CN106788063B - Motor load mechanical impedance it is online from sensing detection method and system - Google Patents
Motor load mechanical impedance it is online from sensing detection method and system Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
Abstract
The invention discloses a kind of the online from sensing detection method and system of motor load mechanical impedance, the electrical impedance for passing through detection motor realizes the indirect measurement of the mechanical impedance loaded to it；Firstly, rotor rotating coordinate system is sampled and transformed to threephase stator electric current, the q shaft current ingredient with the detection voltage same frequency injected is extracted using bandpass filter；Hilbert transformation, and the analytic signal of resultant voltage and electric current are carried out to the detection voltage and q shaft current ingredient respectively；Complex operation is carried out to the analytic signal and obtains the electrical impedance of motor；The mechanical impedance of the load on motor output shaft is finally calculated using the coupled relation of the electrical impedance of motor and mechanical impedance.In the case where without using additional force/torque, motion sensor, the detection of the mechanical impedance loaded to it is realized using motor driver itself, the disadvantages of structure is complicated, volume is big to solve tradition machinery impedance measurement method, at high cost, sensor load effect.
Description
Technical field
The present invention relates to the detection technique fields of mechanical impedance, more particularly to a kind of the online of motor load mechanical impedance
From sensing detection method and system.
Background technique
Mechanical impedance is to describe the parameter of mechanical system dynamic characteristic of power frequency, and suffered simple harmonic quantity swashs when being system excited vibration
The ratio between power of shaking and its simple harmonic motion response.Mechanical impedance is by the lumped parameter quality of system, damping, rigidity and excited frequency table
Show, therefore quality, damping, rigidity these system features can be extracted by mechanical impedance measurement.Mechanical impedance can also be used to
The kinetic model of building system or component obtains the analytical expression of ssystem transfer function.The measurement of mechanical impedance is in machine
People field has a wide range of applications.It, can be with by the measurement of mechanical impedance in robot and circumstances not known interactive process
The features such as quality, damping, the rigidity of unknown object are detected, to be identified, be analyzed to unknown object.In addition, in robot
In control, the measurement of ambient mechanical impedance can be used for designing adaptive Optimal Control device, to improve the performance of system, improve it
Stability, robustness.
However traditional mechanical impedance measurement method need to usually be related to multiple excitations and detection device, including driver, power
Sensor and acceleration transducer etc..If patent CN103344322B has used a shake table as actuation generator, one
Force sensor measuring exciting force, an acceleration transducer measure motor imagination.Patent CN102204815B has invented a kind of people
Body mechanical impedance measuring device and method use linear motor to generate the disturbing signal for acting on human body as driver, use
Force sensor measuring perturbed force, and use the motor imagination signal of optical grating ruler measurement human body.Patent CN103364160A is invented
A kind of measuring device and method of heald frame mechanical impedance are used power hammer as actuation generator, are passed using force snesor, acceleration
Sensor, displacement sensor force signal and motor imagination signal.Due to being related to multiple excitations and sensing equipment, above-mentioned tradition
Usually there is the disadvantages of structure is complicated, volume is big, at high cost in mechanical impedance measuring device.This also causes these methods to be difficult to use in
The mechanical impedance of small object detects, it is also difficult to carry out real-time online detection to it in object normal operating conditions.In addition, passing
The use of sensor can introduce load effect, and the accuracy of measurement is caused to reduce.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a kind of online autobiographies of motor load mechanical impedance
Feel detection method and system, it is real using motor driver itself in the case where not using additional force/torque, motion sensor
The detection of the mechanical impedance now loaded to it, to solve tradition machinery impedance measurement method, structure is complicated, volume is big, cost
The disadvantages of height, sensor load effect, and realize to real-time in the detection and object normal operating conditions of small object
On-line checking.
A kind of motor load mechanical impedance provided by the invention it is online from sensing detection method, this method passes through detection electricity
The electrical impedance of machine realizes the indirect measurement of the mechanical impedance loaded to it；Firstly, threephase stator electric current is sampled and is converted
To rotor rotating coordinate system, the q shaft current ingredient with the detection voltage same frequency injected is extracted using bandpass filter；Its
It is secondary, Hilbert transformation, and the analytic signal of resultant voltage and electric current are carried out to the detection voltage and q shaft current ingredient respectively；
Then, complex operation is carried out to the analytic signal and obtains the electrical impedance of motor；Finally utilize the electrical impedance of motor and mechanical resistance
Anti- coupled relation calculates the mechanical impedance of the load on motor output shaft.
It is described that threephase stator electric current is sampled and transforms to rotor rotating coordinate system specifically:
According to formula (1), by threephase stator current sampling signal ia、ibAnd icTransform to rotor rotating coordinate system electric current letter
Number idAnd iq
Wherein p is motor number of pole-pairs；θmFor rotor mechanical angle.
The analytic signal of the voltage are as follows:
Wherein, vqiFor the analytic signal of electric current described in detectable voltage signals are as follows:
Wherein, iqiFor with detectable voltage signals vqiQ shaft current ingredient with identical frequency.
The electrical impedance Z of detectable voltage signals frequency is obtained according to the analytic signal of the voltage and currenteq,
The output end mechanical impedance Z of motor is obtained further according to formula (18)mWith the electricity of its input terminal detectable voltage signals frequency
Impedance ZeqRelationship, calculate the mechanical impedance of the load on motor output shaft:
Wherein, LqFor the inductance value of q axis, λ is the amplitude for the magnetic flux that rotor permanent magnet incudes generation in stator phase, and J is
The rotary inertia of rotor, R are the resistance value of stator winding, and p is motor number of pole-pairs.
By detecting the mechanical impedance value being supported at multiple and different frequencies, the lumped parameter matter of load is further extracted
M, damping c and rigidity k feature are measured, method is to solve following equation group:
Wherein ωiTo detect frequency, i=1 ... n.
This method is also applied to direct current generator, and the electrical impedance by detecting motor is realized between the mechanical impedance that it is loaded
Connect measurement；Firstly, injecting a detectable voltage signals to motor stator, stator current is sampled, and utilizes bandpass filtering
Device extracts the current component i with the detection voltage same frequency of injectionqi；Secondly, respectively to the detection voltage and the electric current
Ingredient iqiCarry out Hilbert transformation, and the analytic signal of resultant voltage and electric current；Then, plural number is carried out to the analytic signal
Operation obtains the electrical impedance of motor；Finally motor output shaft is calculated using the coupled relation of the electrical impedance of motor and mechanical impedance
On load mechanical impedance.
A kind of motor load mechanical impedance it is online from sensing and detecting system, which includes permanent magnet synchronous motor, electric current
Control module, detectable voltage signals injection module, adder, current detection module and load machinery impedance extraction module, institute
It states detectable voltage signals injection module and one detectable voltage signals, the electric current inspection is injected to the motor q axis by adder
The three-phase current for surveying module detection permanent magnet synchronous motor, is input to the load machinery impedance extraction module, the load
Mechanical impedance extraction module produces on the mechanical output of motor according to the mechanical electric coupling of motor, the detectable voltage signals
Raw excitation is applied to the load object of motor, and back transfer realizes the mechanical impedance to load to the electrical input of motor
Indirect measurement.
The load machinery impedance extraction module includes dq conversion module, bandstop filter, bandpass filter, first and
Two Hilbert conversion modules, the first and second analytic signal synthesis modules, complex division module and load machinery impedance computation
Module；Wherein,
Dq conversion module connects the current detection module, and threephase stator current sampling signal is transformed to rotor rotation and is sat
Mark system current signal idAnd iq, by iqInput signal as bandpass filter obtains iqi, synthesized as the second analytic signal
The input of module and the 2nd Hilbert conversion module；Again using the output of the 2nd Hilbert conversion module as the second analytic signal
The input of synthesis module obtains the analytic signal of electric current；
Detectable voltage signals injection module generates a detection voltage with control voltage command signal with different frequency
Signal, as adder, the input of the first Hilbert conversion module and the first analytic signal synthesis module, then by first
Input of the output of Hilbert conversion module as the first analytic signal synthesis module, obtains the analytic signal of voltage；
The analytic signal of the electric current and the analytic signal of voltage are successively through complex division module, load machinery impedance computation
Module arithmetic obtains the mechanical impedance of the load on motor output shaft.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
Compared with prior art, the present invention generates excitation using motor itself, and avoids and use additional power/power
Square, motion sensor.Its bring beneficial effect includes: that structure is simple, small in size, at low cost, no sensor load effect, is fitted
For the detection of small object, and real-time online detection etc. can be carried out to it in object normal operating conditions.Further, since
Electrical impedance is the build-in attribute of motor, is not changed with the variation of voltage magnitude, thus this method also has anti-supply voltage wave
The effect of dynamic interference.
Detailed description of the invention
Fig. 1 is the rotor rotating coordinate system schematic diagram of three-phase permanent magnet synchronous motor；
Fig. 2 is to indicate embodiment block diagram of the motor load mechanical impedance of the present invention from sensing and detecting system；
Fig. 3 is the waveform diagram that q axis controls voltage, the detection voltage of q axis injection and their composite signal；
Fig. 4 be threephase stator current sampling signal, the current signal in the rotor rotating coordinate system converted by dq,
Filter the waveform diagram of the detection current responsing signal of the q axis control current signal extracted and injection；
Fig. 5 be the detectable voltage signals for injecting q axis, with the q shaft detection current responsing signal of its same frequency and they
The waveform diagram of Hilbert transformation results；
Fig. 6 is the impedance value detected under 5 kinds of loading conditions；
Fig. 7 is the comparison diagram of load machinery impedance measurements and load machinery impedance actual value；
Fig. 8 is the execution flow chart of this detection system processing routine；
Symbol description in figure: 1. permanent magnet synchronous motors；2. current control module；3. detectable voltage signals injection module；
4. adder；5. against dq conversion module；6. output voltage processing module；7. power switching module；8. current detection module；9. negative
Carrier aircraft tool impedance extraction module；10.dq conversion module；11. bandstop filter；12. bandpass filter；13a.Hilbert transformation
Module；13b.Hilbert conversion module；14a. analytic signal synthesis module；14b. analytic signal synthesis module；15. plural number removes
Method module；16. load machinery impedance computation module.
Specific embodiment
The present invention provides a kind of the online from sensing detection method and system of motor load mechanical impedance, of the invention to make
Purpose, technical solution and effect are clearer, clear, and referring to attached drawing and give an actual example that the present invention is described in more detail.
It should be appreciated that specific implementation described herein is not intended to limit the present invention only to explain the present invention.
Embodiments of the present invention are to inject a detection to motor q axis in the case where controlling motor d shaft current is 0
Voltage signal passes through detection motor three-phase current response signal and carries out processing, transformation, synthesis and the calculating of signal, extracts
The mechanical impedance of load.
Fig. 2 is the structural block diagram for indicating the embodiment of motor load mechanical impedance of the invention from sensing detection.This
The motor load mechanical impedance of embodiment includes permanent magnet synchronous motor 1 from sensing detection device；Current control module 2；Detection
Voltage signal injection module 3；Adder 4；Inverse dq conversion module 5；Output voltage processing module 6；Power switching module 7；Electric current
Detection module 8；Load machinery impedance extraction module 9；Dq conversion module 10；Bandstop filter 11；Bandpass filter 12；
Hilbert conversion module 13a and 13b；Analytic signal synthesis module 14a and 14b；Complex division module 15；Load machinery impedance
Computing module 16.
Current control module 2 is according to the current command value i of d axis and q axis* dcAnd i* qcWith the actually detected d axis and q axis arrived
Current value idcAnd iqcDifference, calculate d axis and q axis must apply control voltage command signal v* dcAnd v* qc, so that real
The current value i of d axis and q axis that border detectsdcAnd iqcWith current command value i* dcAnd i* qcIt is equal, i.e. idc=i* dc=0, iqc=
i* qc。
Detectable voltage signals injection module 3 generates one and control voltage command signal v* qcDetection with different frequency
Voltage signal vqi.As adder 4, Hilbert conversion module 13a and the input for parsing signal synthesizing module 14a.
Q axis is controlled voltage command signal v by adder 4* qcWith detectable voltage signals vqiResult v after being addedqIt is sent into inverse dq
Converter 5.Fig. 3 show v* qc、vqiAnd vqExample.V herein* qcIt is the sinusoidal sin signal that a frequency is 1Hz, vqi
It is the sinusoidal sin signal that a frequency is 100Hz, vqIt is that they synthesize obtained signal.
Inverse dq converter 5 will need to be applied to the d shaft voltage v of motord(=v* dc) and q shaft voltage vqTransform to stator coordinate
System, and transformation results are sent into output voltage processing module 6.
The stator coordinate voltage value that output voltage processing module 6 exports inverse dq converter 5, which is handled, (to be such as converted to
Space vector pulse-modulated signal SVPWM or Linear Amplifer etc.), result is sent into power switching module 7.
Power switching module 7 can be the inverter of a pulse-modulated signal control or a linear power is put
Big device etc..Its output connects motor 1.
Current detection module 8 samples the threephase stator electric current of motor, can be Hall current sensor, either
Shunt resistance device making alive amplifying circuit etc..
The threephase stator current sampling signal i that load machinery impedance extraction module 9 exports current detection module 8a、ibWith
icIt handled, converted, being synthesized and being calculated, extracting the mechanical impedance Z of loadm.It includes: dq conversion module 10；Bandreject filtering
Device 11；Bandpass filter 12；Hilbert conversion module 13a and 13b；Analytic signal synthesis module 14a and 14b；Complex division mould
Block 15；Load machinery impedance computation module 16.
The dq that dq conversion module 10 is indicated according to formula (1) converts the threephase stator electric current for exporting current detection module 8
Sampled signal ia、ibAnd icTransform to rotor rotating coordinate system current signal idAnd iq.Wherein idAs idcIt is used for current control
Module 2, iqInput as bandstop filter 11 and bandpass filter 12.
Wherein p is motor number of pole-pairs；θmFor rotor mechanical angle.ia、ib、icAnd idAnd iqExample see Fig. 4.
The i that bandstop filter 11 exports dq conversion module 10qIt is filtered, filters out and detectable voltage signals vqiWith phase
The current signal ingredient of same frequency, filter result iqcIt is used for current control module 2.iqcExample see Fig. 4.
The i that bandpass filter 12 exports dq conversion module 10qIt is filtered, extracts and detectable voltage signals vqiHave
The current signal ingredient of identical frequency, filter result iqiAs Hilbert conversion module 13b and parsing signal synthesizing module
The input of 14b.iqiExample see Fig. 4.
The detectable voltage signals v that Hilbert conversion module 13a generates detectable voltage signals injection module 3qiCarry out formula
(2) the Hilbert transformation represented by, by the phase shift pi/2 of the negative frequency component of signal, by the phase of the positive frequency component of signal
Position translation-pi/2.Hilbert transformation can pass through the side such as finite impulse response filter (FIR), Fast Fourier Transform (FFT) (FFT)
Formula is realized.It exports HT [vqi] it is used as the input of analytic signal synthesis module 14a.vqiWith HT [vqi] example see Fig. 5.
The filter result i that Hilbert conversion module 13b exports bandpass filter 12qiIt carries out represented by formula (3)
Hilbert transformation, by the phase shift pi/2 of the negative frequency component of signal, by phase shift-pi/2 of the positive frequency component of signal.
Hilbert transformation can be realized by modes such as finite impulse response filter (FIR), Fast Fourier Transform (FFT)s (FFT).Its is defeated
HT [i outqi] it is used as the input of analytic signal synthesis module 14b.iqiWith HT [iqi] example see Fig. 5.
Analytic signal synthesis module 14a believes according to the detection voltage that formula (4) will test the generation of voltage signal injection module 3
Number vqiAnd HT [the v of Hilbert conversion module 13a outputqi] synthesize analytic signal Vqi。VqiWith vqiAs its real part, with
HT[vqi] it is used as its imaginary part.VqiIt is used as the input of complex division module 15.
The filter result i that analytic signal synthesis module 14b exports bandpass filter 12 according to formula (5)qiAnd
HT [the i of Hilbert conversion module 13b outputqi] synthesize analytic signal Iqi。IqiWith iqiAs its real part, with HT [iqi] make
For its imaginary part.IqiIt is used as the input of complex division module 15.
Complex division module 15 is according to formula (6) by the output V of analytic signal synthesis module 14aqiIt is closed divided by analytic signal
At the output I of module 14bqi, obtain corresponding detectable voltage signals vqiThe electrical impedance Z of frequencyeq, and it is input to load machinery impedance
Computing module 16.
The Z that load machinery impedance computation module 16 exports complex division module 15eqAccording to letter represented by formula (18)
Number relationship calculates the mechanical impedance Z of loadm.The principle is as follows:
Mathematical model in three-phase permanent magnet synchronous motor dq rotor rotating coordinate system shown in Fig. 1 can be by equation (7-
10) it indicates
Wherein vd、vqThe voltage of d axis, q axis respectively in rotor coordinate；id、iqD axis, q respectively in rotor coordinate
The electric current of axis；R is the resistance value of stator winding；Ld、LqThe respectively inductance value of d axis, q axis；ΩmFor rotor machinery angular speed；p
For motor number of pole-pairs；λ is the amplitude for the magnetic flux that rotor permanent magnet incudes generation in stator phase；TeFor electromagnetic torque；TLFor outside
Loading moment；J is the rotary inertia of rotor.
Fourier transformation carried out to equation (7-10), the motor that available equation (11-14) indicates is in a frequency domain
Mathematical model:
jωJΩm(ω)=Te(ω)-TL(ω) (14)
Wherein ω is signal frequency；Id(ω)、Iq(ω)、Vd(ω)、Vq(ω)、Ωm(ω)、Te(ω) is respectively time domain letter
Number id、iq、vd、vq、Ωm、TeFrequency domain representation.
Utilize the electric current point of control algolithm (such as PID, sliding formwork control, self adaptive control, fuzzy control) control d axis direction
Amount is 0, it may be assumed that
Id(ω)=0 (15)
The mechanical impedance of motor output end is defined as:
Electrical impedance of the input end of motor in q axis direction is defined as:
Equation (15-17) is substituted into equation (11-14) and carries out arranging the output end mechanical impedance that can obtain motor
ZmWith its input terminal q axis electrical impedance ZeqRelationship are as follows:
Wherein Re [Zeq] and Im [Zeq] it is respectively input terminal q axis electrical impedance ZeqReal and imaginary parts.
In addition, being supported on the mechanical impedance value at multiple and different frequencies by detection, load can be further extracted
Lumped parameter quality m, the damping features such as c and rigidity k.Its method is to solve following equation group:
Wherein ωi(i=1 ... n) is detection frequency；C is the damping of load；M is the quality of load；K is the rigidity of load.
In rotation system, c, m and k are respectively rotary damping, rotary inertia and rotational stiffness.
Finally the validity of this method and system is tested.The q axis resistance of motor is 0.32 Ω, inductance 0.082
×10-3H, the rotary inertia of rotor are 1.4 × 10-5kg·m2, voltage rating 12V.The detection voltage magnitude of injection is 1V, frequency
Rate 100Hz.
Following 5 loads are detected:
Load 1: rotary inertia=1 × 10-4kg·m2, damping=0.01Nms/rad, rigidity=10Nm/rad；
Load 2: rotary inertia=1 × 10-5kg·m2, damping=0.02Nms/rad, rigidity=50Nm/rad；
Load 3: rotary inertia=1 × 10-4kg·m2, damping=0.03Nms/rad, rigidity=20Nm/rad；
Load 4: rotary inertia=1 × 10-5kg·m2, damping=0.04Nms/rad, rigidity=40Nm/rad；
Load 5: rotary inertia=1 × 10-4kg·m2, damping=0.05Nms/rad, rigidity=30Nm/rad；
Fig. 6 is the impedance value Z detected under above-mentioned 5 kinds of loading conditionseq.Fig. 7 is to utilize the Z detectedeqIt is calculated
Load machinery impedance measurements and load machinery impedance actual value comparison.It can be found that the load machinery resistance detected
It is anti-effectively to reflect its actual value.
The execution flow chart of this detection system processing routine is shown in Fig. 8.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the invention, all to utilize this
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field is included within the scope of the present invention.
Claims (7)
1. a kind of motor load mechanical impedance is online from sensing detection method, which is characterized in that this method controls motor d axis electricity
In the case that stream is 0, a detectable voltage signals are injected to motor q axis, the electrical impedance realization by detecting motor loads it
Mechanical impedance indirect measurement；Firstly, rotor rotating coordinate system is sampled and transformed to threephase stator electric current, band is utilized
Bandpass filter extracts the q shaft current ingredient with the detection voltage same frequency of injection；Secondly, respectively to the detection voltage and q
Shaft current ingredient carries out Hilbert transformation, and the analytic signal of resultant voltage and electric current；Then, the analytic signal is carried out
Complex operation obtains the electrical impedance of motor；It is defeated that motor finally is calculated using the coupled relation of the electrical impedance of motor and mechanical impedance
The mechanical impedance of load on shaft.
2. a kind of motor load mechanical impedance according to claim 1 is online from sensing detection method, which is characterized in that
It is described that threephase stator electric current is sampled and transforms to rotor rotating coordinate system specifically:
According to formula (1), by threephase stator current sampling signal ia、ibAnd icTransform to rotor rotating coordinate system current signal idWith
iq
Wherein p is motor number of pole-pairs；θmFor rotor mechanical angle.
3. a kind of motor load mechanical impedance according to claim 1 is online from sensing detection method, which is characterized in that
The analytic signal of the voltage are as follows:
Wherein, vqiFor detectable voltage signals
The analytic signal of the electric current are as follows:
Wherein, iqiFor with detectable voltage signals vqiQ shaft current ingredient with identical frequency.
4. a kind of motor load mechanical impedance according to claim 1 is online from sensing detection method, which is characterized in that
The electrical impedance Z of detectable voltage signals frequency is obtained according to the analytic signal of the voltage and currenteq,
The output end mechanical impedance Z of motor is obtained further according to formula (18)mWith the electrical impedance of its input terminal detectable voltage signals frequency
ZeqRelationship, calculate the mechanical impedance of the load on motor output shaft:
Wherein, LqFor the inductance value of q axis, λ is the amplitude for the magnetic flux that rotor permanent magnet incudes generation in stator phase, and J turns for motor
The rotary inertia of son, R are the resistance value of stator winding, and p is motor number of pole-pairs.
5. a kind of motor load mechanical impedance according to claim 1 is online from sensing detection method, which is characterized in that
By detecting the mechanical impedance value being supported at multiple and different frequencies, lumped parameter quality m, the damping of load are further extracted
C and rigidity k feature, method are to solve following equation group:
Wherein ωiTo detect frequency, i=1 ... n；C is the damping of load；M is the quality of load；K is the rigidity of load.
6. a kind of motor load mechanical impedance is online from sensing and detecting system, which is characterized in that the system includes permanent-magnet synchronous
Motor, current control module, detectable voltage signals injection module, adder, current detection module and load machinery impedance mention
Modulus block, the detectable voltage signals injection module inject a detectable voltage signals, institute to the motor q axis by adder
The three-phase current for stating current detection module detection permanent magnet synchronous motor, is input to the load machinery impedance extraction module,
The load machinery impedance extraction module is according to the mechanical electric coupling of motor, and the detectable voltage signals are in the mechanical defeated of motor
The excitation generated in outlet is applied to the load object of motor, and back transfer is realized to the electrical input of motor to load
The indirect measurement of mechanical impedance；
The load machinery impedance extraction module includes dq conversion module, bandstop filter, bandpass filter, first and second
Hilbert conversion module, the first and second analytic signal synthesis modules, complex division module and load machinery impedance computation mould
Block；Wherein, dq conversion module connects the current detection module, and threephase stator current sampling signal is transformed to rotor rotation and is sat
Mark system current signal idAnd iq, by iqInput signal as bandpass filter obtains iqi, synthesized as the second analytic signal
The input of module and the 2nd Hilbert conversion module；Again using the output of the 2nd Hilbert conversion module as the second analytic signal
The input of synthesis module obtains the analytic signal of electric current；
Detectable voltage signals injection module generates a detectable voltage signals with control voltage command signal with different frequency,
Become as adder, the input of the first Hilbert conversion module and the first analytic signal synthesis module, then by the first Hilbert
Input of the output of block as the first analytic signal synthesis module is changed the mold, the analytic signal of voltage is obtained；
The analytic signal of the electric current and the analytic signal of voltage are successively through complex division module, load machinery impedance computation module
Operation obtains the mechanical impedance of the load on motor output shaft.
7. a kind of motor load mechanical impedance is online from sensing detection method, which is characterized in that this method is applied to direct current
Machine, the electrical impedance by detecting motor realize the indirect measurement of the mechanical impedance loaded to it；Firstly, to motor stator injection one
A detectable voltage signals, sample stator current, and are extracted with the detection voltage of injection using bandpass filter with frequency
The current component i of rateqi；Secondly, respectively to the detection voltage and the current component iqiHilbert transformation is carried out, and is synthesized
The analytic signal of voltage and current；Then, complex operation is carried out to the analytic signal and obtains the electrical impedance of motor；Finally utilize
The electrical impedance of motor and the coupled relation of mechanical impedance calculate the mechanical impedance of the load on motor output shaft.
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