KR102118184B1 - Method and Apparatus for Robust Emulation of Mechanical Load by using Disturbance Observer - Google Patents

Abstract

The present invention provides a method for emulating a motor under test connected to a dynamometer having a specific load, the method comprising: receiving an electric torque value acting on the motor under test; Receiving a load torque value of a specific dynamic to be emulated; Detecting the rotational speed of the motor under test; And a dynamometer torque acting on the dynamometer using a first value that is the product of the rotation speed multiplied by the friction of the dynamometer, a second value that is the product of the rotation speed multiplied by the inertia of the dynamometer, the load torque value, and the electric torque value. Generating an instruction; And driving the dynamometer according to the dynamometer torque command.

Description

Method and Apparatus for Robust Emulation of Mechanical Load by using Disturbance Observer}

Embodiments of the present invention relate to a robust emulation method and apparatus for mechanical load using a disturbance observer.

The content described in this section merely provides background information for an embodiment of the present invention and does not constitute a prior art.

Motor properties are tested by connecting mechanical parts designed primarily for mass or friction loads to the motor shaft. On the other hand, if the motor is developed for high reliability applications such as electric vehicles, wind power generators, aircraft, etc., tests must be performed under various load conditions. In this case, the motor and its driving circuit are usually tested by connecting to another electromechanical device called a programmable dynamometer, which is a mechanical torque acting on the motor as a load torque during actual operation. Causes

In a recent study, several methods for dynamic load emulation have been proposed, in which the torque of the programmable dynamometer is determined by several closed loop algorithms so that the dynamics of the emulator become the desired dynamics. The performance of dynamic load emulation depends on the closed loop algorithm, and several methods have been reported in the literature.

An object of the present invention is to provide a robust emulation of a mechanical load using a disturbance observer (DOB: Disturbance Observer).

In addition, it aims to improve the emulation technique based on the disturbance observer so that it can be easily implemented and analyzed.

According to an embodiment of the present invention, an apparatus for emulating a motor under test connected to a dynamometer having a specific load, the apparatus comprising: an electrical torque receiver for receiving an electric torque value applied to the motor under test; A load torque receiver that receives a load torque value of a specific dynamic to be emulated; A speed detector that detects the rotational speed of the motor under test; And a dynamometer torque acting on the dynamometer using a first value that is the product of the rotation speed multiplied by the friction of the dynamometer, a second value that is the product of the rotation speed multiplied by the inertia of the dynamometer, the load torque value, and the electric torque value. An emulator for generating commands; And a dynamometer driver that drives the dynamometer according to the dynamometer torque command.

According to another embodiment of the present invention, a method for emulating a motor under test connected to a dynamometer having a specific load, the method comprising: receiving an electric torque value acting on the motor under test; Receiving a load torque value of a specific dynamic to be emulated; Detecting the rotational speed of the motor under test; And a dynamometer torque acting on the dynamometer using a first value that is the product of the rotation speed multiplied by the friction of the dynamometer, a second value that is the product of the rotation speed multiplied by the inertia of the dynamometer, the load torque value, and the electric torque value. Generating an instruction; And driving the dynamometer according to the dynamometer torque command.

The present invention has an effect of providing a robust emulation of a mechanical load using a Disturbance Observer (DOB).

In addition, it provides a simple emulation structure for both analysis and implementation, and exhibits excellent emulation performance for various load conditions.

FIG. 1 is a diagram modeling a motor test device (Test Rig) using a motor and a programmable dynamometer as another electric machine (ie, a load machine).
2 is a view showing that a conventional DOB is applied to load emulation.
3 is a view showing an operation method of the torque generating apparatus of the dynamometer for emulation according to the present embodiment.
4 shows a block diagram of an experimental system consisting of a motor and dynamometer under test.
5(a) shows the response to the dynamometer torque T _e when the sinusoidal reference T _m = sin(2πt)[Nm] is applied to the motor, and FIG. 5(b) shows the sinusoidal reference T _m = It is a graph showing the measured rotation speed (ω _m : solid line) and the desired rotation speed (ω _em : dotted line) for sin(2πt)[Nm].
6(a) is a diagram showing the dynamometer torque T _e response to various dynamic loads to be emulated when step input T _m =5u(t) is applied to the motor, and FIG. 6(b) shows step input T _It is a diagram showing the measured rotation speed (ω _m : solid line) and the desired rotation speed (ω _em : dotted line) for _m = 5u(t).
7A and 7B are views showing a response when the motor side is driven by a PI-type speed controller as in Equation 21 below.
8, the parameters of the desired emulation kinetics of Equation 22 are m=10[kg], J _em =5J, B _em =5B, g=9.8[m/s2], R _r =0.2, c ₁ =0.5, c ₂ = 24, and c ₃ = 0.52, respectively.
9 is a view showing the actual implementation of the experimental system (FIG. 4) for evaluating the performance of the proposed method (FIG. 3).

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. It should be noted that in adding reference numerals to the components of each drawing, the same components have the same reference numerals as possible even though they are displayed on different drawings. In addition, in the description of the present invention, when it is determined that detailed descriptions of related well-known structures or functions may obscure the subject matter of the present invention, detailed descriptions thereof will be omitted.

In this embodiment, DOB is used to emulate a mechanical load. It can be seen that the emulation can be performed in the same configuration as a conventional DOB-based controller, and the desired dynamics to be emulated can be achieved through nominal performance recovery. Particularly in this embodiment, rigorous time domain analysis of the effects of emulation performance and disturbance torque is performed. This time domain analysis can be extended to studies on emulation of nonlinear loads, and the effectiveness of the proposed method has been verified through various experiments on linear and nonlinear loads.

1 is a diagram modeling a motor test apparatus (Test Rig) using a motor and a programmable dynamometer as another electric machine (ie, a load machine).

In FIG. 1, two electric machines (that is, the motor 110 to be tested and the dynamometer 120) are connected to each other by a rigid shaft 130, and the dynamics thereof may be represented by Equation (1) below.

In Equation (1), J(= J1 + J2) is the concentrated inertia of the shaft 130 including the inertia J1 of the motor 110 under test and the inertia J2 of the dynamometer 120, which is the load machine ( Lumped inertia), B(= B1 + B2) is a frictional parameter as a lumped parameter, T _m is the electric torque generated by the motor 110 under test, T _e is the torque of the dynamometer 120 , ω _m is the rotational speed of the shaft 130, d is the disturbance torque. In addition, B1 means the friction coefficient of the motor 110 under test, and B2 means the friction coefficient of the load machine 120.

On the other hand, in the following description, the term motor 110 to be tested may be used interchangeably with terms such as a driving motor or a motor, but it is revealed that they are all used in the same sense. In addition, the term dynamometer 120 can be used interchangeably as a load machine or dynamometer motor, but it is revealed that they are all used in the same sense.

Assuming that the motor under test 110 is connected to a desired mechanical load having inertia J _em and friction B _em , the following equation (2) is obtained.

Where ω _em and T _l are the rotational speed and load torque of the desired dynamics to emulate, respectively.

The purpose of this control is to manipulate T _{e so} that ω _{m in} equation (1) follows ω _em in equation (2) as close as possible. The transfer functions of ω _m and ω _em from equations (1) and (2) are derived as shown in the following equations (3a) and (3b), respectively.

Here, the transfer functions G(s) and G _em (s) are respectively

to be.

In this embodiment, disturbance torque and load torque are considered, and it is assumed that the exact values of the parameters J and B are unknown, instead, the following assumptions are made.

Assumption 1: The values of the plant parameters J and B are uncertain, but it is assumed that they belong to a bounded set as in the following equation (4c).

및

에 대하여

으로 가정한다. Assumption 2: Torque T _m , T _l and disturbance d can be differentiated twice, and the value is also bounded, i.e., given constant T ⁺ _m ,

And

about

Is assumed.

In the following, a new emulation method for generating dynamometer torque T _e is presented, and its performance and stability analysis is provided.

2 is a view showing that a conventional DOB is applied to load emulation according to the present embodiment.

FIG. 2 has several distinct features, such as the addition of load torque T ₁ , and the plant nominal model of a conventional DOB based control system is replaced by emulation dynamics G _em (s) in FIG. 2. In FIG. 2, the relational expression of the closed loop system can be expressed as the following expression (5).

Here, Q(s) is a low-pass filter called DC filter with a DC gain of 1 (lim _{ω → 0} Q(jω) = 1). The closed loop system represented by Equation (5) behaves like the desired emulation kinetics represented by Equation (3b) in the low frequency range.

This embodiment discloses a state space emulation method that can be expressed as the following equations (6a) and (6b).

Here, q is the state of the controller, and fe and fq are functions to be designed. Therefore, as shown in the following description, it is necessary to modify FIG. 2 to clearly show how T _e can be generated from ω _m , T _m and T _l .

From Fig. 2, the dynamometer torque is calculated by equation (7).

In equation (7), the Q-filter is selected as Q(s) = 1/(δs +1), where the design parameter δ> 0. For reference, it is also possible to select a higher order Q-filter to improve emulation performance.

Since the algebraic loop of T _e (s) present in the expression (7), T _e (s) may be re-written as the following equation (8).

If q=(T _m (s)-T _l (s)-B _em ω _m (s))/s, the state-space realization of equation (8) is It can be obtained as equations (9a) and (9b).

Equations (9a) and (9b) embody fe() in Equation 6a and fq() in Equation 6b, respectively.

3 is a view showing an operation method of the torque generating apparatus of the dynamometer for emulation according to the present embodiment.

Equation (8) (or Equations 9a, 9b) can be redrawn as FIG. 3, which is a special implementation of FIG. It is verified in the following description that the structural performance of FIG. 3 is guaranteed as in the following equation (10).

Here, the trajectory of Equation 1 representing the actual system follows Equation 2 representing the desired emulation dynamics within the bound ε ^* . Here sup is a symbol indicating the upper limit.

As shown in FIG. 3, the emulation device according to the present embodiment includes an electric torque receiver 310, a load torque receiver 320, a speed detector 330, and an emulator 340. The apparatus for emulation according to this embodiment has been described as including an electric torque receiver 310, a load torque receiver 320, a speed detector 330, and an emulator 340, except for some components or other components It may be implemented by further including.

The electric torque receiver 310 receives an electric torque value T _m acting on the motor 110 under test.

The load torque receiver 320 receives a load torque value T _l of a specific dynamic to be emulated.

The speed detector 330 detects the rotational speed ω _m of the motor 110 under test.

The emulator 340 has a first value (B _em ω _m ), which is the product of the rotational speed (ω _m ) of the motor 110 under test multiplied by the friction (B _em ) of the dynamometer 120, and the rotational speed (ω _m ). The dynamometer torque acting on the dynamometer 120 using the second value (J _em ω _m ) multiplied by the inertia (J _em ) of the dynamometer 120, the load torque value (T _l ) and the electric torque value (T _m ) Create a command (T _e ).

Referring to FIG. 3 again, the operation of the emulator 340, the emulator 340 generates a dynamometer torque command T _e according to the transfer function of Equation (8).

That is, the emulator 340, the third value (T _m -T _l -B _em ω) is the value obtained by subtracting the load torque value (T _l ) and the first value (B _em ω _m ) from the electric torque value (T _m ). _m ) to generate a dynamometer torque command (T _e ).

In addition, the emulator 340 uses a fourth value that is a value obtained by subtracting the second value (J _em ω _m ) from the integrated value of the third value [(T _m -T _l -B _em ω _m )/s]. To generate a dynamometer torque command (T _e ).

Further, the emulator 340 multiplies the fourth value by the first parameter (1/δ) to generate the dynamometer torque command T _e .

Hereinafter, the emulation performance of the proposed method based on the singular perturbation theory is presented.

Auxiliary Theorem 1. There is δ(>0), which allows the closed loop systems (1) and (9) to stabilize exponentially.

Proof: If T _e is expressed as η for convenience, it can be seen that the closed-loop systems (1) and (9) are simply algebraic problems, which are represented by the following equations 11a and 11b, respectively.

This is a linear system associated with the inputs T _m , T _l and d, respectively, and the system matrix is given by Equation 12.

In Equation 12, this matrix becomes the Hurwitz matrix for δ>0. This ends the proof.

In Supplementary Theorem 1, the closed loop system (Equations (11a), (11b)) is written by the standard singular perturbation form. Based on the singular perturbation theory, the system (Equations (11a), (11b)) is divided into a low speed variable (ω _m ) and a high speed variable (η) with a time-separation parameter δ. For a sufficiently small δ(≒0), the fast variable η converges to its equilibrium point (ie, η ^* ) as in equation (13), while the slow variable is fixed.

Assuming that the fast variable converges (ie, η = η ^* ), the slow variable behaves like the emulation dynamics (Equation 2) considered in this embodiment. In this approach, stability analysis is limited by perfect time scale separation, where the purpose (Equation 2) in perfect time scale separation is achieved by assuming any small δ(≒0).

Remark 1. In the DOB approach, the standard singular perturbation form can be obtained by some coordinate transformations, whereas, due to the simple structure (Equation 9), no additional process is required in this embodiment.

)과 함께 에뮬레이션 오차 e(=ω_m - ω_em)가 고려된다.In this embodiment, realistic conditions (δ>0) are considered. To evaluate the emulation performance, change the coordinates of the high-speed variable as shown in equations 14a and 14b (

) And the emulation error e(=ω _m -ω _em ) is considered.

는 수학식 13으로부터 다음의 수학식 15와 같이 직접 계산된다.In equation (14b),

Is calculated directly from Equation 13 as in Equation 15 below.

이고, γ₁ = B/J - B_em/J_em, γ₂ = 1 - J/J_em 이다.here

And γ ₁ = B/J-B _em /J _em , γ ₂ = 1-J/J _em .

The emulation error response is determined by the stable transfer function in Equation 16 below.

This is calculated from equations (14a), (14b) and (15).

In equation (16), it is assumed that the input signal u(t) is bounded (see Supplementary Theorem 2), so that the emulation error is [|e(t)| There is a positive constant ε that becomes <ε, ∀t].

>u(t), ∀t)는 다음의 식 16a와 같이 계산될 수 있다. Supplementary Theorem 2. In Assumption 1 and Assumption 2, the conservative boundary of the input signal (

>u(t), ∀t) can be calculated as in the following equation 16a.

⁺ _em ≥ |

_em|]는 에뮬레이션 동역학 (수학식 2)에 대한 지식을 사용하여 얻어지며, 상수들은 다음의 식에 의해 계산된다.Where bound [

⁺ _em ≥ |

_em |] is obtained using knowledge of emulation dynamics (Equation 2), and constants are calculated by the following equation.

Because theorem 2 is self-explanatory, proof is omitted.

Hereinafter, through the experimental results, the method according to the present embodiment, 1) emulates a wide range of linear dynamic loads and compensates for the influence of disturbance torque d, and 2) the presence of various load torques (T ₁ ) to emulate the desired dynamics. Is performed under. The hardware setup for the experimental system is shown in the description of FIG. 9.

Figure 4 shows a block diagram of an experimental system according to this embodiment consisting of a motor and dynamometer under test.

In Figure 4, the side of the motor 110 and the induction motor by using a commercially available motor drive (Varispeed G7, YASKAWA) generating a T _m, T _m of the reference is expressed by the T ^* _m. Various tasks are performed to test the performance of the load emulator using this commercial motor drive.

On the dynamometer 120 side, a permanent magnet synchronous motor (PMSM) is used to receive the output T ^* _e of the disturbance observer and generate T _e . Emulation is performed by a cascade control method. That is, the disturbance observer according to the present embodiment (FIG. 3) generates T ^* _e in the outer loop, and the conventional field-oriented current control forms the inner loop.

As shown in FIG. 4, the emulation device according to the present embodiment may be implemented by including a dynamometer driver 410.

The dynamometer driver 410 receives the output T ^* _e of the disturbance observer and generates a torque T _e that drives the dynamometer 120.

In all experiments, rotational speed and torque were measured and the results were compared with the desired dynamic response obtained by numerical simulation. When emulation is successfully performed by the method proposed in this embodiment, the measurement value ω _m (t) follows the simulation result ω _em (t).

4, this embodiment is applied under the following assumptions.

1) The tracking dynamics of the dq-axis current controller and the torque controller of the industrial motor-drive unit are negligible because of their fast responses, so i ^* _d = i _d , i ^* _q = i _q and T ^* _m = T _m Each is assumed.

(P: PMSM의 극수, Ψ_f: PMSM의 자속)의 값을 갖도록 설정된다.2) Since i _d = 0 is controlled by the d-axis controller, torque is generated in the relationship of T _e = K _t i _q , and the torque constant K _t is

It is set to have a value of (P: number of poles of PMSM, Ψ _f : magnetic flux of PMSM).

Hereinafter, the experimental results for the linear load will be described.

5(a) shows the response to the dynamometer torque T _e when the sinusoidal reference T _m = sin(2πt)[Nm] is applied to the motor, and FIG. 5(b) shows the sinusoidal reference T _m = This diagram shows the measured rotation speed (ω _m : solid line) and the desired rotation speed (ω _em : dotted line) for sin(2πt)[Nm].

In the experiment of Figure 5, the desired dynamic loads are selected as J _em = J, B _em = B and T _l = 0, respectively. The design parameter δ of this embodiment is changed to demonstrate performance.

The emulation error in FIG. 5(a) decreases as δ decreases, and FIG. 5(b) shows that the disturbance torque d is compensated by the dynamometer. In this case, since Equation 15 maintains T _e = K _t i _q = -d, the value can be selected by a procedure similar to that shown in FIG. 5. In all other experiments, δ = 0.01 is fixed.

Remark 2. In fact, the disturbance torque d is a value that is not actually known. The proposed method compensates for total disturbance, including the estimation of the disturbance, as previously discussed.

6(a) is a diagram showing the dynamometer torque T _e response to various dynamic loads to be emulated when step input T _m =5u(t) is applied to the motor, and FIG. 6(b) shows step input T _It is a diagram showing the measured rotation speed (ω _m : solid line) and the desired rotation speed (ω _em : dotted line) for _m = 5u(t).

Here, u(t) represents a unit step input (if t> t ₀ , u(tt ₀ ) = 1, otherwise u(tt ₀ ) = 0).

In Fig. 6, at a time of 60 seconds, a load torque T _l = 10 u(t-60) [Nm] is applied and successfully emulated.

Remark 3. Conventionally, experiments were performed under relatively limited conditions compared to the results in this example. For example, in the case of linear load _em J = 10J, when the non-linear load for _{J em = 2J, HIL (Hardware} -In-the-Loop) industrial motor drive device that uses the J _em = 3J.

7A and 7B are views showing a response when the motor side is driven by a PI-type speed controller as in Equation 21 below. 7(a) is a case where K _ps = 0.15 and K _is = 0.015, and FIG. 7(b) is a case where K _ps = 0.9 and K _is = 0.09.

Where K _ps and K _is the PI gain of this controller, and the reference speed and load torque are given by ω ^* _m = 100u(t)[rad/s] and T ₁ = 10u(t-60)[Nm]. The corresponding dynamic loads are selected as J _em = 20J and B _em = 40B.

Unlike the previous experiment, since the motor torque is generated by the closed loop controller (Equation 21), the simulation result to be compared is also provided in the closed loop system of the following equation (21a).

Here, T _em and ω _{em correspond} to the measured values T _m and ω _m , respectively. In addition, a saturation function is added to limit the motor torque to |T _m |<20[Nm]. It can be seen from FIG. 7 that the motor side torque and rotation speed are emulated with very small errors (ω _m ≒ ω _em and T _m ≒ T _em ).

Hereinafter, the experimental results for the nonlinear load will be described.

In this experiment, the performance of the proposed method is verified by emulating a nonlinear friction load as shown in the following equations (22a, 22b, 22c):

Where m is the mass, V _v is the speed of the mass, R _r is the conversion ratio between the speed V _v and the rotational speed ω _v , g is the gravitational acceleration, λ = 1-(ω _em /ω _v ) is the slip speed (slip velocity), μ(λ) = c ₁ (1-e ^-C2|λ| -c ₃ |λ|) is a nonlinear function based on the Burckhardt model with coefficient c _i (i=1,2,3).

Now, the proposed method modifies the actual kinetics (Equation 1) of the test apparatus (Fig. 4) to the desired kinetics (Equation 22a). On the other hand, the load torque T _l (= -R _r F _f ) is generated by dynamic models (Equations 22b and 22c) implemented on the dynamometer side. Further, the motor torque is applied by the nonlinear controller of the following equation (23).

Where λ ^* (= 0.2) is the desired slip speed, T _B and γ _B are the design parameters of the controller, sign() represents the sign of the input signal (1 or -1), sat() represents the motor torque | T _m |<13 [Nm].

Remark 4. Equation (22) represents the dynamic behavior of a single wheel of a vehicle in a sudden braking situation, that is, F _f is called an adhesion force determined by the vehicle's slip speed λ. The controller of Equation 23 is known as a bang bang controller for preventing the vehicle from slipping. Using the simulation model in MATLAB/Simulink, the behavior of the closed loop systems of equations 22 and 23 can be easily tested.

8, the parameters of the desired emulation kinetics of Equation 22 are m = 10 [kg], J _em = 5J, B _em = 5B, g = 9.8 [m/s2], R _r = 0.2, c ₁ = 0.5, c ₂ = 24, and c ₃ = 0.52, respectively. 8(a) shows the experimental results, and FIG. 8(b) shows the simulation results.

The initial condition of the rotational speed is given by ω _m (0) = ω _v (0) = 83 [rad/s]. The simulation results to be compared are represented by T _em , ω _ev and ω _em , respectively (corresponding to the measurements of T _m , ω _v and ω _m when emulating Equation 22). In Fig. 8, the response of torque is slightly different depending on the phase difference (|T _m -T _em | ≤ 2 [Nm]), while the emulation error (|ω _m -ω _em |) is less than 5 [rad/s]. In this experiment, the emulation performance is degraded because the motor torque is greatly changed by the use of the sign() function in Equation (23).

9 is a view showing the actual implementation of the experimental system (FIG. 4) for evaluating the performance of the proposed method (FIG. 3) of this embodiment.

The proposed method of this embodiment is implemented in TMS320f28377D, a microprocessor with a 200 [MHz] clock frequency. The three-phase current (ia, ib, ic) is measured by a current sensor, while the three-phase voltage (va, vb, vc) is a permanent magnet synchronous motor (PMSM:) through a switching device with a switching frequency of 10 [khz] selected. Permanent Magnet Synchronous Motor).

The rotational speed of the shaft is calculated by numerical differential (ω _m = dθ _m /dt). Here, in order to alleviate some problems related to numerical differentiation, the shaft angle θ _m is measured with a sin/cos encoder, which has a higher measurement resolution than conventional optical encoders. All measurements are monitored every 0.3 [ms] on a laptop using the CAN protocol. Finally, the electrical parameters of the PMSM are: stator inductance L _d = L _q = 0.12 [mH], stator resistance R = 9.5 [Ω], rotor flux linkage m = 0.025 [Wb] and pole of permanent magnet The number of pairs (Pole Pair) is P = 8.

In this embodiment, a new emulation method based on a disturbance observer is proposed. The structure of the proposed method is simple for both analysis and implementation, and the experimental results demonstrate that the emulation performance of the proposed method is excellent when the desired emulation kinetics are linear. However, in the case of a nonlinear load, the emulation performance is slightly deteriorated. All emulation methods assume reasonable conditions such as measurement noise, current/torque controller bandwidth, and so on. Tuning the proposed method with a single loop with only one design parameter is a matter of simple procedure, which means that it is really easy to handle various conditions.

As described above, the emulation method according to the present embodiment may be implemented in a program and recorded in a computer-readable recording medium. The program for implementing the emulation method according to the present embodiment is recorded, and the computer-readable recording medium includes all types of recording devices in which data that can be read by a computer system is stored. Examples of such computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage devices. In addition, the computer readable recording medium may be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed manner. In addition, functional programs, codes, and code segments for implementing the present embodiment can be easily inferred by programmers in the technical field to which this embodiment belongs.

The above description is merely illustrative of the technical spirit of the embodiments of the present invention, and those skilled in the art to which the embodiments of the present invention pertain may have various modifications and variations without departing from the essential characteristics of the embodiments of the present invention. will be. Therefore, the embodiments of the present invention are not intended to limit the technical idea of the present invention, but to explain it, and the scope of the technical idea of the present invention is not limited by these embodiments.

110: motor under test
120: dynamometer
310: electric torque receiver
320: load torque receiver
330: speed detector
340: emulator
410: dynamometer driver

Claims (6)

A device for emulating a motor under test connected to a dynamometer having a specific load,
An electric torque receiver for receiving an electric torque value acting on the motor under test;
A load torque receiver that receives a load torque value of a specific dynamic to be emulated;
A speed detector that detects the rotational speed of the motor under test; And
A dynamometer torque command acting on the dynamometer using the first value, which is the product of the rotation speed multiplied by the friction of the dynamometer, the second value, which is the product of the rotation speed multiplied by the inertia of the dynamometer, the load torque value, and the electric torque value. An emulator for generating a; And
A dynamometer driver that drives the dynamometer according to the dynamometer torque command
Emulation device comprising a. According to claim 1, The emulator,
And generating the dynamometer torque command using a third value which is a value obtained by subtracting the first value from the load torque value from the electric torque value. According to claim 2, The emulator,
And generating the dynamometer torque command using a fourth value that is the value obtained by subtracting the second value from the integrated value of the third value. According to claim 3, The emulator,
And generating the dynamometer torque command by multiplying the fourth value by a first parameter. According to claim 1, The emulator,
The following expression

(However, Tm: the electric torque, T _l : the load torque, B _em : friction of the dynamometer, J _em : inertia of the dynamometer, ω _m : rotational speed of the motor under test, δ: design parameter, 1/ s: integrator) emulation device, characterized in that for generating the dynamometer torque command. A method for emulating a motor under test connected to a dynamometer having a specific load,
Receiving an electric torque value acting on the motor under test;
Receiving a load torque value of a specific dynamic to be emulated;
Detecting the rotational speed of the motor under test; And
A dynamometer torque command acting on the dynamometer using the first value, which is the product of the rotation speed multiplied by the friction of the dynamometer, the second value, which is the product of the rotation speed multiplied by the inertia of the dynamometer, the load torque value, and the electric torque value. Generating a; And
Driving the dynamometer according to the dynamometer torque command
Emulation method comprising a.

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