementation process, the smaller the preset range is, the closer the nth moment of inertia, which is finally used as the actual moment of inertia, is to the actual moment of inertia. Those of ordinary skill in the art to which the present application pertains may set the setting according to the practice, and the present application is not particularly limited.

In particular, whenWhen in a preset range, representsEqual to 1 or close to 1. WhileEqual to 1 or close to 1, indicating Ω'_n-1Equal to or close to Ω_n-1And further shows that the parameter of the adjustable model is equal to or close to the actual model of the motor at the moment, so that J can be adjusted_n' is considered as the actual moment of inertia J of the machine. Therefore, whenAnd when the moment of inertia is within the preset range, the n-th moment of inertia related quantity and the n-1-th moment of inertia related quantity meet the preset relation.

Further, in the first kindIn this embodiment, since the n-th inertia moment related quantity is the n-th inertia moment itself, J is directly determined in S105_n' is the actual moment of inertia.

And the second method comprises the following steps:

when the n-th calculation result at least includes a_n'、b_n' and c_n', and the nth moment of inertia related quantity is b_nWhen, S104 specifically includes:

judgment b_n-1' and b_n' whether the absolute value of the difference is less than a threshold.

When the nth moment of inertia is related to quantity b_n' then, the n-1 st moment of inertia b in the n-1 st round of calculation results is obtained_n-1'. In a second implementation, b_n-1' is the n-1 th moment of inertia related quantity. Then further obtain | b'_n-b'_n-1L or | b'_n-1-b'_n|。

In a second implementation manner, it is determined whether the nth rotational inertia related quantity and the nth-1 rotational inertia related quantity meet a preset relationship, specifically, it is determined that | b'_n-b'_n-1L or | b'_n-1-b'_nIf | is less than the threshold. In the embodiment of the present application, the threshold is 0 or a number close to 0, such as 0, 0.05, or 0.1. In a specific implementation process, the smaller the threshold value is, the closer to 0 is, and finally, the closer to the actual moment of inertia is the nth moment of inertia which is the actual moment of inertia. Those of ordinary skill in the art to which the present application pertains may set the setting according to the practice, and the present application is not particularly limited.

Specifically, | b'_n-b'_n-1L or | b'_n-1-b'_nIf | is less than the threshold value, it represents | b'_n-b'_n-1L or | b'_n-1-b'_n| is equal to 0 or close to 0. And | b'_n-b'_n-1L or | b'_n-1-b'_nL is equal to 0 or close to 0, indicating Ω'_n-1Equal to or close to Ω_n-1And further shows that the parameter of the adjustable model is equal to or close to the actual model of the motor at the moment, so that J can be adjusted_n' VisIs the actual moment of inertia J of the motor. Therefore, when | b'_n-b'_n-1L or | b'_n-1-b'_nAnd if the | is smaller than the threshold, the nth moment of inertia related quantity and the nth-1 moment of inertia related quantity meet the preset relation.

Further, due toTherefore, in the second implementation manner, the nth moment of inertia corresponding to the nth moment of inertia related quantity determined in the step S105 is

Further, the adjustable model isThe estimated rotation speed of n-1 is output according to the formula (20).

${J_{n-1}}^{\′}\frac{{{\mathrm{d\Ω}}^{\′}}_{n-1}}{dt}=T_{en-1}-{T_{ln-1}}^{\′}-{B_{mn-1}}^{\′}{{\mathrm{\Ω}}^{\′}}_{n-1}$ Formula (20)

Wherein, J_n-1' calculated moment of inertia of n-1, T, for the n-1 th wheel_ln-1' is the n-1 th load torque, B_mn-1' is the n-1 th viscous friction coefficient, T_en-1Is the (n-1) th torque.

And the adjustable model outputs the nth estimated rotation speed according to the formula (21).

${J_n}^{\′}\frac{{{\mathrm{d\Ω}}^{\′}}_n}{dt}=T_{en}-{T_{ln}}^{\′}-{B_{mn}}^{\′}{{\mathrm{\Ω}}^{\′}}_n$ Formula (21)

Wherein omega_n' is the n-th estimated rotation speed, T_enThe torque values of the motor and the adjustable model are input for the nth torque, i.e. the nth period.

Further, in a specific implementation, if the estimated rotation speed is obtained by a computer, the computer specifically performs calculation by using a formula after dispersion. Obtaining Ω, for example, using the formula discretized by formula (21)_n', is specifically

${J_n}^{\′}\frac{{{\mathrm{\Ω}}^{\′}}_n-{{\mathrm{\Ω}}^{\′}}_{n-1}}{\mathrm{\Δ}T}=T_{en}-{T_{ln}}^{\′}-{B_{mn}}^{\′}{{\mathrm{\Ω}}^{\′}}_n.$ Formula (22)

Based on the same inventive concept as that of obtaining the rotational inertia of the motor in the foregoing embodiment, a second aspect of the present application further provides an apparatus for obtaining the rotational inertia of the motor, as shown in fig. 3, including:

an actual rotation speed obtaining unit 301, configured to obtain an n-1 th actual rotation speed of the motor in an n-1 th cycle; n is a positive integer;

an estimated rotation speed obtaining unit 302 for obtaining an n-1 th estimated rotation speed of the adjustable model output corresponding to the motor; the n-1 th estimated rotating speed is the rotating speed output by the adjustable model based on the n-1 th calculation result;

a calculating unit 303, configured to obtain an nth calculation result according to the n-1 th actual rotation speed and the n-1 th estimated rotation speed; the nth round of calculation result comprises the nth moment of inertia related quantity;

a determining unit 304, configured to determine whether the nth rotational inertia related quantity and the (o-1) th rotational inertia related quantity in the n-1 th round of calculation result satisfy a preset relationship;

the determining unit 305 is configured to determine, when the nth relevant amount of rotational inertia and the nth-1 th relevant amount of rotational inertia satisfy a preset relationship, that the nth corresponding to the nth relevant amount of rotational inertia is an actual rotational inertia of the motor.

Further, the device in this application embodiment still includes:

and the input unit is used for inputting the nth round of calculation result into the adjustable model when the nth moment of inertia relevant quantity and the nth-1 moment of inertia relevant quantity do not meet the preset relation after judging whether the nth moment of inertia relevant quantity and the nth-1 moment of inertia relevant quantity in the nth round of calculation result meet the preset relation or not, so that the adjustable model outputs the nth estimated rotating speed different from the nth-1 estimated rotating speed in the (n + 1) th period based on the nth round of calculation result.

Specifically, the calculation unit 303 is configured to obtain the n-th calculation result according to the following formula:

$\left\{\begin{array}{c}{a^{\′}}_n=a^{\′}\left(0\right)-\underset{i=0}{\overset{n-1}{\Σ}}{k}_1({\mathrm{\Ω}}_i-{{\mathrm{\Ω}}^{\′}}_i){{\mathrm{\Ω}}^{\′}}_i\mathrm{\Δ}T-k_2({\mathrm{\Ω}}_{n-1}-{{\mathrm{\Ω}}^{\′}}_{n-1}){{\mathrm{\Ω}}^{\′}}_{n-1}\\ {b^{\′}}_n=b^{\′}\left(0\right)+\underset{i=0}{\overset{n-1}{\Σ}}{k}_3({\mathrm{\Ω}}_i-{{\mathrm{\Ω}}^{\′}}_i)T_{ei}\mathrm{\Δ}T+k_4({\mathrm{\Ω}}_{n-1}-{{\mathrm{\Ω}}^{\′}}_{n-1})T_{en-1}\\ {c^{\′}}_n=c^{\′}\left(0\right)-\underset{i=0}{\overset{n-1}{\Σ}}{k}_5({\mathrm{\Ω}}_i-{{\mathrm{\Ω}}^{\′}}_i)\mathrm{\Δ}T-k_6({\mathrm{\Ω}}_{n-1}-{{\mathrm{\Ω}}^{\′}}_{n-1})\end{array}\right.;$

in particular,B_mn' is the n-th viscous friction coefficient, J_n' is the n-th moment of inertia, T_ln' is the n-th load torque,B_m0initial viscous coefficient of friction for the adjustable model, J₀Initial moment of inertia, T, for adjustable models_l0Initial load torque, Ω, for the adjustable model_iIth actual rotational speed, omega'_iFor the i-th estimated rotation speed, Ω_n-1Is the actual rotation speed of n-1, omega'_n-1Estimate the rotational speed, T, for the n-1 th_eiIs the ith torque, T_en-1Is the n-1 th torque, k₁k₂k₃k₄k₅k₆Not equal to 0, Δ T is the period.

When the n-th calculation result at least includes J_n'、B_mn' and T_ln', n-th moment of inertia related quantity is J_n' time, the judgment unit 304 is used for judging the n-1 th moment of inertia J_n-1' and J_n' is within a preset range; when J is_n-1' and J_nWhen the ratio of' is in a preset range, the nth moment of inertia related quantity and the (n-1) th moment of inertia related quantity meet a preset relation; wherein, J_n-1' is the n-1 th moment of inertia related quantity.

When the n-th calculation result at least includes a_n'、b_n' and c_n', n-th moment of inertia related quantity is b_n' time, the judging unit 304 is for judging b_n-1' and b_n' whether the absolute value of the difference is less than a threshold; when the absolute value is smaller than the threshold value, the nth moment of inertia related quantity and the nth-1 st moment of inertia related quantity meet a preset relation; wherein, b_n-1' is the n-1 th moment of inertia related quantity.

Specifically, the adjustable model outputs an nth estimated rotation speed different from an nth-1 estimated rotation speed in an n +1 th period based on the nth calculation result according to the following formula:

${J_n}^{\′}\frac{{{\mathrm{\Ω}}^{\′}}_n-{{\mathrm{\Ω}}^{\′}}_{n-1}}{\mathrm{\Δ}T}=T_{en}-{T_{ln}}^{\′}-{B_{mn}}^{\′}{{\mathrm{\Ω}}^{\′}}_n$

wherein omega_n' is the n-th estimated rotation speed, T_enIs the nth torque.

Various modifications and specific examples of the method for obtaining the rotational inertia of the motor in the embodiments of fig. 1 to 2 are also applicable to the apparatus for obtaining the rotational inertia of the motor in the embodiment, and a person skilled in the art can clearly understand the implementation method of the apparatus for obtaining the rotational inertia of the motor in the embodiment from the foregoing detailed description of the method for obtaining the rotational inertia of the motor, so that the detailed description is omitted here for the sake of brevity of the description.

One or more technical solutions in the embodiments of the present application have at least one or more of the following technical effects:

in the technical scheme of the embodiment of the application, the n-1 actual rotating speed of the motor in the n-1 period and the n-1 estimated rotating speed output by the adjustable model corresponding to the motor are obtained firstly. The n-1 th estimated rotating speed is the rotating speed output by the adjustable model based on the n-1 th calculation result; n is a positive integer. And then, obtaining an nth calculation result according to the (n-1) th actual rotating speed and the (n-1) th estimated rotating speed, wherein the nth calculation result comprises the nth moment of inertia related quantity. And then, judging whether the nth moment of inertia related quantity and the nth-1 st moment of inertia related quantity in the calculation result of the nth-1 st round meet a preset relation or not, and when the preset relation is met, determining that the nth moment of inertia corresponding to the nth moment of inertia related quantity is the actual moment of inertia of the motor. Therefore, the actual rotational inertia of the motor is obtained through the technical scheme in the embodiment of the application, and the motor can be controlled more accurately according to the actual rotational inertia.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (12)

1. A method of deriving a rotational inertia of an electric machine, comprising:

acquiring the n-1 actual rotating speed of the motor in the n-1 period; n is a positive integer;

obtaining the n-1 th estimated rotating speed output by the adjustable model corresponding to the motor; the n-1 th estimated rotating speed is the rotating speed output by the adjustable model based on the n-1 th round calculation result;

obtaining the nth round of calculation result according to the n-1 actual rotating speed and the n-1 estimated rotating speed; the nth round of calculation result comprises nth moment of inertia related quantity;

judging whether the nth moment of inertia related quantity and the nth-1 st moment of inertia related quantity in the calculation result of the nth-1 st round meet a preset relation or not;

and when the relevant quantity of the nth rotational inertia and the relevant quantity of the (n-1) th rotational inertia meet the preset relation, determining the nth rotational inertia corresponding to the relevant quantity of the nth rotational inertia as the actual rotational inertia of the motor.

2. The method according to claim 1, wherein after determining whether the nth moment of inertia related quantity and the (n-1) th moment of inertia related quantity in the n-1 th round of calculation result satisfy a preset relationship, the method further comprises:

and when the nth moment of inertia related quantity and the nth-1 moment of inertia related quantity do not meet the preset relation, inputting the nth calculation result into the adjustable model, so that the adjustable model outputs an nth estimated rotating speed different from the nth-1 estimated rotating speed in an n +1 th period based on the nth calculation result.

3. The method of claim 2, wherein obtaining the nth round of calculation results based on the nth-1 actual rotational speed and the nth-1 estimated rotational speed comprises:

obtaining the n-th round calculation result according to the following formula:

$\{\begin{array}{c}{a^{\′}}_n=a^{\′}\left(0\right)-\underset{i=0}{\overset{n-1}{\mathrm{\Σ}}}{k}_1({\mathrm{\Ω}}_i-{{\mathrm{\Ω}}^{\′}}_i){{\mathrm{\Ω}}^{\′}}_i\mathrm{\Δ}T-k_2({\mathrm{\Ω}}_{n-1}-{{\mathrm{\Ω}}^{\′}}_{n-1}){{\mathrm{\Ω}}^{\′}}_{n-1}\\ {b^{\′}}_n=b^{\′}\left(0\right)+\underset{i=0}{\overset{n-1}{\mathrm{\Σ}}}{k}_3({\mathrm{\Ω}}_i-{{\mathrm{\Ω}}^{\′}}_i)T_{ei}\mathrm{\Δ}T+k_4({\mathrm{\Ω}}_{n-1}-{{\mathrm{\Ω}}^{\′}}_{n-1})T_{en-1}\\ {c^{\′}}_n=c^{\′}\left(0\right)-\underset{i=0}{\overset{n-1}{\mathrm{\Σ}}}{k}_5({\mathrm{\Ω}}_i-{{\mathrm{\Ω}}^{\′}}_i)\mathrm{\Δ}T-k_6({\mathrm{\Ω}}_{n-1}-{{\mathrm{\Ω}}^{\′}}_{n-1})\end{array};$

wherein,B_mn' is the n-th viscous friction coefficient, J_n' is the n-th moment of inertia, T_ln' is the n-th load torque,B_m0is the initial viscous friction coefficient, J, of the adjustable model₀Is the initial moment of inertia, T, of the adjustable model_l0Is the initial load torque, Ω, of the adjustable model_iIth actual rotational speed, omega'_iFor the i-th estimated rotation speed, Ω_n-1Is the actual rotation speed of n-1, omega'_n-1Is that it isN-1 th estimated rotational speed, T_eiIs the ith torque, T_en-1Is the n-1 th torque, k₁k₂k₃k₄k₅k₆Not equal to 0, Δ T is the period.

4. The method of claim 3, wherein when the nth round of computation results includes at least J_n'、B_mn' and T_ln', the nth moment of inertia related quantity is J_nIf yes, judging whether the nth moment of inertia related quantity and the nth-1 st moment of inertia related quantity in the n-1 st round of calculation result meet a preset relation or not, wherein the judging step comprises the following steps of:

judging the n-1 th moment of inertia J_n-1' and J_n' is within a preset range; when J is_n-1' and J_n' when the ratio is within the preset range, it indicates that the nth rotational inertia related quantity and the n-1 th rotational inertia related quantity satisfy the preset relationship; wherein, J_n-1' is the n-1 th moment of inertia related quantity.

5. The method of claim 3, wherein when the nth calculation includes at least a_n'、b_n' and c_n', the nth moment of inertia related quantity is b_nIf yes, judging whether the nth moment of inertia related quantity and the nth-1 st moment of inertia related quantity in the n-1 st round of calculation result meet a preset relation or not, wherein the judging step comprises the following steps of:

judgment b_n-1' and b_n' whether the absolute value of the difference is less than a threshold; when the absolute value is smaller than the threshold, the nth moment of inertia related quantity and the (n-1) th moment of inertia related quantity meet the preset relation; wherein, b_n-1' is the n-1 th moment of inertia related quantity.

6. The method of claim 3, wherein the adjustable model outputs an nth estimated speed different from the nth-1 th estimated speed in an n +1 th cycle based on the nth round calculation result according to the following formula:

${J_n}^{\′}\frac{{{\mathrm{\Ω}}^{\′}}_n-{{\mathrm{\Ω}}^{\′}}_{n-1}}{\mathrm{\Δ}T}=T_{en}-{T_{ln}}^{\′}-{B_{mn}}^{\′}{{\mathrm{\Ω}}^{\′}}_n$

wherein omega_n' is the n-th estimated rotation speed, T_enIs the nth torque.

7. An apparatus for obtaining rotational inertia of a motor, comprising:

the actual rotating speed obtaining unit is used for obtaining the n-1 actual rotating speed of the motor in the n-1 period; n is a positive integer;

an estimated rotation speed obtaining unit for obtaining an n-1 th estimated rotation speed of the adjustable model output corresponding to the motor; the n-1 th estimated rotating speed is the rotating speed output by the adjustable model based on the n-1 th round calculation result;

the calculation unit is used for obtaining the calculation result of the nth round according to the n-1 actual rotating speed and the n-1 estimated rotating speed; the nth round of calculation result comprises nth moment of inertia related quantity;

the judging unit is used for judging whether the nth moment of inertia related quantity and the nth-1 st moment of inertia related quantity in the calculation result of the nth-1 st round meet a preset relation or not;

and the determining unit is used for determining the nth moment of inertia corresponding to the nth moment of inertia relevant quantity as the actual moment of inertia of the motor when the nth moment of inertia relevant quantity and the nth-1 moment of inertia relevant quantity meet the preset relation.

8. The apparatus of claim 7, wherein the apparatus further comprises:

and the input unit is used for inputting the calculation result of the nth round into the adjustable model after judging whether the correlation quantity of the nth moment of inertia and the correlation quantity of the nth-1 moment of inertia in the calculation result of the nth round-1 meet a preset relation or not, so that the adjustable model outputs an nth estimated rotating speed different from the nth-1 estimated rotating speed in an n +1 th period based on the calculation result of the nth round when the correlation quantity of the nth moment of inertia and the correlation quantity of the nth-1 moment of inertia do not meet the preset relation.

9. The apparatus of claim 8, wherein the computing unit is configured to obtain the nth round of computation result according to the following formula:

$\{\begin{array}{c}{a^{\′}}_n=a^{\′}\left(0\right)-\underset{i=0}{\overset{n-1}{\mathrm{\Σ}}}{k}_1({\mathrm{\Ω}}_i-{{\mathrm{\Ω}}^{\′}}_i){{\mathrm{\Ω}}^{\′}}_i\mathrm{\Δ}T-k_2({\mathrm{\Ω}}_{n-1}-{{\mathrm{\Ω}}^{\′}}_{n-1}){{\mathrm{\Ω}}^{\′}}_{n-1}\\ {b^{\′}}_n=b^{\′}\left(0\right)+\underset{i=0}{\overset{n-1}{\mathrm{\Σ}}}{k}_3({\mathrm{\Ω}}_i-{{\mathrm{\Ω}}^{\′}}_i)T_{ei}\mathrm{\Δ}T+k_4({\mathrm{\Ω}}_{n-1}-{{\mathrm{\Ω}}^{\′}}_{n-1})T_{en-1}\\ {c^{\′}}_n=c^{\′}\left(0\right)-\underset{i=0}{\overset{n-1}{\mathrm{\Σ}}}{k}_5({\mathrm{\Ω}}_i-{{\mathrm{\Ω}}^{\′}}_i)\mathrm{\Δ}T-k_6({\mathrm{\Ω}}_{n-1}-{{\mathrm{\Ω}}^{\′}}_{n-1})\end{array};$

wherein,B_mn' is the n-th viscous friction coefficient, J_n' is the n-th moment of inertia, T_ln' is the n-th load torque,B_m0is the initial viscous friction coefficient, J, of the adjustable model₀Is the initial moment of inertia, T, of the adjustable model_l0Is the initial load torque, Ω, of the adjustable model_iIth practiceRotational speed of Ω'_iFor the i-th estimated rotation speed, Ω_n-1Is the actual rotation speed of n-1, omega'_n-1Estimating a rotation speed, T, for said n-1_eiIs the ith torque, T_en-1Is the n-1 th torque, k₁k₂k₃k₄k₅k₆Not equal to 0, Δ T is the period.

10. The apparatus of claim 9, wherein when the nth round of computation results includes at least J_n'、B_mn' and T_ln', the nth moment of inertia related quantity is J_n' the judging unit is used for judging the n-1 th moment of inertia J_n-1' and J_n' is within a preset range; when J is_n-1' and J_n' when the ratio is within the preset range, it indicates that the nth rotational inertia related quantity and the n-1 th rotational inertia related quantity satisfy the preset relationship; wherein, J_n-1' is the n-1 th moment of inertia related quantity.

11. The apparatus of claim 9, wherein when the nth round of computation results includes at least a_n'、b_n' and c_n', the nth moment of inertia related quantity is b_n' then, the judging unit is used for judging b_n-1' and b_n' whether the absolute value of the difference is less than a threshold; when the absolute value is smaller than the threshold, the nth moment of inertia related quantity and the (n-1) th moment of inertia related quantity meet the preset relation; wherein, b_n-1' is the n-1 th moment of inertia related quantity.

12. The apparatus of claim 9, wherein the adjustable model outputs an nth estimated rotational speed different from the nth-1 th estimated rotational speed in an n +1 th cycle based on the nth round calculation result according to the following formula:

${J_n}^{\′}\frac{{{\mathrm{\Ω}}^{\′}}_n-{{\mathrm{\Ω}}^{\′}}_{n-1}}{\mathrm{\Δ}T}=T_{en}-{T_{ln}}^{\′}-{B_{mn}}^{\′}{{\mathrm{\Ω}}^{\′}}_n$

wherein omega_n' is the n-th estimated rotation speed, T_enIs the nth torque.