TW202027401A - Torque mode motor driver - Google Patents

Abstract

A torque mode motor driver is disclosed in the present invention. The torque mode motor driver includes a compensation computing module, an auto-speed regulator (ASR), and a current control loop. The compensation computing module is utilized to receive a first motor speed, an initial torque command, and an external speed limit relating to a second motor speed, generate an inertia torque compensation command and a speed limit torque compensation command, and further generate a compensation torque command. The ASR and the current control loop are utilized to receive the compensation torque command and generate a motor driving command transmitting to a torque mode motor to maintain a fixed tension of a winding material.

Description

Torque mode motor drive device

The present invention relates to a driving device, in particular to a torque mode motor driving device.

In applications such as metallurgy, papermaking, film, dyeing and finishing, weaving, etc., two motors are usually used to rewind and unwind the materials in the above-mentioned fields. The materials for rewinding and unwinding are called roll materials below. .

One end of the coil is connected to the first rotating shaft, and the other end is connected to the second rotating shaft. Among the above two motors, a first motor drives a first rotating shaft, and a second motor drives a second rotating shaft. When the first motor is driven by a torque mode motor drive device and the second motor is driven by a speed mode motor drive device, the web is unwinding; otherwise, the first motor is driven by a speed mode motor When the driving device is driven, and the second motor is driven by the torque mode motor driving device, the web is wound up. The motor driven by the speed mode motor drive device receives a certain speed command to maintain a fixed speed, and the motor driven by the torque mode motor drive device receives a certain torque command to maintain a fixed torque.

Generally speaking, the first motor and the second motor need to cooperate with each other to rewind and unwind the roll material. If the first motor and the second The motors do not cooperate with each other, which may cause the tension between the coils to change. If the tension is too high, the coil material may be stretched, the use characteristics of the coil material may be damaged, and the non-rigid coil material may even be broken. If the tension is insufficient, the coil material will become loose, which may cause the coil material to wrinkle or bend. For cloth, if the cloth has wrinkles or creases, it will be marked during inspection and will affect the grade of the cloth.

However, in the prior art, the controller only adjusts the constant speed command or constant torque command according to the coil tension sensed by a force sensing module, and does not follow the winding, unwinding, and speed modes of motor drive. Adjust the acceleration or deceleration of the motor driven by the device and the acceleration or deceleration of the motor driven by the torque mode motor driver. Especially when the motor driven by the speed mode motor drive device accelerates or decelerates, since the shaft driven by the motor driven by the torque mode motor drive device also has a moment of inertia, the motor driven by the speed mode motor drive device is not known In the case of acceleration or deceleration, only using the coil tension to adjust the constant torque command cannot effectively adjust the motor driven by the torque mode motor drive device.

The following examples illustrate that the torque mode motor drive device drives the first motor, and the speed mode motor drive device drives the second motor.

Please refer to the first figure. The first figure shows the speed-torque diagram of the first motor drive in the prior art. In the prior art, the torque mode motor drive device that drives the first motor has a torque limit value. The torque limit value can be positive or negative. Positive or negative means that the direction of the torque is different, and the positive torque limit value Defined as a torque upper limit TLU, negative rotation The torque limit value is defined as a torque lower limit value TLD. When the load of the coil drives the first motor, the first speed of the first motor exceeds a speed limit of the torque mode motor drive device, the torque mode motor drive device will instantly generate a torque limit representing the torque limit value The value command is used to drive the first motor so that the first motor will not be driven by the load of the coil.

Among them, area I is a speed limit area, and areas II and III are speed abnormal areas. When the load of the coil material is enough to affect the first speed of the first motor to enter the zone II or III, the torque mode motor drive device will directly generate the torque limit value to command the drive torque mode motor to pull its speed back to Area I. However, the torque limit value represented by the momentary torque limit value command is too large, which is likely to cause drastic changes in the coil tension, causing the coil to break or a large section of the coil to loosen. It is easy to cause the coil material to roll badly or break and must be rewinded.

In view of this, one of the main objectives of the present invention is to provide a torque mode motor drive device for driving the first motor to gradually output a limit value command and gradually return to one of the constant torque normal working state, so that the coil Maintain a fixed tension without drastic changes.

In order to solve the problem of the prior art, the necessary technical means adopted by the present invention is to provide a torque mode motor drive device, which is used to control a first motor, which drives a first shaft to rotate and rotates at a certain torque. In normal working condition, it cooperates with the operation of a second motor for driving a second rotating shaft to maintain a fixed torque output to the first rotating shaft, so that two ends are respectively wound on the roll of the first rotating shaft and the second rotating shaft The material maintains a fixed tension when the first and second rotating shafts are driven to rotate. The torque mode motor drive device includes an external compensation calculation module, a speed control loop, and a current control loop.

The external compensation calculation module is electrically connected to a speed feedback device for feedback of a first speed of the first motor and a controller for receiving the first speed of the first motor and the controller generates one The initial torque command, and when one of the second speeds of the second motor changes to make the first motor out of the normal working state of constant torque, an inertia torque compensation command and a speed limit torque compensation command are generated, and the inertia The torque compensation command, the speed limit torque compensation command and the initial torque command are superimposed to calculate a compensation torque command. The speed control loop is electrically connected to an external compensation calculation module to receive a compensation torque command and generate a speed control torque command accordingly. The current control loop is electrically connected to the speed control loop to receive the speed control torque command and generate a motor drive command accordingly, so as to drive the first motor to gradually output a limit torque and gradually return to the constant torque normal One of the working status.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to make the external compensation calculation module in the torque mode motor drive device include an inertia compensation unit, and the inertia compensation unit is used to receive control The output of one of the external speed limit values related to the second speed is used to generate an inertia torque compensation command.

On the basis of the above-mentioned necessary technical means, one of the subsidiary technical means derived from the present invention is to make the inertia compensation unit in the torque mode motor drive device have a built-in calculation rule, and according to the calculation rule, generate the inertia torque compensation command , And the calculation rule is a torque speed inertia Calculation formula.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to make the external compensation calculation module in the torque mode motor drive device include a speed limit compensation unit, and the speed limit compensation unit is used to receive The first speed, and compare the first speed with a built-in speed limit value, and generate the speed limit torque compensation command accordingly.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to enable the speed limit compensation unit in the torque mode motor drive device to determine that the first speed is greater than one of the speed limit values. When the speed limit torque compensation command is generated, and the speed limit torque compensation command system is opposite to the initial torque command.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to enable the speed limit compensation unit in the torque mode motor drive device to determine that the first speed is less than one of the speed limit values. When the speed limit torque compensation command is generated, and the speed limit torque compensation command system is in the same direction as the initial torque command.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to make the external compensation calculation module in the torque mode motor drive device include a command superimposition unit, and the command superimposition unit is used to transfer the inertia The torque compensation command, the speed limit torque compensation command and the initial torque command are superimposed to calculate the compensation torque command.

As mentioned above, the torque mode motor drive device provided by the present invention uses an external compensation calculation module to generate the inertia torque compensation command and the speed limit torque compensation command, and further combine the inertia torque compensation command and the speed limit torque Compensation command and initial torque command superimposed calculation A compensation torque command is issued, and then the speed control loop and the current control loop are used to drive the first motor, so that the first motor gradually outputs the limit value torque and gradually returns to one of the normal working conditions of constant torque, so as to maintain the coil In fixed tension.

100‧‧‧Tension Control System

1‧‧‧Torque mode motor drive device

11‧‧‧External compensation calculation module

111‧‧‧Inertia compensation unit

112‧‧‧Speed limit compensation unit

113‧‧‧Command Overlay Unit

13‧‧‧Speed control loop

14‧‧‧Current control loop

2‧‧‧First Motor

3‧‧‧The first shaft

4‧‧‧Speed mode motor drive device

5‧‧‧Second Motor

6‧‧‧Second shaft

7‧‧‧Roll material

8‧‧‧Controller

9‧‧‧Sensing Module

10‧‧‧Speed feedback device

I, II, III‧‧‧area

L1, L2‧‧‧Buffer line

SLD‧‧‧Lower speed limit

SLU‧‧‧Speed upper limit

TLD‧‧‧Torque lower limit

TLU‧‧‧Torque upper limit

Tq‧‧‧Initial torque

Tqc‧‧‧Speed limit compensation torque

Tq1‧‧‧Load torque

W1‧‧‧Second speed

W2‧‧‧First speed

The first figure shows the speed-torque diagram of the first motor driven by the torque mode motor drive device in the prior art; the second figure shows the torque mode motor drive device provided by the preferred embodiment of the present invention applied to tension The schematic diagram of the control system; the third diagram shows the block diagram of the torque mode motor drive device provided by the preferred embodiment of the present invention applied to the tension control system; the fourth diagram shows the torque provided by the preferred embodiment of the present invention The schematic diagram of the speed-torque relationship of the first motor controlled by the mode motor drive device; the fifth diagram shows that the first motor controlled by the torque mode motor drive device provided by the preferred embodiment of the present invention maintains a normal working state at a constant torque The schematic diagram; the sixth diagram is a schematic diagram showing the abnormal working state of the first motor controlled by the torque mode motor drive device provided by the preferred embodiment of the present invention; and the seventh diagram is a schematic diagram showing the first motor provided by the preferred embodiment of the present invention A schematic diagram of the first motor controlled by the torque mode motor drive device in another abnormal working state.

Please refer to the second and third figures, where the second figure is a schematic diagram showing the torque mode motor drive device provided by the preferred embodiment of the present invention applied to a tension control system; and the third figure is a diagram showing the comparison of the present invention The block diagram of the torque mode motor drive device provided by the preferred embodiment applied to the tension control system. As shown in the figure, a force control system 100 includes a torque mode motor driving device 1, a first motor 2, a first rotating shaft 3, a speed mode motor driving device 4, a second motor 5, and a second motor. The rotating shaft 6, a coil 7, a controller 8, a sensing module 9 and a speed feedback device 10.

The torque mode motor driving device 1 is used to control the first motor 2 to drive the first shaft 3 to rotate. The speed mode motor driving device 4 is used to control the second motor 5 to drive the second shaft 6 to rotate. The two ends of the coil 7 are respectively wound on the first rotating shaft 3 and the second rotating shaft 6. The coil 7 can be wire, paper, cloth, plastic, ribbon, metal, or other materials that require tension control. The sensing module 9 is in contact with the coil 7 and senses a tension of the coil 7. The controller 8 is electrically connected to the sensing module 9 for receiving the tension of the roll material 7, and can be a programmable logic controller (PLC).

The controller 8 is also electrically connected to the torque mode motor drive device 1 and the speed mode motor drive device 4 to generate an initial torque command and transmit it to the torque mode motor drive device 1, and generate a constant speed command and transmit it to the speed The mode motor driving device 4 controls the first motor 2 to maintain a constant torque output to the first rotating shaft 3 and controls the second motor 5 to maintain a constant speed output to the second rotating shaft 6. Therefore, the two ends are divided The web 7 wound around the first rotating shaft 3 and the second rotating shaft 6 is maintained at a fixed tension when the first rotating shaft 3 and the second rotating shaft 6 are driven to rotate. In addition, the controller 8 also outputs an external speed limit value, and the external speed limit value is related to a second speed W1 of the second motor 5 (marked in the fifth diagram), that is, the external speed limit value can reflect Changes in the second speed W1.

The torque mode motor drive device 1 includes an external compensation calculation module 11, a speed control loop 13 and a current control loop 14.

The external compensation calculation module 11 is electrically connected to a speed feedback device 10 for feedback of a first speed W2 (marked in the fifth figure) of the first motor 2 and a controller 8 for receiving the first speed The first speed W2 of a motor 2 and the initial torque command and external speed limit value generated by the controller 8, and when the second speed W1 of the second motor 5 changes, an inertia torque compensation command and a speed limit are generated Torque compensation command, and superimpose the inertia torque compensation command, the speed limit torque compensation command and the initial torque command to calculate a compensation torque command. The external compensation calculation module 11 includes an inertia compensation unit 111, a speed limit compensation unit 112 and a command superimposition unit 113. The speed feedback device 10 can be an encoder.

The inertia compensation unit 111 has a built-in arithmetic rule to receive the external speed limit value related to the second speed W1 output by the controller 8, and generate an inertia torque compensation command according to the arithmetic rule, where the arithmetic rule includes 1. Corresponding relationship between torque (τ), speed (ω), inertia (J), and Laplace conversion: τ=ωJs. While in In this embodiment, the calculation rules are further based on a low-pass filter clock built in the controller 8 to perform corresponding calculations. Among them, the inertia is estimated by an auto-tuning function of the torque mode motor drive device 1. Since the magnitude of inertia will also affect the speed response of the first motor 2, it is necessary to generate an inertia torque compensation command. Although the inertia changes with the mass and radius, the inertia torque compensation command generated by the inertia compensation unit 111 according to the initial estimated inertia, compared to the prior art without compensation for inertia, the present invention can make the first motor The speed response of 2 is faster than the previous technology.

The speed limit compensation unit 112 is electrically connected to the speed feedback device 10 to receive the first speed W2 and compare the first speed W2 with a built-in speed limit value to generate a speed limit torque compensation command.

When the speed limit compensation unit 112 determines that the first speed W2 is greater than one of the speed limit values, the upper speed limit SLU (marked in the fourth diagram), a speed limit torque compensation command that is opposite to the initial torque command is generated. In more detail, the speed difference between the first speed W2 and the upper speed limit SLU is calculated first, and then the speed difference is multiplied by a speed loop gain value to generate a speed limit torque compensation command.

When the speed limit compensation unit 112 determines that the first speed W2 is less than one of the speed limit values, the lower speed limit SLD, a speed limit torque compensation command in the same direction as the initial torque command is generated. In more detail, the speed difference between the lower speed limit SLD and the first speed W2 is calculated first, and then the speed difference is multiplied by a speed loop gain value to generate a speed limit torque compensation command.

The command superimposition unit 113 is the electrical inertia compensation unit 111, the speed limit compensation unit 112, and the controller 8, which is used to receive the initial torque command, the inertia torque compensation command, and the speed limit torque compensation command, and the initial torque command , The inertia torque compensation command and the speed limit torque compensation command are superimposed to calculate a compensation torque command. The command superimposing unit 113 can be an adder, a chip with arithmetic function, or other firmware that can superimpose commands. The command superimposition unit 113, the speed limit compensation unit 112, and the inertia compensation unit 111 can also be modularized into a chip or a firmware.

The speed control loop 13 is electrically connected to the command superimposing unit 113 to receive the compensation torque command and generate a speed control torque command accordingly. The current control loop 14 is electrically connected to the speed control loop 13 to receive a speed control torque command and generate a motor drive command accordingly to drive the first motor 2 to gradually output a limit value torque and gradually return to The constant torque is one of the normal working conditions, and thus the coil material 7 is maintained at a constant tension. The current control loop 14, the speed control loop 13, and the external compensation calculation module 11 can also be modularized into a firmware or a program chip.

Next, please refer to Figures 3 to 5 together. Figure 4 is a schematic diagram showing the speed-torque relationship of the first motor controlled by the torque mode motor drive device provided by the preferred embodiment of the present invention; and The fifth figure is a schematic diagram showing that the first motor controlled by the torque mode motor drive device provided by the preferred embodiment of the present invention maintains a constant torque in a normal working state. Among them, the rotation speed in the fourth figure is the first speed W2 of the first motor 2.

When the second speed W1 of the second shaft 6 and the first speed W2 of the first shaft 3 are both clockwise, and the first shaft 3 driven by the first motor 2 is on the right side of the second shaft 6, the tension control system The 100 series rewinds the coil material 7, as shown in the fifth figure. When the second speed W1 of the second shaft 6 and the first speed W2 of the first shaft 3 are both clockwise, and the first shaft 3 driven by the first motor 2 is on the left side of the second shaft 6, the tension control system The 100 series unwinds the roll material 7. If the second speed W1 and the first speed W2 are both counterclockwise, the first rotating shaft 3 is unwinding on the right side of the second rotating shaft 6 and the first rotating shaft 3 is winding on the left side of the second rotating shaft 6.

The fifth figure shows that the torque mode motor drive device 1 controls the first motor 2 to maintain a constant torque working state, that is, corresponds to the region I located in the first quadrant in the fourth figure. At this time, the second speed W1 is in the same direction as the first speed W2, and an initial torque Tq represented by the initial torque command is also in the same direction as the first speed W2. Although the load torque Tq1 caused by the coil material 7 is opposite to the initial torque Tq, when the load torque Tq1 is smaller than the initial torque Tq, the rotation direction of the first shaft 3 will not be affected. Therefore, the torque mode motor drive device 1 does not perform a speed limit torque compensation command on the initial torque command, but still generates an inertia torque compensation command.

Please refer to the third, fourth, and sixth diagrams. The sixth diagram is a schematic diagram showing the abnormal working state of the first motor controlled by the torque mode motor drive device provided by the preferred embodiment of the present invention.

In the sixth figure, the second speed W1, the first speed W2 and the initial torque Tq are also in the same direction, but the load torque Tq1 caused by the coil 7 It is also in the same direction as the initial torque Tq. Therefore, the first speed W2 of the first shaft 3 driven by the first motor 2 will increase, causing the first speed W2 of the first motor 2 to exceed the upper speed limit SLU in the fourth figure. Therefore, the schematic diagram of the sixth figure corresponds to the area II in the fourth figure.

The speed limit compensation unit 112, when judging that the first speed W2 exceeds the upper speed limit SLU, generates a speed limit torque compensation command, and the speed limit torque compensation command is opposite to the initial torque command. In more detail, the speed limit compensation torque Tqc represented by the speed limit torque compensation command is opposite to the initial torque Tq, so that the accelerated first speed W2 is gradually decelerated and attempts to pull the first motor 2 back Operation in area I.

Preferably, the speed limit compensation torque Tqc will decelerate the accelerated first speed W2 back into the area I, that is, the first speed W2 will be less than the upper speed limit SLU.

If the load torque Tq1 is too large and exceeds the range that the speed limit compensation torque Tqc can compensate, the speed limit compensation torque Tqc cannot decelerate the accelerated first speed W2 back into the area I. The speed limit compensation torque Tqc will also offset part of the load torque Tq1, so that the torque value will not instantly become a torque lower limit TLD built in the torque mode motor drive device 1, but gradually become the lower torque limit The value TLD is a buffer line L1 with a negative slope of area II. Therefore, the torque value does not change suddenly, which solves the problem that the torque value in the prior art instantly becomes the torque lower limit value TLD.

It should be noted here that the positive or negative of the torque value represents the direction of the torque, and the number of the torque value represents the magnitude of the torque. because Therefore, when the torque value is negative, the smaller and smaller torque value indicates that the number of the torque value is larger and larger, which indicates that the torque is in the opposite direction and the magnitude of the torque is larger and larger. For example, the torque value is -10 and the torque value is -3. In the mathematical sense, -10 is less than -3, but in the physical sense, the torque value is -10 and the torque value is -3. The torque in the opposite direction, and the torque value of -10 is greater than the torque value of -3.

Please refer to the third, fourth, and seventh diagrams. The seventh diagram shows the first motor controlled by the torque mode motor drive device provided by the preferred embodiment of the present invention in another abnormal working state. Schematic.

In the seventh figure, the second speed W1 is in the same direction as the initial torque Tq, but the load torque Tq1 caused by the coil material 7 is opposite to the initial torque Tq, and the first speed W2 is opposite to the initial torque Tq . It means that the first rotating shaft 3 driven by the first motor 2 is pulled by the load torque Tq1, causing the first speed W2 of the first motor 2 to reverse the initial torque Tq, making the first speed W2 less than the speed in the fourth figure Limit SLD. Therefore, the schematic diagram of the seventh figure corresponds to the area III in the fourth figure.

The speed limit compensation unit 112, when determining that the first speed W2 is lower than the lower speed limit SLD, generates a speed limit torque compensation command, and the speed limit torque compensation command is in the same direction as the initial torque command. In more detail, the speed limit compensation torque Tqc represented by the speed limit torque compensation command is in the same direction as the initial torque Tq, so that the traction of the first speed W2 gradually accelerates, and attempts to pull the first motor 2 back Run in area I.

Preferably, the speed limit compensation torque Tqc will be The induced first speed W2 accelerates back into the area I, that is, the first speed W2 will be greater than the lower speed limit SLD.

If the load torque Tq1 is too large and exceeds the range that the speed limit compensation torque Tqc can compensate, the speed limit compensation torque Tqc cannot accelerate the first speed W2 after traction back to the region I. The speed limit compensation torque Tqc will also offset part of the load torque Tq1, so that the torque value will not instantly become a torque upper limit TLU built in the torque mode motor drive device 1, but gradually become the torque upper limit The value TLU is a buffer line L2 where the slope of the region III is negative. Therefore, the torque value does not change suddenly, which solves the problem that the torque value in the prior art instantly becomes the torque upper limit value TLU.

While the speed limit compensation unit 112 generates a speed limit torque compensation command, the inertia compensation unit 111 will also generate an inertia torque compensation command according to the operation rules. The command superimposing unit 113 superimposes the inertia torque compensation command and the speed limit torque compensation command to the initial torque command, generates a compensation torque command, and transmits it to the motor drive command generated by the speed control loop 13 and the current control loop 14 The first motor 2 thereby controls the first motor 2 to return to the constant torque normal working state, that is, the area I in the fourth figure. Or is the torque value gradually changed to the lower torque limit TLD or the upper torque limit TLU through the buffer line L1 or L2, instead of directly suddenly becoming the lower torque limit TLD or the upper torque limit TLU, so as to make the rotation The moment value will not change drastically instantly.

In summary, the torque mode motor drive device provided by the preferred embodiment of the present invention uses an external compensation calculation module to generate inertia torque compensation commands and speed limit torque compensation commands, and convert the inertia to The torque compensation command, the speed limit torque compensation command and the initial torque command are superimposed to calculate the torque compensation command, and then the speed control loop and the current control loop are used to generate the motor drive command and transmit it to the first motor to control the first motor to maintain The constant torque is in the normal working state, so that the coil is maintained at the preset tension.

Compared with the previous technology, when the torque mode motor is out of the normal working state of constant torque, it will directly generate the torque limit command that is the same as the torque limit value. It is easy to cause the coil material to Produce irreversible material damage. The torque mode motor driving device provided by the present invention can enable the first motor to gradually output a limit value torque, thereby avoiding the instantaneous drastic change of torque and subsequent problems arising therefrom.

Based on the above detailed description of the preferred embodiments, it is hoped that the characteristics and spirit of the present invention can be described more clearly, rather than limiting the scope of the present invention by the preferred embodiments disclosed above. On the contrary, its purpose is to cover various changes and equivalent arrangements within the scope of the patent application for the present invention.

100‧‧‧Tension Control System

1‧‧‧Torque mode motor drive device

11‧‧‧External compensation calculation module

111‧‧‧Inertia compensation unit

112‧‧‧Speed limit compensation unit

113‧‧‧Command Overlay Unit

13‧‧‧Speed control loop

14‧‧‧Current control loop

2‧‧‧First Motor

4‧‧‧Speed mode motor drive device

5‧‧‧Second Motor

8‧‧‧Controller

9‧‧‧Sensing Module

10‧‧‧Speed feedback device

Claims (7)

A torque mode motor driving device is used to control a first motor, the first motor drives a first rotating shaft to rotate, and in a normal working state with a certain torque, it cooperates with a second for driving a second rotating shaft The motor operates to maintain the output of a fixed torque to the first rotating shaft, so that two ends of the web wound on the first rotating shaft and the second rotating shaft are driven to rotate on the first rotating shaft and the second rotating shaft When maintaining a constant tension, the torque mode motor drive device includes: an external compensation calculation module, which is electrically connected to a speed feedback device for feedback of a first speed of the first motor and a control A device for receiving the first speed of the first motor and an initial torque command and an external speed limit value generated by the controller, and changing a second speed of the second motor to make the first When the motor leaves the constant torque normal working state, an inertia torque compensation command and a speed limit torque compensation command are generated, and the inertia torque compensation command, the speed limit torque compensation command and the initial torque command are superimposed A compensation torque command is calculated; a speed control loop is electrically connected to the external compensation calculation module to receive the compensation torque command and generate a speed control torque command accordingly; and a current control loop , Is electrically connected to the speed control loop to receive the speed control torque command and generate a motor drive command accordingly to drive the first motor to gradually output a limit torque and gradually return to the constant torque One of the normal working conditions. For the torque mode motor drive device described in claim 1, wherein the external compensation calculation module includes an inertia compensation unit, and the inertia compensation unit is used to receive the external speed output by the controller The limit value is generated based on the inertia torque compensation command, and the external speed limit value is related to the second speed. For example, the torque mode motor drive device described in item 2 of the scope of patent application, wherein the inertia compensation unit has a built-in operation rule, and generates the inertia torque compensation command according to the operation rule, and the operation rule is a Torque speed inertia calculation formula. For example, in the torque mode motor drive device described in claim 1, wherein the external compensation calculation module includes a speed limit compensation unit, and the speed limit compensation unit is used to receive the first speed and compare The first speed and a built-in speed limit value are used to generate the speed limit torque compensation command. For example, the torque mode motor drive device described in item 4 of the scope of patent application, wherein the speed limit compensation unit generates the speed limit rotation when determining that the first speed is greater than one of the speed limit values Torque compensation command, and the speed limit torque compensation command system is opposite to the initial torque command. The torque mode motor drive device described in item 4 of the scope of patent application, wherein the speed limit compensation unit is determining that the first When the speed is less than one of the speed limit values, the speed limit torque compensation command is generated, and the speed limit torque compensation command is in the same direction as the initial torque command. For the torque mode motor drive device described in item 1 of the scope of patent application, wherein the external compensation calculation module includes a command superimposing unit, and the command superimposing unit is used for the inertia torque compensation command, the The speed limit torque compensation command and the initial torque command are superimposed to calculate the compensation torque command.

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