JPS6118306A - Control device for electric rolling stock - Google Patents

Abstract

PURPOSE:To obtain a control device for an electric railcar capable of operating at a constant speed by supplying a cam shaft command position to a field chopper controller in addition to a torque command from an ATO unit which outputs an operation command on the basis of a deviation between the output of a speed detector of the railcar and a target speed. CONSTITUTION:An ATO unit 15 inputs an actual speed (v) from a speed detector 14 and a target speed v0, and outputs a torque command 16, a cam shaft parallel stage position command 17 and a cam shaft series stage position command 18 to a field chopper controller 5. In other words, when the speed v0 is larger than a cam shaft series/parallel converting speed v2, it outputs the parallel stage position command 17, and when the speed v0 is smaller than the speed v2, it outputs the series stage position command 18. Thus, an operating device for a railcar which can operate at a constant speed can be obtained.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to an electric vehicle driving device, and more particularly to an electric vehicle driving device suitable for automatically driving an electric vehicle using a field chopper control device.

[Background of the invention]

This type of electric vehicle driving device includes a speed detector that detects the speed of the vehicle, and an AT that compares the output signal from the speed detector with a target speed given to the vehicle and outputs a predetermined command.
The vehicle is configured to include an O device and a field chopper control device that receives commands from the ATO device and controls the main electric motor for driving the vehicle.

In this manner, the electric vehicle driving device controls the main motor using a field chopper control device. The outline of the control will now be explained below.

When controlling using a field chopper control device, a compound motor is usually used as the main motor. By controlling the current flowing through the separately excited field coil of the compound-wound motor using a chopper control device, its rotational speed and torque are controlled.

However, when controlling the main variable machine with such a field chopper control device, at startup and in low speed ranges, even if the separately excited field current is set to the maximum value allowed by the device, the voltage across the armature is Since the necessary amount of back electromotive force is not generated, a starting resistor is usually inserted in the armature circuit to compensate for it.

Normally, this starting resistor allows current to flow only for a short period of time in order to keep the device compact. Therefore, continuous operation is not possible unless the speed is increased within the time limited by the main resistor, the back electromotive force is made large enough, and all starting resistors are short-terminated.Therefore, continuous automatic operation is possible. There is a lower limit to the speed that can be achieved.

In addition, in high-speed ranges, if the separately excited field current becomes too small, the rectification characteristics of the compound motor will deteriorate, so the ratio of the armature current to the separately excited field current, that is, the weak field rate, usually remains constant at a certain level. The upper limit of the speed is limited so that it does not fall below the value.

As mentioned above, in the field chopper control device, there is a limit to the speed range in which continuous operation is possible. Therefore, the main motor is usually divided into several groups and connected in series and parallel to each other, so that the speed range in which continuous operation is possible is limited. I'm trying to expand it.

FIG. 3 is a circuit diagram showing a circuit in which main motors are connected in series.

In the figure, reference numeral 1 is a current collector, 2 is a main motor armature, 3 is a separately excited field of the main motor, 4 is a direct winding field of the main motor, 5 is a field chopper device, and 6 is a starting resistor.

Current collector 1. The main motor armature 2, the series field 4 and the resistor 6 are connected in series. Main motor separately excited field 3
is controlled by the field chopper device 5.

FIG. 4 is a circuit diagram showing a circuit configuration when main motors are connected in parallel.

FIG. 5 is a waveform diagram showing the notch curve.

In the figure, region 7 is the resistance control region of the series stages, 8 is the weak field limit of the series stages, 9 is the region where the series stages can be operated continuously, and 10
11 indicates the parallel resistance control region, 11 indicates the parallel stage weak field limit, and 12 indicates the continuous operation possible region of the parallel stages. Note that 13 indicates an uncontrollable speed region.

And a field chopper device! 5, normally the starting resistor 6 is turned on, short-circuited, and the main motor group is switched in series/parallel by a camshaft provided in the field chopper control device 15.

When performing automatic operation using such a field chopper control device v115, in addition to the torque command based on the deviation between the target speed and the actual speed, a camshaft position command corresponding to the target speed is required as explained above. becomes.

However, in the conventional electric vehicle control device using the field chopper control device 5, only the torque command is used as the output command from the AT○ device, and the field chopper control device 5 is used as the main motor control device. In some cases, constant speed operation could not be achieved using only the torque command.

[Purpose of the invention]

An object of the present invention is to provide an electric vehicle driving device that enables constant speed operation.

[Summary of the invention]

The present invention provides that when a field chopper control device is used to continuously control the speed of an electric vehicle, that is, the torque and rotational speed of the traction motor, the speed range in which they can be controlled is the series or parallel connection of the traction motor. In other words, focusing on the fact that it is determined by the position of the camshaft, the AT○ output signal corresponds to the controllable speed range of the traction motor, which includes the target speed in addition to the torque command based on the deviation between the target speed and the actual speed. It is designed to output a camshaft position command.

(Embodiments of the invention) Embodiments of the present invention will be described below based on the drawings.

FIG. 1 is a block diagram showing an embodiment of the present invention.

In FIG. 1, the vehicle speed V from the speed detector 14 is A
is applied to the TO device 15. A target speed v0 is also given to the ATO device 15. The ATO device 15 provides the field chopper control device 5 with a torque command 16, a camshaft parallel stage position command 17, and a camshaft serial stage position command 18.

The AT◯ device 15 outputs a parallel stage position command 17 when the target speed v0 is higher than the camshaft serial/parallel switching speed v2. As a result, the field chopper control device 5 is operated at the final parallel stage of the camshafts.

Furthermore, when the target speed v0 is smaller than the series/parallel switching speed v2 of the camshaft, the ATO device 15 outputs the series stage position command 18. As a result, the field chopper control bag W
i5 will be operated at the final stage in series of the camshaft.

FIG. 2 is a diagram showing the notch curve in this embodiment. In FIG. 2, 9 indicates a region where continuous operation is possible in series stages, and 12 indicates a region where continuous operation is possible in parallel stages. Further, 19 indicates the speed characteristic of the final stage in series, and 20 indicates the speed characteristic of the final stage in parallel.

Now, as the target speed V, v = v, is the ATO device 1
5, if the vehicle is in a stopped state, the deviations of v and -v are initially large, so the torque command 16 becomes the maximum value, and this is the field chopper control bag S! 5. The vehicle is then accelerated and the starting resistors 6 are sequentially shorted. Therefore, since the target speed v3 satisfies va<v, the ATO device 15 outputs the series stage position command 18.

Then, as is clear from FIG. 2, the field chopper control device 5 stops the camshaft at the final series stage 11, and
Torque control is performed using the deviation 16 of y, and the vehicle reaches the target speed.

Next, in this state, the target speed V. is V. =v4 and ATO
Even when the torque command 16 is given to the device 15, since the speed deviation of v4-v is large at first, the torque command 16 becomes the maximum value, and this command 16 is given to the field chopper control equipment 6. At this time, the ATO device 15 determines that V4>V2, so
A parallel stage position signal 17 is output. The field chopper control device 5 advances the camshaft to the parallel stage based on this command 17, and the vehicle accelerates.

Thereafter, the field chopper control device 5 causes the camshaft to reach the final parallel stage, short-circuits all the starting resistors, and then performs torque control, so that the vehicle reaches the target speed.

As the target speed v0 from the time the vehicle stops, v0 = v4 is AT
When given to the O device 15, the ATO device 15 outputs the parallel stage position command 17, and the V4-'I
The torque command 16 with the maximum deviation of / is output. Then, the field chopper control device 5 advances the camshaft to the final parallel stage (see Fig. 2 20) without stopping the camshaft at the final series stage.
Thereafter, torque control is performed to accelerate the vehicle to the target speed v=v4.

Next, from the state of speed v4, set the target speed V to V= v
s is ATO outfit! ! 15, regenerative braking is applied, a parallel-series transition is performed midway through, and the vehicle is decelerated to the target speed by torque control.

Note that the target speed is set higher than vl.

〔Effect of the invention〕

As described above, according to the present invention, the camshaft position command is supplied from the ATO device to the field chopper control device in addition to the torque command, and the operation is controlled to the optimum speed, so that constant speed operation is possible at low cost. This has the effect of providing an electric vehicle control device.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an embodiment of an electric vehicle control device according to the present invention, FIG. 2 is a diagram showing a notch curve of the control device shown in FIG. 1, and FIG. 3 is a diagram showing a notch curve of the control device shown in FIG. 1. FIG. 4 is a circuit diagram showing an example of a series stage of the main circuit, FIG. 4 is a circuit diagram showing an example of a parallel stage of the main circuit, and FIG. 5 is a diagram showing a general notch curve of a field chopper device. 5... Field chopper control device, 14... Speed detector, 15... ATO device, 16... Torque command, 17
・・・Normal J Akino 41￥J

Claims (1)

[Claims] 1. A speed detector that detects the speed of the vehicle, and an ATO that receives the output signal from the speed detector, calculates the deviation from the given target speed, and outputs a driving command based on the deviation.
and a field chopper control device that takes in driving commands from the ATO device and controls the rotation of an electric motor that drives the vehicle according to the commands, wherein the ATO device has the above-mentioned An electric vehicle control device characterized in that it is configured to also output a camshaft position command corresponding to the target speed as a driving command. 2. Claim 1 is characterized in that the ATO device is configured to output a position command for either a series final stage or a parallel final stage according to a target speed as a camshaft position command. Electric vehicle control device.