Inertia compensation method of electric power steering system and related device

The invention discloses an inertia compensation method of an electric power steering system and a related device. The moment of a steering wheel is directly used as input, a second component of the inertia compensation moment, which is obtained through calculation based on the moment of the steering wheel, belongs to the feedforward compensation; and a first component of inertia compensation moment, which is obtained through calculation according to a motor speed and a vehicle speed, belongs to feedback compensation. From the perspective of a force transmission path, the change of the hand power of a driver causes the change of the angular acceleration of a steering wheel shaft, the change of the angular speed is caused, finally causing the change of a rotation angle; it can be seen that there is an obvious time sequence from the moment to the rotation angle. Feedback compensation and feedforward compensation are combined, so that the inertia compensation moment lag degree caused by sampling and calculation d