Interference torque estimation and compensation method of lifting system

A disturbance torque estimation and compensation method of a lifting system is applied to a motor for driving the lifting system. The estimation and compensation method comprises the following steps of: firstly, continuously integrating the speed of the motor in the process of controlling the carriage to move up and down between the top and the bottom of the hoistway at the initial position in the hoistway, and if the integral value obtained by calculating the speed is a negative value, assigning the integral value to be zero so as to obtain the maximum stroke position of the carriage moving up and down in the hoistway; when the motor is controlled to operate at a constant speed, the steel cable load constant of the steel cable is estimated according to the initial position and the maximum stroke position, and the steel cable load torque is calculated according to the maximum stroke position, the steel cable load constant and the current position of the motor. When the motor is controlled to operate at zero s