Embodiments of this application provide a torque obtaining method and device, a motor controller, and a readable storage medium. The torque obtaining method includes: obtaining a rotation speed of a motor; obtaining a current of the motor; obtaining a flux linkage of the motor; determining an electromagnetic torque of the motor based on the current and the flux linkage; and inputting the rotation speed and the electromagnetic torque into a preset status observer, and obtaining an observed value of an actual output torque of the motor, where the observed value is output by the status observer. The obtaining method is intended to obtain the actual output torque effectively, simply, and accurately.

A torque map generation system includes a motor, an inverter that drives the motor, a controller that controls the inverter, a torque sensor coupled to the motor, a power analyzer coupled to the torque sensor and a torque map generator that measures a current vector value of the motor by switching a MTPA (Maximum Torque Per Ampere) method and a square wave method based on a voltage utilization ratio of the inverter, wherein the torque map generator utilizes a measurement result by the MTPA method when the torque map generator uses the square wave method.

A torque map generation system includes a motor, an inverter that drives the motor, a controller that controls the inverter, a torque sensor coupled to the motor, a power analyzer coupled to the torque sensor and a torque map generator that measures a current vector value of the motor by switching a MTPA (Maximum Torque Per Ampere) method and a square wave method based on a voltage utilization ratio of the inverter, wherein the torque map generator utilizes a measurement result by the MTPA method when the torque map generator uses the square wave method.

A device estimates the electromagnetic torque of a three-phase synchronous electric machine including permanent magnets. The device includes: a first flux estimator including two integrators of electromotive force for estimating the respective components of the flux in a fixed two-phase coordinate system tied to the stator, an estimator for estimating the torque from the respective estimated-flux components, a second flux estimator that uses currents expressed in a rotating two-phase coordinate system tied to the rotor, with an observer for determining variables that characterize magnetic uncertainties of the machine with a view to correcting the flux estimation of the second estimator, and a detector for generating a signal for resetting initial flux conditions of the two integrators based on the flux estimation delivered by the second estimator, when the discrepancy between the estimated torque and a setpoint torque is higher than a predefined threshold.

A device estimates the electromagnetic torque of a three-phase synchronous electric machine including permanent magnets. The device includes: a first flux estimator including two integrators of electromotive force for estimating the respective components of the flux in a fixed two-phase coordinate system tied to the stator, an estimator for estimating the torque from the respective estimated-flux components, a second flux estimator that uses currents expressed in a rotating two-phase coordinate system tied to the rotor, with an observer for determining variables that characterize magnetic uncertainties of the machine with a view to correcting the flux estimation of the second estimator, and a detector for generating a signal for resetting initial flux conditions of the two integrators based on the flux estimation delivered by the second estimator, when the discrepancy between the estimated torque and a setpoint torque is higher than a predefined threshold.

A torque estimation method according to the present disclosure estimates a value of shaft torque of a rotary motion transmitting mechanism. The torque estimation method includes: a step of specifying a maximum value of a torsion angle between an input shaft and an output shaft from the time when a measurement value of the torsion angle is zero to the time when the value of the shaft torque is estimated; and a step of specifying the maximum value of the torsion angle. In the step of specifying the maximum value of the torsion angle, the maximum value of the torsion angle is specified based on a difference between the measurement value of the torsion angle subjected to low-pass filter processing at a first cutoff frequency and the measurement value of the torsion angle subjected to low-pass filter processing at a second cutoff frequency.

A torque estimation method according to the present disclosure estimates a value of shaft torque of a rotary motion transmitting mechanism. The torque estimation method includes: a step of specifying a maximum value of a torsion angle between an input shaft and an output shaft from the time when a measurement value of the torsion angle is zero to the time when the value of the shaft torque is estimated; and a step of specifying the maximum value of the torsion angle. In the step of specifying the maximum value of the torsion angle, the maximum value of the torsion angle is specified based on a difference between the measurement value of the torsion angle subjected to low-pass filter processing at a first cutoff frequency and the measurement value of the torsion angle subjected to low-pass filter processing at a second cutoff frequency.

A system and method for dynamically optimizing flux levels in electric motors based on estimated torque. Motor parameters and motor equations are used to estimate operating characteristics and to set current and voltage limits which define an optimal flux operating range for a given speed and torque of the motor. A slope of a linear flux gain is determined within the defined operating range at different speeds of the motor. The determined slopes for the different speeds are saved in a memory element. A control element determines and achieves an optimal flux level for the motor by accessing the table to identify a specific slope which corresponds to an actual speed of the motor, multiplying the slope by the estimated torque and adding an offset value to determine a phase current component value associated with the optimal flux level, and applying the determined phase current component value to the motor.

A system and method for dynamically optimizing flux levels in electric motors based on estimated torque. Motor parameters and motor equations are used to estimate operating characteristics and to set current and voltage limits which define an optimal flux operating range for a given speed and torque of the motor. A slope of a linear flux gain is determined within the defined operating range at different speeds of the motor. The determined slopes for the different speeds are saved in a memory element. A control element determines and achieves an optimal flux level for the motor by accessing the table to identify a specific slope which corresponds to an actual speed of the motor, multiplying the slope by the estimated torque and adding an offset value to determine a phase current component value associated with the optimal flux level, and applying the determined phase current component value to the motor.

An inverter for driving a motor that has a switchable connection of windings and drives a load element having a periodically varying load torque is provided. The inverter is controlled so that an output torque of the motor follows the periodic variation of the load torque. The inverter is controlled so that a current flowing through the motor is zero during a period including a minimum torque phase at which the load torque is at or near a minimum value. The connection is switched while the current flowing through the motor is zero. It is possible to switch the connection of the windings while the motor is rotating, and avoid an increase in apparatus size.