CN105424276A

CN105424276A - Method and device for obtaining rotational inertia of motor

Info

Publication number: CN105424276A
Application number: CN201510946138.5A
Authority: CN
Inventors: 陈跃; 刘启武; 唐婷婷
Original assignee: Sichuan Changhong Electric Co Ltd
Current assignee: Sichuan Changhong Electric Co Ltd
Priority date: 2015-12-16
Filing date: 2015-12-16
Publication date: 2016-03-23
Anticipated expiration: 2035-12-16
Also published as: CN105424276B

Abstract

Embodiments of the present application provide a method and a device for obtaining the moment of inertia of a motor, which are used to obtain the moment of inertia of the motor. The method includes: obtaining the n-1th actual speed of the motor in the n-1th cycle; n is a positive integer; obtaining the n-1th estimated speed output by the adjustable model corresponding to the motor; the n-th 1. The estimated rotational speed is the rotational speed output by the adjustable model based on the calculation result of the n-1th round; the calculation result of the nth round is obtained according to the n-1th actual rotational speed and the n-1th estimated rotational speed; the said The nth round of calculation results include the nth moment of inertia related quantity; judge whether the nth moment of inertia related quantity and the n-1th moment of inertia related quantity in the n-1th round of calculation results meet the preset relationship; when the When the nth moment of inertia related quantity and the n-1th moment of inertia related quantity satisfy the preset relationship, determine the nth moment of inertia corresponding to the nth moment of inertia related quantity as the actual moment of inertia of the motor.

Description

A method and device for obtaining motor moment of inertia

技术领域technical field

本发明涉及电子技术领域，尤其涉及一种获得电机转动惯量的方法和装置。The invention relates to the field of electronic technology, in particular to a method and a device for obtaining the moment of inertia of a motor.

背景技术Background technique

转动惯量是电机的一个重要参数。目前，在对电机进行控制时，通常直接采用电机生产商提供的规格参数当中的转动惯量。然而，转动惯量并不是一个恒定的值，她与电机实际运行状况有关系。例如电机带风机叶片和不带风机叶片运行，两种情况下的转动惯量差别非常大。所以，测试规格参数的环境与电机实际应用场合的不同，将导致规格参数中给定的转动惯量和实际转动惯量之间存在或大或小的误差。而给定转动惯量与实际转动惯量之间的误差，将会导致对电机的控制不准确的技术问题。The moment of inertia is an important parameter of the motor. At present, when controlling the motor, the moment of inertia in the specification parameters provided by the motor manufacturer is usually directly used. However, the moment of inertia is not a constant value, it is related to the actual operation of the motor. For example, if the motor is operated with and without fan blades, the moment of inertia in the two cases is very different. Therefore, the difference between the environment of testing the specification parameters and the actual application of the motor will lead to a large or small error between the moment of inertia given in the specification parameters and the actual moment of inertia. The error between the given moment of inertia and the actual moment of inertia will lead to the technical problem of inaccurate control of the motor.

发明内容Contents of the invention

本申请实施例提供了一种获得电机转动惯量的方法和装置，用于获取电机的转动惯量。Embodiments of the present application provide a method and a device for obtaining the moment of inertia of a motor, which are used to obtain the moment of inertia of the motor.

第一方面，本申请提供了一种获得电机转动惯量的方法，包括：In the first aspect, the present application provides a method for obtaining the moment of inertia of the motor, including:

获得电机在第n-1周期的第n-1实际转速；n为正整数；Obtain the n-1th actual speed of the motor in the n-1th cycle; n is a positive integer;

获得与所述电机对应的可调模型输出的第n-1推定转速；所述第n-1推定转速为所述可调模型基于第n-1轮计算结果输出的转速；Obtaining the n-1th estimated rotational speed output by the adjustable model corresponding to the motor; the n-1th estimated rotational speed is the rotational speed output by the adjustable model based on the calculation result of the n-1th round;

根据所述第n-1实际转速和所述第n-1推定转速，获得第n轮计算结果；所述第n轮计算结果中包括第n转动惯量相关量；Obtaining an nth calculation result according to the n-1th actual rotational speed and the n-1th estimated rotational speed; the nth round calculation result includes an nth moment of inertia related quantity;

判断所述第n转动惯量相关量和所述第n-1轮计算结果中的第n-1转动惯量相关量是否满足预设关系；Judging whether the related quantity of the nth moment of inertia and the related quantity of the n-1th moment of inertia in the calculation result of the n-1th round satisfy a preset relationship;

当所述第n转动惯量相关量和所述第n-1转动惯量相关量满足所述预设关系时，确定所述第n转动惯量相关量对应的第n转动惯量为所述电机的实际转动惯量。When the nth moment of inertia related quantity and the n-1th moment of inertia related quantity satisfy the preset relationship, determine that the nth moment of inertia corresponding to the nth moment of inertia related quantity is the actual rotation of the motor inertia.

可选的，在判断所述第n转动惯量相关量和所述第n-1轮计算结果中的第n-1转动惯量相关量是否满足预设关系之后，还包括：Optionally, after judging whether the nth moment of inertia related quantity and the n-1th moment of inertia related quantity in the n-1th round calculation result satisfy a preset relationship, further include:

当所述第n转动惯量相关量和所述第n-1转动惯量相关量不满足所述预设关系时，将所述第n轮计算结果输入所述可调模型，以使所述可调模型基于所述第n轮计算结果在第n+1周期输出与所述第n-1推定转速不同的第n推定转速。When the nth moment of inertia related quantity and the n-1th moment of inertia related quantity do not satisfy the preset relationship, input the nth round calculation result into the adjustable model, so that the adjustable The model outputs an nth estimated rotational speed different from the n−1th estimated rotational speed in the n+1th period based on the calculation result of the nth round.

可选的，根据所述第n-1实际转速和所述第n-1推定转速，获得第n轮计算结果，包括：Optionally, according to the n-1th actual rotational speed and the n-1th estimated rotational speed, the calculation result of the nth round is obtained, including:

根据下列公式获得所述第n轮计算结果：Obtain the calculation result of the nth round according to the following formula:

$\{\begin{matrix} {a a}^{' '}_{n no} = = {a a}^{' '} ((00)) - - {Σ Σ}_{i i = = 00}^{n no - - 11} {k k}_{11} (({Ω Ω}_{i i} - - {Ω Ω}^{' '}_{i i})) {Ω Ω}^{' '}_{i i} Δ Δ T T - - {k k}_{22} (({Ω Ω}_{n no - - 11} - - {Ω Ω}^{' '}_{n no - - 11})) {Ω Ω}^{' '}_{n no - - 11} \\ {b b}^{' '}_{n no} = = {b b}^{' '} ((00)) + + {Σ Σ}_{i i = = 00}^{n no - - 11} {k k}_{33} (({Ω Ω}_{i i} - - {Ω Ω}^{' '}_{i i})) {T T}_{e e i i} Δ Δ T T + + {k k}_{44} (({Ω Ω}_{n no - - 11} - - {Ω Ω}^{' '}_{n no - - 11})) {T T}_{e e n no - - 11} \\ {c c}^{' '}_{n no} = = {c c}^{' '} ((00)) - - {Σ Σ}_{i i = = 00}^{n no - - 11} {k k}_{55} (({Ω Ω}_{i i} - - {Ω Ω}^{' '}_{i i})) Δ Δ T T - - {k k}_{66} (({Ω Ω}_{n no - - 11} - - {Ω Ω}^{' '}_{n no - - 11})) \end{matrix};;$

其中，B_mn'为第n粘滞摩擦系数，J_n'为第n转动惯量，T_ln'为第n负载转矩，B_m0为所述可调模型的初始粘滞摩擦系数，J₀为所述可调模型的初始转动惯量，T_l0为所述可调模型的初始负载转矩，Ω_i第i实际转速，Ω'_i为第i推定转速，Ω_n-1为所述第n-1实际转速，Ω'_n-1为所述第n-1推定转速，T_ei为第i转矩，T_en-1为第n-1转矩，k₁k₂k₃k₄k₅k₆≠0，ΔT为周期。in, B _mn ' is the nth viscous friction coefficient, J _n ' is the nth moment of inertia, T _ln ' is the nth load torque, B _m0 is the initial viscous friction coefficient of the adjustable model, J ₀ is the initial moment of inertia of the adjustable model, T _l0 is the initial load torque of the adjustable model, Ω _i actual speed of i, Ω ' _i is the i-th estimated speed, Ω _n-1 is the n-1th actual speed, Ω' _n-1 is the n-1th estimated speed, T _ei is the i-th torque, T _en-1 is The n-1th torque, k ₁ k ₂ k ₃ k ₄ k ₅ k ₆ ≠0, ΔT is the period.

可选的，当所述第n轮计算结果至少包括J_n'、B_mn'和T_ln'，所述第n转动惯量相关量为J_n'时，判断所述第n转动惯量相关量和所述第n-1轮计算结果中的第n-1转动惯量相关量是否满足预设关系，包括：Optionally, when the calculation result of the n-th round includes at least J _n ', B _mn ' and T _ln ', and the related quantity of the n-th moment of inertia is J _n ', it is judged that the related quantity of the n-th moment of inertia and Whether the n-1th moment of inertia related quantity in the n-1th round of calculation results satisfies the preset relationship, including:

判断第n-1转动惯量J_n-1'与J_n'的比值是否在预设范围内；当J_n-1'与J_n'的所述比值在所述预设范围内时，表示所述第n转动惯量相关量和所述第n-1转动惯量相关量满足所述预设关系；其中，J_n-1'为所述第n-1转动惯量相关量。Judging whether the ratio of the n-1th moment of inertia J _n-1 ' to J _n ' is within the preset range; when the ratio of J _n-1 ' to J _n ' is within the preset range, it means that the The nth moment of inertia related quantity and the n-1th moment of inertia related quantity satisfy the preset relationship; wherein, J _n-1 ′ is the n-1th moment of inertia related quantity.

可选的，当所述第n轮计算结果至少包括a_n'、b_n'和c_n'，所述第n转动惯量相关量为b_n'时，判断所述第n转动惯量相关量和所述第n-1轮计算结果中的第n-1转动惯量相关量是否满足预设关系，包括：Optionally, when the calculation result of the nth round includes at least a _n ', b _n ' and c _n ', and the related quantity of the nth moment of inertia is b _n ', it is judged that the related quantity of the nth moment of inertia and Whether the n-1th moment of inertia related quantity in the n-1th round of calculation results satisfies the preset relationship, including:

判断b_n-1'与b_n'之差的绝对值是否小于阈值；当所述绝对值小于所述阈值时，表示所述第n转动惯量相关量和所述第n-1转动惯量相关量满足所述预设关系；其中，b_n-1'为所述第n-1转动惯量相关量。Judging whether the absolute value of the difference between b _n-1 ' and b _n ' is less than a threshold; when the absolute value is less than the threshold, it indicates the nth moment of inertia related quantity and the n-1th moment of inertia related quantity The preset relationship is satisfied; wherein, b _n-1 ′ is the related quantity of the n-1th moment of inertia.

可选的，所述可调模型按照下列公式，基于所述第n轮计算结果在第n+1周期输出与所述第n-1推定转速不同的第n推定转速：Optionally, the adjustable model outputs an nth estimated rotational speed different from the n-1th estimated rotational speed in the (n+1) period based on the calculation result of the nth round according to the following formula:

${J J}_{n no}^{' '} \frac{{Ω Ω}^{' '}_{n no} - - {Ω Ω}^{' '}_{n no - - 11}}{Δ Δ T T} = = {T T}_{e e n no} - - {T T}_{l l n no}^{' '} - - {B B}_{m m n no}^{' '} {Ω Ω}^{' '}_{n no}$

其中，Ω_n'为所述第n推定转速，T_en为第n转矩。Wherein, Ω _n ' is the nth estimated rotational speed, and T _en is the nth torque.

另一方面，本申请提供了一种获得电机转动惯量的装置，包括：On the other hand, the application provides a device for obtaining the moment of inertia of the motor, including:

实际转速获得单元，用于获得电机在第n-1周期的第n-1实际转速；n为正整数；The actual speed obtaining unit is used to obtain the n-1th actual speed of the motor in the n-1th cycle; n is a positive integer;

推定转速获得单元，用于获得与所述电机对应的可调模型输出的第n-1推定转速；所述第n-1推定转速为所述可调模型基于第n-1轮计算结果输出的转速；An estimated rotational speed obtaining unit, configured to obtain the n-1th estimated rotational speed output by the adjustable model corresponding to the motor; the n-1th estimated rotational speed is the output of the adjustable model based on the calculation result of the n-1th round Rotating speed;

计算单元，用于根据所述第n-1实际转速和所述第n-1推定转速，获得第n轮计算结果；所述第n轮计算结果中包括第n转动惯量相关量；A calculation unit, configured to obtain an nth round calculation result according to the n-1th actual speed and the n-1th estimated speed; the nth round calculation result includes an nth moment of inertia related quantity;

判断单元，用于判断所述第n转动惯量相关量和所述第n-1轮计算结果中的第n-1转动惯量相关量是否满足预设关系；A judging unit, configured to judge whether the nth moment of inertia related quantity and the n-1th moment of inertia related quantity in the n-1th round calculation result satisfy a preset relationship;

确定单元，用于当所述第n转动惯量相关量和所述第n-1转动惯量相关量满足所述预设关系时，确定所述第n转动惯量相关量对应的第n转动惯量为所述电机的实际转动惯量。A determining unit, configured to determine that the nth moment of inertia corresponding to the nth moment of inertia is The actual moment of inertia of the motor mentioned above.

可选的，所述装置还包括：Optionally, the device also includes:

输入单元，用于在判断所述第n转动惯量相关量和所述第n-1轮计算结果中的第n-1转动惯量相关量是否满足预设关系之后，当所述第n转动惯量相关量和所述第n-1转动惯量相关量不满足所述预设关系时，将所述第n轮计算结果输入所述可调模型，以使所述可调模型基于所述第n轮计算结果在第n+1周期输出与所述第n-1推定转速不同的第n推定转速。The input unit is used for judging whether the related quantity of the nth moment of inertia and the related quantity of the n-1th moment of inertia in the calculation result of the n-1th round satisfy a preset relationship, when the related quantity of the nth moment of inertia When the quantity and the related quantity of the n-1 moment of inertia do not satisfy the preset relationship, input the calculation result of the nth round into the adjustable model, so that the adjustable model is based on the nth round of calculation As a result, the nth estimated rotational speed different from the n−1th estimated rotational speed is output in the (n+1)th period.

可选的，所述计算单元用于根据下列公式获得所述第n轮计算结果：Optionally, the calculation unit is used to obtain the calculation result of the nth round according to the following formula:

可选的，当所述第n轮计算结果至少包括J_n'、B_mn'和T_ln'，所述第n转动惯量相关量为J_n'时，所述判断单元用于判断第n-1转动惯量J_n-1'与J_n'的比值是否在预设范围内；当J_n-1'与J_n'的所述比值在所述预设范围内时，表示所述第n转动惯量相关量和所述第n-1转动惯量相关量满足所述预设关系；其中，J_n-1'为所述第n-1转动惯量相关量。Optionally, when the calculation result of the _nth round includes at least Jn', _Bmn ' and _Tln ', and the related quantity of the _nth moment of inertia is Jn', the judging unit is used to judge the nth- 1 Whether the ratio of moment of inertia J _n-1 ' to J _n ' is within the preset range; when the ratio of J _n-1 ' to J _n ' is within the preset range, it means that the nth rotation The related quantity of inertia and the related quantity of the n-1th moment of inertia satisfy the preset relationship; wherein, J _n-1 ′ is the related quantity of the n-1th moment of inertia.

可选的，当所述第n轮计算结果至少包括a_n'、b_n'和c_n'，所述第n转动惯量相关量为b_n'时，所述判断单元用于判断b_n-1'与b_n'之差的绝对值是否小于阈值；当所述绝对值小于所述阈值时，表示所述第n转动惯量相关量和所述第n-1转动惯量相关量满足所述预设关系；其中，b_n-1'为所述第n-1转动惯量相关量。Optionally, when the calculation result of the nth round includes at least a _n ', b _n ' and c _n ', and the related quantity of the nth moment of inertia is b _n ', the judging unit is used to judge b _n- Whether the absolute value of the difference between ₁ ' and b _n ' is less than the threshold; when the absolute value is less than the threshold, it means that the nth moment of inertia related quantity and the n-1th moment of inertia related quantity meet the predetermined Assume a relationship; wherein, b _n-1 ' is the related quantity of the n-1th moment of inertia.

本申请实施例中的上述一个或多个技术方案，至少具有如下一种或多种技术效果：The above one or more technical solutions in the embodiments of the present application have at least one or more of the following technical effects:

在本申请实施例的技术方案中，首先获得电机在第n-1周期的第n-1实际转速，以及与电机对应的可调模型输出的第n-1推定转速。其中，第n-1推定转速为可调模型基于第n-1轮计算结果输出的转速；n为正整数。然后，根据第n-1实际转速和第n-1推定转速，获得第n轮计算结果，第n轮计算结果中包括第n转动惯量相关量。接下来，判断第n转动惯量相关量和第n-1轮计算结果中的第n-1转动惯量相关量是否满足预设关系，当满足预设关系时，确定第n转动惯量相关量对应的第n转动惯量为电机的实际转动惯量。所以，通过本申请实施例中的技术方案就获得了电机的实际转动惯量，那么，根据实际转动惯量对电机进行控制就会更加准确。In the technical solution of the embodiment of the present application, firstly, the (n-1)th actual speed of the motor in the (n-1)th cycle and the (n-1)th estimated speed output by the adjustable model corresponding to the motor are obtained. Wherein, the n-1th estimated rotational speed is the rotational speed output by the adjustable model based on the calculation result of the n-1th round; n is a positive integer. Then, according to the n-1th actual rotation speed and the n-1th estimated rotation speed, the nth round of calculation results are obtained, and the nth round of calculation results include the nth moment of inertia related quantities. Next, judge whether the nth moment of inertia related quantity and the n-1th moment of inertia related quantity in the calculation result of the n-1th round satisfy the preset relationship, and when the preset relationship is satisfied, determine the corresponding value of the nth moment of inertia related quantity The nth moment of inertia is the actual moment of inertia of the motor. Therefore, the actual moment of inertia of the motor can be obtained through the technical solutions in the embodiments of the present application, and it will be more accurate to control the motor according to the actual moment of inertia.

附图说明Description of drawings

图1为本申请实施例中获得电机转动惯量的方法流程图；Fig. 1 is the flow chart of the method for obtaining motor moment of inertia in the embodiment of the present application;

图2为本申请实施例中获得电机转动惯量的模型框架的示意图；Fig. 2 is the schematic diagram of the model frame that obtains the moment of inertia of the motor in the embodiment of the present application;

图3为本申请实施例中获得电机转动惯量的装置结构示意图。FIG. 3 is a schematic structural diagram of a device for obtaining the moment of inertia of a motor in an embodiment of the present application.

具体实施方式detailed description

本申请实施例提供了一种获得电机转动惯量的方法和装置，用于获得电机的转动惯量。Embodiments of the present application provide a method and a device for obtaining the moment of inertia of a motor, which are used to obtain the moment of inertia of the motor.

本申请提供的技术方案总体思路如下：The general idea of the technical solution provided by this application is as follows:

下面通过附图以及具体实施例对本发明技术方案做详细的说明，应当理解本申请实施例以及实施例中的具体特征是对本申请技术方案的详细的说明，而不是对本申请技术方案的限定，在不冲突的情况下，本申请实施例以及实施例中的技术特征可以相互组合。The technical solutions of the present invention will be described in detail below through the drawings and specific examples. It should be understood that the embodiments of the present application and the specific features in the examples are detailed descriptions of the technical solutions of the present application, rather than limitations on the technical solutions of the present application. In the case of no conflict, the embodiments of the present application and the technical features in the embodiments may be combined with each other.

本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。The term "and/or" in this article is just an association relationship describing associated objects, which means that there can be three relationships, for example, A and/or B can mean: A exists alone, A and B exist simultaneously, and there exists alone B these three situations. In addition, the character "/" in this article generally indicates that the contextual objects are an "or" relationship.

本申请第一方面提供了一种获得电机转动惯量的方法，请参考图1，包括如下步骤：The first aspect of the present application provides a method for obtaining the moment of inertia of the motor, please refer to Figure 1, including the following steps:

S101：获得电机在第n-1周期的第n-1实际转速。S101: Obtain the (n-1)th actual rotational speed of the motor in the (n-1)th cycle.

S102：获得与所述电机对应的可调模型输出的第n-1推定转速。S102: Obtain an n-1th estimated rotational speed output by an adjustable model corresponding to the motor.

S103：根据所述第n-1实际转速和所述第n-1推定转速，获得第n轮计算结果。S103: Obtain an n-th round of calculation results according to the n-1th actual rotational speed and the n-1th estimated rotational speed.

S104：判断所述第n转动惯量相关量和所述第n-1轮计算结果中的第n-1转动惯量相关量是否满足预设关系。S104: Determine whether the nth moment of inertia related quantity and the n-1th moment of inertia related quantity in the n-1th round calculation result satisfy a preset relationship.

S105：当所述第n转动惯量相关量和所述第n-1转动惯量相关量满足所述预设关系时，确定所述第n转动惯量相关量对应的第n转动惯量为所述电机的实际转动惯量。S105: When the nth moment of inertia related quantity and the n-1th moment of inertia related quantity satisfy the preset relationship, determine that the nth moment of inertia corresponding to the nth moment of inertia related quantity is the motor's Actual moment of inertia.

在S101中，获得电机在第n-1周期的第n-1实际转速，具体为通过转速传感器检测或者控制软件获得电机在第n-1周期的实际转速。在本申请实施例中，周期是指每轮计算的周期，周期长度ΔT可以与脉冲调制信号的周期相一致，例如1.4×10^-4s到2.5×10^-4s中的任意长度。另外，n为正整数，例如3，4或10等。In S101, the (n-1)th actual rotational speed of the motor in the (n-1)th period is obtained, specifically, the actual rotational speed of the motor in the (n-1)th period is obtained through the detection of the rotational speed sensor or the control software. In this embodiment of the present application, the period refers to the period of each round of calculation, and the period length ΔT may be consistent with the period of the pulse modulation signal, for example, any length from 1.4×10 ^-4 s to 2.5×10 ^-4 s. In addition, n is a positive integer, such as 3, 4 or 10, etc.

在S102中，获得与电机对应的可调模型输出的第n-1推定转速。具体来讲，电机在运行中，可以得到电机的实际模型，即电机传递函数。在本申请实施例中，可调模型的传递函数为与电机的实际模型形式一致，而参数可调的函数。所以，可调模型是与电机对应的。推定转速是根据可调模型的函数和输入而得到的转速。举例来说，例如电机的实际模型为其中，J为电机的实际转动惯量，Ω为输出的实际转速，T_e为输入的转矩命令值，T_l为实际负载转矩，B_m为实际的粘滞摩擦系数。那么可调模型为与电机实际模型形式一致的其中，J'为可调模型的转动惯量，Ω'为可调模型输出的转速，T_e为输入可调模型的转矩，与输入电机的转矩命令值相同，T_l'为可调模型的负载转矩，B_m'为可调模型的粘滞摩擦系数。In S102, the (n−1)th estimated rotational speed output by the adjustable model corresponding to the motor is obtained. Specifically, when the motor is running, the actual model of the motor can be obtained, that is, the transfer function of the motor. In the embodiment of the present application, the transfer function of the adjustable model is a function that is consistent with the actual model form of the motor and whose parameters are adjustable. Therefore, the adjustable model corresponds to the motor. The estimated rotational speed is the rotational speed obtained from the functions and inputs of the adjustable model. For example, the actual model of the motor for example is Among them, J is the actual moment of inertia of the motor, Ω is the actual output speed, T _e is the input torque command value, T _l is the actual load torque, and B _m is the actual viscous friction coefficient. Then the adjustable model is consistent with the actual model of the motor Among them, J' is the moment of inertia of the adjustable model, Ω' is the output speed of the adjustable model, T _e is the torque input to the adjustable model, which is the same as the torque command value of the input motor, and T _l ' is the adjustable model The load torque of , B _m ' is the viscous friction coefficient of the adjustable model.

第n-1推定转速为可调模型基于上一轮计算结果，即第n-1轮计算结果输出的转速。具体来讲，可调模型基于第n-1轮计算结果调整参数，例如可调模型的转动惯量，可调模型的负载转矩和/或可调模型的粘滞摩擦系数，然后根据输入而输出第n-1推定转速。The n-1th estimated rotational speed is the rotational speed output by the adjustable model based on the calculation result of the last round, that is, the calculation result of the n-1th round. Specifically, the adjustable model adjusts parameters based on the calculation results of the n-1th round, 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, and then outputs according to the input The n-1th estimated rotational speed.

在具体实现过程中，为获得电机的实际转动惯量而进行第n轮计算时，S101可以先于S102执行，S102也可以先于S101执行，还可以同时执行S101和S102，本申请不做具体限制。In the specific implementation process, when the n-th round of calculation is performed to obtain the actual moment of inertia of the motor, S101 can be executed before S102, S102 can also be executed before S101, and S101 and S102 can also be executed at the same time. This application does not make specific restrictions .

获得第n-1实际转速和第n-1推定转速后，S103中，基于第n-1实际转速和第n-1推定转速进行第n轮计算，进而获得第n轮计算结果。如图2所示，在本申请实施例中，每一轮计算，从电机获得的实际转速Ω和可调模型输出的推定转速Ω'均输入到计算模块中进行计算。计算模块按照预设的算法处理，进而输出本轮计算结果。After the n-1th actual rotation speed and the n-1th estimated rotation speed are obtained, in S103, the n-th round of calculation is performed based on the n-1th actual rotation speed and the n-1th estimated rotation speed, and then the n-th round of calculation results are obtained. As shown in Fig. 2, in the embodiment of the present application, in each round of calculation, the actual rotational speed Ω obtained from the motor and the estimated rotational speed Ω' output from the adjustable model are input into the calculation module for calculation. The calculation module processes according to the preset algorithm, and then outputs the calculation result of the current round.

具体来讲，本申请实施例中的第n轮计算结果中包括第n转动惯量相关量。在本申请实施例中，第n转动惯量相关量可以为第n转动惯量本身，也可以为第n转动惯量的应变量，例如第n转动惯量的倒数值或第n转动惯量的3倍值，本申请不做具体限制。Specifically, the calculation result of the nth round in the embodiment of the present application includes the related quantity of the nth moment of inertia. In the embodiment of the present application, the related quantity of the nth moment of inertia may be the nth moment of inertia itself, or the strain amount of the nth moment of inertia, for example, the reciprocal value of the nth moment of inertia or 3 times the value of the nth moment of inertia, This application does not make specific limitations.

获得第n转动惯量相关量后，在S104中，判断第n转动惯量相关量和第n-1轮计算结果中的第n-1转动惯量相关量是否满足预设关系。在本申请实施例中，预设关系表示可调模型的参数与电机实际模型的参数一致或接近。进一步，当第n转动惯量相关量和第n-1转动惯量相关量满足预设关系时，S105中确定第n转动惯量相关量对应的第n转动惯量为电机的实际转动惯量。After the nth moment of inertia related quantity is obtained, in S104, it is judged whether the nth moment of inertia related quantity and the n-1th moment of inertia related quantity in the calculation result of the n-1 round satisfy a preset relationship. In the embodiment of the present application, the preset relationship means 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 moment of inertia related quantity and the n-1th moment of inertia related quantity satisfy the preset relationship, determine in S105 that the nth moment of inertia corresponding to the nth moment of inertia related quantity is the actual moment of inertia of the motor.

具体来讲，由于可调模型的函数形式与电机实际模型的形式是一致的，而电机实际模型又表示电机的实际状态，所以，当第n转动惯量相关量和第n-1转动惯量相关量满足预设关系时，表示可调模型的参数已调整至与电机实际模型的参数一致或接近，进而表示此时的可调模型与电机实际模型是相同或接近相同。因此，此时可调模型的第n转动惯量相关量对应的第n转动惯量就与电机的实际转动惯量相同或接近，故可以作为电机的实际转动惯量。Specifically, since the function form of the adjustable model is consistent with the form of the actual motor model, and the actual motor model represents the actual state of the motor, when the nth moment of inertia related quantity and the n-1th moment of inertia related quantity When the preset relationship is satisfied, it means that the parameters of the adjustable model have been adjusted to be consistent with or close to the parameters of the actual model of the motor, which further means that the adjustable model at this time is the same or nearly the same as the actual model of the motor. Therefore, at this time, 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, so it can be used as the actual moment of inertia of the motor.

所以，由上述描述可知，当第n转动惯量相关量和第n-1转动惯量相关量满足预设关系时，可调模型相当于电机实际模型，可调模型的第n转动惯量就相当于电机的实际转动惯量，所以，将第n转动惯量作为实际转动惯量，就获得了电机的实际转动惯量。Therefore, it can be seen from the above description that when the nth moment of inertia related quantity and the n-1th moment of inertia related quantity meet the preset relationship, the adjustable model is equivalent to the actual model of the motor, and the nth moment of inertia of the adjustable model is equivalent to the motor The actual moment of inertia, so the actual moment of inertia of the motor is obtained by taking the nth moment of inertia as the actual moment of inertia.

在本申请另一实施例中，在S104之后，还可以包括：In another embodiment of the present application, after S104, it may further include:

当所述第n转动惯量相关量和所述第n-1转动惯量相关量不满足所述预设关系时，将所述第n轮计算结果输入所述可调模型，以使所述可调模型基于所述第n轮计算结果在第n+1周期输出与所述第n-1推定转速不同的第n推定转速。When the related quantity of the nth moment of inertia and the related quantity of the nth moment of inertia do not satisfy the preset relationship, the calculation result of the nth round is input into the adjustable model, so that the adjustable The model outputs an nth estimated rotational speed different from the n−1th estimated rotational speed in the n+1th period based on the calculation result of the nth round.

具体来讲，当S104中判断出第n转动惯量相关量和第n-1转动惯量相关量不满足预设关系时，表示此时可调模型的参数还没有调整到与电机一致或者接近一致，所以，可调模型仍然需要继续调整参数。所以，在本申请实施例中，当第n转动惯量相关量和第n-1转动惯量相关量不满足预设关系时，进一步将计算模块输出的第n轮计算结果输入可调模型，进而使可调模型调整参数，从而在第n+1周期输出与第n-1推定转速不同的第n推定转速。Specifically, when it is judged in S104 that the related quantity of the nth moment of inertia and the related quantity of the n-1th moment of inertia do not meet the preset relationship, it means that the parameters of the adjustable model have not been adjusted to be consistent or nearly consistent with the motor at this time. Therefore, the adjustable model still needs to continue to adjust the parameters. Therefore, in the embodiment of the present application, when the nth moment of inertia related quantity and the n-1th moment of inertia related quantity do not meet the preset relationship, the calculation result of the nth round output by the calculation module is further input into the adjustable model, and then the The adjustable model adjusts the parameters so that the nth estimated rotational speed different from the n−1th estimated rotational speed is output in the n+1th cycle.

在本申请实施例中，如果第n转动惯量相关量和第n-1转动惯量相关量不满足预设关系时，将第n轮计算结果输入可调模型，然后再次执行S101至S104，直到第n转动惯量相关量和第n-1转动惯量相关量满足预设关系，确定出电机的实际转动惯量才结束。In the embodiment of the present application, if the nth moment of inertia related quantity and the n-1th moment of inertia related quantity do not satisfy the preset relationship, the calculation result of the nth round is input into the adjustable model, and then S101 to S104 are executed again until the first The n-th moment of inertia related quantity and the n-1th moment of inertia related quantity satisfy the preset relationship, and the actual moment of inertia of the motor is determined before ending.

接下来，对如何获得第n轮计算结果进行详细介绍。Next, how to obtain the calculation result of the nth round is introduced in detail.

在本申请实施例中，根据下列公式(1)获得第n轮计算结果：In the embodiment of the present application, the calculation result of the nth round is obtained according to the following formula (1):

$\{\begin{matrix} {a^{'}}_{n} = a^{'} (0) - Σ_{i = 0}^{n - 1} k_{1} (Ω_{i} - {Ω^{'}}_{i}) {Ω^{'}}_{i} Δ T - k_{2} (Ω_{n - 1} - {Ω^{'}}_{n - 1}) {Ω^{'}}_{n - 1} \\ {b^{'}}_{n} = b^{'} (0) + Σ_{i = 0}^{n - 1} k_{3} (Ω_{i} - {Ω^{'}}_{i}) T_{e i} Δ T + k_{4} (Ω_{n - 1} - {Ω^{'}}_{n - 1}) T_{e n - 1} \\ {c^{'}}_{n} = c^{'} (0) - Σ_{i = 0}^{n - 1} k_{5} (Ω_{i} - {Ω^{'}}_{i}) Δ T - k_{6} (Ω_{n - 1} - {Ω^{'}}_{n - 1}) \end{matrix};$ 公式(1) $\{\begin{matrix} {a^{'}}_{no} = a^{'} (0) - Σ_{i = 0}^{no - 1} k_{1} (Ω_{i} - {Ω^{'}}_{i}) {Ω^{'}}_{i} Δ T - k_{2} (Ω_{no - 1} - {Ω^{'}}_{no - 1}) {Ω^{'}}_{no - 1} \\ {b^{'}}_{no} = b^{'} (0) + Σ_{i = 0}^{no - 1} k_{3} (Ω_{i} - {Ω^{'}}_{i}) T_{e i} Δ T + k_{4} (Ω_{no - 1} - {Ω^{'}}_{no - 1}) T_{e no - 1} \\ {c^{'}}_{no} = c^{'} (0) - Σ_{i = 0}^{no - 1} k_{5} (Ω_{i} - {Ω^{'}}_{i}) Δ T - k_{6} (Ω_{no - 1} - {Ω^{'}}_{no - 1}) \end{matrix};$ Formula 1)

具体来讲，B_mn'为第n粘滞摩擦系数，J_n'为第n转动惯量，T_ln'为第n负载转矩。B_m0为可调模型的初始粘滞摩擦系数，J₀为可调模型的初始转动惯量，T_l0为可调模型的初始负载转矩。B_m0、J₀和T_l0由本领域技术人员任意设置。其中，由于J₀将作为分母，所以在设置时J₀具体可以设置为任意非零实数，本申请不做具体限制。Ω_i第i实际转速，即电机在第i周期的实际转速，Ω'_i为第i推定转速，可模型在第i周期输出的转速。Specifically, B _mn ' is the nth viscous friction coefficient, J _n ' is the nth moment of inertia, T _ln ' is the nth load torque. B _m0 is the initial viscous friction coefficient of the adjustable model, J ₀ is the initial moment of inertia of the adjustable model, and T _l0 is the initial load torque of the adjustable model. B _m0 , J ₀ and T ₁₀ are arbitrarily set by those skilled in the art. Wherein, since J ₀ will be used as the denominator, J ₀ can be specifically set to any non-zero real number when setting, which is not specifically limited in this application. Ω _i is the i-th actual speed, that is, the actual speed of the motor in the i-th cycle, and Ω' _i is the i-th estimated speed, which can be modeled as the output speed in the i-th cycle.

在初始时刻，将a'(0),b'(0),c'(0)作为初始值，或者将B_m0、J₀和T_l0作为初始值，当n＝1，即进行第1轮计算时，将B_m0'＝B_m0、J₀'＝J₀和T_l0'＝T_l0代入或者将a'₀＝a'(0),b'₀＝b'(0)和c'₀＝c'(0)代入获得可调模型的第0推定转速Ω'₀。检测电机输出的第0实际转速Ω₀，进而，将Ω'₀和Ω₀，代入公式(1)获得 ${a^{'}}_{1} = a^{'} (0) - Σ_{i = 0}^{0} (k_{1} (Ω_{0} - {Ω^{'}}_{0}) {Ω^{'}}_{0} Δ T) - k_{2} (Ω_{0} - {Ω^{'}}_{n}) {Ω^{'}}_{0} = a^{'} (0) - k_{1} (Ω_{0} - {Ω^{'}}_{0}) {Ω^{'}}_{0} Δ T - k_{2} (Ω_{0} - {Ω^{'}}_{0}) {Ω^{'}}_{0} .$ 所以本申请实施例中的n从1开始取值。获得b'₁和c'₁的过程类似。At the initial moment, a'(0), b'(0), c'(0) are used as initial values, or B _m0 , J ₀ and T _l0 are used as initial values, when n=1, the first round is performed When calculating, substitute B _m0 '=B _m0 , J ₀ '=J ₀ and T _l0 '=T _l0 into Or substitute a' ₀ ＝a'(0), b' ₀ ＝b'(0) and c' ₀ ＝c'(0) into Obtain the 0th estimated rotational speed Ω' ₀ of the adjustable model. Detect the 0th actual speed Ω ₀ output by the motor, and then substitute Ω' ₀ and Ω ₀ into formula (1) to obtain ${a^{'}}_{1} = a^{'} (0) - Σ_{i = 0}^{0} (k_{1} (Ω_{0} - {Ω^{'}}_{0}) {Ω^{'}}_{0} Δ T) - k_{2} (Ω_{0} - {Ω^{'}}_{no}) {Ω^{'}}_{0} = a^{'} (0) - k_{1} (Ω_{0} - {Ω^{'}}_{0}) {Ω^{'}}_{0} Δ T - k_{2} (Ω_{0} - {Ω^{'}}_{0}) {Ω^{'}}_{0} .$ Therefore, the value of n in the embodiment of the present application starts from 1. The process of obtaining b' ₁ and c' ₁ is similar.

当n＝2，即进行第2轮计算时:将a'₁b'₁和c'₁代入获得第1推定转速Ω'₁。并检测第1实际转速Ω₁，代入公式(1)获得 When n=2, that is, when performing the second round of calculation: Substitute a' ₁ b' ₁ and c' ₁ into The first estimated rotational speed Ω' ₁ is obtained. And detect the first actual speed Ω ₁ , and substitute it into formula (1) to get

后续过程以此类推，这里就不一一赘述了。The follow-up process can be deduced by analogy, so I won’t go into details one by one here.

在本申请实施例中，k₁和k₂具体为使a_n'收敛的任意值，k₃和k₄具体为使b_n'收敛的任意值，k₅和k₆具体为使c_n'收敛的任意值。同时，k₁k₂k₃k₄k₅k₆≠0。在具体实现过程中，k₁、k₂、k₃、k₄、k₅和k₆可以相同也可以不完全相同。In the embodiment of the present application, k ₁ and k ₂ are specifically arbitrary values that make a _n 'converge, k ₃ and k ₄ are specifically arbitrary values that make b _n ' converge, and k ₅ and k ₆ are specifically specific values that make c _n ' Any value that converges. Meanwhile, k ₁ k ₂ k ₃ k ₄ k ₅ k ₆ ≠0. In a specific implementation process, k ₁ , k ₂ , k ₃ , k ₄ , k ₅ and k ₆ may or may not be completely the same.

Ω_n-1为第n-1实际转速，Ω'_n-1为第n-1推定转速。T_ei为第i转矩，即第i周期输入可调模型和电机的转矩命令值，T_en-1为第n-1转矩，即在第n-1周期输入电机和可调模型的转矩命令值。ΔT为周期。Ω _n-1 is the n-1th actual rotational speed, and Ω' _n-1 is the n-1th estimated rotational speed. T _ei is the i-th torque, that is, the torque command value input to the adjustable model and the motor in the i-th cycle, T _en-1 is the n-1th torque, that is, the torque command value input to the motor and the adjustable model in the n-1 cycle Torque command value. ΔT is the period.

在本申请实施例中，第n轮计算结果至少包括J_n'、B_mn'和T_ln'，或者至少包括a_n'、b_n'和c_n'。所以，当需要执行第n轮计算时，将Ω_n-1和Ω'_n-1输入计算模块，进而计算模块基于公式(1)执行计算，就可以获得J_n'、B_mn'和T_ln'，或者a_n'、b_n'和c_n'。In the embodiment of the present application, the calculation result of the nth round includes at least 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, input Ω _n-1 and Ω' _n-1 into the calculation module, and then the calculation module performs calculations based on formula (1), and then J _n ', B _mn ' and T _ln can be obtained ', or a _n ', b _n ' and c _n '.

在本申请实施例中，电机实际模型为：进而可调模型为其中，J为电机的实际转动惯量，Ω为输出的实际转速，T_e为输入的转矩，B_m为实际粘滞摩擦系数，T_l为实际的负载转矩。J'为可调模型的转动惯量，Ω'为可调模型输出的转速，T_e为输入的转矩，B_m'为可调模型的粘滞摩擦系数，T_ln'为可调模型的负载转矩。In the embodiment of this application, the actual model of the motor is: Then the adjustable model is Among them, J is the actual moment of inertia of the motor, Ω is the actual output speed, T _e is the input torque, B _m is the actual viscous friction coefficient, and T _l is the actual load torque. J' is the moment of inertia of the adjustable model, Ω' is the output speed of the adjustable model, T _e is the input torque, B _m ' is the viscous friction coefficient of the adjustable model, T _ln ' is the load of the adjustable model torque.

在具体实现过程中，基于第n-1实际转速和第n-1推定转速获得第n转动惯量的方法有多种，例如基于李雅普诺夫函数、波波夫不等式或最小二乘法等，本申请不做具体限制。在本申请实施例中，将以波波夫函数为例详细获得公式(1)的推导过程。In the specific implementation process, there are many ways to obtain the nth moment of inertia based on the n-1th actual speed and the n-1th estimated speed, for example, based on Lyapunov function, Popov inequality or least square method, etc., the present application No specific restrictions are made. In the embodiment of the present application, the derivation process of the formula (1) will be obtained in detail by taking the Popov function as an example.

首先，令电机实际模型可以变形为：First, make The actual model of the motor can be transformed into:

电机实际模型可以变形为：The actual model of the motor can be transformed into:

$\overset{\cdot}{Ω} = - a Ω + {bT}_{e} - c .$ 公式(2) $\overset{&Center Dot;}{Ω} = - a Ω + {bT}_{e} - c .$ Formula (2)

其中，公式(2)中的“·”表示为微分算符。将公式(2)转换为矩阵形式，得到：Among them, the formula (2) in "·" is expressed as a differential operator. Convert formula (2) into matrix form to get:

$\overset{\cdot}{Ω} = A Ω + {BT}_{e} + C .$ 公式(3) $\overset{&Center Dot;}{Ω} = A Ω + {BT}_{e} + C .$ Formula (3)

其中，A＝[-a],B＝[b]，C＝[-c]。Among them, A=[-a], B=[b], C=[-c].

类似地，可以将可调模型变形为：Similarly, adjustable models can be transformed into:

${\overset{\cdot}{Ω}}^{'} = A^{'} Ω^{'} + B^{'} T_{e} + C^{'},$ 公式(4) ${\overset{\cdot}{Ω}}^{'} = A^{'} Ω^{'} + B^{'} T_{e} + C^{'},$ Formula (4)

其中， ${\overset{\cdot}{Ω}}^{'} = \frac{{dΩ}^{'}}{d t},$ in, ${\overset{&Center Dot;}{Ω}}^{'} = \frac{{dΩ}^{'}}{d t},$

$A^{'} = [- a^{'}] = [- \frac{{B_{m}}^{'}}{J^{'}}], B^{'} = [b^{'}] = [\frac{1}{J^{'}}], C^{'} = [- c^{'}] = [- \frac{{T_{l}}^{'}}{J^{'}}],$ B_m'为待确定的可调模型的粘滞摩擦系数，J'为待确定的可调模型的转动惯量，T_l'为待确定的可调模型的负载转矩。 $A^{'} = [- a^{'}] = [- \frac{{B_{m}}^{'}}{J^{'}}], B^{'} = [b^{'}] = [\frac{1}{J^{'}}], C^{'} = [- c^{'}] = [- \frac{{T_{l}}^{'}}{J^{'}}],$ 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, and T _l ' is the load torque of the adjustable model to be determined.

然后，公式(3)减去公式(4)，得到Then, subtract formula (4) from formula (3) to get

$\overset{\cdot}{e} = A e + (A - A^{'}) Ω^{'} + (B - B^{'}) T_{e} + (C - C^{'}),$ 公式(5) $\overset{&Center Dot;}{e} = A e + (A - A^{'}) Ω^{'} + (B - B^{'}) T_{e} + (C - C^{'}),$ Formula (5)

其中，e＝Ω-Ω'。Wherein, e=Ω-Ω'.

接下来，增加线性补偿器D，获得前向线性定常模块Next, add the linear compensator D to obtain the forward linear constant module

${\begin{matrix} \overset{\cdot}{e} = A e + I (- w) \\ y = D e \end{matrix} .$ 公式(6) ${\begin{matrix} \overset{&Center Dot;}{e} = A e + I (- w) \\ the y = D. e \end{matrix} .$ Formula (6)

其中，I为单位矩阵，I(-w)为前向定常模块的输入，y为线性部分输出以及非线性部分的输入，w为非线性部分的输出。Among them, I is the identity 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.

由公式(5)和公式(6)可得，From formula (5) and formula (6), we can get,

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

而I为单位矩阵，所以w＝-[A-A']Ω'-[B-B']T_e-[C-C']。公式(8)And I is an identity matrix, so w=-[A-A']Ω'-[B-B']T _e -[C-C']. Formula (8)

要使图2表示的系统为渐进超稳定系统，需要公式(6)形成的等价前向方块的传递函数严格正实。根据正实引理可知，传递函数严格正实必须满足中PA+A^TP＝-Q，和PI＝D，P和Q为任意正定对称矩阵。To make the system shown in Figure 2 an asymptotically ultrastable system, the transfer function of the equivalent forward block formed by formula (6) needs to be strictly positive. According to the positive real lemma, the strictly positive real transfer function must satisfy PA+ ^AT P=-Q, and PI=D, and P and Q are arbitrary positive definite symmetric matrices.

假设选择P＝[1]，即令P为单位矩阵，那么可以推出D＝[1]， $P A + A^{T} P = - Q = [- 2 a] .$ 而 $a = \frac{B_{m}}{J} > 0,$ 所以 $Q = [2 a] = [2 \frac{B_{m}}{J}] > 0,$ Q为正定矩阵。Assuming that P=[1] is selected, that is, P is an identity matrix, then D=[1] can be deduced, $P A + A^{T} P = - Q = [- 2 a] .$ and $a = \frac{B_{m}}{J} > 0,$ so $Q = [2 a] = [2 \frac{B_{m}}{J}] > 0,$ Q is a positive definite matrix.

进一步，波波夫不等式为公式(9)Furthermore, the Popov inequality is Formula (9)

γ₀为有限实数，t表示进行计算时刻与初始时刻直接的时间差，具体为t＝nΔT。由上述公式(6)和公式(8)，可将公式(9)化为：γ ₀ is a finite real number, and t represents the direct time difference between the calculation moment and the initial moment, specifically t=nΔT. From the above formula (6) and formula (8), the formula (9) can be transformed into:

$\begin{matrix} η η ((00,, t t)) = = {&Integral; &Integral;}_{00}^{t t} {w w}^{T T} y the y d d t t = = {&Integral; &Integral;}_{00}^{t t} {w w}^{T T} ((D D. e e)) d d t t = = {&Integral; &Integral;}_{00}^{t t} {w w}^{T T} e e d d t t = = {&Integral; &Integral;}_{00}^{t t} w w d d t t \\ = = - - {&Integral; &Integral;}_{00}^{t t} ((Ω Ω - - {Ω Ω}^{' '})) ((((- - a a + + {a a}^{' '})) {Ω Ω}^{' '} + + ((b b - - {b b}^{' '})) {T T}_{e e} + + ((- - c c + + {c c}^{' '})))) d d t t \\ = = {&Integral; &Integral;}_{00}^{t t} ((Ω Ω - - {Ω Ω}^{' '})) ((a a - - {a a}^{' '})) {Ω Ω}^{' '} d d t t + + {&Integral; &Integral;}_{00}^{t t} ((Ω Ω - - {Ω Ω}^{' '})) ((- - b b + + {b b}^{' '})) {T T}_{e e} d d t t + + {&Integral; &Integral;}_{00}^{t t} ((Ω Ω - - {Ω Ω}^{' '})) ((c c - - {c c}^{' '})) d d t t \\ = = {η η}_{11} ((00,, t t)) + + {η η}_{22} ((00,, t t)) + + {η η}_{33} ((00,, t t)) &GreaterEqual; &Greater Equal; - - {γ γ}_{00}^{22} . . \end{matrix}$

可见，要使最终η(0,t)≥-γ₀ ²成立，需η₁(0,t)≥-γ₁ ²,η₂(0,t)≥-γ₂ ²,η₃(0,t)≥-γ₃ ²，γ₁、γ₂、γ₃为有限实数。It can be seen that in order to make the final η(0,t)≥-γ ₀ ² established, η ₁ (0,t)≥-γ ₁ ² ,η ₂ (0,t)≥-γ ₂ ² ,η ₃ (0, t)≥-γ ₃ ² , where γ ₁ , γ ₂ and γ ₃ are finite real numbers.

所以，假设 $a^{'} = - {&Integral;}_{0}^{t} G_{1} (t, τ) d τ - G_{2} (t, τ) + a^{'} (0) .$ 公式(10)So, suppose $a^{'} = - {&Integral;}_{0}^{t} G_{1} (t, τ) d τ - G_{2} (t, τ) + a^{'} (0) .$ Formula (10)

则 $η_{1} (0, t) = {&Integral;}_{0}^{t} (Ω - Ω^{'}) (a - a^{'}) Ω^{'} d t$ 为but $η_{1} (0, t) = {&Integral;}_{0}^{t} (Ω - Ω^{'}) (a - a^{'}) Ω^{'} d t$ for

$\begin{matrix} {η η}_{11} ((00,, t t)) = = {&Integral; &Integral;}_{00}^{t t} ((Ω Ω - - {Ω Ω}^{' '})) ((a a - - {a a}^{' '})) {Ω Ω}^{' '} d d t t \\ = = {&Integral; &Integral;}_{00}^{t t} ((Ω Ω - - {Ω Ω}^{' '})) (({&Integral; &Integral;}_{00}^{t t} {G G}_{11} ((t t,, τ τ)) d d τ τ + + {G G}_{22} ((t t,, τ τ)) - - {a a}^{' '} ((00)) + + a a)) {Ω Ω}^{' '} d d t t;; \\ = = {&Integral; &Integral;}_{00}^{t t} ((Ω Ω - - {Ω Ω}^{' '})) {Ω Ω}^{' '} {&Integral; &Integral;}_{00}^{t t} (({G G}_{11} ((t t,, τ τ)) d d τ τ - - {a a}^{' '} ((00)) + + a a)) d d t t + + {&Integral; &Integral;}_{00}^{t t} ((Ω Ω - - {Ω Ω}^{' '})) {Ω Ω}^{' '} {G G}_{22} ((t t,, τ τ)) d d t t;; \\ = = {η η}_{1111} ((00,, t t)) + + {η η}_{1212} ((00,, t t)) . . \end{matrix} . .$

进一步，假设 $\overset{\cdot}{f (t)} = (Ω - Ω^{'}) Ω^{'}, k_{1} f (t) = {&Integral;}_{0}^{t} G_{1} (t, τ) d τ - a^{'} (0) + a,$ 则当k₁＞0时，Further, suppose $\overset{\cdot}{f (t)} = (Ω - Ω^{'}) Ω^{'}, k_{1} f (t) = {&Integral;}_{0}^{t} G_{1} (t, τ) d τ - a^{'} (0) + a,$ Then when k ₁ >0,

$η_{11} (0, t) = {&Integral;}_{0}^{t} \overset{\cdot}{f (t)} k_{1} f (t) d t = \frac{k_{1}}{2} (f^{2} (t) - f^{2} (0)) &GreaterEqual; - \frac{k_{1}}{2} f^{2} (0) &GreaterEqual; {γ_{11}}^{2} .$ 公式(11) $η_{11} (0, t) = {&Integral;}_{0}^{t} \overset{\cdot}{f (t)} k_{1} f (t) d t = \frac{k_{1}}{2} (f^{2} (t) - f^{2} (0)) &Greater Equal; - \frac{k_{1}}{2} f^{2} (0) &Greater Equal; {γ_{11}}^{2} .$ Formula (11)

另外，对 $k_{1} f (t) = {&Integral;}_{0}^{t} G_{1} (t, τ) d τ - a^{'} (0) + a$ 两边求导得，Also, yes $k_{1} f (t) = {&Integral;}_{0}^{t} G_{1} (t, τ) d τ - a^{'} (0) + a$ Derived from both sides,

$G_{1} (t, τ) = k_{1} \overset{\cdot}{f (t)} = k_{1} (Ω - Ω^{'}) Ω^{'},$ 公式(12) $G_{1} (t, τ) = k_{1} \overset{\cdot}{f (t)} = k_{1} (Ω - Ω^{'}) Ω^{'},$ Formula (12)

此处取G₂(t,τ)＝k₂(Ω-Ω')Ω'，可以使得Here take G ₂ (t,τ)=k ₂ (Ω-Ω')Ω', which can make

$η_{12} (0, t) = {&Integral;}_{0}^{t} (Ω - Ω^{'}) Ω^{'} G_{2} (t, τ) d t = {&Integral;}_{0}^{t} k_{2} {((Ω - Ω^{'}) Ω^{'})}^{2} d t &GreaterEqual; - {γ_{12}}^{2} .$ 公式(13) $η_{12} (0, t) = {&Integral;}_{0}^{t} (Ω - Ω^{'}) Ω^{'} G_{2} (t, τ) d t = {&Integral;}_{0}^{t} k_{2} {((Ω - Ω^{'}) Ω^{'})}^{2} d t &Greater Equal; - {γ_{12}}^{2} .$ Formula (13)

进而，结合公式(11)和公式(13)，可以看出，Furthermore, combining formula (11) and formula (13), it can be seen that,

η₁(0,t)＝η₁₁(0,t)+η₁₂(0,t)≥-γ₁₁ ²-γ₁₂ ²≥-γ₁ ²。公式(14)η ₁ (0,t)=η ₁₁ (0,t)+η ₁₂ (0,t)≥−γ ₁₁ ² −γ ₁₂ ² ≥−γ ₁ ² . Formula (14)

所以，上述公式(10)的假设成立，因此Therefore, the assumption of the above formula (10) holds true, so

$a^{'} = - {&Integral;}_{0}^{t} k_{1} (Ω - Ω^{'}) Ω^{'} d τ - k_{2} (Ω - Ω^{'}) Ω^{'} + a (0) .$ 公式(15) $a^{'} = - {&Integral;}_{0}^{t} k_{1} (Ω - Ω^{'}) Ω^{'} d τ - k_{2} (Ω - Ω^{'}) Ω^{'} + a (0) .$ Formula (15)

将公式(15)中的dτ换成dt，得公式(15)的标准形式Replace dτ in formula (15) with dt, and get the standard form of formula (15)

$a^{'} = a^{'} (0) - {&Integral;}_{0}^{t} k_{2} (Ω - Ω^{'}) Ω^{'} d t - k_{2} (Ω - Ω^{'}) Ω^{'} .$ 公式(16) $a^{'} = a^{'} (0) - {&Integral;}_{0}^{t} k_{2} (Ω - Ω^{'}) Ω^{'} d t - k_{2} (Ω - Ω^{'}) Ω^{'} .$ Formula (16)

同理，可以假设b'推出η₂(0,t)≥-γ₂ ²，假设c'推出η₃(0,t)≥-γ₃ ²，进而确定假设的b'和c'成立，得到Similarly, it can be assumed that b' derives η ₂ (0,t)≥-γ ₂ ² , assuming c' derives η ₃ (0,t)≥-γ ₃ ² , and then confirms that the hypotheses b' and c' are established, and we get

$b^{'} = b^{'} (0) + {&Integral;}_{0}^{t} k_{3} (Ω - Ω^{'}) T_{e} d t + k_{4} (Ω - Ω^{'}) T_{e}$ 公式(17) $b^{'} = b^{'} (0) + {&Integral;}_{0}^{t} k_{3} (Ω - Ω^{'}) T_{e} d t + k_{4} (Ω - Ω^{'}) T_{e}$ Formula (17)

和and

$c^{'} = c^{'} (0) - {&Integral;}_{0}^{t} k_{5} (Ω - Ω^{'}) d t - k_{6} (Ω - Ω^{'}),$ 公式(18) $c^{'} = c^{'} (0) - {&Integral;}_{0}^{t} k_{5} (Ω - Ω^{'}) d t - k_{6} (Ω - Ω^{'}),$ Formula (18)

结合公式(16)、公式(17)和公式(18)，可得Combining formula (16), formula (17) and formula (18), we can get

${\begin{matrix} a^{'} = a^{'} (0) - {&Integral;}_{0}^{t} k_{1} (Ω - Ω^{'}) Ω^{'} d t - k_{2} (Ω - Ω^{'}) Ω^{'} \\ b^{'} = b^{'} (0) + {&Integral;}_{0}^{t} k_{3} (Ω - Ω^{'}) T_{e} d t + k_{4} (Ω - Ω^{'}) T_{e} \\ c^{'} = c^{'} (0) - {&Integral;}_{0}^{t} k_{5} (Ω - Ω^{'}) d t - k_{6} (Ω - Ω^{'}) \end{matrix} .$ 公式(19) ${\begin{matrix} a^{'} = a^{'} (0) - {&Integral;}_{0}^{t} k_{1} (Ω - Ω^{'}) Ω^{'} d t - k_{2} (Ω - Ω^{'}) Ω^{'} \\ b^{'} = b^{'} (0) + {&Integral;}_{0}^{t} k_{3} (Ω - Ω^{'}) T_{e} d t + k_{4} (Ω - Ω^{'}) T_{e} \\ c^{'} = c^{'} (0) - {&Integral;}_{0}^{t} k_{5} (Ω - Ω^{'}) d t - k_{6} (Ω - Ω^{'}) \end{matrix} .$ Formula (19)

最后，将上述公式(19)离散化，得到Finally, the above formula (19) is discretized to obtain

$\{\begin{matrix} {a^{'}}_{n} = a^{'} (0) - Σ_{i = 0}^{n - 1} k_{1} (Ω_{i} - {Ω^{'}}_{i}) {Ω^{'}}_{i} Δ T - k_{2} (Ω_{n - 1} - {Ω^{'}}_{n - 1}) {Ω^{'}}_{n - 1} \\ {b^{'}}_{n} = b^{'} (0) + Σ_{i = 0}^{n - 1} k_{3} (Ω_{i} - {Ω^{'}}_{i}) T_{e i} Δ T + k_{4} (Ω_{n - 1} - {Ω^{'}}_{n - 1}) T_{e n - 1} \\ {c^{'}}_{n} = c^{'} (0) - Σ_{i = 0}^{n - 1} k_{5} (Ω_{i} - {Ω^{'}}_{i}) Δ T - k_{6} (Ω_{n - 1} - {Ω^{'}}_{n - 1}) \end{matrix} .$ 公式(1) $\{\begin{matrix} {a^{'}}_{no} = a^{'} (0) - Σ_{i = 0}^{no - 1} k_{1} (Ω_{i} - {Ω^{'}}_{i}) {Ω^{'}}_{i} Δ T - k_{2} (Ω_{no - 1} - {Ω^{'}}_{no - 1}) {Ω^{'}}_{no - 1} \\ {b^{'}}_{no} = b^{'} (0) + Σ_{i = 0}^{no - 1} k_{3} (Ω_{i} - {Ω^{'}}_{i}) T_{e i} Δ T + k_{4} (Ω_{no - 1} - {Ω^{'}}_{no - 1}) T_{e no - 1} \\ {c^{'}}_{no} = c^{'} (0) - Σ_{i = 0}^{no - 1} k_{5} (Ω_{i} - {Ω^{'}}_{i}) Δ T - k_{6} (Ω_{no - 1} - {Ω^{'}}_{no - 1}) \end{matrix} .$ Formula 1)

在本申请实施例中，第n轮计算结果有两种可能。第一种，至少将J_n'、B_mn'和T_ln'作为第n轮计算结果。在具体实现过程中，第n轮计算结果进一步还可以包括a_n'、b_n'和/或c_n'等，本申请不做具体限制。第二种，至少将a_n'、b_n'和c_n'作为第n轮计算结果。在具体实现过程中，第n轮计算结果进一步还可以包括J_n'、B_mn'和/或T_ln'。In the embodiment of the present application, there are two possibilities for the calculation result of the nth round. In the first type, at least J _n ', B _mn ' and T _ln ' are taken as the calculation results of the nth round. In a specific implementation process, the calculation result of the nth round may further include a _n ', b _n ', and/or c _n ', etc., which are not specifically limited in this application. In the second type, at least a _n ', b _n ' and c _n ' are used as the calculation results of the nth round. In a specific implementation process, the calculation result of the nth round may further include J _n ', B _mn ' and/or T _ln '.

由于第n轮计算结果有两种可能，所以S104中判断第n转动惯量相关量与第n-1转动惯量相关量是否满足预设关系，也有两种具体实现方式。Since there are two possibilities for the calculation result of the nth round, there are two specific implementation methods for judging in S104 whether the related quantity of the nth moment of inertia and the related quantity of the n-1th moment of inertia satisfy the preset relationship.

第一种：The first:

当第n轮计算结果至少包括J_n'、B_mn'和T_ln'，且第n转动惯量相关量为J_n'时，S104具体包括：When the calculation result of the nth round includes at least J _n ', B _mn ', and T _ln ', and the related quantity of the nth moment of inertia is J _n ', S104 specifically includes:

判断第n-1转动惯量J_n-1'与J_n'的比值是否在预设范围内。It is judged whether the ratio of the n-1th moment of inertia J _n-1 ' to J _n ' is within a preset range.

当第n转动惯量相关量为第n转动惯量J_n'本身时，获得第n-1轮计算结果中的第n-1转动惯量J_n-1'。在第一种实现方式中，J_n-1'就是第n-1转动惯量相关量。然后进一步获得 When the related quantity of the nth moment of inertia is the nth moment of inertia Jn' itself, the _n -1th moment of inertia Jn _-1 ' in the calculation result of the n-1th round is obtained. In the first implementation manner, J _n-1 ′ is the n-1th moment of inertia related quantity. and then further get

在第一种实现方式中，判断第n转动惯量相关量与第n-1转动惯量相关量是否满足预设关系，具体为判断是否在预设范围内。在本申请实施例中，预设范围为1附近的小范围，例如[0.995，1.005]，或[0.998，1.002]等。在具体实现过程中，预设范围越小，最终作为实际转动惯量的第n转动惯量越接近实际转动惯量。本申请所属领域的普通技术人员可以根据实际进行设置，本申请不做具体限制。In the first implementation, it is judged whether the related quantity of the nth moment of inertia and the related quantity of the n-1th moment of inertia satisfy the preset relationship, specifically judging is within the preset range. In the embodiment of the present application, the preset range is a small range near 1, such as [0.995, 1.005], or [0.998, 1.002]. In the specific implementation process, the smaller the preset range is, the closer the nth moment of inertia used as the actual moment of inertia is closer to the actual moment of inertia. Those of ordinary skill in the art to which the present application belongs can set according to actual conditions, and this application does not make specific limitations.

具体来讲，当在预设范围内时，表示等于1或者接近于1。而等于1或者接近于1，表明Ω'_n-1等于或接近于Ω_n-1，进而表明此时可调模型的参数等于或接近于电机实际模型，所以可以将J_n'视为电机实际转动惯量J。所以，当在预设范围内时，表示第n转动惯量相关量与第n-1转动惯量相关量满足预设关系。Specifically, when When within the preset range, it means equal to 1 or close to 1. and Equal to 1 or close to 1, indicating that Ω' _n-1 is equal to or close to Ω _n-1 , which in turn indicates that the parameters of the adjustable model are equal to or close to the actual model of the motor, so J _n ' can be regarded as the actual rotation of the motor Inertia J. So when When it is within the preset range, it means that the related quantity of the nth moment of inertia and the related quantity of the n-1th moment of inertia satisfy the preset relationship.

进一步，在第一种实现方式中，由于第n转动惯量相关量就是第n转动惯量本身，所以在S105中直接确定J_n'为实际转动惯量。Furthermore, in the first implementation manner, since the related quantity of the nth moment of inertia is the nth moment of inertia itself, J _n ' is directly determined as the actual moment of inertia in S105.

第二种：The second type:

当第n轮计算结果至少包括a_n'、b_n'和c_n'，且第n转动惯量相关量为b_n'时，S104具体包括：When the calculation result of the nth round includes at least a _n ', b _n ' and c _n ', and the related quantity of the nth moment of inertia is b _n ', S104 specifically includes:

判断b_n-1'与b_n'之差的绝对值是否小于阈值。It is judged whether the absolute value of the difference between b _n-1 ' and b _n ' is smaller than a threshold.

当第n转动惯量相关量为b_n'时，获得第n-1轮计算结果中的第n-1转动惯量b_n-1'。在第二种实现方式中，b_n-1'就是第n-1转动惯量相关量。然后进一步获得|b'_n-b'_n-1|或|b'_n-1-b'_n|。When the related quantity of the nth moment of inertia is b _n ', the n-1th moment of inertia b _n-1 ' in the calculation result of the n-1th round is obtained. In the second implementation manner, b _n-1 ′ is the related quantity of the n-1th moment of inertia. Then further obtain |b' _n -b' _n-1 | or |b' _n-1 -b' _n |.

在第二种实现方式中，判断第n转动惯量相关量与第n-1转动惯量相关量是否满足预设关系，具体为判断|b'_n-b'_n-1|或|b'_n-1-b'_n|是否小于阈值。在本申请实施例中，阈值为0或接近于0的数，例如0，0.05，或0.1等。在具体实现过程中，阈值越小，越接近0，最终作为实际转动惯量的第n转动惯量越接近实际转动惯量。本申请所属领域的普通技术人员可以根据实际进行设置，本申请不做具体限制。In the second implementation, it is judged whether the related quantity of the nth moment of inertia and the related quantity of the n-1th moment of inertia satisfy the preset relationship, specifically judging |b' _n -b' _n-1 | or |b' _{n- 1} - Whether b' _n | is less than the threshold. In the embodiment of the present application, the threshold value is 0 or a number close to 0, such as 0, 0.05, or 0.1. In the specific implementation process, the smaller the threshold value is, the closer it is to 0, and finally the nth moment of inertia, which is the actual moment of inertia, is closer to the actual moment of inertia. Those of ordinary skill in the art to which the present application belongs can set according to actual conditions, and this application does not make specific limitations.

进一步，由于所以在第二种实现方式中，S105中确定的第n转动惯量相关量对应的第n转动惯量就是 Further, due to Therefore, in the second implementation mode, the nth moment of inertia corresponding to the nth moment of inertia determined in S105 is

进一步，可调模型为所以按照公式(20)输出第n-1推定转速。Further, the adjustable model is Therefore, the n-1th estimated rotation speed is output according to the formula (20).

${J_{n - 1}}^{'} \frac{{dΩ}^{'}_{n - 1}}{d t} = T_{e n - 1} - {T_{l n - 1}}^{'} - {B_{m n - 1}}^{'} {Ω^{'}}_{n - 1}$ 公式(20) ${J_{no - 1}}^{'} \frac{{dΩ}^{'}_{no - 1}}{d t} = T_{e no - 1} - {T_{l no - 1}}^{'} - {B_{m no - 1}}^{'} {Ω^{'}}_{no - 1}$ Formula (20)

其中，J_n-1'为第n-1轮计算出的第n-1转动惯量，T_ln-1'为第n-1负载转矩，B_mn-1'为第n-1粘滞摩擦系数，T_en-1为第n-1转矩。Among them, J _n-1 ' is the moment of inertia of the n-1th wheel calculated by the n-1th wheel, T _ln-1 ' is the n-1th load torque, B _mn-1 ' is the n-1th viscous friction coefficient, T _en-1 is the n-1th torque.

以及，可调模型按照公式(21)输出第n推定转速。And, the adjustable model outputs the nth estimated rotational speed according to formula (21).

${J_{n}}^{'} \frac{{dΩ}^{'}_{n}}{d t} = T_{e n} - {T_{l n}}^{'} - {B_{m n}}^{'} {Ω^{'}}_{n}$ 公式(21) ${J_{no}}^{'} \frac{{dΩ}^{'}_{no}}{d t} = T_{e no} - {T_{l no}}^{'} - {B_{m no}}^{'} {Ω^{'}}_{no}$ Formula (21)

其中，Ω_n'为所述第n推定转速，T_en为第n转矩，即第n周期输入电机和可调模型的转矩值。Wherein, Ω _n ' is the nth estimated rotational speed, T _en is the nth torque, that is, the torque value input to the motor and the adjustable model in the nth cycle.

进一步，在具体实现过程中，若利用计算机获得推定转速，则计算机具体为利用将离散化后的公式进行计算。例如利用公式(21)离散化后的公式获得Ω_n'，具体为Furthermore, in the specific implementation process, if the estimated rotation speed is obtained by using a computer, the computer specifically uses the discretized formula to perform calculation. For example, use the discretized formula of formula (21) to obtain Ω _n ', specifically as

${J_{n}}^{'} \frac{{Ω^{'}}_{n} - {Ω^{'}}_{n - 1}}{Δ T} = T_{e n} - {T_{l n}}^{'} - {B_{m n}}^{'} {Ω^{'}}_{n} .$ 公式(22) ${J_{no}}^{'} \frac{{Ω^{'}}_{no} - {Ω^{'}}_{no - 1}}{Δ T} = T_{e no} - {T_{l no}}^{'} - {B_{m no}}^{'} {Ω^{'}}_{no} .$ Formula (22)

基于与前述实施例中获得电机转动惯量同样的发明构思，本申请第二方面还提供一种获得电机转动惯量的装置，如图3所示，包括：Based on the same inventive concept of obtaining the moment of inertia of the motor in the foregoing embodiments, the second aspect of the present application also provides a device for obtaining the moment of inertia of the motor, as shown in Figure 3, including:

实际转速获得单元301，用于获得电机在第n-1周期的第n-1实际转速；n为正整数；The actual speed obtaining unit 301 is used to obtain the n-1th actual speed of the motor in the n-1th cycle; n is a positive integer;

推定转速获得单元302，用于获得与电机对应的可调模型输出的第n-1推定转速；第n-1推定转速为可调模型基于第n-1轮计算结果输出的转速；The estimated rotational speed obtaining unit 302 is configured to obtain the n-1th estimated rotational speed output by the adjustable model corresponding to the motor; the n-1th estimated rotational speed is the rotational speed output by the adjustable model based on the calculation result of the n-1th round;

计算单元303，用于根据第n-1实际转速和第n-1推定转速，获得第n轮计算结果；第n轮计算结果中包括第n转动惯量相关量；The calculation unit 303 is configured to obtain the calculation result of the nth round according to the n-1th actual speed and the n-1th estimated speed; the calculation result of the nth round includes the related quantity of the nth moment of inertia;

判断单元304，用于判断第n转动惯量相关量和第n-1轮计算结果中的第o-1转动惯量相关量是否满足预设关系；A judging unit 304, configured to judge whether the nth moment of inertia related quantity and the o-1th moment of inertia related quantity in the calculation result of the n-1th round satisfy a preset relationship;

确定单元305，用于当第n转动惯量相关量和第n-1转动惯量相关量满足预设关系时，确定第n转动惯量相关量对应的第n转动惯量为电机的实际转动惯量。The determining unit 305 is configured to determine that the nth moment of inertia corresponding to the nth moment of inertia relative quantity is the actual moment of inertia of the motor when the nth moment of inertia related quantity and the n-1th moment of inertia related quantity satisfy a preset relationship.

进一步，本申请实施例中的装置还包括：Further, the device in the embodiment of the present application also includes:

输入单元，用于在判断第n转动惯量相关量和第n-1轮计算结果中的第n-1转动惯量相关量是否满足预设关系之后，当第n转动惯量相关量和第n-1转动惯量相关量不满足预设关系时，将第n轮计算结果输入可调模型，以使可调模型基于第n轮计算结果在第n+1周期输出与第n-1推定转速不同的第n推定转速。The input unit is used to determine whether the nth moment of inertia related quantity and the n-1th moment of inertia related quantity in the calculation result of the n-1th round satisfy the preset relationship, when the nth moment of inertia related quantity and the n-1th round When the relative moment of inertia does not satisfy the preset relationship, input the calculation result of the nth round into the adjustable model, so that the adjustable model can output the first rotation speed different from the n-1th estimated rotation speed in the n+1 cycle based on the nth round calculation result. nEstimated speed.

具体来讲，计算单元303用于根据下列公式获得第n轮计算结果：Specifically, the calculation unit 303 is used to obtain the calculation result of the nth round according to the following formula:

具体来讲，B_mn'为第n粘滞摩擦系数，J_n'为第n转动惯量，T_ln'为第n负载转矩，B_m0为可调模型的初始粘滞摩擦系数，J₀为可调模型的初始转动惯量，T_l0为可调模型的初始负载转矩，Ω_i第i实际转速，Ω'_i为第i推定转速，Ω_n-1为第n-1实际转速，Ω'_n-1为第n-1推定转速，T_ei为第i转矩，T_en-1为第n-1转矩，k₁k₂k₃k₄k₅k₆≠0，ΔT为周期。Specifically, B _mn ' is the nth viscous friction coefficient, J _n ' is the nth moment of inertia, T _ln ' is the nth load torque, B _m0 is the initial viscous friction coefficient of the adjustable model, J ₀ is the initial moment of inertia of the adjustable model, T _l0 is the initial load torque of the adjustable model, Ω _i is the i-th actual speed, Ω' _i is the i-th estimated Speed, Ω _n-1 is the n-1th actual speed, Ω' _n-1 is the n-1th estimated speed, T _ei is the i-th torque, T _en-1 is the n-1th torque, k ₁ k ₂ k ₃ k ₄ k ₅ k ₆ ≠0, ΔT is the period.

当第n轮计算结果至少包括J_n'、B_mn'和T_ln'，第n转动惯量相关量为J_n'时，判断单元304用于判断第n-1转动惯量J_n-1'与J_n'的比值是否在预设范围内；当J_n-1'与J_n'的比值在预设范围内时，表示第n转动惯量相关量和第n-1转动惯量相关量满足预设关系；其中，J_n-1'为第n-1转动惯量相关量。When the calculation result of the nth round includes at least J _n ', B _mn ' and T _ln ', and the related quantity of the nth moment of inertia is J _n ', the judging unit 304 is used to judge the n-1th moment of inertia J _n-1 ' and Whether the ratio of J _n ' is within the preset range; when the ratio of J _n-1 ' to J _n ' is within the preset range, it means that the related quantity of the nth moment of inertia and the related quantity of the nth moment of inertia meet the preset Relationship; among them, J _n-1 ' is the related quantity of the n-1th moment of inertia.

而当第n轮计算结果至少包括a_n'、b_n'和c_n'，第n转动惯量相关量为b_n'时，判断单元304用于判断b_n-1'与b_n'之差的绝对值是否小于阈值；当绝对值小于阈值时，表示第n转动惯量相关量和第n-1转动惯量相关量满足预设关系；其中，b_n-1'为第n-1转动惯量相关量。And when the calculation result of the nth round includes at least a _n ', b _n ' and c _n ', and the related quantity of the nth moment of inertia is b _n ', the judging unit 304 is used to judge the difference between b _n-1 ' and b _n ' Whether the absolute value of is less than the threshold; when the absolute value is less than the threshold, it means that the nth moment of inertia related quantity and the n-1th moment of inertia related quantity meet the preset relationship; where b _n-1 ' is the n-1th moment of inertia related quantity.

具体来讲，可调模型按照下列公式，基于第n轮计算结果在第n+1周期输出与第n-1推定转速不同的第n推定转速：Specifically, the adjustable model outputs the nth estimated rotational speed different from the n-1th estimated rotational speed in the n+1 period based on the calculation result of the nth round according to the following formula:

前述图1-图2实施例中的获得电机转动惯量的方法各种变化方式和具体实例同样适用于本实施例的获得电机转动惯量的装置，通过前述对获得电机转动惯量的方法的详细描述，本领域技术人员可以清楚的知道本实施例中获得电机转动惯量的装置的实施方法，所以为了说明书的简洁，在此不再详述。The various variations and specific examples of the method for obtaining the moment of inertia of the motor in the aforementioned embodiments of Figures 1-2 are also applicable to the device for obtaining the moment of inertia of the motor in this embodiment. Through the detailed description of the method for obtaining the moment of inertia of the motor described above, Those skilled in the art can clearly know the implementation method of the device for obtaining the moment of inertia of the motor in this embodiment, so for the sake of brevity, details are not described here.

显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.

Claims

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{matrix} {a^{'}}_{n} = a^{'} (0) - Σ_{i = 0}^{n - 1} k_{1} (Ω_{i} - {Ω^{'}}_{i}) {Ω^{'}}_{i} Δ T - k_{2} (Ω_{n - 1} - {Ω^{'}}_{n - 1}) {Ω^{'}}_{n - 1} \\ {b^{'}}_{n} = b^{'} (0) + Σ_{i = 0}^{n - 1} k_{3} (Ω_{i} - {Ω^{'}}_{i}) T_{e i} Δ T + k_{4} (Ω_{n - 1} - {Ω^{'}}_{n - 1}) T_{e n - 1} \\ {c^{'}}_{n} = c^{'} (0) - Σ_{i = 0}^{n - 1} k_{5} (Ω_{i} - {Ω^{'}}_{i}) Δ T - k_{6} (Ω_{n - 1} - {Ω^{'}}_{n - 1}) \end{matrix};

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{{Ω^{'}}_{n} - {Ω^{'}}_{n - 1}}{Δ T} = T_{e n} - {T_{l n}}^{'} - {B_{m n}}^{'} {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{matrix} {a^{'}}_{n} = a^{'} (0) - Σ_{i = 0}^{n - 1} k_{1} (Ω_{i} - {Ω^{'}}_{i}) {Ω^{'}}_{i} Δ T - k_{2} (Ω_{n - 1} - {Ω^{'}}_{n - 1}) {Ω^{'}}_{n - 1} \\ {b^{'}}_{n} = b^{'} (0) + Σ_{i = 0}^{n - 1} k_{3} (Ω_{i} - {Ω^{'}}_{i}) T_{e i} Δ T + k_{4} (Ω_{n - 1} - {Ω^{'}}_{n - 1}) T_{e n - 1} \\ {c^{'}}_{n} = c^{'} (0) - Σ_{i = 0}^{n - 1} k_{5} (Ω_{i} - {Ω^{'}}_{i}) Δ T - k_{6} (Ω_{n - 1} - {Ω^{'}}_{n - 1}) \end{matrix};

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{{Ω^{'}}_{n} - {Ω^{'}}_{n - 1}}{Δ T} = T_{e n} - {T_{l n}}^{'} - {B_{m n}}^{'} {Ω^{'}}_{n}

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