CN113878615A - Robot joint motor torque calculation method - Google Patents

Robot joint motor torque calculation method Download PDF

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CN113878615A
CN113878615A CN202111135143.XA CN202111135143A CN113878615A CN 113878615 A CN113878615 A CN 113878615A CN 202111135143 A CN202111135143 A CN 202111135143A CN 113878615 A CN113878615 A CN 113878615A
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motor
torque
loss
load
speed reducer
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CN113878615B (en
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卢冬冬
程群超
王刻强
杨医华
周文
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Borunte Robot Co Ltd
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Borunte Robot Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/007—Means or methods for designing or fabricating manipulators

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Electric Motors In General (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

The invention relates to a robot joint motor torque calculation method. The method for calculating the torque of the robot joint motor comprises the following steps: obtaining a load torque TLoad(s)Load torque TLoad(s)Refers to the torque required to drive the load; obtaining motor loss torque TLoss of motorLoss torque T of motorLoss of motorRefers to the torque required by the motor to overcome its own resistance; obtaining the loss torque T of the speed reducerSpeed reducer lossLoss torque T of speed reducerSpeed reducer lossThe torque required by the motor to overcome the resistance of the speed reducer after the speed reducer is installed on the motor is referred to; obtaining load loss torque TLoss of loadLoad loss torque TLoss of loadThe torque is required by the motor except for overcoming self resistance of the motor, self resistance of the speed reducer and other resistance except for the load under the condition that the motor carries the load through the speed reducer; calculating motor torque TmSaid motor torque TmIs composed of

Description

Robot joint motor torque calculation method
Technical Field
The invention relates to the technical field of industrial robots, in particular to a method for calculating torque of a robot joint motor.
Background
The motor is used as a core component of the industrial robot, plays a role in lifting the weight of the robot for development and application, improves the precision and efficiency of the robot, improves the production efficiency and the technical level of the industrial robot, reduces the energy resource consumption, and accurately calculates the actual torque of the motor, thereby being beneficial to improving the control performance and the precision. At present, many influence factors are easy to ignore in the calculation of robot motor torque, and the calculation result is easy to have a large difference with the reality.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a method for calculating a torque of a robot joint motor, which can reduce a difference between a calculation result and an actual existence.
A method for calculating robot joint motor torque, the method comprising:
obtaining a load torque TLoad(s)Said load torque TLoad(s)Refers to the torque required to drive the load;
obtaining motor loss torque TLoss of motorSaid motor loss torque TLoss of motorRefers to the torque required by the motor to overcome its own resistance;
obtaining the loss torque T of the speed reducerSpeed reducer lossLoss torque T of speed reducerSpeed reducer lossThe torque required by the motor to overcome the resistance of the speed reducer after the speed reducer is installed on the motor is referred to;
obtaining load loss torque TLoss of loadSaid load loss torque TLoss of loadThe torque is required by the motor except for overcoming self resistance of the motor, self resistance of the speed reducer and other resistance except for the load under the condition that the motor carries the load through the speed reducer;
calculating motor torque TmSaid motor torque TmIs composed of
Figure BDA0003281732220000011
Wherein λ is the reduction ratio of the reducer.
Further, the load torque T is obtainedLoad(s)During the process, the load torque TLoad(s)Is composed of
Figure BDA0003281732220000012
Wherein J is the moment of inertia of the joint component rotating around the joint, L is the distance between the center of gravity and the rotation center of the joint, M is the mass of the joint component, omega is the angular velocity of the joint, and t is the acceleration time of the joint.
Further, the motor loss torque T is obtainedLoss of motorFirstly measuring the actual torque of the motor in idle running, and then fitting the loss torque T of the motor according to the measured actual torqueLoss of motor。
Further, the motor loss torque T is obtainedLoss of motorIn the process, the actual torque of the motor during idling is measured firstly, the output shaft of the motor is not provided with any load and a speed reducer, the highest rotating speed of the motor is obtained, 9 rotating speed values are obtained under the highest rotating speed, the 9 rotating speed values are decreased by 10% of the highest rotating speed in an equal difference mode, and the rotating speed of the motor is n from small to large1、n2、n3、n4、n5、n6、n7、n8、n9、n10Starting the motor to run according to n1、n2、n3、n4、n5、n6、n7、n8、n9、n10Running for 3s to 5s at a constant speed, measuring a torque curve of the motor at the constant speed stage by using a testing device, taking 50 points in the curve, calculating an average value to obtain the values of the motor at n1、n2、n3、n4、n5、n6、n7、n8、n9、n10Torque t at rotational speed1、t2、t3、t4、t5、t6、t7、t8、t9、t10(ii) a Then, the least square linear regression is adopted to fit the motor loss torque T of the motor under the idling conditionLoss of motorRelation to rotational speed n:
Tloss of motor＝a·n+b；
Wherein n is the motor rotation speed, and the linear regression equation can be obtained according to the least square method
Figure BDA0003281732220000021
Figure BDA0003281732220000022
Further, the speed reducer loss torque T is obtainedSpeed reducer lossIn the process, firstly, the actual torque of the speed reducer during idling is measured, then the torque loss caused by the motor is subtracted from the measured actual torque to obtain the actual loss caused by the speed reducer, and the motor loss torque T is fitted according to the actual loss caused by the speed reducerLoss of motor。
Further, the speed reducer loss torque T is obtainedSpeed reducer lossIn the process, firstly, the actual torque of the speed reducer during idling is measured, the speed reducer is installed on an output shaft of a motor, the output shaft of the speed reducer is driven by the motor to rotate, no load is carried on the output shaft of the speed reducer, the highest rotating speed of the motor and 9 rotating speed values under the highest rotating speed are taken, the 9 rotating speed values are decreased by 10% of the highest rotating speed in an equal difference mode, and the rotating speed of the motor is n1、n2、n3、n4、n5、n6、n7、n8、n9、n10Starting the motor to run according to n1、n2、n3、n4、n5、n6、n7、n8、n9、n10Running at constant speed for 3-5 s, and measuring motor at constant speed stage by using testing deviceTorque curve, taking 50 points in the curve, calculating average value to obtain n points of the motor when the motor is provided with a speed reducer1、n2、n3、n4、n5、n6、n7、n8、n9、n10Torque T at rotational speed1+t1、T2+t2、T3+t3、T4+t4、T5+t5、T6+t6、T7+t7、T8+t8、T9+t9、T10+t10(ii) a In combination with the second step of the motor being in the idle condition of the motor at n1、n2、n3、n4、n5、n6、n7、n8、n9、n10Torque t at rotational speed1、t2、t3、t4、t5、t6、t7、t8、t9、t10Ten reducer loss actual torques of the reducer can be obtained, and the ten reducer loss actual torques are respectively T1、T2、T3、T4、T5、T6、T7、T8、T9、T10(ii) a Then, the least square linear regression is adopted to fit the reducer loss torque T of the motor under the condition of carrying the reducerSpeed reducer lossRelation to rotational speed n:
Tspeed reducer loss＝A·n+B；
Wherein n is the motor rotation speed, and the linear regression equation can be obtained according to the least square method
Figure BDA0003281732220000031
Figure BDA0003281732220000032
Further, the load is obtainedLoss torque TLoss of loadIn the process, firstly, the actual torque of the speed reducer during carrying the load is measured, then the torque loss caused by the motor, the torque loss caused by the speed reducer and the torque required by the load are subtracted according to the measured actual torque to obtain the actual required torque of the motor except for overcoming the self resistance, the self resistance of the speed reducer and the load under the condition that the motor carries the known load, and the load loss torque T is fitted according to the actual required torque of the rest resistanceLoss of load。
Further, the reducer is first mounted on the output shaft of the motor, the output shaft of the reducer is driven by the motor to rotate, and a load torque M is applied to the end of the reducerj(j-1, 2, …, 10), wherein the maximum torque M10The rated torque of the speed reducer is set, and the rest is decreased according to the equal difference of the rated torque of 10 percent; and the highest rotating speed of the motor is obtained, 9 rotating speed values are obtained under the highest rotating speed, the 9 rotating speed values are decreased by 10% of the highest rotating speed in an equal difference mode, and the rotating speed of the motor is n from small to large1、n2、n3、n4、n5、n6、n7、n8、n9、n10Starting the motor to run according to n1、n2、n3、n4、n5、n6、n7、n8、n9、n10Running at constant speed for 3-5 s; measuring motor output torque T through testing deviceijMeasuring output torque T of one hundred motorsij(i-1, 2, …, 10; j-1, 2, …, 10;), that is to say we will know
Figure BDA0003281732220000033
Wherein λ is the reduction ratio of the reducer; t isxThe actual loss torque is loaded, that is, the actual required torque of the motor to overcome the resistance of the motor except the resistance of the motor, the resistance of the speed reducer and the load when the motor carries the known load, and x is 1, 2, …100; i.e. the actual loss torque T of the loadxIs composed of
Figure BDA0003281732220000034
The load loss torque T can then be derived by least squares linear regression fittingLoss of loadAnd the relation between the load torque M of the output end of the speed reducer:
Textra loss＝α·M+β；
Wherein M is a load torque applied to the end of a motor-driven reducer, and the linear regression equation is obtained by the least square method
Figure BDA0003281732220000041
Figure BDA0003281732220000042
The load loss torque T under ten different rotating speeds can be obtainedLoss of loadThe relationship with the load torque M; when the load torques M are the same and the rotation speed is niAnd ni+1Time between, load loss torque TLoss of loadIs taken at niAnd ni+1The average value of the load loss torque in between.
Detailed Description
A method for calculating the torque of a motor of a robot joint is mainly used for calculating the minimum torque value required by the motor of a multi-axis robot, and a designer can select the type of the motor according to the minimum torque value. The joint component of the multi-axis robot mainly comprises a motor and a speed reducer, wherein the speed reducer is arranged on an output shaft of the motor. In the actual development process, the inventor finds that the output torque of the motor has a part of loss, so that the actual output torque of the motor is larger than the load torque for driving the load to act. Factors that cause the motor output torque to have a torque loss are: 1. resistance existing in the motor; 2. resistance existing in the speed reducer; 3. additional unknown resistance. For this additional unused resistance, the inventors currently speculate that different loads cause a change in the damping coefficient. Therefore, in the method for calculating the torque of the robot joint motor according to the embodiment, in addition to the theoretical required torque for driving the load operation, the torque loss caused by the self-resistance of the motor, the torque loss caused by the self-resistance of the speed reducer, and the torque loss caused by the change of the damping coefficient due to different loads are also considered, so that the minimum torque required by the motor is calculated.
The method for calculating the torque of the robot joint motor comprises the following steps.
First, a load torque T is obtainedLoad(s)Load torque TLoad(s)Refers to the torque required to drive the load action.
Specifically, the speed variation at which the motor starts and stops is approximately seen as a linear increase and decrease, and therefore the load torque T can be directly calculatedLoad(s)Load torque TLoad(s)Is composed of
Figure BDA0003281732220000043
Wherein J is the moment of inertia of the joint component rotating around the joint, L is the distance between the center of gravity and the rotation center of the joint, M is the mass of the joint component, omega is the angular velocity of the joint, and t is the acceleration time of the joint.
Secondly, obtaining the loss torque T of the motorLoss of motorLoss torque T of motorLoss of motorRefers to the torque required of the motor to overcome its own resistance.
Specifically, first, the motor idling actual torque when the motor is idling is actually measured, and at this time, the motor idling actual torque is the measured torque required by the motor to overcome its own resistance. More specifically, the output shaft of the motor is not provided with any load and speed reducer, the highest rotation speed of the motor is obtained, 9 rotation speed values are obtained under the highest rotation speed, the 9 rotation speed values are decreased by 10% of the highest rotation speed in an equal difference mode, and the rotation speed of the motor is n from small to large1、n2、n3、n4、n5、n6、n7、n8、n9、n10. Starting the motor to run according to n respectively1、n2、n3、n4、n5、n6、n7、n8、n9、n10Running for 3s to 5s at a constant speed, measuring a torque curve of the motor at the constant speed stage by using a testing device, taking 50 points in the curve, calculating an average value to obtain the values of the motor at n1、n2、n3、n4、n5、n6、n7、n8、n9、n10Torque t at rotational speed1、t2、t3、t4、t5、t6、t7、t8、t9、t10。
Then, the least square linear regression is adopted to fit the motor loss torque T of the motor under the idling conditionLoss of motorRelation to rotational speed n:
Tloss of motor＝a·n+b；
Wherein n is the motor rotation speed, and the linear regression equation can be obtained according to the least square method
Figure BDA0003281732220000051
Figure BDA0003281732220000052
Thirdly, acquiring the loss torque T of the speed reducerSpeed reducer lossLoss torque T of speed reducerSpeed reducer lossRefers to the torque required by the motor to overcome the resistance of the reducer itself after the reducer is mounted on the motor.
Specifically, the reducer loss actual torque of the reducer at idle is actually measured first, and at this time, the reducer loss actual torque is the measured torque required by the reducer to overcome its own resistance. More specifically, the speed reducerThe motor is arranged on an output shaft of the motor, the output shaft of the speed reducer is driven by the motor to rotate, no load is carried on the output shaft of the speed reducer, the highest rotating speed of the motor is taken, 9 rotating speed values are further taken at the highest rotating speed, the 9 rotating speed values are decreased by 10% of the highest rotating speed in an equal difference mode, and the rotating speed of the motor is n from small to large1、n2、n3、n4、n5、n6、n7、n8、n9、n10. Starting the motor to run according to n respectively1、n2、n3、n4、n5、n6、n7、n8、n9、n10Running for 3s to 5s at a constant speed, measuring a torque curve of the motor at the constant speed stage by using a testing device, taking 50 points in the curve, calculating an average value, and obtaining that the motor is respectively arranged at n under the condition that the motor is provided with a speed reducer1、n2、n3、n4、n5、n6、n7、n8、n9、n10Torque T at rotational speed1+t1、T2+t2、T3+t3、T4+t4、T5+t5、T6+t6、T7+t7、T8+t8、T9+t9、T10+t10. In combination with the second step of the motor being in the idle condition of the motor at n1、n2、n3、n4、n5、n6、n7、n8、n9、n10Torque t at rotational speed1、t2、t3、t4、t5、t6、t7、t8、t9、t10Ten reducer loss actual torques of the reducer can be obtained, and the ten reducer loss actual torques are respectively T1、T2、T3、T4、T5、T6、T7、T8、T9、T10。
Then, a least square linear regression is adopted to fit the motor on-board reductionSpeed reducer loss torque T under condition of fast machineSpeed reducer lossRelation to rotational speed n:
Tspeed reducer loss＝A·n+B；
Wherein n is the motor rotation speed, and the linear regression equation can be obtained according to the least square method
Figure BDA0003281732220000061
Figure BDA0003281732220000062
Fourthly, acquiring load loss torque TLoss of loadLoad loss torque TLoss of loadThe torque is required by the motor to overcome the resistance of the motor except the self resistance, the self resistance of the speed reducer and the load when the motor carries the load.
First, the effect of load on transfer efficiency was measured. In practice, n in the second or third stepi(i-1, 2, …, 10) applying load torque M to the end of the motor-driven reducer respectivelyj(j-1, 2, …, 10), wherein the maximum torque M10The rated torque of the speed reducer is reduced, and the rest is decreased according to the equal difference of the rated torque of 10 percent. Measuring motor output torque T through testing deviceijMeasuring output torque T of one hundred motorsij(i-1, 2, …, 10; j-1, 2, …, 10;), that is to say we will know
Figure BDA0003281732220000063
Wherein λ is the reduction ratio of the reducer; t isxThe actual loss torque is a load, that is, an actual required torque of the motor to overcome resistance except for its own resistance, the reducer own resistance, and the load when the motor carries a known load, and x is 1, 2, …, 100.
Namely the fact of loadingLoss torque TxIs composed of
Figure BDA0003281732220000064
The load loss torque T can then be derived by least squares linear regression fittingLoss of loadAnd the relation between the load torque M of the output end of the speed reducer:
Textra loss＝α·M+β；
Wherein M is a load torque applied to the end of a motor-driven reducer, and the linear regression equation is obtained by the least square method
Figure BDA0003281732220000065
Figure BDA0003281732220000071
The load loss torque T under ten different rotating speeds can be obtainedLoss of loadAnd the load torque M. When the load torques M are the same and the rotation speed is niAnd ni+1Time between, load loss torque TLoss of loadIs taken at niAnd ni+1The average value of the load loss torque in between.
Fifthly, calculating the torque T of the motormTorque of motor TmIs composed of
Figure BDA0003281732220000072
Wherein λ is the reduction ratio of the reducer.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.

Claims (8)

1. A method for calculating robot joint motor torque is characterized by comprising the following steps:
obtaining a load torque TLoad(s)Said load torque TLoad(s)Refers to the torque required to drive the load;
obtaining motor loss torque TLoss of motorSaid motor loss torque TLoss of motorRefers to the torque required by the motor to overcome its own resistance;
obtaining the loss torque T of the speed reducerSpeed reducer lossLoss torque T of speed reducerSpeed reducer lossThe torque required by the motor to overcome the resistance of the speed reducer after the speed reducer is installed on the motor is referred to;
obtaining load loss torque TLoss of loadSaid load loss torque TLoss of loadThe torque is required by the motor except for overcoming self resistance of the motor, self resistance of the speed reducer and other resistance except for the load under the condition that the motor carries the load through the speed reducer;
calculating motor torque TmSaid motor torque TmIs composed of
Figure FDA0003281732210000011
Wherein λ is the reduction ratio of the reducer.
2. The method of calculating robot joint motor torque according to claim 1, wherein:
at the moment of obtaining said load torque TLoad(s)During the process, the load torque TLoad(s)Is composed of
Figure FDA0003281732210000012
Wherein J is the moment of inertia of the joint component rotating around the joint, L is the distance between the center of gravity and the rotation center of the joint, M is the mass of the joint component, omega is the angular velocity of the joint, and t is the acceleration time of the joint.
3. The method of calculating robot joint motor torque according to claim 1, wherein:
at the time of obtaining the motor loss torque TLoss of motorFirstly measuring the actual torque of the motor in idle running, and then fitting the loss torque T of the motor according to the measured actual torqueLoss of motor。
4. The method of calculating robot joint motor torque according to claim 3, wherein:
at the time of obtaining the motor loss torque TLoss of motorIn the course of (a) or (b),
firstly, measuring the actual torque of the motor during idling, wherein the output shaft of the motor is not provided with any load and speed reducer, taking the highest rotating speed of the motor and taking 9 rotating speed values under the highest rotating speed, the 9 rotating speed values are decreased by 10% of the highest rotating speed in an equal difference manner, and the rotating speed of the motor is n from small to large1、n2、n3、n4、n5、n6、n7、n8、n9、n10Starting the motor to run according to n1、n2、n3、n4、n5、n6、n7、n8、n9、n10Running for 3s to 5s at a constant speed, measuring a torque curve of the motor at the constant speed stage by using a testing device, taking 50 points in the curve, calculating an average value to obtain the values of the motor at n1、n2、n3、n4、n5、n6、n7、n8、n9、n10Torque t at rotational speed1、t2、t3、t4、t5、t6、t7、t8、t9、t10；
Then, the least square linear regression is adopted to fit the motor loss torque T of the motor under the idling conditionLoss of motorRelation to rotational speed n:
Tloss of motor＝a·n+b；
Wherein n is the motor rotation speed, and the linear regression equation can be obtained according to the least square method
Figure FDA0003281732210000021
Figure FDA0003281732210000022
5. The method of calculating robot joint motor torque according to claim 4, wherein:
obtaining the loss torque T of the speed reducerSpeed reducer lossIn the process, firstly, the actual torque of the speed reducer during idling is measured, then the torque loss caused by the motor is subtracted from the measured actual torque to obtain the actual loss caused by the speed reducer, and the motor loss torque T is fitted according to the actual loss caused by the speed reducerLoss of motor。
6. The method of calculating robot joint motor torque according to claim 5, wherein:
obtaining the loss torque T of the speed reducerSpeed reducer lossIn the process, firstly, the actual torque of the speed reducer during idling is measured, the speed reducer is installed on an output shaft of a motor, the output shaft of the speed reducer is driven by the motor to rotate, no load is carried on the output shaft of the speed reducer, the highest rotating speed of the motor and 9 rotating speed values under the highest rotating speed are taken, the 9 rotating speed values are decreased by 10% of the highest rotating speed in an equal difference mode, and the rotating speed of the motor is n1、n2、n3、n4、n5、n6、n7、n8、n9、n10Starting the motor to run according to n1、n2、n3、n4、n5、n6、n7、n8、n9、n10Running for 3s to 5s at a constant speed, measuring a torque curve of the motor at the constant speed stage by using a testing device, taking 50 points in the curve, calculating an average value, and obtaining that the motor is respectively arranged at n under the condition that the motor is provided with a speed reducer1、n2、n3、n4、n5、n6、n7、n8、n9、n10Torque T at rotational speed1+t1、T2+t2、T3+t3、T4+t4、T5+t5、T6+t6、T7+t7、T8+t8、T9+t9、T10+t10(ii) a In combination with the second step of the motor being in the idle condition of the motor at n1、n2、n3、n4、n5、n6、n7、n8、n9、n10Torque t at rotational speed1、t2、t3、t4、t5、t6、t7、t8、t9、t10Ten reducer loss actual torques of the reducer can be obtained, and the ten reducer loss actual torques are respectively T1、T2、T3、T4、T5、T6、T7、T8、T9、T10；
Then, the least square linear regression is adopted to fit the reducer loss torque T of the motor under the condition of carrying the reducerSpeed reducer lossRelation to rotational speed n:
Tspeed reducer loss＝A·n+B；
Wherein n is the motor rotation speed, and the linear regression equation can be obtained according to the least square method
Figure FDA0003281732210000031
Figure FDA0003281732210000032
7. The method of calculating robot joint motor torque according to claim 6, wherein:
at the time of obtaining the load loss torque TLoss of loadIn the process, firstly, the actual torque of the speed reducer during carrying the load is measured, then the torque loss caused by the motor, the torque loss caused by the speed reducer and the torque required by the load are subtracted according to the measured actual torque to obtain the actual required torque of the motor except for overcoming the self resistance, the self resistance of the speed reducer and the load under the condition that the motor carries the known load, and the load loss torque T is fitted according to the actual required torque of the rest resistanceLoss of load。
8. The method of calculating robot joint motor torque according to claim 7, wherein:
firstly, a speed reducer is arranged on an output shaft of a motor, the output shaft of the speed reducer is driven by the motor to rotate, and a load torque M is applied to the tail end of the speed reducerj(j-1, 2, …, 10), wherein the maximum torque M10The rated torque of the speed reducer is set, and the rest is decreased according to the equal difference of the rated torque of 10 percent;
and the highest rotating speed of the motor is obtained, 9 rotating speed values are obtained under the highest rotating speed, the 9 rotating speed values are decreased by 10% of the highest rotating speed in an equal difference mode, and the rotating speed of the motor is n from small to large1、n2、n3、n4、n5、n6、n7、n8、n9、n10Starting the motor to run according to n1、n2、n3、n4、n5、n6、n7、n8、n9、n10Running at constant speed for 3-5 s;
measuring motor output torque T through testing deviceijMeasuring output torque T of one hundred motorsij(i-1, 2, …, 10; j-1, 2, …, 10;), that is to say we will know
Figure FDA0003281732210000033
Wherein λ is the reduction ratio of the reducer; t isxAn actual loss torque for the load, i.e., an actual required torque of the motor to overcome the resistance of the motor except for the resistance of the motor, the resistance of the speed reducer and the load when the motor carries a known load, and x is 1, 2, … and 100;
i.e. the actual loss torque T of the loadxIs composed of
Figure FDA0003281732210000034
The load loss torque T can then be derived by least squares linear regression fittingLoss of loadAnd the relation between the load torque M of the output end of the speed reducer:
Textra loss＝α·M+β；
Wherein M is a load torque applied to the end of a motor-driven reducer, and the linear regression equation is obtained by the least square method
Figure FDA0003281732210000041
Figure FDA0003281732210000042
Thus obtaining the load loss torque under ten different rotating speedsMoment TLoss of loadThe relationship with the load torque M;
when the load torques M are the same and the rotation speed is niAnd ni+1Time between, load loss torque TLoss of loadIs taken at niAnd ni+1The average value of the load loss torque in between.
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