CN114291051B - Method and device for modeling internal friction force of motor servo type hydraulic line control brake system - Google Patents

Abstract

The invention relates to a method and a device for modeling the internal friction force of a motor servo type wire control brake system, which is characterized by comprising the following steps: establishing a continuous friction model aiming at a motor servo type line control brake system; and establishing a friction force calculation model based on the continuous friction model to realize dynamic friction torque measurement. The invention provides a friction model with asymmetric characteristics on the basis of a symmetric brush model widely applied to rubber deformation description, which is a brand-new model for describing the internal friction of a motor servo type brake-by-wire system, can accurately describe the change relation of the internal friction of the motor servo type hydraulic brake system along with speed and load pressure, simultaneously ensures the continuous change of the friction, can inhibit the unnatural disturbance caused by discontinuous mutation of the friction model in the hydraulic pressure control process of the system, and can be widely applied to pressure control.

Description

Internal friction modeling method and device for motor servo hydraulic brake-by-wire system

Technical Field

The invention relates to a method and a device for modeling internal friction force of a motor servo-type brake-by-wire system, and relates to the technical field of automobile brake-by-wire control.

Background Art

As a necessary attribute of intelligent vehicles, the ability to control by wire plays a fundamental role in the current process of automobile electrification and intelligence. The control by wire technology mainly includes two aspects: steering by wire and brake by wire. The brake by wire system responds to the braking signal of the driver or the automatic driving system and independently generates braking ability, thus having the ability to control by wire for active braking.

As a type of brake-by-wire system, the motor servo brake-by-wire system has the function of realizing active braking of the vehicle. At the same time, compared with the high-pressure accumulator structure of the previous generation, the motor servo structure uses a servo motor instead of a high-pressure accumulator, so the system has higher controllability and is easy to deploy a brake pressure control method based on the system dynamics model. Based on the above advantages, the motor servo brake-by-wire system is gradually replacing the high-pressure accumulator brake-by-wire system and becoming the mainstream solution for the development of passenger vehicle braking systems in the future. For servo hydraulic systems, friction is always a key factor affecting the control effect of the system. For motor servo hydraulic brake-by-wire systems, experimental results show that the influence of friction on the control effect is more obvious. Its friction is strongly related to the load pressure and is affected by the size and direction of the movement speed.

There are many existing models to describe the friction of hydraulic systems, but they all have discontinuous or symmetrical characteristics. Experimental results show that the friction during the motor servo boosting process of the motor servo-controlled brake-by-wire system is greater than the friction during the servo decompression at the same speed. Therefore, the symmetrical friction model cannot accurately describe the real friction characteristics of the motor servo hydraulic system. In addition, the continuous discontinuous friction model will cause a sharp sudden change in friction force at the moment when the speed direction changes, which will bring excessive disturbance to the control of the system hydraulic pressure, and it also does not conform to the static friction reversing mechanism of the actual system.

Summary of the invention

In view of the above problems, the purpose of the present invention is to provide a method and device for modeling the internal friction force of a motor servo-type wire-controlled brake system, which accurately describes the friction force of the motor servo-type wire-controlled hydraulic brake system by establishing an asymmetric continuous pressure-dependent friction model, while suppressing unnatural disturbances in the hydraulic pressure control process.

To achieve the above object, the present invention adopts the following technical solutions:

In a first aspect, the present invention provides a method for modeling internal friction of a motor servo-type brake-by-wire system, comprising:

A continuous friction model is established for the motor servo-type brake-by-wire system;

A friction force calculation model is established based on the continuous friction model to realize the dynamic friction torque measurement.

Furthermore, a continuous friction model is established for the motor servo-type wire control brake system, including:

Establish the friction model of supercharging process;

Establish the friction model of decompression process;

The continuous friction model is obtained by integrating the friction model of increasing and decreasing pressure.

Furthermore, the friction model of the supercharging process is established as:

T _finc = (k _inc P _c +b _inc )*(l _inc1 [tanh(c _inc1 ω)-tanh(c _inc2 ω)]+l _inc2 tanh(c _inc3 ω)+l _inc3 ω)

Wherein, k _inc and b _inc are the slope and intercept in the linear relationship respectively, l _inc1 ,l _inc2 andl _inc3 are the amplitude shape coefficients, c _inc1 ,c _inc2 andc _inc3 are the position shape coefficients, and ω represents the speed of the servo motor.

Furthermore, the friction model of the decompression process is:

T _fdec =(k _dec P _c +b _dec )*(l _dec1 [tanh(c _dec1 ω)-tanh(c _dec2 ω)]+l _dec2 tanh(c _dec3 ω)+l _dec3 ω)

In the formula, k _dec and b _dec are the slope and intercept in the linear relationship respectively, l _dec1 , l _dec2 , l _dec3 are the amplitude shape coefficients, c _dec1 , c _dec2 , c _dec3 are the position shape coefficients, and ω represents the speed of the servo motor.

Furthermore, the continuous friction model is:

Furthermore, a friction calculation model is established based on the continuous friction model to achieve dynamic friction torque measurement, including:

Establish a system dynamics model for friction torque measurement and obtain a friction force calculation model;

Based on the actual motor current, pressure and angular acceleration of the motor, the friction torque under the current pressure and speed is calculated based on the friction calculation model.

Furthermore, the friction calculation model is:

为电机的角加速度，P_c为实际压力。In the formula, J _eq is the equivalent moment of inertia of the system including the motor and transmission mechanism, i is the input current of the servo motor, _Ac is the contact area between the main cylinder push rod and the liquid, G is the transmission coefficient from the motor rotation angle to the push rod displacement,

is the angular acceleration of the motor, _{and Pc} is the actual pressure.

In a second aspect, the present invention provides a motor servo-type brake-by-wire system internal friction modeling device, comprising:

The friction model building unit is configured to build a continuous friction model for the motor servo-type wire control brake system;

The friction torque calculation unit is configured to establish a friction force calculation model based on the continuous friction model to achieve dynamic friction torque measurement.

In a third aspect, the present invention provides an electronic device, which includes at least a processor and a memory, wherein a computer program is stored in the memory, and when the processor runs the computer program, the computer program is executed to implement the method described.

In a fourth aspect, the present invention provides a computer storage medium having computer-readable instructions stored thereon, wherein the computer-readable instructions can be executed by a processor to implement the described method.

The present invention adopts the above technical solution, which has the following advantages:

1. Based on the symmetrical brush model widely used in describing rubber deformation, the present invention proposes a friction model with asymmetrical characteristics. It is a brand-new model for describing the internal friction of the motor servo-type wire-controlled brake system. It can accurately describe the relationship between the internal friction of the motor servo-type hydraulic brake system and the speed and load pressure, and ensure the continuous change of the friction force. It can suppress the unnatural disturbance caused by the discontinuous mutation of the friction model during the system hydraulic pressure control process;

2. In order to accurately describe the friction characteristics of the system, the present invention innovatively proposes a continuous load-dependent friction model based on experimental results. First, a linear pressure term is introduced into the amplitude of the friction model to better describe the relationship between friction and pressure. Secondly, different friction parameters are designed for the pressurization and decompression processes to ensure accurate description of the friction during the pressurization and decompression processes. Thirdly, based on the brush model, the discontinuous mutation of friction during the motion reversing process is eliminated.

In summary, the present invention establishes a continuous friction force model that depends on the speed direction and the load pressure, which can be widely used in pressure control.

BRIEF DESCRIPTION OF THE DRAWINGS

Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Throughout the accompanying drawings, the same reference numerals are used to represent the same components. In the accompanying drawings:

FIG1 is a physical model of a motor servo hydraulic brake system according to an embodiment of the present invention;

FIG2 is a schematic diagram showing the experimental friction data of an embodiment of the present invention and the fitting of the proposed model;

FIG. 3 is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention.

DETAILED DESCRIPTION

The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

It should be understood that the terms used in the text are only for the purpose of describing specific example embodiments, and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used in the text may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and/or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and/or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

Although the terms first, second, third, etc. can be used in the text to describe multiple elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates, terms such as "first", "second" and other numerical terms do not imply order or sequence when used in the text. Therefore, the first element, component, region, layer or section discussed below can be referred to as the second element, component, region, layer or section without departing from the teaching of the example embodiments.

For ease of description, spatially relative terms may be used herein to describe the relationship of one element or feature relative to another element or feature as shown in the figures, such as "inside", "outside", "inner side", "outside", "below", "above", etc. Such spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figures.

Embodiment 1: The method for modeling internal friction of a motor servo-type brake-by-wire system provided in this embodiment includes:

S1. Establish a continuous friction model for the motor servo-type wire-controlled brake system. The establishment process includes:

S11. Establishing the friction model of supercharging process

As shown in Figure 1, in the motor servo-type wire control brake system, during the pressurization process, the servo motor generates input torque, which is transmitted through the transmission mechanism to push the master cylinder push rod to the right. The master cylinder push rod pushes the piston to compress the brake fluid, and the brake fluid pressure increases. In this process, friction exists in the transmission mechanism and between the piston and the wall of the master cylinder. The friction force is described as:

T _f =K(P _c )*T ₀ (ω)(1.1)

Among them, _Pc represents the hydraulic pressure in the system, the unit is MPa, ω represents the speed of the servo motor, the unit is rad/s, the pressurization process corresponds to ω＞0, and the decompression process corresponds to ω＜0, _Tf represents the equivalent friction torque, the unit is Nm; K( _Pc ) is the amplitude coefficient, which has no unit and is a function of the system pressure _Pc . It is used to describe the change of friction with the system hydraulic pressure at the same speed; _T0 (ω) is the nominal friction torque, the unit is Nm, which is a function of the servo motor speed and is used to describe the change of friction with the motor speed under the same pressure.

According to the experimental results, in the process of pressurization and decompression, the corresponding amplitude coefficient K(P) is linearly related to the hydraulic pressure, and the amplitude coefficient in the process of pressurization is greater than that in the process of decompression. For the amplitude coefficient corresponding to the pressurization process:

K(P _c )＝k _inc P _c +b _inc (1.2)

Wherein, k _inc and b _inc are the slope and intercept in the linear relationship, and their units are 1/MPa and no unit, respectively.

In order to ensure the continuity of the friction force, in this embodiment, the nominal friction torque is described as:

T _inc0 (ω)＝l _inc1 [tanh(c _inc1 ω)-tanh(c _inc2 ω)]+l _inc2 tanh(c _inc3 ω)+l _inc3 ω(1.3)

Wherein, _Tinc0 represents the nominal friction force in the process of increasing or decreasing pressure, l _inc1 , l _inc2 , l _inc3 are amplitude shape coefficients, all in Nms; c _inc1 , c _inc2 , c _inc3 are position shape coefficients, without units.

According to formulas (1.2) and (1.3), the friction model of the supercharging process is expressed as:

T _finc =(k _inc P _c +b _inc )*(l _inc1 [tanh(c _inc1 ω)-tanh(c _inc2 ω)]+l _inc2 tanh(c _inc3 ω)+l _inc3 ω)(1.4)

S12. Establish the friction model of the decompression process:

During the decompression process, the servo motor generates a retraction torque, which is transmitted through the transmission mechanism to pull the master cylinder push rod to the left. The master cylinder push rod reduces the compression of the brake fluid, and the brake fluid pressure decreases. The amplitude coefficient corresponding to the decompression process is:

K(P _c )＝k _dec P _c +b _dec (1.5)

Wherein, k _dec and b _dec are the slope and intercept in the linear relationship, and the units are 1/MPa and no unit, respectively. In order to ensure the continuity of the friction force, in this embodiment, the nominal friction torque is described as:

T _dec0 (ω)＝l _dec1 [tanh(c _dec1 ω)-tanh(c _dec2 ω)]+l _dec2 tanh(c _dec3 ω)+l _dec3 ω(1.6)

Wherein, T _dec0 represents the nominal friction force during the pressure increase and decrease process, l _dec1 , l _dec2 , l _dec3 are amplitude shape coefficients, all in Nms; c _dec1 , c _dec2 , c _dec3 are position shape coefficients, without units.

According to formulas (1.5) and (1.6), the friction force of the decompression process can finally be expressed as

T _fdec =(k _dec P _c +b _dec )*(l _dec1 [tanh(c _dec1 ω)-tanh(c _dec2 ω)]+l _dec2 tanh(c _dec3 ω)+l _dec3 ω)(1.7)

S13, combining equations (1.4) and (1.7), the continuous friction model can be obtained as follows:

S2. Measure the friction torque based on the continuous friction model.

S21. Establish a system dynamics model for friction torque measurement and obtain a friction calculation model

For the motor servo-type wire-controlled hydraulic brake system to be tested, the system dynamics equation can be expressed as:

Among them, _km represents the current gain, the unit is Nm/A, J _eq is the equivalent rotational inertia of the system including the motor and transmission mechanism, the unit is ^kgm2 ; i is the input current of the servo motor, the unit is A; _Ac is the contact area between the main cylinder push rod and the liquid, the unit is ^m2 ; G is the transmission coefficient from the motor rotation angle to the push rod displacement, the unit is rad/m.

According to formula (1.9), the friction calculation model is:

S22, Friction torque measurement

In order to measure the friction torque under different speeds and pressures, the following constant-amplitude variable-frequency sinusoidal servo motor current input command is used:

i＝I _m sin(kt ² -pi/2)(1.11)

Where k is the frequency coefficient and has no unit.

Measure and record the actual motor current i _r in A, the actual pressure P _c , and the motor's angular acceleration ω. According to equation (1.10), the friction force at the current pressure and speed can be calculated.

As shown in Figure 2, the black circles represent the friction force actually measured according to the above method, and the black lines represent the actual friction model fitted according to the friction model (1.8) based on the measured data. The fitting process is to use a general nonlinear fitting method, using tools including but not limited to MATLAB, python and other data fitting tools to obtain the values of the coefficients in the friction model (1.8).

In some embodiments of the present invention, the amplitude coefficient K(P _c ) is fitted, and the collected data is divided into positive boost data and reverse decompression data according to the sign of the speed (positive boost is positive, and reverse decompression is negative). For the positive boost data and the reverse decompression data, linear fitting is performed on the pressure and the calculated friction force, respectively, to obtain Formula (1.2) and Formula (1.5).

In some embodiments of the present invention, the nominal friction torque T ₀ is fitted, and the collected data is divided into positive pressure boost data and reverse pressure reduction data according to the sign of the speed. For the positive pressure boost data and the reverse pressure reduction data, the amplitude coefficient K(P _c ) obtained by the previous fitting is respectively substituted into equations (1.4) and (1.7), and the speed and the calculated friction force are subjected to nonlinear fitting in the form of (1.4) and (1.7). The fitting method is a general nonlinear fitting method.

Embodiment 2: The above-mentioned embodiment 1 provides a method for modeling the internal friction of a motor servo-type brake-by-wire system. Correspondingly, this embodiment provides a device for modeling the internal friction of a motor servo-type brake-by-wire system. The system provided in this embodiment can implement the method for modeling the internal friction of a motor servo-type brake-by-wire system of embodiment 1, and the device can be implemented by software, hardware, or a combination of software and hardware. For the convenience of description, this embodiment is described by dividing it into various units according to its functions. Of course, the functions of each unit can be implemented in the same or multiple software and/or hardware during implementation. For example, the device may include integrated or separate functional modules or functional units to perform the corresponding steps in each method of embodiment 1. Since the system of this embodiment is basically similar to the method embodiment, the description process of this embodiment is relatively simple, and the relevant parts can refer to the partial description of embodiment 1. The embodiment of the device for modeling the internal friction of a motor servo-type brake-by-wire system provided by the present invention is only schematic.

The internal friction modeling device of the motor servo-type brake-by-wire system provided in this embodiment includes:

The friction model building unit is configured to build a continuous friction model for the motor servo-type wire control brake system;

The friction torque calculation unit is configured to establish a friction force calculation model based on the continuous friction model to achieve dynamic friction torque measurement.

Embodiment 3: This embodiment provides an electronic device corresponding to the internal friction modeling method of the motor servo-type electronic control brake system provided in this embodiment 1. The electronic device can be an electronic device used for a client, such as a mobile phone, a laptop computer, a tablet computer, a desktop computer, etc., to execute the method of embodiment 1.

As shown in FIG3 , the electronic device includes a processor, a memory, a communication interface and a bus, and the processor, the memory and the communication interface are connected through a bus to complete mutual communication. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. A computer program that can be run on the processor is stored in the memory, and the processor executes the method for modeling the internal friction force of the motor servo-type wire-controlled brake system provided in the first embodiment when running the computer program. It can be understood by those skilled in the art that the structure shown in FIG3 is only a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the computing device to which the scheme of the present application is applied. The specific computing device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

In some implementations, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), optical disk and other media that can store program codes.

In some other implementations, the processor may be a central processing unit (CPU), a digital signal processor (DSP), or other general-purpose processors of various types, which are not limited herein.

Embodiment 4: The method for modeling internal friction force of the motor servo-type wire control brake system of the embodiment 1 can be specifically implemented as a computer program product, which may include a computer-readable storage medium carrying computer-readable program instructions for executing the method for modeling internal friction force of the motor servo-type wire control brake system described in the embodiment 1.

Computer readable storage media can be tangible devices that hold and store instructions used by instruction execution devices. Computer readable storage media can be, for example, but not limited to, electronic storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any combination thereof.

Each embodiment in this specification is described in a progressive manner, and the same and similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. In the description of this specification, the description of the reference terms "one embodiment", "some implementations", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of this specification. In this specification, the schematic representation of the above terms does not necessarily target the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

The present application is described with reference to the flowchart and/or block diagram of the method, device (system) and computer program product according to the embodiment of the present application. It should be understood that each process and/or box in the flowchart and/or block diagram, and the combination of the process and/or box in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for realizing the function specified in one process or multiple processes in the flowchart and/or one box or multiple boxes in the block diagram.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device that implements the functions specified in one or more processes in the flowchart and/or one or more boxes in the block diagram.

These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operating steps are executed on the computer or other programmable device to produce computer-implemented processing, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes of the flowchart and/or one or more boxes of the block diagram. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention is described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some of the technical features therein with equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (5)

1. A method for modeling internal friction of a motor servo-type brake-by-wire system, comprising: A continuous friction model is established for the motor servo-type wire-controlled brake system, including: The friction model of the supercharging process is established as follows:

In the formula,

are the slope and intercept of the linear relationship,

is the amplitude shape factor,

is the position shape coefficient,

Represents the speed of the servo motor,

Represents the hydraulic pressure in the system; The friction model of the decompression process is established, specifically:

In the formula,

are the slope and intercept of the linear relationship,

is the amplitude shape factor,

is the position shape coefficient; During the pressurization and decompression process, the corresponding amplitude coefficient

They are linearly related to the hydraulic pressure, and the amplitude coefficient in the pressurization process is greater than that in the decompression process. The amplitude coefficient corresponding to the pressurization process is:

The amplitude coefficient corresponding to the decompression process is:

; The continuous friction model is obtained by integrating the friction model of increasing and decreasing pressure, which is as follows:

; A friction calculation model is established based on the continuous friction model to achieve dynamic friction torque measurement, including: Establish a system dynamics model for friction torque measurement and obtain a friction force calculation model; Based on the actual motor current, pressure and angular acceleration of the motor, the friction torque under the current pressure and speed is calculated based on the friction force calculation model. The actual friction model is fitted according to the continuous friction model based on the measured data. The fitting process adopts a general nonlinear fitting method, and the data fitting tool is used to obtain the values of various coefficients in the continuous friction model. 2. The method for modeling internal friction of a motor servo-type brake-by-wire system according to claim 1, wherein the friction calculation model is:

In the formula,

represents the current gain,

The equivalent moment of inertia of the system including the motor and transmission mechanism,

is the input current of the servo motor,

The contact area between the main cylinder push rod and the liquid.

is the transmission coefficient from the motor rotation angle to the push rod displacement,

is the angular acceleration of the motor,

Represents the hydraulic pressure in the system. 3. A motor servo-type wire-controlled brake system internal friction modeling device, characterized by comprising: The friction model building unit is configured to build a continuous friction model for the motor servo-type wire control brake system, including: The friction model of the supercharging process is established as follows:

In the formula,

are the slope and intercept of the linear relationship,

is the amplitude shape factor,

is the position shape coefficient,

Represents the speed of the servo motor,

Represents the hydraulic pressure in the system; The friction model of the decompression process is established, specifically: The friction model of the decompression process is:

In the formula,

are the slope and intercept of the linear relationship,

is the amplitude shape factor,

is the position shape coefficient; During the pressurization and decompression process, the corresponding amplitude coefficient

They are linearly related to the hydraulic pressure, and the amplitude coefficient in the pressurization process is greater than that in the decompression process. The amplitude coefficient corresponding to the pressurization process is:

The amplitude coefficient corresponding to the decompression process is:

The continuous friction model is obtained by integrating the friction model of increasing and decreasing pressure, which is as follows:

; The friction torque calculation unit is configured to establish a friction calculation model based on the continuous friction model to achieve dynamic friction torque measurement, including: Establish a system dynamics model for friction torque measurement and obtain a friction force calculation model; Based on the actual motor current, pressure and angular acceleration of the motor, the friction torque under the current pressure and speed is calculated based on the friction force calculation model. The actual friction model is fitted according to the continuous friction model based on the measured data. The fitting process adopts a general nonlinear fitting method, and the data fitting tool is used to obtain the values of various coefficients in the continuous friction model. 4. An electronic device, comprising at least a processor and a memory, wherein a computer program is stored in the memory, wherein the processor executes the computer program to implement the method described in any one of claims 1 to 2. 5. A computer storage medium, characterized in that computer-readable instructions are stored thereon, and the computer-readable instructions can be executed by a processor to implement the method according to any one of claims 1 to 2.

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