Method and Apparatus for Robust Emulation of Mechanical Load by using Disturbance Observer

摘要

The present invention relates to a method for emulating a motor to be tested connected to a dynamometer having a specific load. Provided is the emulation method comprising: a step of receiving an electric torque value acting on the motor to be tested; a step of receiving a load torque value of a specific dynamic to emulate; a step of detecting a rotational speed of the motor to be tested; a step of generating a dynamometer torque command acting on the dynamometer by using a first value which is a value obtained by multiplying the rotational speed by a friction of the dynamometer, a second value which is a value obtained by multiplying the rotational speed by an inertia of the dynamometer, the load torque value, and the electric torque value; and a step of driving the dynamometer according to the dynamometer torque command.