The invention provides a torque compensation method and device of a motor, a storage medium and electronic equipment, and the method comprises the steps: a determination step: obtaining the actual rotating speed and the lag time of the motor, and determining a predicted rotating speed at least according to the actual rotating speed and the lag time; a filtering processing step: filtering the predicted rotating speed to obtain a filtered predicted rotating speed; a PID processing step: processing the filtered predicted rotating speed by adopting a PID controller to obtain a torque compensation value; and a compensation step: compensating the torque of the motor by adopting the torque compensation value. The predicted rotating speed is filtered, due to the delay effect of first-order low-pass filtering, the phase of the predicted rotating speed after filtering is almost consistent with the phase of the actual rotating speed of the motor, and at the moment, the torque compensation value does not have phase delay, so that the torque compensation value can act on the rotating speed change of the motor in time; the problem that torque compensation is not timely due to the fact that the rotating speed of the motor at the current moment is filtered in the prior art is solved.

    本申请提供了一种电机的扭矩补偿方法、装置、存储介质和电子设备,该方法包括:确定步骤:获取电机的实际转速和滞后时间,并至少根据实际转速和滞后时间,确定预测转速;滤波处理步骤:对预测转速进行滤波处理,得到滤波后的预测转速;PID处理步骤:采用PID控制器,对滤波后的预测转速进行处理,得到扭矩补偿值;补偿步骤:采用扭矩补偿值对电机的扭矩进行补偿。对预测转速进行滤波处理,由于一阶低通滤波的延迟效果,滤波后的预测转速相位与实际电机转速相位近乎一致,此时扭矩补偿值不存在相位延迟,这使得扭矩补偿值能够及时对电机转速变化做出动作,进而解决了现有技术中对电机在当前时刻的转速进行滤波而导致扭矩补偿不及时的问题。


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    Title :

    Torque compensation method and device of motor, storage medium and electronic equipment


    Additional title:

    电机的扭矩补偿方法、装置、存储介质和电子设备


    Contributors:
    MENG HUIBIN (author) / MIAO QIANG (author) / SUN LIPENG (author) / XU YAMEI (author) / ZHAI YAQIANG (author)

    Publication date :

    2023-06-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen




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