通过电机运动学方程建立以负载惯量、黏性阻尼系数、负载重力力矩和负载初始位置角度为需辨识参数的拟合模型函数式，通过基于该模型函数的非线性回归方法拟合得到这四个参数，从而得到非惯量的负载转矩，使其前馈补偿经典电机PI控制方法中的电流环，实现对时变负载转矩的补偿。仿真结果验证了该方法能使速度响应较快跟踪输入的速度命令，避免较大速度误差的出现。

Fitting model function with load inertia, viscous damping coefficient, load gravity torque and load initial position angle as parameters to be identified is established through the motor kinematics equation. The four parameters are fitted by the nonlinear regression method based on the model function, and the noninertia load torque is obtained. Adding the load torque to the current loop in the classical motor PI control method as the feed forward compensation to realize the compensation of time-varying load torque. The simulation results show that this method can enable the control system to respond quickly to input speed commands, and avoid the appearance of large speed error.

国家自然科学基金委青年基金项目（62101310）