CN105424276B - A kind of method and apparatus for obtaining motor rotary inertia - Google Patents
A kind of method and apparatus for obtaining motor rotary inertia Download PDFInfo
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- CN105424276B CN105424276B CN201510946138.5A CN201510946138A CN105424276B CN 105424276 B CN105424276 B CN 105424276B CN 201510946138 A CN201510946138 A CN 201510946138A CN 105424276 B CN105424276 B CN 105424276B
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- G—PHYSICS
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/10—Determining the moment of inertia
Abstract
The embodiment of the present application provides a kind of method and apparatus for obtaining motor rotary inertia, for obtaining the rotary inertia of motor.Methods described includes：Obtain the n-th 1 actual speeds of the motor in the n-th 1 cycles；N is positive integer；Obtain the output of corresponding with motor adjustable model the n-th 1 estimate rotating speed；The n-th 1 presumption rotating speed rotating speed based on the n-th 1 wheel result of calculation outputs that is the adjustable model；According to the n-th 1 actual speed and the n-th 1 presumption rotating speed, the n-th wheel result of calculation is obtained；The n-th wheel result of calculation includes the n-th rotary inertia correlative；Judge whether the n-th 1 rotary inertia correlatives in the n-th rotary inertia correlative and the n-th 1 wheel result of calculation meet preset relation；When the n-th rotary inertia correlative and the n-th 1 rotary inertia correlative meet the preset relation, the actual rotation inertia that the n-th rotary inertia corresponding to the n-th rotary inertia correlative is the motor is determined.
Description
Technical field
The present invention relates to electronic technology field, more particularly to a kind of method and apparatus for obtaining motor rotary inertia.
Background technology
Rotary inertia is an important parameter of motor.At present, when being controlled to motor, typically directly using motor
The rotary inertia among specifications parameter that manufacturer provides.However, rotary inertia is not a constant value, it is real with motor
Border operation conditions has relation.Such as motor belt motor fan blade and run without fan blade, the rotary inertia in the case of two kinds is poor
It is very not big.So the environment of test specification parameter and the difference of motor practical application, will cause to give in specifications parameter
Rotary inertia and actual rotation inertia between either large or small error be present.And given rotary inertia and actual rotation inertia it
Between error, it will cause the technical problem that the control to motor is inaccurate.
The content of the invention
The embodiment of the present application provides a kind of method and apparatus for obtaining motor rotary inertia, for obtaining the rotation of motor
Inertia.
In a first aspect, this application provides a kind of method for obtaining motor rotary inertia, including：
Obtain (n-1)th actual speed of the motor in the (n-1)th cycle；N is positive integer；
Obtain the (n-1)th presumption rotating speed of adjustable model output corresponding with the motor；The (n-1)th presumption rotating speed is institute
State rotating speed of the adjustable model based on the (n-1)th wheel result of calculation output；
According to (n-1)th actual speed and the (n-1)th presumption rotating speed, the n-th wheel result of calculation is obtained；N-th wheel
Result of calculation includes the n-th rotary inertia correlative；
Judge the (n-1)th rotary inertia correlative in the n-th rotary inertia correlative and the (n-1)th wheel result of calculation
Whether preset relation is met；
When the n-th rotary inertia correlative and the (n-1)th rotary inertia correlative meet the preset relation, really
N-th rotary inertia corresponding to the fixed n-th rotary inertia correlative is the actual rotation inertia of the motor.
Optionally, (n-1)th in the n-th rotary inertia correlative and the (n-1)th wheel result of calculation is judged rotates
After whether inertia correlative meets preset relation, in addition to：
When the n-th rotary inertia correlative and the (n-1)th rotary inertia correlative are unsatisfactory for the preset relation,
Described n-th wheel result of calculation is inputted into the adjustable model, so that the adjustable model is based on the described n-th wheel result of calculation the
The n+1 cycles export the n-th presumption rotating speed different from the described (n-1)th presumption rotating speed.
Optionally, according to (n-1)th actual speed and the (n-1)th presumption rotating speed, the n-th wheel result of calculation, bag are obtained
Include：
The n-th wheel result of calculation is obtained according to following equation：
Wherein,Bmn' it is the n-th viscous friction coefficient, Jn' it is the n-th rotary inertia,
Tln' it is the n-th load torque,Bm0For the initial viscous friction of the adjustable model
Coefficient, J0For the initial rotation inertia of the adjustable model, Tl0For the initial load torque of the adjustable model, ΩiI-th is actual
Rotating speed, Ω 'iFor the i-th presumption rotating speed, Ωn-1For (n-1)th actual speed, Ω 'n-1For the described (n-1)th presumption rotating speed, TeiFor
I-th torque, Ten-1For the (n-1)th torque, k1k2k3k4k5k6≠ 0, Δ T are the cycle.
Optionally, when the described n-th wheel result of calculation comprises at least Jn'、Bmn' and Tln', the n-th rotary inertia correlative
For Jn' when, judge the (n-1)th rotary inertia correlative in the n-th rotary inertia correlative and the (n-1)th wheel result of calculation
Whether preset relation is met, including：
Judge the (n-1)th rotary inertia Jn-1' and Jn' ratio whether within a preset range；Work as Jn-1' and Jn' the ratio
When in the preset range, represent described in the n-th rotary inertia correlative and the (n-1)th rotary inertia correlative satisfaction
Preset relation；Wherein, Jn-1' it is the (n-1)th rotary inertia correlative.
Optionally, when the described n-th wheel result of calculation comprises at least an'、bn' and cn', the n-th rotary inertia correlative is
bn' when, judge that the (n-1)th rotary inertia correlative in the n-th rotary inertia correlative and the (n-1)th wheel result of calculation is
It is no to meet preset relation, including：
Judge bn-1' and bn' the absolute value of difference whether be less than threshold value；When the absolute value is less than the threshold value, represent
The n-th rotary inertia correlative and the (n-1)th rotary inertia correlative meet the preset relation；Wherein, bn-1' for institute
State the (n-1)th rotary inertia correlative.
Optionally, the adjustable model according to the following formula, is exported based on the described n-th wheel result of calculation in the (n+1)th cycle
The n-th presumption rotating speed different from the described (n-1)th presumption rotating speed：
Wherein, Ωn' for described n-th presumption rotating speed, TenFor the n-th torque.
On the other hand, this application provides a kind of device for obtaining motor rotary inertia, including：
Actual speed obtaining unit, for obtaining (n-1)th actual speed of the motor in the (n-1)th cycle；N is positive integer；
Rotating speed obtaining unit is estimated, for obtaining the (n-1)th presumption rotating speed of adjustable model output corresponding with the motor；
The (n-1)th presumption rotating speed is rotating speed of the adjustable model based on the (n-1)th wheel result of calculation output；
Computing unit, for according to (n-1)th actual speed and the (n-1)th presumption rotating speed, obtaining the n-th wheel and calculating knot
Fruit；The n-th wheel result of calculation includes the n-th rotary inertia correlative；
Judging unit, for judging (n-1)th in the n-th rotary inertia correlative and the (n-1)th wheel result of calculation
Whether rotary inertia correlative meets preset relation；
Determining unit, for when described in the n-th rotary inertia correlative and the (n-1)th rotary inertia correlative satisfaction
During preset relation, determine that the actual rotation that the n-th rotary inertia corresponding to the n-th rotary inertia correlative is the motor is used to
Amount.
Optionally, described device also includes：
Input block, for judge the n-th rotary inertia correlative and it is described (n-1)th wheel result of calculation in n-th-
After whether 1 rotary inertia correlative meets preset relation, when the n-th rotary inertia correlative and (n-1)th rotation are used
When amount correlative is unsatisfactory for the preset relation, the described n-th wheel result of calculation is inputted into the adjustable model, so that described adjustable
Model exports the n-th presumption rotating speed different from the described (n-1)th presumption rotating speed based on the described n-th wheel result of calculation in the (n+1)th cycle.
Optionally, the computing unit is used to obtain the n-th wheel result of calculation according to following equation：
Wherein,Bmn' it is the n-th viscous friction coefficient, Jn' it is the n-th rotary inertia,
Tln' it is the n-th load torque,Bm0For the initial viscous friction of the adjustable model
Coefficient, J0For the initial rotation inertia of the adjustable model, Tl0For the initial load torque of the adjustable model, ΩiI-th is actual
Rotating speed, Ω 'iFor the i-th presumption rotating speed, Ωn-1For (n-1)th actual speed, Ω 'n-1For the described (n-1)th presumption rotating speed, TeiFor
I-th torque, Ten-1For the (n-1)th torque, k1k2k3k4k5k6≠ 0, Δ T are the cycle.
Optionally, when the described n-th wheel result of calculation comprises at least Jn'、Bmn' and Tln', the n-th rotary inertia correlative
For Jn' when, the judging unit is used to judge the (n-1)th rotary inertia Jn-1' and Jn' ratio whether within a preset range；When
Jn-1' and Jn' the ratio in the preset range when, represent the n-th rotary inertia correlative and described (n-1)th turn
Dynamic inertia correlative meets the preset relation；Wherein, Jn-1' it is the (n-1)th rotary inertia correlative.
Optionally, when the described n-th wheel result of calculation comprises at least an'、bn' and cn', the n-th rotary inertia correlative is
bn' when, the judging unit is used to judge bn-1' and bn' the absolute value of difference whether be less than threshold value；When the absolute value is less than institute
When stating threshold value, represent that the n-th rotary inertia correlative and the (n-1)th rotary inertia correlative meet the preset relation；
Wherein, bn-1' it is the (n-1)th rotary inertia correlative.
Optionally, the adjustable model according to the following formula, is exported based on the described n-th wheel result of calculation in the (n+1)th cycle
The n-th presumption rotating speed different from the described (n-1)th presumption rotating speed：
Wherein, Ωn' for described n-th presumption rotating speed, TenFor the n-th torque.
Said one or multiple technical schemes in the embodiment of the present application, at least there is following one or more technology effects
Fruit：
In the technical scheme of the embodiment of the present application, (n-1)th actual speed of the motor in the (n-1)th cycle is obtained first, with
And the (n-1)th presumption rotating speed of adjustable model output corresponding with motor.Wherein, the (n-1)th presumption rotating speed is that adjustable model is based on the
The rotating speed of n-1 wheel result of calculation outputs；N is positive integer.Then, according to the (n-1)th actual speed and the (n-1)th presumption rotating speed, obtain
N-th wheel result of calculation, the n-th wheel result of calculation include the n-th rotary inertia correlative.Next, it is judged that the n-th rotary inertia is related
Whether the (n-1)th rotary inertia correlative in amount and the (n-1)th wheel result of calculation meets preset relation, when meeting preset relation,
Determine the actual rotation inertia that the n-th rotary inertia corresponding to the n-th rotary inertia correlative is motor.It is so real by the application
Apply the actual rotation inertia that the technical scheme in example just obtains motor, then, motor is controlled according to actual rotation inertia
System will be more accurate.
Brief description of the drawings
Fig. 1 is the method flow diagram that motor rotary inertia is obtained in the embodiment of the present application；
Fig. 2 is the schematic diagram for the model framework that motor rotary inertia is obtained in the embodiment of the present application；
Fig. 3 is the apparatus structure schematic diagram that motor rotary inertia is obtained in the embodiment of the present application.
Embodiment
The embodiment of the present application provides a kind of method and apparatus for obtaining motor rotary inertia, for obtaining the rotation of motor
Inertia.
The technical scheme general thought that the application provides is as follows：
In the technical scheme of the embodiment of the present application, (n-1)th actual speed of the motor in the (n-1)th cycle is obtained first, with
And the (n-1)th presumption rotating speed of adjustable model output corresponding with motor.Wherein, the (n-1)th presumption rotating speed is that adjustable model is based on the
The rotating speed of n-1 wheel result of calculation outputs；N is positive integer.Then, according to the (n-1)th actual speed and the (n-1)th presumption rotating speed, obtain
N-th wheel result of calculation, the n-th wheel result of calculation include the n-th rotary inertia correlative.Next, it is judged that the n-th rotary inertia is related
Whether the (n-1)th rotary inertia correlative in amount and the (n-1)th wheel result of calculation meets preset relation, when meeting preset relation,
Determine the actual rotation inertia that the n-th rotary inertia corresponding to the n-th rotary inertia correlative is motor.It is so real by the application
Apply the actual rotation inertia that the technical scheme in example just obtains motor, then, motor is controlled according to actual rotation inertia
System will be more accurate.
Technical solution of the present invention is described in detail below by accompanying drawing and specific embodiment, it should be understood that the application
Specific features in embodiment and embodiment are the detailed description to technical scheme, rather than to present techniques
The restriction of scheme, in the case where not conflicting, the technical characteristic in the embodiment of the present application and embodiment can be mutually combined.
The terms "and/or", only a kind of incidence relation for describing affiliated partner, expression may have three kinds of passes
System, for example, A and/or B, can be represented：Individualism A, while A and B be present, these three situations of individualism B.In addition, herein
Middle character "/", it is a kind of relation of "or" to typically represent forward-backward correlation object.
The application first aspect provides a kind of method for obtaining motor rotary inertia, refer to Fig. 1, including following step
Suddenly：
S101：Obtain (n-1)th actual speed of the motor in the (n-1)th cycle.
S102：Obtain the (n-1)th presumption rotating speed of adjustable model output corresponding with the motor.
S103：According to (n-1)th actual speed and the (n-1)th presumption rotating speed, the n-th wheel result of calculation is obtained.
S104：Judge the (n-1)th rotary inertia in the n-th rotary inertia correlative and the (n-1)th wheel result of calculation
Whether correlative meets preset relation.
S105：When the n-th rotary inertia correlative and the (n-1)th rotary inertia correlative meet the preset relation
When, determine the actual rotation inertia that the n-th rotary inertia corresponding to the n-th rotary inertia correlative is the motor.
In S101, motor is obtained in (n-1)th actual speed in the (n-1)th cycle, is detected specifically by speed probe
Or control software obtains actual speed of the motor in the (n-1)th cycle.In the embodiment of the present application, the cycle refers to what every wheel calculated
Cycle, Cycle Length Δ T can be consistent with the cycle of pulse-modulated signal, such as 1.4 × 10-4S to 2.5 × 10-4In s
Random length.In addition, n is positive integer, such as 3,4 or 10 etc..
In S102, the (n-1)th presumption rotating speed of adjustable model output corresponding with motor is obtained.Specifically, motor exists
In operation, the realistic model of motor, i.e. Transmission function of motor can be obtained.In the embodiment of the present application, the transmission of adjustable model
Function is consistent with the realistic model form of motor, and the function of Parameter adjustable.So adjustable model is corresponding with motor.
It is the rotating speed according to obtained from the function of adjustable model and input to estimate rotating speed.For example, such as the realistic model of motor isWherein, J be motor actual rotation inertia, Ω be output actual speed, TeFor the torque of input
Bid value, TlFor actual loading torque, BmFor the viscous friction coefficient of reality.So adjustable model is and motor realistic model shape
Formula is consistentWherein, J' is the rotary inertia of adjustable model, and Ω ' is adjustable model output
Rotating speed, TeIt is identical with the torque command value for inputting motor to input the torque of adjustable model, Tl' turn for the load of adjustable model
Square, Bm' be adjustable model viscous friction coefficient.
(n-1)th presumption rotating speed is that adjustable model is based on last round of result of calculation, i.e., the (n-1)th wheel result of calculation output turns
Speed.Specifically, adjustable model is based on the (n-1)th wheel result of calculation adjusting parameter, such as the rotary inertia of adjustable model, adjustable die
The load torque of type and/or the viscous friction coefficient of adjustable model, then export the (n-1)th presumption rotating speed according to input.
During specific implementation, when carrying out the calculating of the n-th wheel to obtain the actual rotation inertia of motor, S101 can be first
Performed in S102, S102 can also perform prior to S101, can also perform S101 and S102 simultaneously, the application does not do specific limit
System.
After obtaining the (n-1)th actual speed and the (n-1)th presumption rotating speed, in S103, pushed away based on the (n-1)th actual speed and (n-1)th
Determine rotating speed and carry out the n-th wheel calculating, and then obtain the n-th wheel result of calculation.As shown in Fig. 2 in the embodiment of the present application, each round meter
Calculate, the presumption rotating speed Ω ' of actual speed Ω and the adjustable model output obtained from motor, which is input in computing module, to be counted
Calculate.Computing module exports epicycle result of calculation according to default algorithm process.
Specifically, the n-th wheel result of calculation in the embodiment of the present application includes the n-th rotary inertia correlative.In this Shen
Please in embodiment, the n-th rotary inertia correlative can be the n-th rotary inertia in itself, or the strain of the n-th rotary inertia
Amount, such as the reciprocal value of the n-th rotary inertia or 3 times of values of the n-th rotary inertia, the application are not particularly limited.
After obtaining the n-th rotary inertia correlative, in S104, judge that the n-th rotary inertia correlative and the (n-1)th wheel calculate knot
Whether the (n-1)th rotary inertia correlative in fruit meets preset relation.In the embodiment of the present application, preset relation represents adjustable die
The parameter of type is consistent or close with the parameter of motor realistic model.Further, when the n-th rotary inertia correlative and (n-1)th rotate
When inertia correlative meets preset relation, determine the n-th rotary inertia corresponding to the n-th rotary inertia correlative for motor in S105
Actual rotation inertia.
Specifically, because the functional form of adjustable model and the form of motor realistic model are consistent, and motor is real
Border model represents the virtual condition of motor again, so, when the n-th rotary inertia correlative and the (n-1)th rotary inertia correlative meet
During preset relation, represent that the parameter of adjustable model has been adjusted to consistent or close with the parameter of motor realistic model, and then represent
Adjustable model now and motor realistic model are identical or close to identical.Therefore, now the n-th rotary inertia phase of adjustable model
N-th rotary inertia corresponding to the amount of pass is just identical or close with the actual rotation inertia of motor, therefore can turn as the reality of motor
Dynamic inertia.
So seen from the above description, when the n-th rotary inertia correlative and the (n-1)th rotary inertia correlative meet to preset
During relation, for adjustable model equivalent to motor realistic model, the n-th rotary inertia of adjustable model is equivalent to the actual rotation of motor
Inertia, so, using the n-th rotary inertia as actual rotation inertia, just obtain the actual rotation inertia of motor.
In another embodiment of the application, after S104, it can also include：
When the n-th rotary inertia correlative and the (n-1)th rotary inertia correlative are unsatisfactory for the preset relation,
Described n-th wheel result of calculation is inputted into the adjustable model, so that the adjustable model is based on the described n-th wheel result of calculation the
The n+1 cycles export the n-th presumption rotating speed different from the described (n-1)th presumption rotating speed.
Specifically, when judge the n-th rotary inertia correlative in S104 and the (n-1)th rotary inertia correlative be unsatisfactory for it is pre-
If during relation, representing that the parameter of now adjustable model is not adjusted to consistent with motor or close consistent also, so, adjustable die
Type still needs continuation adjusting parameter.So in the embodiment of the present application, when the n-th rotary inertia correlative and the (n-1)th rotation are used
When amount correlative is unsatisfactory for preset relation, further by the n-th wheel result of calculation input adjustable model of computing module output, and then
Make adjustable model adjusting parameter, so as in the (n+1)th cycle output n-th presumption rotating speed different from the (n-1)th presumption rotating speed.
In the embodiment of the present application, if the n-th rotary inertia correlative and the (n-1)th rotary inertia correlative are unsatisfactory for presetting
During relation, by the n-th wheel result of calculation input adjustable model, S101 to S104 is then performed again, until the n-th rotary inertia is related
Amount and the (n-1)th rotary inertia correlative meet preset relation, determine that the actual rotation inertia of motor just terminates.
Next, described in detail to how to obtain the n-th wheel result of calculation.
In the embodiment of the present application, the n-th wheel result of calculation is obtained according to following equation (1)：
Specifically,Bmn' it is the n-th viscous friction coefficient, Jn' rotate and be used to for n-th
Amount, Tln' it is the n-th load torque.Bm0For the initial viscous friction system of adjustable model
Number, J0For the initial rotation inertia of adjustable model, Tl0For the initial load torque of adjustable model.Bm0、J0And Tl0By this area skill
Art personnel are arbitrarily set.Wherein, due to J0Denominator will be used as, so the J when setting0Any non-zero real is specifically could be arranged to,
The application is not particularly limited.ΩiI-th actual speed, i.e. motor are in the actual speed in the i-th cycle, Ω 'iRotating speed is estimated for i-th,
Can the rotating speed that is exported in the i-th cycle of model.
In initial time, by a'(0), b'(0), c'(0) and it is used as initial value, or by Bm0、J0And Tl0As initial value, work as n
=1, that is, when carrying out the 1st wheel calculating, by Bm0'=Bm0、J0'=J0And Tl0'=Tl0Substitute into
Or by a'0=a'(0), b'0=b'(0) and c'0=c'(0) substitute intoObtain adjustable die
0th presumption rotating speed Ω ' of type0.Detect the 0th actual speed Ω of motor output0, and then, by Ω '0And Ω0, substitute into formula (1)
Obtain
So values since 1 of the n in the embodiment of the present application.Obtain b'1And c'1Process it is similar.
Work as n=2, that is, when carrying out the 2nd wheel calculating:By a'1b'1And c'1Substitute intoObtain
Obtain the 1st presumption rotating speed Ω '1.And detect the 1st actual speed Ω1, substitute into formula (1) and obtain
Subsequent process by that analogy, does not just repeat one by one here.
In the embodiment of the present application, k1And k2Specially make an' convergent arbitrary value, k3And k4Specially make bn' convergent
Arbitrary value, k5And k6Specially make cn' convergent arbitrary value.Meanwhile k1k2k3k4k5k6≠0.During specific implementation, k1、k2、
k3、k4、k5And k6Can with it is identical can also be incomplete same.
Ωn-1For the (n-1)th actual speed, Ω 'n-1For the (n-1)th presumption rotating speed.TeiFor the i-th torque, i.e., the i-th periodical input can
The torque command value of mode transfer type and motor, Ten-1For the (n-1)th torque, i.e., turn in the (n-1)th periodical input motor and adjustable model
Square bid value.Δ T is the cycle.
In the embodiment of the present application, the n-th wheel result of calculation comprises at least Jn'、Bmn' and Tln', or including at least an'、
bn' and cn'.So when needing to perform the n-th wheel calculating, by Ωn-1With Ω 'n-1Computing module is inputted, and then computing module is based on
Formula (1) performs calculating, it is possible to obtains Jn'、Bmn' and Tln', or an'、bn' and cn'。
In the embodiment of the present application, motor realistic model is：And then adjustable model isWherein, J be motor actual rotation inertia, Ω be output actual speed, TeFor input
Torque, BmFor actual viscous friction coefficient, TlFor the load torque of reality.J' is the rotary inertia of adjustable model, and Ω ' is adjustable
The rotating speed of model output, TeFor the torque of input, Bm' be adjustable model viscous friction coefficient, Tln' be adjustable model load
Torque.
During specific implementation, the side of the n-th rotary inertia is obtained based on the (n-1)th actual speed and the (n-1)th presumption rotating speed
Method has a variety of, such as does not do specific limit based on liapunov function, Popov's inequality or least square method etc., the application
System.In the embodiment of the present application, the derivation of formula (1) will be obtained in detail by taking Popov function as an example.
First, makeMotor realistic model can be deformed into：
Motor realistic model can be deformed into：
Wherein, in formula (2)" " is expressed as differentiating operator.Formula (2) is converted into matrix form, obtained
Arrive：
Wherein, A=[- a], B=[b], C=[- c].
Similarly, adjustable model can be deformed into：
Wherein,
Bm' gluing for adjustable model to be determined
Stagnant coefficient of friction, J' be adjustable model to be determined rotary inertia, Tl' be adjustable model to be determined load torque.
Then, formula (3) subtracts formula (4), obtains
Wherein, e=Ω-Ω '.
Next, increase linearity compensator D, to Linear Time Invariant module before obtaining
Wherein, I is unit matrix, and I (- w) is the preceding input to permanent module, and y is that linear segment exports and non-linear
Partial input, w are the output of non-linear partial.
It can be obtained by formula (5) and formula (6),
I (- w)=[A-A'] Ω '+[B-B'] Te+[C-C'].Formula (7)
And I is unit matrix, so w=- [A-A'] Ω '-[B-B'] Te-[C-C'].Formula (8)
Make the system that Fig. 2 is represented for progressive ultrastable system, it is necessary to the preceding transmission to square of equivalence that formula (6) is formed
Function Strict Positive Real.It can be seen from positive real lemma, transmission function Strict Positive Real must is fulfilled for middle PA+ATP=-Q, and PI=D, P
It is any positive definite symmetric matrices with Q.
Assuming that selection P=[1], even P is unit matrix, then D=[1], PA+A can be releasedTP=-Q=[- 2a].
AndSoQ is positive definite matrix.
Further, Popov's inequality is
γ0For limited real number, t represents to carry out calculating moment and initial time direct time difference, specially t=n Δs T.By upper
Formula (6) and formula (8) are stated, formula (9) can be turned to：
It can be seen that to make final η (0, t) >=-γ0 2Set up, need η1(0,t)≥-γ1 2,η2(0,t)≥-γ2 2,η3(0,t)
≥-γ3 2, γ1、γ2、γ3For limited real number.
So, it is assumed that
ThenFor
Further, it is assumed thatThen work as k1During ＞ 0,
It is in addition, rightBoth sides derivation obtains,
G is taken herein2(t, τ)=k2(Ω-Ω ') Ω ', can cause
And then with reference to 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.Formula (14)
So the hypothesis of above-mentioned formula (10) is set up, therefore
Change the d τ in formula (15) into dt, obtain the canonical form of formula (15)
Similarly, it can be assumed that b' releases η2(0,t)≥-γ2 2, it is assumed that c' releases η3(0,t)≥-γ3 2, and then determine to assume
B' and c' set up, obtain
With
With reference to formula (16), formula (17) and formula (18), can obtain
Finally, by above-mentioned formula (19) discretization, obtain
In the embodiment of the present application, the n-th wheel result of calculation has two kinds of possibility.The first, at least by Jn'、Bmn' and Tln' make
For the n-th wheel result of calculation.During specific implementation, the n-th wheel result of calculation can also further include an'、bn' and/or cn'
Deng the application is not particularly limited.Second, at least by an'、bn' and cn' as the n-th wheel result of calculation.Implementing
Cheng Zhong, the n-th wheel result of calculation can also further include Jn'、Bmn' and/or Tln'。
Because the n-th wheel result of calculation has two kinds of possibility, so judging the n-th rotary inertia correlative and (n-1)th turn in S104
Whether dynamic inertia correlative meets preset relation, also there is two kinds of specific implementations.
The first：
When the n-th wheel result of calculation comprises at least Jn'、Bmn' and Tln', and the n-th rotary inertia correlative is Jn' when, S104 tools
Body includes：
Judge the (n-1)th rotary inertia Jn-1' and Jn' ratio whether within a preset range.
When the n-th rotary inertia correlative is the n-th rotary inertia Jn' itself when, obtain (n-1)th wheel result of calculation in n-th-
1 rotary inertia Jn-1'.In the first implementation, Jn-1' it is exactly the (n-1)th rotary inertia correlative.Then further obtain
In the first implementation, judge whether the n-th rotary inertia correlative meets with the (n-1)th rotary inertia correlative
Preset relation, specially judgeWhether within a preset range.In the embodiment of the present application, preset range is near 1
Small range, such as [0.995,1.005], or [0.998,1.002] etc..During specific implementation, preset range is smaller, finally
The n-th rotary inertia as actual rotation inertia is closer to actual rotation inertia.The application those of ordinary skill in the art
Can be according to being actually configured, the application is not particularly limited.
Specifically, whenWhen within a preset range, representEqual to 1 or close to 1.AndEqual to 1 or close to 1, show Ω 'n-1Equal or close to Ωn-1, and then show the parameter of now adjustable model
Equal or close to motor realistic model, it is possible to by Jn' it is considered as motor actual rotation inertia J.So when
When in preset range, represent that the n-th rotary inertia correlative meets preset relation with the (n-1)th rotary inertia correlative.
Further, in the first implementation, due to the n-th rotary inertia correlative be exactly the n-th rotary inertia in itself, institute
Directly to determine J in S105n' it is actual rotation inertia.
Second：
When the n-th wheel result of calculation comprises at least an'、bn' and cn', and the n-th rotary inertia correlative is bn' when, S104 tools
Body includes：
Judge bn-1' and bn' the absolute value of difference whether be less than threshold value.
When the n-th rotary inertia correlative is bn' when, obtain the (n-1)th rotary inertia b in the (n-1)th wheel result of calculationn-1'。
In second of implementation, bn-1' it is exactly the (n-1)th rotary inertia correlative.Then further obtain | b'n-b'n-1| or |
b'n-1-b'n|。
In second of implementation, judge whether the n-th rotary inertia correlative meets with the (n-1)th rotary inertia correlative
Preset relation, specially judge | b'n-b'n-1| or | b'n-1-b'n| whether less than threshold value.In the embodiment of the present application, threshold value 0
Or close to 0 number, such as 0,0.05, or 0.1 etc..During specific implementation, threshold value is smaller, closer to 0, eventually as reality
N-th rotary inertia of border rotary inertia is closer to actual rotation inertia.The application those of ordinary skill in the art can root
Factually border is configured, and the application is not particularly limited.
Specifically, | b'n-b'n-1| or | b'n-1-b'n| during less than threshold value, represent | b'n-b'n-1| or | b'n-1-b'n| etc.
In 0 or close to 0.And | b'n-b'n-1| or | b'n-1-b'n| equal to 0 or close to 0, show Ω 'n-1It is equal or close to
Ωn-1, and then show that the parameter of now adjustable model is equal or close to motor realistic model, it is possible to by Jn' it is considered as motor
Actual rotation inertia J.So when | b'n-b'n-1| or | b'n-1-b'n| during less than threshold value, represent the n-th rotary inertia correlative with
(n-1)th rotary inertia correlative meets preset relation.
Further, due toSo in second of implementation, the n-th rotary inertia determined in S105 is related
The n-th rotary inertia is exactly corresponding to amount
Further, adjustable model isSo turn according to the presumption of formula (20) output (n-1)th
Speed.
Wherein, Jn-1' for (n-1)th the (n-1)th rotary inertia for calculating of wheel, Tln-1' it is the (n-1)th load torque, Bmn-1' for the
N-1 viscous friction coefficients, Ten-1For the (n-1)th torque.
And adjustable model is according to formula (21) output the n-th presumption rotating speed.
Wherein, Ωn' for described n-th presumption rotating speed, TenFor the n-th torque, i.e. the n-th periodical input motor and adjustable model
Torque value.
Further, during specific implementation, if obtaining presumption rotating speed using computer, computer specially utilizes will
Formula after discretization is calculated.Such as obtain Ω using the formula after formula (21) discretizationn', it is specially
Based on the inventive concept same with obtaining motor rotary inertia in previous embodiment, the application second aspect also provides
A kind of device for obtaining motor rotary inertia, as shown in figure 3, including：
Actual speed obtaining unit 301, for obtaining (n-1)th actual speed of the motor in the (n-1)th cycle；N is positive integer；
Rotating speed obtaining unit 302 is estimated, for obtaining the (n-1)th presumption rotating speed of adjustable model output corresponding with motor；
(n-1)th presumption rotating speed is rotating speed of the adjustable model based on the (n-1)th wheel result of calculation output；
Computing unit 303, for according to the (n-1)th actual speed and the (n-1)th presumption rotating speed, obtaining the n-th wheel result of calculation；The
N wheel result of calculations include the n-th rotary inertia correlative；
Judging unit 304, for judging that it is used that the o-1 in the n-th rotary inertia correlative and the (n-1)th wheel result of calculation is rotated
Whether amount correlative meets preset relation；
Determining unit 305, for meeting preset relation when the n-th rotary inertia correlative and the (n-1)th rotary inertia correlative
When, determine the actual rotation inertia that the n-th rotary inertia corresponding to the n-th rotary inertia correlative is motor.
Further, the device in the embodiment of the present application also includes：
Input block, rotated for (n-1)th in the n-th rotary inertia correlative and the (n-1)th wheel result of calculation is judged used
After whether amount correlative meets preset relation, when the n-th rotary inertia correlative and the (n-1)th rotary inertia correlative be unsatisfactory for it is pre-
If during relation, by the n-th wheel result of calculation input adjustable model, so that adjustable model is based on the n-th wheel result of calculation in the (n+1)th cycle
Export the n-th presumption rotating speed different from the (n-1)th presumption rotating speed.
Specifically, computing unit 303 is used to obtain the n-th wheel result of calculation according to following equation：
Specifically,Bmn' it is the n-th viscous friction coefficient, Jn' rotate and be used to for n-th
Amount, Tln' it is the n-th load torque,Bm0For the initial viscous friction system of adjustable model
Number, J0For the initial rotation inertia of adjustable model, Tl0For the initial load torque of adjustable model, ΩiI-th actual speed, Ω 'iFor
I-th presumption rotating speed, Ωn-1For the (n-1)th actual speed, Ω 'n-1For the (n-1)th presumption rotating speed, TeiFor the i-th torque, Ten-1For (n-1)th
Torque, k1k2k3k4k5k6≠ 0, Δ T are the cycle.
When the n-th wheel result of calculation comprises at least Jn'、Bmn' and Tln', the n-th rotary inertia correlative is Jn' when, judging unit
304 are used to judge the (n-1)th rotary inertia Jn-1' and Jn' ratio whether within a preset range；Work as Jn-1' and Jn' ratio pre-
If when in scope, represent that the n-th rotary inertia correlative and the (n-1)th rotary inertia correlative meet preset relation；Wherein, Jn-1' be
(n-1)th rotary inertia correlative.
And when the n-th wheel result of calculation comprises at least an'、bn' and cn', the n-th rotary inertia correlative is bn' when, judge list
Member 304 is used to judge bn-1' and bn' the absolute value of difference whether be less than threshold value；When absolute value is less than threshold value, represent that n-th rotates
Inertia correlative and the (n-1)th rotary inertia correlative meet preset relation；Wherein, bn-1' it is the (n-1)th rotary inertia correlative.
Specifically, adjustable model according to the following formula, is exported and (n-1)th based on the n-th wheel result of calculation in the (n+1)th cycle
Estimate the n-th different presumption rotating speed of rotating speed：
Wherein, Ωn' for described n-th presumption rotating speed, TenFor the n-th torque.
The method various change mode and instantiation of acquisition motor rotary inertia in earlier figures 1- Fig. 2 embodiments are same
Suitable for the device of the acquisition motor rotary inertia of the present embodiment, by foregoing to obtaining the detailed of the method for motor rotary inertia
Description, those skilled in the art are clear that the implementation for the device that motor rotary inertia is obtained in the present embodiment,
So it is succinct for specification, it will not be described in detail herein.
Said one or multiple technical schemes in the embodiment of the present application, at least there is following one or more technology effects
Fruit：
In the technical scheme of the embodiment of the present application, (n-1)th actual speed of the motor in the (n-1)th cycle is obtained first, with
And the (n-1)th presumption rotating speed of adjustable model output corresponding with motor.Wherein, the (n-1)th presumption rotating speed is that adjustable model is based on the
The rotating speed of n-1 wheel result of calculation outputs；N is positive integer.Then, according to the (n-1)th actual speed and the (n-1)th presumption rotating speed, obtain
N-th wheel result of calculation, the n-th wheel result of calculation include the n-th rotary inertia correlative.Next, it is judged that the n-th rotary inertia is related
Whether the (n-1)th rotary inertia correlative in amount and the (n-1)th wheel result of calculation meets preset relation, when meeting preset relation,
Determine the actual rotation inertia that the n-th rotary inertia corresponding to the n-th rotary inertia correlative is motor.It is so real by the application
Apply the actual rotation inertia that the technical scheme in example just obtains motor, then, motor is controlled according to actual rotation inertia
System will be more accurate.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the present invention to the present invention
God and scope.So, if these modifications and variations of the present invention belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these changes and modification.
Claims (12)
- A kind of 1. method for obtaining motor rotary inertia, it is characterised in that including：Obtain (n-1)th actual speed of the motor in the (n-1)th cycle；N is positive integer；Obtain the (n-1)th presumption rotating speed of adjustable model output corresponding with the motor；The (n-1)th presumption rotating speed can for described in Rotating speed of the mode transfer type based on the (n-1)th wheel result of calculation output；According to (n-1)th actual speed and the (n-1)th presumption rotating speed, the n-th wheel result of calculation is obtained；N-th wheel calculates As a result the n-th rotary inertia correlative is included；Judge the n-th rotary inertia correlative and it is described (n-1)th wheel result of calculation in the (n-1)th rotary inertia correlative whether Meet preset relation；When the n-th rotary inertia correlative and the (n-1)th rotary inertia correlative meet the preset relation, institute is determined State the actual rotation inertia that the n-th rotary inertia corresponding to the n-th rotary inertia correlative is the motor.
- 2. the method as described in claim 1, it is characterised in that judging the n-th rotary inertia correlative and described (n-1)th After whether the (n-1)th rotary inertia correlative in wheel result of calculation meets preset relation, in addition to：When the n-th rotary inertia correlative and the (n-1)th rotary inertia correlative are unsatisfactory for the preset relation, by institute State the n-th wheel result of calculation and input the adjustable model, so that the adjustable model is based on the described n-th wheel result of calculation (n+1)th Cycle exports the n-th presumption rotating speed different from the described (n-1)th presumption rotating speed.
- 3. method as claimed in claim 2, it is characterised in that turned according to (n-1)th actual speed and (n-1)th presumption Speed, the n-th wheel result of calculation is obtained, including：The n-th wheel result of calculation is obtained according to following equation：<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <msup> <mi>a</mi> <mo>&prime;</mo> </msup> <mi>n</mi> </msub> <mo>=</mo> <msup> <mi>a</mi> <mo>&prime;</mo> </msup> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <mo>-</mo> <munderover> <mo>&Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>0</mn> </mrow> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </munderover> <msub> <mi>k</mi> <mn>1</mn> </msub> <mrow> <mo>(</mo> <msub> <mi>&Omega;</mi> <mi>i</mi> </msub> <mo>-</mo> <msub> <msup> <mi>&Omega;</mi> <mo>&prime;</mo> </msup> <mi>i</mi> </msub> <mo>)</mo> </mrow> <msub> <msup> <mi>&Omega;</mi> <mo>&prime;</mo> </msup> <mi>i</mi> </msub> <mi>&Delta;</mi> <mi>T</mi> <mo>-</mo> <msub> <mi>k</mi> <mn>2</mn> </msub> <mrow> <mo>(</mo> <msub> <mi>&Omega;</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>-</mo> <msub> <msup> <mi>&Omega;</mi> <mo>&prime;</mo> </msup> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <msub> <msup> <mi>&Omega;</mi> <mo>&prime;</mo> </msup> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <msup> <mi>b</mi> <mo>&prime;</mo> </msup> <mi>n</mi> </msub> <mo>=</mo> <msup> <mi>b</mi> <mo>&prime;</mo> </msup> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <mo>+</mo> <munderover> <mo>&Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>0</mn> </mrow> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </munderover> <msub> <mi>k</mi> <mn>3</mn> </msub> <mrow> <mo>(</mo> <msub> <mi>&Omega;</mi> <mi>i</mi> </msub> <mo>-</mo> <msub> <msup> <mi>&Omega;</mi> <mo>&prime;</mo> </msup> <mi>i</mi> </msub> <mo>)</mo> </mrow> <msub> <mi>T</mi> <mrow> <mi>e</mi> <mi>i</mi> </mrow> </msub> <mi>&Delta;</mi> <mi>T</mi> <mo>+</mo> <msub> <mi>k</mi> <mn>4</mn> </msub> <mrow> <mo>(</mo> <msub> <mi>&Omega;</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>-</mo> <msub> <msup> <mi>&Omega;</mi> <mo>&prime;</mo> </msup> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <msub> <mi>T</mi> <mrow> <mi>e</mi> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <msup> <mi>c</mi> <mo>&prime;</mo> </msup> <mi>n</mi> </msub> <mo>=</mo> <msup> <mi>c</mi> <mo>&prime;</mo> </msup> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <mo>-</mo> <munderover> <mo>&Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>0</mn> </mrow> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </munderover> <msub> <mi>k</mi> <mn>5</mn> </msub> <mrow> <mo>(</mo> <msub> <mi>&Omega;</mi> <mi>i</mi> </msub> <mo>-</mo> <msub> <msup> <mi>&Omega;</mi> <mo>&prime;</mo> </msup> <mi>i</mi> </msub> <mo>)</mo> </mrow> <mi>&Delta;</mi> <mi>T</mi> <mo>-</mo> <msub> <mi>k</mi> <mn>6</mn> </msub> <mrow> <mo>(</mo> <msub> <mi>&Omega;</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>-</mo> <msub> <msup> <mi>&Omega;</mi> <mo>&prime;</mo> </msup> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>;</mo> </mrow>Wherein,Bmn' it is the n-th viscous friction coefficient, Jn' it is the n-th rotary inertia, Tln' be N-th load torque,Bm0For the initial viscous coefficient of friction of the adjustable model, J0For the initial rotation inertia of the adjustable model, Tl0For the initial load torque of the adjustable model, ΩiI-th actual speed, Ω'iFor the i-th presumption rotating speed, Ωn-1For (n-1)th actual speed, Ω 'n-1For the described (n-1)th presumption rotating speed, TeiFor i-th turn Square, Ten-1For the (n-1)th torque, k1k2k3k4k5k6≠ 0, Δ T are the cycle；k1And k2To make an' convergent arbitrary value, k3And k4To make bn' convergent arbitrary value, k5And k6To make cn' convergent arbitrary value, and k1k2k3k4k5k6≠0。
- 4. method as claimed in claim 3, it is characterised in that when the described n-th wheel result of calculation comprises at least Jn'、Bmn' and Tln', the n-th rotary inertia correlative is Jn' when, judge that the n-th rotary inertia correlative and (n-1)th wheel calculate knot Whether the (n-1)th rotary inertia correlative in fruit meets preset relation, including：Judge the (n-1)th rotary inertia Jn-1' and Jn' ratio whether within a preset range；Work as Jn-1' and Jn' the ratio in institute When stating in preset range, represent that the n-th rotary inertia correlative and the (n-1)th rotary inertia correlative meet described preset Relation；Wherein, Jn-1' it is the (n-1)th rotary inertia correlative.
- 5. method as claimed in claim 3, it is characterised in that when the described n-th wheel result of calculation comprises at least an'、bn' and cn', the n-th rotary inertia correlative is bn' when, judge that the n-th rotary inertia correlative and (n-1)th wheel calculate knot Whether the (n-1)th rotary inertia correlative in fruit meets preset relation, including：Judge bn-1' and bn' the absolute value of difference whether be less than threshold value；When the absolute value is less than the threshold value, described in expression N-th rotary inertia correlative and the (n-1)th rotary inertia correlative meet the preset relation；Wherein, bn-1' for described the N-1 rotary inertia correlatives.
- 6. method as claimed in claim 3, it is characterised in that the adjustable model according to the following formula, is taken turns based on described n-th Result of calculation exports the n-th presumption rotating speed different from the described (n-1)th presumption rotating speed in the (n+1)th cycle：<mrow> <msup> <msub> <mi>J</mi> <mi>n</mi> </msub> <mo>&prime;</mo> </msup> <mfrac> <mrow> <msub> <msup> <mi>&Omega;</mi> <mo>&prime;</mo> </msup> <mi>n</mi> </msub> <mo>-</mo> <msub> <msup> <mi>&Omega;</mi> <mo>&prime;</mo> </msup> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </mrow> <mrow> <mi>&Delta;</mi> <mi>T</mi> </mrow> </mfrac> <mo>=</mo> <msub> <mi>T</mi> <mrow> <mi>e</mi> <mi>n</mi> </mrow> </msub> <mo>-</mo> <msup> <msub> <mi>T</mi> <mi>ln</mi> </msub> <mo>&prime;</mo> </msup> <mo>-</mo> <msup> <msub> <mi>B</mi> <mrow> <mi>m</mi> <mi>n</mi> </mrow> </msub> <mo>&prime;</mo> </msup> <msub> <msup> <mi>&Omega;</mi> <mo>&prime;</mo> </msup> <mi>n</mi> </msub> </mrow>Wherein, Ωn' for described n-th presumption rotating speed, TenFor the n-th torque.
- A kind of 7. device for obtaining motor rotary inertia, it is characterised in that including：Actual speed obtaining unit, for obtaining (n-1)th actual speed of the motor in the (n-1)th cycle；N is positive integer；Rotating speed obtaining unit is estimated, for obtaining the (n-1)th presumption rotating speed of adjustable model output corresponding with the motor；It is described (n-1)th presumption rotating speed is rotating speed of the adjustable model based on the (n-1)th wheel result of calculation output；Computing unit, for according to (n-1)th actual speed and the (n-1)th presumption rotating speed, obtaining the n-th wheel result of calculation； The n-th wheel result of calculation includes the n-th rotary inertia correlative；Judging unit, for judging that (n-1)th in the n-th rotary inertia correlative and the (n-1)th wheel result of calculation rotates Whether inertia correlative meets preset relation；Determining unit, for meeting described preset when the n-th rotary inertia correlative and the (n-1)th rotary inertia correlative During relation, the actual rotation inertia that the n-th rotary inertia corresponding to the n-th rotary inertia correlative is the motor is determined.
- 8. device as claimed in claim 7, it is characterised in that described device also includes：Input block, for (n-1)th turn in the n-th rotary inertia correlative and the (n-1)th wheel result of calculation is judged After whether dynamic inertia correlative meets preset relation, when the n-th rotary inertia correlative and the (n-1)th rotary inertia phase When pass amount is unsatisfactory for the preset relation, the described n-th wheel result of calculation is inputted into the adjustable model, so that the adjustable model The n-th presumption rotating speed different from the described (n-1)th presumption rotating speed is exported in the (n+1)th cycle based on the described n-th wheel result of calculation.
- 9. device as claimed in claim 8, it is characterised in that the computing unit is used to obtain described the according to following equation N takes turns result of calculation：<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <msup> <mi>a</mi> <mo>&prime;</mo> </msup> <mi>n</mi> </msub> <mo>=</mo> <msup> <mi>a</mi> <mo>&prime;</mo> </msup> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <mo>-</mo> <munderover> <mo>&Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>0</mn> </mrow> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </munderover> <msub> <mi>k</mi> <mn>1</mn> </msub> <mrow> <mo>(</mo> <msub> <mi>&Omega;</mi> <mi>i</mi> </msub> <mo>-</mo> <msub> <msup> <mi>&Omega;</mi> <mo>&prime;</mo> </msup> <mi>i</mi> </msub> <mo>)</mo> </mrow> <msub> <msup> <mi>&Omega;</mi> <mo>&prime;</mo> </msup> <mi>i</mi> </msub> <mi>&Delta;</mi> <mi>T</mi> <mo>-</mo> <msub> <mi>k</mi> <mn>2</mn> </msub> <mrow> <mo>(</mo> <msub> <mi>&Omega;</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>-</mo> <msub> <msup> <mi>&Omega;</mi> <mo>&prime;</mo> </msup> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <msub> <msup> <mi>&Omega;</mi> <mo>&prime;</mo> </msup> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <msup> <mi>b</mi> <mo>&prime;</mo> </msup> <mi>n</mi> </msub> <mo>=</mo> <msup> <mi>b</mi> <mo>&prime;</mo> </msup> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <mo>+</mo> <munderover> <mo>&Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>0</mn> </mrow> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </munderover> <msub> <mi>k</mi> <mn>3</mn> </msub> <mrow> <mo>(</mo> <msub> <mi>&Omega;</mi> <mi>i</mi> </msub> <mo>-</mo> <msub> <msup> <mi>&Omega;</mi> <mo>&prime;</mo> </msup> <mi>i</mi> </msub> <mo>)</mo> </mrow> <msub> <mi>T</mi> <mrow> <mi>e</mi> <mi>i</mi> </mrow> </msub> <mi>&Delta;</mi> <mi>T</mi> <mo>+</mo> <msub> <mi>k</mi> <mn>4</mn> </msub> <mrow> <mo>(</mo> <msub> <mi>&Omega;</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>-</mo> <msub> <msup> <mi>&Omega;</mi> <mo>&prime;</mo> </msup> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <msub> <mi>T</mi> <mrow> <mi>e</mi> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <msup> <mi>c</mi> <mo>&prime;</mo> </msup> <mi>n</mi> </msub> <mo>=</mo> <msup> <mi>c</mi> <mo>&prime;</mo> </msup> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <mo>-</mo> <munderover> <mo>&Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>0</mn> </mrow> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </munderover> <msub> <mi>k</mi> <mn>5</mn> </msub> <mrow> <mo>(</mo> <msub> <mi>&Omega;</mi> <mi>i</mi> </msub> <mo>-</mo> <msub> <msup> <mi>&Omega;</mi> <mo>&prime;</mo> </msup> <mi>i</mi> </msub> <mo>)</mo> </mrow> <mi>&Delta;</mi> <mi>T</mi> <mo>-</mo> <msub> <mi>k</mi> <mn>6</mn> </msub> <mrow> <mo>(</mo> <msub> <mi>&Omega;</mi> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>-</mo> <msub> <msup> <mi>&Omega;</mi> <mo>&prime;</mo> </msup> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>;</mo> </mrow>Wherein,Bmn' it is the n-th viscous friction coefficient, Jn' it is the n-th rotary inertia, Tln' be N-th load torque,Bm0For the initial viscous coefficient of friction of the adjustable model, J0For the initial rotation inertia of the adjustable model, Tl0For the initial load torque of the adjustable model, ΩiI-th actual speed, Ω'iFor the i-th presumption rotating speed, Ωn-1For (n-1)th actual speed, Ω 'n-1For the described (n-1)th presumption rotating speed, TeiFor i-th turn Square, Ten-1For the (n-1)th torque, k1k2k3k4k5k6≠ 0, Δ T are the cycle；k1And k2To make an' convergent arbitrary value, k3And k4To make bn' convergent arbitrary value, k5And k6To make cn' convergent arbitrary value, and k1k2k3k4k5k6≠0。
- 10. device as claimed in claim 9, it is characterised in that when the described n-th wheel result of calculation comprises at least Jn'、Bmn' and Tln', the n-th rotary inertia correlative is Jn' when, the judging unit is used to judge the (n-1)th rotary inertia Jn-1' and Jn' Within a preset range whether ratio；Work as Jn-1' and Jn' the ratio in the preset range when, represent it is described n-th rotate Inertia correlative and the (n-1)th rotary inertia correlative meet the preset relation；Wherein, Jn-1' rotated for described (n-1)th Inertia correlative.
- 11. device as claimed in claim 9, it is characterised in that when the described n-th wheel result of calculation comprises at least an'、bn' and cn', the n-th rotary inertia correlative is bn' when, the judging unit is used to judge bn-1' and bn' difference absolute value whether Less than threshold value；When the absolute value is less than the threshold value, represent that the n-th rotary inertia correlative and described (n-1)th rotates Inertia correlative meets the preset relation；Wherein, bn-1' it is the (n-1)th rotary inertia correlative.
- 12. device as claimed in claim 9, it is characterised in that the adjustable model according to the following formula, based on described n-th Take turns result of calculation and the n-th presumption rotating speed different from the described (n-1)th presumption rotating speed is exported in the (n+1)th cycle：<mrow> <msup> <msub> <mi>J</mi> <mi>n</mi> </msub> <mo>&prime;</mo> </msup> <mfrac> <mrow> <msub> <msup> <mi>&Omega;</mi> <mo>&prime;</mo> </msup> <mi>n</mi> </msub> <mo>-</mo> <msub> <msup> <mi>&Omega;</mi> <mo>&prime;</mo> </msup> <mrow> <mi>n</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </mrow> <mrow> <mi>&Delta;</mi> <mi>T</mi> </mrow> </mfrac> <mo>=</mo> <msub> <mi>T</mi> <mrow> <mi>e</mi> <mi>n</mi> </mrow> </msub> <mo>-</mo> <msup> <msub> <mi>T</mi> <mi>ln</mi> </msub> <mo>&prime;</mo> </msup> <mo>-</mo> <msup> <msub> <mi>B</mi> <mrow> <mi>m</mi> <mi>n</mi> </mrow> </msub> <mo>&prime;</mo> </msup> <msub> <msup> <mi>&Omega;</mi> <mo>&prime;</mo> </msup> <mi>n</mi> </msub> </mrow>Wherein, Ωn' for described n-th presumption rotating speed, TenFor the n-th torque.
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| DE102017218398B3 (en) * | 2017-10-13 | 2019-03-07 | Robert Bosch Gmbh | Method for free-wheeling compensation of a drive unit, control unit and electric bicycle with this control unit and calibration method |
| CN109245634B (en) * | 2018-10-30 | 2021-12-07 | 铜仁职业技术学院 | Control method for variable-rotation-inertia permanent magnet synchronous motor |
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| CN104596702A (en) * | 2014-12-23 | 2015-05-06 | 北京首钢股份有限公司 | Measurement method for inherent rotational inertia |
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| CN105424277A (en) * | 2015-12-16 | 2016-03-23 | 四川长虹电器股份有限公司 | Method and device for obtaining rotational inertia of motor |
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