JPH0666682A - Control method for brake dynamo system - Google Patents
Control method for brake dynamo systemInfo
- Publication number
- JPH0666682A JPH0666682A JP4222393A JP22239392A JPH0666682A JP H0666682 A JPH0666682 A JP H0666682A JP 4222393 A JP4222393 A JP 4222393A JP 22239392 A JP22239392 A JP 22239392A JP H0666682 A JPH0666682 A JP H0666682A
- Authority
- JP
- Japan
- Prior art keywords
- torque
- coefficient
- circuit
- control circuit
- waveform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、自動車等のブレーキの
性能試験を行うブレーキダイナモシステムの制御方法、
詳しくは、ブレーキダイナモシステムにおけるトルク／
油圧係数の学習制御法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of controlling a brake dynamo system for performing a performance test of a brake of an automobile or the like.
For details, see the torque /
The present invention relates to a hydraulic pressure coefficient learning control method.
【０００２】[0002]
【従来の技術】ブレーキダイナモシステムは図５に示す
ように、駆動用直流電動機１でフライホイール２を回転
させ、取付軸３に取り付けられた供試ブレーキＢＫにブ
レーキをかけそのトルクをトルクメータ４で測定するよ
うになっている。2. Description of the Related Art As shown in FIG. 5, a brake dynamo system rotates a flywheel 2 by a driving DC motor 1 to brake a test brake BK mounted on a mounting shaft 3 to measure its torque by a torque meter 4. It is designed to measure at.
【０００３】図６はこの供試ブレーキのペダルを操作す
る油圧シリンダの制御回路を示す。FIG. 6 shows a control circuit of a hydraulic cylinder for operating a pedal of this test brake.
【０００４】図６において、１１はブレーキトルク設定
値ＴSとトルク検出信号ＴDの偏差を積分増幅し油圧指令
ＰSを出力するトルクＩ制御回路、１２はこの油圧指令
ＰSとブレーキ用油圧シリンダの油圧検出値ＰDとの偏差
を比例積分増幅する油圧ＰＩ制御回路。[0004] In FIG. 6, 11 is a torque I control circuit for outputting a hydraulic pressure command P S and integrating amplifier a deviation brake torque setting T S and the torque detection signal T D, 12 are hydraulic this hydraulic pressure command P S and the brake A hydraulic pressure PI control circuit that amplifies the deviation from the hydraulic pressure detection value P D of the cylinder by proportional integration.
【０００５】１３はトルク設定値ＴSが入力するトルク
／油圧係数回路で、この回路の係数はカットアンドドラ
イ方式で決定される。１４はトルク／油圧係数回路１３
の出力が入力しフィードフォワード値を出力する油圧／
ストローク関数回路で、この回路の関数は運転前に予め
測定して求めたものを使用する。Reference numeral 13 is a torque / hydraulic pressure coefficient circuit to which the torque setting value T S is input, and the coefficient of this circuit is determined by the cut-and-dry method. 14 is a torque / hydraulic coefficient circuit 13
Of the hydraulic pressure to which the output of is input and the feedforward value is output.
In the stroke function circuit, the function of this circuit is obtained by measuring in advance before operation.
【０００６】１５は油圧ＰＩ制御回路１２の出力に油圧
／ストローク関数回路１４のフィードフォワード値を加
算しブレーキ用油圧シリンダのストロークを制御するス
トローク制御回路である。A stroke control circuit 15 controls the stroke of the brake hydraulic cylinder by adding the feedforward value of the hydraulic / stroke function circuit 14 to the output of the hydraulic PI control circuit 12.
【０００７】このストローク制御回路は、フィードバッ
クによるストローク制御回路（１１，１２，１５）によ
りブレーキトルク制御を行っていた応答を高速化するた
めにフィードフォワード制御回路（１３，１４）を用い
油圧−ストロークの関係を事前に測定し設定しながらフ
ィードフォワード値をストローク制御回路に入力して油
圧シリンダのストローク制御を行っている。In this stroke control circuit, a feedforward control circuit (13, 14) is used to speed up the response in which the brake torque control is performed by the feedback stroke control circuit (11, 12, 15). Is measured and set in advance, the feedforward value is input to the stroke control circuit to control the stroke of the hydraulic cylinder.
【０００８】[0008]
【発明が解決しようとする課題】しかし、上記ストロー
ク制御では、運転中のブレーキのパッド面の温度変化及
びパッド等の摩耗による材質変化で、トルク／油圧係数
が変化してしまうため、フィードフォワード値が状況に
よっては適正な値とならず、オーバーシュート或は応答
遅れ等が発生していた。However, in the above stroke control, the torque / hydraulic coefficient changes due to a change in the temperature of the pad surface of the brake during operation and a change in the material due to wear of the pad, etc. However, depending on the situation, the value was not proper, and overshoot or response delay occurred.
【０００９】本発明は、従来のこのような問題点に鑑み
てなされたものであり、その目的とするところは、ブレ
ーキの状態が変化しても学習効果によりフィードフォワ
ード値を適正な値に保ち、オーバーシュート，応答遅れ
等が発生することがないブレーキダイナモシステムの制
御方法を提供することにある。The present invention has been made in view of the above-mentioned conventional problems, and an object thereof is to keep the feedforward value at an appropriate value by the learning effect even if the brake state changes. It is to provide a control method for a brake dynamo system that does not cause overshoot, response delay, and the like.
【００１０】[0010]
【課題を解決するための手段及び作用】トルク制御回
路，油圧制御回路，ストローク制御回路からなるフィー
ドバック制御回路にトルク／油圧係数回路，油圧／スト
ローク関数回路からなるフィードフォワード制御回路を
設けてなるブレーキダイナモメータのブレーキ用油圧シ
リンダの制御回路において、トルク設定が入力する一次
遅れ関数回路とこの回路の信号に正負のバイアスを加え
て２つの判定波形を出力するバイアス回路及びこの２つ
の判定波形とトルク検出波形が入力する学習演算部を設
け、学習演算部において、前記２つの判定波形とトルク
検出波形とを比較し、トルク検出波形が２つの判定波形
のバンド内にあるか否かの波形監視を行い、トルク検出
波形が前記バンド内にあるときは係数変更なしの処理を
し、トルク検出波形が前記バンドからはみ出していると
きは、バンドの上側及び下側のはみ出した面積を夫々測
定し、はみ出しが上側か下側かの判断をし、はみ出しが
上側のときはそのはみ出し面積に応じて前記トルク／油
圧係数回路の係数を下げる処理をし、はみ出しが下側の
ときはそのはみ出し面積に応じて前記トルク／油圧係数
回路の係数を上げる処理をし、この波形監視と係数の変
更なし又は係数変更の処理を繰り返し行いトルク／油圧
係数回路の係数を学習し、ブレーキの状態が変化しても
フィードフォワード値を適正に保つ。A brake in which a feedback control circuit including a torque control circuit, a hydraulic control circuit, and a stroke control circuit is provided with a feedforward control circuit including a torque / hydraulic coefficient circuit and a hydraulic / stroke function circuit. In a control circuit of a hydraulic cylinder for braking a dynamometer, a first-order lag function circuit to which a torque setting is input, a bias circuit that adds positive and negative bias to a signal of this circuit, and outputs two determination waveforms, and these two determination waveforms and torque. A learning calculation unit to which the detected waveform is input is provided, and the learning calculation unit compares the two determination waveforms with the torque detection waveform to monitor whether or not the torque detection waveform is within the band of the two determination waveforms. If the torque detection waveform is within the band, the process without changing the coefficient is performed. When protruding from the band, measure the protruding area on the upper side and the lower side of the band respectively, and judge whether the protruding side is the upper side or the lower side, and when the protruding side is the upper side, the torque according to the protruding area / The coefficient of the hydraulic pressure coefficient circuit is decreased, and when the protrusion is on the lower side, the coefficient of the torque / hydraulic coefficient circuit is increased according to the protrusion area, and this waveform monitoring and coefficient change or no coefficient change The above process is repeated to learn the coefficient of the torque / hydraulic pressure coefficient circuit, and the feedforward value is maintained properly even if the brake state changes.
【００１１】また、トルク検出波形がバンドの両側には
み出しているときは、その両はみ出し面積に応じてトル
ク制御回路の時定数を変更する処理を行いトルク検出波
形の振動を防止する。Further, when the torque detection waveform protrudes on both sides of the band, a process of changing the time constant of the torque control circuit according to the area of the protrusion is performed to prevent the vibration of the torque detection waveform.
【００１２】[0012]
【実施例】本発明の実施例を図面を参照して説明する。Embodiments of the present invention will be described with reference to the drawings.
【００１３】図１は油圧シリンダ制御回路図、図２
（ａ）〜（ｃ）は動作説明図、図３は制御学習演算部の
処理フロー図、図４は学習フロー説明図である。なお、
図１において従来図６に示したものと同一構成部分は、
同一符号を付してその重複する説明を省略する。FIG. 1 is a hydraulic cylinder control circuit diagram, FIG.
(A)-(c) is operation | movement explanatory drawing, FIG. 3 is a processing flow figure of a control learning calculation part, and FIG. 4 is a learning flow explanatory drawing. In addition,
In FIG. 1, the same components as those shown in FIG.
The same reference numerals are given and the duplicated description is omitted.
【００１４】図１において、１１′は時定数が変えうる
ように構成されたトルクＩ制御回路、１３′はトルク／
油圧係数が変えうるように構成され、油圧／ストローク
関数回路１４に出力すると共にフィードフォワード値と
して油圧ＰＩ制御回路１２を加えるトルク／油圧係数回
路、１６はブレーキトルク設定値ＴSが入力する一次遅
れ関数回路。In FIG. 1, 11 'is a torque I control circuit constructed so that the time constant can be changed, and 13' is torque /
A torque / hydraulic coefficient circuit configured so that the hydraulic pressure coefficient can be changed and output to the hydraulic pressure / stroke function circuit 14 and the hydraulic pressure PI control circuit 12 is added as a feedforward value, and 16 is a first-order lag input by the brake torque set value T S. Function circuit.
【００１５】１７及び１８は一次遅れ関数回路の出力に
バイアス＋α及び−αを加え図２に示す曲線ＡＢのよう
なバンドをもった判定波形を作成する加算器及び減算
器、１９は加算器１７，１８の判定波形Ａ，Ｂ及びトル
ク検出値ＴDが入力し、トルク／油圧係数回路１３′の
係数乃至トルクＩ制御回路１１′の時定数の変更をオー
トチューニングで行う学習演算部である。Reference numerals 17 and 18 denote adders and subtractors for adding a bias + α and −α to the output of the first-order lag function circuit to create a judgment waveform having a band like the curve AB shown in FIG. , 18 of the determination waveforms A and B and the detected torque value T D are input to the learning calculation unit for changing the coefficient of the torque / hydraulic coefficient circuit 13 'or the time constant of the torque I control circuit 11' by auto tuning.
【００１６】学習演算部１９は、トルク検出波形ＴDが
バンドＡ，Ｂ内にある場合はトルク／油圧係数回路１
３′の係数が適正範囲内にあるとみて変更しない。When the torque detection waveform T D is within the bands A and B, the learning calculation section 19 uses the torque / hydraulic pressure coefficient circuit 1
Do not change because the coefficient of 3'is in the proper range.
【００１７】トルク検出波形ＴDが曲線Ａを越えている
場合は、この越えた部分の面積Ｓａを測定し、面積Ｓａ
に応じた量のトルク／油圧係数を導き出す。面積Ｓａ量
とトルク／油圧係数の関数は線形でないので、実験によ
り得られたテーブルを利用し、その間は補完を行いトル
ク／油圧係数回路１３′の係数の変更を行う。When the torque detection waveform T D exceeds the curve A, the area Sa of the exceeded portion is measured, and the area Sa is measured.
The amount of torque / hydraulic pressure coefficient is derived according to. Since the function of the area Sa amount and the torque / hydraulic pressure coefficient is not linear, the table obtained by the experiment is used, during which the coefficient of the torque / hydraulic coefficient circuit 13 'is changed to complement the coefficient.
【００１８】トルク検出波形ＴDが曲線Ｂの下側にはみ
出している場合は、このはみ出した部分の面積Ｓｂを測
定し、面積Ｓｂに応じた量のトルク／油圧係数を導き出
し、前記同様テーブルを利用して係数を変更する。When the torque detection waveform T D is protruding to the lower side of the curve B, the area Sb of this protruding portion is measured, the torque / hydraulic coefficient of the amount corresponding to the area Sb is derived, and the same table as above is used. Use it to change the coefficient.
【００１９】また、トルク検出信号ＴDが振動し、図
（ｃ）に示すように、バンドＡ，Ｂの両側にはみ出して
いる場合は、トルクＩ制御回路１１′の時定数が合わな
いためであるので、はみ出した面積Ｓａ＋Ｓｂの値に応
じた時定数を変える。When the torque detection signal T D oscillates and sticks out on both sides of the bands A and B as shown in FIG. 7C, the time constant of the torque I control circuit 11 'does not match. Therefore, the time constant is changed according to the value of the protruding area Sa + Sb.
【００２０】上記学習演算部１９における波形の監視及
び係数変更は図３に示すフローにより行い、係数変更の
クラブが立った場合のみ係数の変更を行う。The monitoring of the waveform and the coefficient change in the learning calculation section 19 are performed according to the flow shown in FIG. 3, and the coefficient is changed only when the club for the coefficient change stands.
【００２１】図３について学習演算部１９の処理につい
て説明する。The processing of the learning calculation section 19 will be described with reference to FIG.
【００２２】先ず、判定波形Ａ，Ｂとトルク検出波形Ｔ
Dの比較を行いバンドＡ，Ｂ内に検出波形ＴDがあるか否
かを判定する（Ｓ１，Ｓ２）。バンドＡ，Ｂ内にあると
判定されたら係数変更なしとして処理を終わる（Ｓ
３）。First, the determination waveforms A and B and the torque detection waveform T
D is compared and it is determined whether or not there is a detected waveform T D in bands A and B (S1, S2). If it is determined that the band is in the bands A and B, the coefficient is not changed and the process ends (S
3).
【００２３】バンドＡ，Ｂ内にないと判定されたらバン
ドＡ，Ｂの両側に検出波形ＴDがはみ出しているか否か
を面積Ｓａ，Ｓｂが共にあるかないかで判定する（Ｓ
４）。両側にはみ出しているときは、面積Ｓａ＋Ｓｂに
応じて時定数可変の処理を行いトルクＩ制御回路１１′
の時定数を変更する（Ｓ５，Ｓ６）。When it is determined that the detected waveform T D does not lie on both sides of the bands A and B, it is determined whether or not the areas Sa and Sb are present (S).
4). When the torque I control circuit 11 'is located on both sides, the time constant is changed according to the area Sa + Sb.
The time constant of is changed (S5, S6).
【００２４】両側にはみ出していないときは曲線Ａを越
えているか否かを面積Ｓａのみがあるか否かで判定する
（Ｓ６）。曲線を越えていないと判定されたら面積Ｓｂ
に応じたトルク／油圧係数をアップする処理を行いトル
ク／油圧係数回路１３′の係数を変更する（Ｓ７，Ｓ
９）。When it does not extend to both sides, it is judged whether or not the curve A is exceeded by whether or not there is only the area Sa (S6). If it is determined that the curve is not exceeded, the area Sb
A process for increasing the torque / hydraulic pressure coefficient is performed to change the coefficient of the torque / hydraulic coefficient circuit 13 '(S7, S).
9).
【００２５】曲線を越えていると判定されたら面積Ｓａ
に応じたトルク／油圧係数をダウンする処理を行いトル
ク／油圧係数回路１３′の係数を変更する。If it is determined that the curve is exceeded, the area Sa
The torque / hydraulic pressure coefficient circuit 13 'is changed to change the coefficient of the torque / hydraulic pressure coefficient circuit 13'.
【００２６】以上の処理を図４に示すように、繰り返し
行い学習することによりブレーキトルク／油圧係数回路
１３′の係数及びトルクＩ制御回路１１′の時定数をブ
レーキの状態に応じた適正なものにすることができる。
このため、オーバーシュート或は応答遅れ等のないブレ
ーキ試験が可能となる。As shown in FIG. 4, the above processing is repeatedly performed to learn the coefficient of the brake torque / hydraulic pressure coefficient circuit 13 'and the time constant of the torque I control circuit 11' which are appropriate for the state of the brake. Can be
Therefore, a brake test without overshoot or response delay can be performed.
【００２７】[0027]
【発明の効果】本発明は、上述のとおり構成されている
ので、次に記載する効果を奏する。Since the present invention is configured as described above, it has the following effects.
【００２８】（１）ブレーキの状態が変化しても学習効
果により常に一定のトルク検出波形が得られる。(1) Even if the state of the brake changes, a constant torque detection waveform can always be obtained by the learning effect.
【００２９】（２）ブレーキの種類を変更しても一定の
トルク検出波形が得られる。(2) A constant torque detection waveform can be obtained even if the type of brake is changed.
【００３０】（３）学習の判定にバンドをいれているた
めトルク検出波形がバンド内に収束し易い。(3) Since the band is included in the learning judgment, the torque detection waveform is likely to converge within the band.
【００３１】（４）トルク検出波形のバンドをはみ出し
た面積によって係数変更の判定をしているのでノイズの
影響を受けない。(4) Since the coefficient change is determined based on the area where the torque detection waveform band protrudes, it is not affected by noise.
【００３２】（５）回路構成が容易である。(5) The circuit configuration is easy.
【図１】実施例にかかるブレーキ用油圧シリンダの制御
回路を示すブロック回路図。FIG. 1 is a block circuit diagram showing a control circuit of a brake hydraulic cylinder according to an embodiment.
【図２】（ａ）〜（ｃ）は波形監視方法の説明図。2A to 2C are explanatory diagrams of a waveform monitoring method.
【図３】学習演算部の処理フロー図。FIG. 3 is a processing flowchart of a learning calculation unit.
【図４】ブレーキ制御学習フロー図。FIG. 4 is a brake control learning flow chart.
【図５】シングルブレーキダイナモの構成説明図。FIG. 5 is a structural explanatory view of a single brake dynamo.
【図６】従来例にかかるブレーキ用油圧シリンダの制御
回路を示すブロック回路図。FIG. 6 is a block circuit diagram showing a control circuit of a brake hydraulic cylinder according to a conventional example.
１…直流電動機 ２…フライホイール ３…取付軸 ４…トルクメータ １１，１１′…トルクＩ制御回路 １２…油圧ＰＩ制御回路 １３，１３′…トルク／油圧係数回路 １４…油圧／ストローク関数回路 １５…ストローク制御回路 １６…一次遅れ関数回路 １７…加算器 １８…減算器 １９…学習演算部 ＢＫ…ブレーキ DESCRIPTION OF SYMBOLS 1 ... DC motor 2 ... Flywheel 3 ... Mounting shaft 4 ... Torque meter 11, 11 '... Torque I control circuit 12 ... Hydraulic pressure PI control circuit 13, 13' ... Torque / hydraulic coefficient circuit 14 ... Hydraulic pressure / stroke function circuit 15 ... Stroke control circuit 16 ... First-order delay function circuit 17 ... Adder 18 ... Subtractor 19 ... Learning operation unit BK ... Brake
Claims (2)
ーク制御回路からなるフィードバック制御回路にトルク
／油圧係数回路，油圧／ストローク関数回路からなるフ
ィードフォワード制御回路を設けてなるブレーキダイナ
モメータのブレーキ用油圧シリンダの制御回路におい
て、 トルク設定が入力する一次遅れ関数回路とこの回路の信
号に正負のバイアスを加えて２つの判定波形を出力する
バイアス回路及びこの２つの判定波形とトルク検出波形
が入力する学習演算部を設け、 学習演算部において、前記２つの判定波形とトルク検出
波形とを比較し、トルク検出波形が２つの判定波形のバ
ンド内にあるか否かの波形監視を行い、 トルク検出波形が前記バンド内にあるときは係数変更な
しの処理をし、 トルク検出波形が前記バンドからはみ出しているとき
は、バンドの上側及び下側のはみ出した面積を夫々測定
し、はみ出しが上側か下側かの判断をし、 はみ出しが上側のときはそのはみ出し面積に応じて前記
トルク／油圧係数回路の係数を下げる処理をし、 はみ出しが下側のときはそのはみ出し面積に応じて前記
トルク／油圧係数回路の係数を上げる処理をし、 この波形監視と係数の変更なし又は係数変更の処理を繰
り返し行いトルク／油圧係数回路の係数を学習しながら
ブレーキテストすることを特徴としたブレーキダイナモ
システムの制御方法。1. A brake hydraulic pressure for a brake dynamometer in which a feedback control circuit including a torque control circuit, a hydraulic pressure control circuit, and a stroke control circuit is provided with a feedforward control circuit including a torque / hydraulic coefficient circuit and a hydraulic pressure / stroke function circuit. In a cylinder control circuit, a first-order lag function circuit to which torque setting is input, a bias circuit that outputs positive and negative bias to the signal of this circuit and outputs two judgment waveforms, and learning that these two judgment waveforms and torque detection waveforms input An arithmetic unit is provided, and the learning arithmetic unit compares the two determination waveforms with the torque detection waveform and monitors whether the torque detection waveform is within the band of the two determination waveforms. If it is within the band, processing without changing the coefficient is performed, and the torque detection waveform is not visible from the band. If the protrusion is on the upper side or the lower side, it is judged whether the protrusion is on the upper side or the lower side.If the protrusion is on the upper side, the torque / hydraulic coefficient is determined according to the protrusion area. The coefficient of the circuit is lowered, and when the protrusion is on the lower side, the coefficient of the torque / hydraulic coefficient circuit is increased according to the protrusion area. A control method for a brake dynamo system, which is characterized by repeatedly performing a brake test while learning a coefficient of a torque / hydraulic coefficient circuit.
が両側にあるときはその両はみ出し面積に応じて前記ト
ルク制御回路の時定数を変更する処理をすることを特徴
とした請求項１記載のブレーキダイナモシステムの制御
方法。2. The brake according to claim 1, wherein when the torque detection waveform extends from the band on both sides, the time constant of the torque control circuit is changed according to the area of the protrusion. Control method for dynamo system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4222393A JPH0666682A (en) | 1992-08-21 | 1992-08-21 | Control method for brake dynamo system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4222393A JPH0666682A (en) | 1992-08-21 | 1992-08-21 | Control method for brake dynamo system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0666682A true JPH0666682A (en) | 1994-03-11 |
Family
ID=16781669
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4222393A Pending JPH0666682A (en) | 1992-08-21 | 1992-08-21 | Control method for brake dynamo system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0666682A (en) |
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-
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- 1992-08-21 JP JP4222393A patent/JPH0666682A/en active Pending
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