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CN100544996C - Vehicle electric machinery control device - Google Patents

Vehicle electric machinery control device Download PDF

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Publication number
CN100544996C
CN100544996C CN 200710104275 CN200710104275A CN100544996C CN 100544996 C CN100544996 C CN 100544996C CN 200710104275 CN200710104275 CN 200710104275 CN 200710104275 A CN200710104275 A CN 200710104275A CN 100544996 C CN100544996 C CN 100544996C
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vehicle
electric
machinery
control
device
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CN 200710104275
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Chinese (zh)
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CN101077695A (en )
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中泽洋介
安冈育雄
户田伸一
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株式会社东芝
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/72Electric energy management in electromobility
    • Y02T10/7208Electric power conversion within the vehicle
    • Y02T10/7241DC to AC or AC to DC power conversion

Abstract

作为用于驱动车辆车轮的电机,为每一底盘提供了三个电机。 A motor for driving the vehicle wheels, provided for each of the three motors of the chassis. 当通过逆变器单独地控制相应电机时,提供了:加速度检测控制部(26),在检测到电机的速度信号随时间的变化率的增加超过了预定值时,节流转矩;以及滑行速度检测控制部(27),根据电机速度信号相对于预定参考速度增加的量,节流转矩。 When the corresponding motor control by the inverter individually provided: an acceleration detection control unit (26), upon detection of the motor velocity signal exceeds a predetermined value with increasing time rate of change of throttle torque; and coasting speed detection control unit (27), according to the motor speed signal with a predetermined reference speed to increase the amount of the throttle torque. 切换控制部(28)进行切换,以便通常通过加速度检测控制部(26)执行对控制每一底盘中在车辆的行进方向中位于最后的电机的逆变器(11)的控制,以及通过滑行速度检测控制部(27)执行对控制其他两个电机的逆变器的控制。 Switching control unit (28) is switched to the acceleration detection is typically performed by the control unit (26) for controlling each of the chassis on the last inverter motor (11) in the direction of travel of the vehicle control, and by sliding speed detection control unit (27) performs control of the other two motor control inverter.

Description

车辆电机控制设备 Motor vehicle control device

技术领域 FIELD

本发明涉及用于控制轨道车辆的驱动的车辆电机控制设备。 The present invention relates to a drive for controlling a motor vehicle rail vehicle control apparatus. 背景技术 Background technique

控制轨道车辆的驱动的车辆电机控制设备执行防空转再粘着 Controlling the driving of a motor vehicle rail vehicle control device performs anti-slip readhesion

(anti-skid readhesion )(或再粘着)控制,以便防止车轮的空转。 (Anti-skid readhesion) (or re-adhesion) to control, in order to prevent wheel spin. 可以通过加速度检测的方法或者通过滑行速度检测的方法,执行这种防空转再粘着控制,其中在加速度检测的方法中,通过计算车轴或电机轴的速度变化率来检测空转,来执行这种防空转再粕着控制,而在滑行速度检测的方法中,通过计算空转速度(或滑行速度)来检测空转。 By a method or a method of detecting the acceleration detected by the taxi speed, and then performing such adhesive anti-slip control, wherein the method of detection of the acceleration, detected by calculating the idling axle or shaft speed change rate, to perform such air defense and then turn the control meal, and the sliding speed detection method, the idling is detected by calculating the idle speed (or taxi speed).

图l是使用传统的加速度检测方法执行防空转再粘着控制的车辆电机控制设备的布局图。 Figure l is a layout diagram of the implementation of a motor vehicle anti-slip control apparatus using a conventional re-adhesion control method for acceleration detection. 图1示出了在单个车辆中存在六个车轮驱动电机轴的情形,这些电机轴由各自的逆变器单独地控制。 FIG 1 shows a case where there are six wheel drive motor vehicle in a single shaft, which motor shaft individually controlled by respective inverters.

通过旋转速度检测器(诸如脉冲发生器或旋转变压器(resolver)) 13a至13f检测由逆变器lla至11f驱动的电机12a至12f的旋转速度, 并且将其输入到防空转再粘着控制部14a至14f。 By the rotation speed detector (such as a resolver or a pulse generator (resolver)) 13a to 13f of the inverter detected by the rotational speed of the drive motor lla 12a to 11f to 12f, and inputs it to the anti-stall control unit 14a readhesion to 14f. 防空转再粘着控制部14a至14f具有相同的结构,因此,在下文中将仅描述防空转再粘着部14a。 Anti-slip readhesion control unit 14a to 14f have the same structure, and therefore, will be described hereinafter only in anti-slip and then the adhesive portion 14a.

将旋转速度检测器(脉冲发生器)13a检测到的电机12a的旋转速度(旋转数)转换成一个速度信号,该速度信号被输入到防空转再粘着控制部14a的速度计算部15a。 The rotational speed of the rotational speed detector (pulse generator) 13a of the motor 12a is detected (the number of rotation) is converted into a velocity signal, the velocity signal is input to the anti-slip velocity readhesion control section 14a calculating section 15a. 通过将由速度计算部15a得到的速度信号输入到加速度检测部16a,得出速度信号的变化率。 By the speed input by the speed calculation unit 15a to obtain the acceleration signal detecting unit 16a, the rate of change speed signal is obtained. 然后, 加速度检测部16a确定速度信号的变化率是否等于或高于预定值:如果速度信号的变化率等于或高于预定值,则加速度检测部16a识别(检测)到空转状态;如果速度信号的变化率低于预定值,则加速度检测部16a识别到复原(recovery)。 Then, the rate of change of acceleration detecting unit 16a determines whether the speed signal is equal to or higher than a predetermined value: if the rate of change of the speed signal is equal to or higher than the predetermined value, the acceleration detecting unit 16a recognizes (detects) the idling state; if the speed signal change rate is lower than the predetermined value, the acceleration detecting unit 16a recognizes restoration (recovery). 转矩节流/复原计算部17a根据加速度检测部16a的空转识别信号,计算和输出转矩节流或复原量。 Torque-saving / restoring identification signal according to the idle acceleration detection unit 16a calculates the output torque and the throttle or the recovery amount calculating unit 17a.

转矩指令模式输出部18a输出转矩指令模式:转矩节流/复原计算部17a的输出在被减法器19a从来自转矩指令模式输出部18a的转矩指令模式中减去后,被输出为最终转矩指令。 Torque instruction pattern output unit 18a outputs the torque command mode: the output throttling / restoring torque calculating unit 17a 19a after being subtracted from the torque command from the torque command mode pattern output unit 18a in a subtractor output as the final torque command.

接着,图2是使用传统的滑行速度检测方法执行防空转再粘着控制的车辆电机控制设备的布局图。 Next, the implementation of FIG. 2 is a layout view of a motor vehicle anti-slip control apparatus using a conventional re-adhesion control taxi speed detection method. 图2示出了在单个车辆中存在六个车轮驱动电机轴的情形,这些电机轴由各自的逆变器单独地控制。 FIG. 2 shows a case where there are six in a single vehicle wheel drive motor shaft, the motor shaft individually controlled by a respective inverter.

通过旋转速度检测器13a至13f检测由逆变器lla至llf驱动的电机12a至12f的旋转速度,并将其输入到防空转再粘着控制部14a 至14f的速度计算部15a至15f,在速度计算部15a至15f中将其转换成速度信号。 Detector 13a to 13f driven by the inverter detected lla to llf rotational speed of the motor 12a to 12f of the rotational speed, input to the anti-slip and readhesion control unit 14a to 14f, 15a to 15f speed calculating unit, the speed calculating portion which is converted into a signal 15a to 15f in the speed. 将由速度计算部15a至15f计算的速度信号输入到参考速度计算部20,在参考速度计算部20中计算参考速度。 By the speed calculation unit 15a to 15f calculated velocity signal is input to the reference speed calculation section 20 calculates the reference speed calculation unit 20 reference speed. 可以通过例如在Journal of the Electrical Association of Japan Industrial Applications Section (第121-D,巻,第9期,2001年,第928页)(图11)中所说明的方法,执行参考速度的计算。 May be calculated by, for example, in the Journal of the Electrical Association of Japan Industrial Applications Section (first 121-D, Volume, No. 9, 2001, p. 928) The method (FIG. 11) as explained with reference to execution speed.

将由参考速度计算部20所计算的参考速度输入到各自的防空转再粘着控制部14a至14f的减法器21a至21f,其中在减法器21a至21f中从由速度计算部15a至15f得到的每一电机轴的速度信号中减去参考速度,并且将大于零的偏差值输入到初步延迟放大部22a至22f。 By the reference speed 20 calculates the reference speed calculation unit is input to the respective anti-slip readhesion control unit subtractors 14a to 14f, 21a to 21f, wherein the subtractor 21a to 21f from the speed calculating section 15a to 15f obtained per a motor shaft velocity signal by subtracting the reference speed, and the offset value greater than zero is input to the enlarged portion 22a to the initial delay 22f. 从来自转矩指令模式输出部18a至18f的转矩指令模式中减去初步延迟放大部22a至22f的输出,并且将结果输出为最终转矩指令。 Mode from the torque command from the torque command pattern output unit 18a to 18f subtracts the output of the delay preliminary amplifying section 22a to 22f, and outputs the result as the final torque command.

一些文献、诸如例如7>开的日本专利3152785 。 Some documents, such as for example 7> open Japanese Patent No. 3152785. 〉开的日本专利申请H. 6-261415)公开了这样的方案,其中,当对单独地控制车辆电机的每一电机的各个控制器进行控制时,能执行高精度控制,而不会影响其他电机,即使在任何一个电机中出现空转时也是如此。 > Open Japanese Patent Application No. H. 6-261415) discloses a scheme in which, when the controller controls each motor individually controlling each motor vehicle, high-precision control can be performed, without affecting other motor, even when idling occurs in any one of the motor.

然而,利用其中通过传统的加速度检测方法执行防空转再粘着控制的车辆电机控制设备,在检测到空转时,以积极的方式立即执行转矩节流以便实现再粘着,所以转矩节流易于变得急剧,并且节流量易于变大。 However, the implementation of re-adhesion control anti-slip motor vehicle control apparatus by a conventional method for detecting an acceleration, upon detection of idling, a positive torque is performed in a manner wherein the use of the throttle to achieve immediate readhesion, it is easy to change the throttle torque too sharp, and section flow is liable to become large. 因此,在空转频繁发生的情况下,大大地降低了平均加速度转矩,或者如在上述引用的专利公开中所提及的那样对每一轴执行的转矩的急剧节流可能引起轴负载的转移,从而易于导致其他轴的空转。 Thus, in a case where idling occurs frequently, greatly reduces the average acceleration torque, or torque as mentioned above abruptly performed for each throttle shaft axial load may be caused in the above-cited patent disclosure transfer, thereby easily resulting in idling other axes.

另一方面,在通过传统的滑行速度检测方法执行防空转再粘着控制的车辆电机控制设备的情况下,根据由空转产生的滑行速度量,确定转矩节流量,因此,尽管能使转矩节流量比在加速度检测方法的情况下小,但是由于一阶滞后元件(或初步滞后元件),降低了转矩节流响应。 On the other hand, in the case where the anti-stall control of the re-adhesion control apparatus of the motor vehicle by a conventional method for detecting the sliding speed according to the speed generated by the coasting amount of idling, the throttle amount of the torque is determined, therefore, although the torque can Section in the case where the flow rate is smaller than the acceleration detection method, but since the first-order lag element (the initial or lag element), the torque is reduced in response to the throttle. 因此,生成这样一种模式,其中,不能可靠地实现再粘着, 因此,如果就所有六个轴来说空转继续,则存在参考速度不稳定的风险。 Thus, generation of such a model, which can not be reliably achieved and then the adhesive, and therefore, if it continues to idle for all six axes, the reference speed instability risks.

发明内容 SUMMARY

因此,本发明的一个方面的优点是提供一种新颖的车辆电机控制设备,由此,降低有关空转的转矩节流量,以及获得稳定的加速度性能,而不存在参考速度的不稳定。 Accordingly, one aspect of the advantages of the present invention is to provide a novel motor vehicle control device, thereby reducing the flow section relating to idle torque, acceleration performance and stable, unstable without the reference speed.

通过如下构造的旋转电动机,能实现上述目的。 Rotation of the motor by a configuration of the above-described object can be achieved. 具体地来说,一种车辆电机控制设备,在每一底盘上具有三个电机作为用于驱动车辆车轮的电机,并且进一步具有单独地控制各个电机的逆变器,该车辆 Specifically, the motor control apparatus for a vehicle, having at each of the vehicle chassis as three motors for motor vehicle driving wheels, and further having an inverter individually control each motor,

电机控制设备包括: Motor control apparatus comprising:

为每一相应逆变器提供的加速度检测控制部,用于在检测到所述电机的速度信号随时间的变化率的增加高于预定值时,节流转矩; Acceleration detection control unit provided for each respective inverter, for detecting a signal to the motor speed increases above a predetermined value of the time rate of change of throttle torque;

为每一相应逆变器提供的滑行速度检测控制部,用于响应于所述电机的速度信号相对于预定参考速度的增加量,而节流转矩;以及 Taxi speed signal relative velocity detection control unit provided for each respective inverter, the motor in response to the amount of increase to a predetermined reference speed, torque and throttle; and

切换控制部,用于切换对在每一底盘中在车辆行进的方向中位于最后的所述电机进行控制以便使其由所述加速度检测控制部控制的逆 A switching control unit for switching so as to reverse the direction of motor is located in the final travel of the vehicle chassis in each of the control performed by the control unit detecting acceleration

逆;器。 Inverse; device. 、 、 、 、、.、 亚、、- 、、、 .,,,,,, Asia ,, - ,,,

根据本发明,提供了一种车辆电机控制设备,在每一底盘上具有三个电机作为用于分别驱动车辆车轮的电机,而且所述电机由逆变器单独地控制,所述车辆电机控制设备包括:为每个相应逆变器提供的加速度检测控制部,用于在检测到所述电机的速度信号随时间的变化率的增加超过了预定值时,节流转矩;为每个相应逆变器提供的滑行速度检测控制部,用于响应于如下增加量来节流转矩,所述增加量是所述电机的速度信号相对于预定参考速度的增加量;以及切换控制部, 用于在所述加速度检测控制部和所述滑行速度检测控制部之间进行切换,其中所述加速度检测控制部对控制每一底盘中在车辆行进的方向中位于最后的所述电机的逆变器进行控制,以及所述滑行速度检测控制部对控制其他两个电机的逆变器进行控制。 According to the present invention, there is provided a motor vehicle control device, a motor having three respective motor for driving a vehicle wheel, said motor and individually controlled by an inverter, the motor control apparatus in the vehicle chassis on each comprising: an acceleration detection control unit provided for each respective inverter, for detecting when the speed signal to the motor exceeds a predetermined value with increasing time rate of change of throttle torque; for each respective inverse variable sliding speed detection control unit provides for the following in response to an increased amount of torque to the throttle, the amount of increase of the motor speed signal is an amount of increase with respect to the predetermined reference speed; and a switching control unit configured to switching between the acceleration detection unit and the control sliding speed detection control unit, wherein said acceleration detection control unit controls each of the chassis on the last inverter of the motor in the direction of travel of the vehicle is carried out control, and the sliding speed detection control unit controls the inverter of the other two motors is controlled.

根据本发明,即使在轨道和车轮间存在不良粘着以致频繁地发生空转的条件下,由于根据空转速度量的最小转矩节流量是足够的,所以也能够抑制加速度性能的降低,并且能获得稳定的参考速度。 According to the present invention, even under poor adhesion frequently occurs that the idle condition exists between the wheel and the track, since the minimum amount of torque idling speed throttle amount is sufficient, it is also possible to suppress the reduction of the acceleration performance, and stability can be obtained the reference speed.

附图说明 BRIEF DESCRIPTION

当结合附图考虑时,通过参考下述说明书,将易于获得对本发明的更全面的评价及其许多附加优点,同时它们也变得更容易理解,其 When considered in conjunction with the accompanying drawings, by reference to the following description, will be readily obtained a more complete appreciation of the invention and many of the advantages, they also become more readily understood, it

中: in:

图l是使用传统的加速度检测方法执行防空转再粘着控制的车辆电机控制设备的布局图。 Figure l is a layout diagram of the implementation of a motor vehicle anti-slip control apparatus using a conventional re-adhesion control method for acceleration detection.

图2是使用传统的滑行速度检测方法执行防空转再粘着控制的车辆电机控制设备的布局图。 FIG 2 is a layout diagram of the implementation of a motor vehicle anti-slip control apparatus using a conventional re-adhesion control taxi speed detection method.

图3是将根据本发明的第一实施例的车辆电机控制设备应用于车辆上的情形的框图。 FIG 3 is a block diagram applied to the case of a vehicle on a vehicle according to a first embodiment of the present invention, a motor control device.

图4是根据本发明的第一实施例的车辆电机控制设备的详细框图。 FIG 4 is a detailed block diagram of a motor vehicle control apparatus according to the first embodiment of the present invention.

图5是示出了在根据本发明的第一实施例利用加速度检测控制部的加速度检测控制方法的情况下的操作的操作波形图。 FIG 5 is a waveform diagram illustrating the operation of the operation in a case where the acceleration detection control method for controlling the acceleration detection unit according to the first embodiment of the present invention.

图6是根据本发明的第一实施例利用滑行动速度检测控制部的滑行速度检测控制方法的操作波形图。 FIG 6 is a waveform diagram with the operation control method of detecting the speed of sliding action of the sliding speed detection control unit according to a first embodiment of the present invention.

图7是根据本发明的第二实施例的车辆电机控制设备的详细布局框图。 7 is a detailed block diagram of the layout of a motor vehicle control apparatus according to a second embodiment of the present invention.

图8是根据本发明的第二实施例的参考速度异常检测部的布局框图。 FIG 8 is a layout block diagram of an abnormality detecting unit according to a second embodiment of the reference speed of the present invention.

具体实施方式 detailed description

现在,参考附图,其中,相同的参考数字在几个图中表示相同或相应的部件,并且更具体地参考图3,将描述本发明的两个实施例。 Referring now to the drawings, wherein like reference numerals indicate like or corresponding parts throughout the several views, and more particularly to FIG. 3, two embodiments of the present invention will be described. (第一实施例) (First Embodiment)

图3是将根据本发明的第一实施例的车辆电机控制设备应用于车辆上的情形的框图。 FIG 3 is a block diagram applied to the case of a vehicle on a vehicle according to a first embodiment of the present invention, a motor control device. 在车辆的车体23的下部,提供了两个底盘24A、 24B;车轴25a、 25b、 25c安装在底盘架24a上,车轴25d、 25e、 25f 安装在底盘架24B上。 In the lower portion of the vehicle body 23, two chassis 24A, 24B; axles 25a, 25b, 25c mounted on the chassis 24a, the axle 25d, 25e, 25f mounted on the chassis 24B. 这些车轴分别由电机12a至12f驱动。 The axles are driven by motors 12a to 12f. 在下文中,在用于前向行进的指令的情况下,从行进方向,将分别对应于六个车轴25a至25f的电机轴描述为第一(No.l)轴、第二(No.2)轴、 第三(No.3)轴、第四(No.4)轴、笫五(No.5)轴和第六(No.6) 轴。 Hereinafter, the case where the command for forward traveling of the traveling direction, respectively corresponding to the six axle of the motor shaft 25a to 25f is described as a first (No. L) axis, a second (No. 2) axis, a third (No. 3) axis, the fourth (No. 4) axis, Zi five (No. 5) and the sixth axis (No. 6) axis.

通过旋转速度检测器13a至13f分别检测对应于相应轴的电机12a至12f的旋转速度,并将其输入到防空转再粘着控制部14a至14f。 By the rotation speed detector detects each corresponding to a respective rotational speed of the motor shaft 12a to 12f, 13a to 13f, and input to the anti-slip readhesion control unit 14a to 14f. 防空转再粘着控制部14a至14f包括加速度检测控制部26a至26f、滑行速度检测控制部27a至27f、和切换控制部28a至28f。 Anti-slip readhesion control unit 14a to 14f includes an acceleration detection control unit 26a to 26f, the sliding speed detection control unit 27a to 27f, and the switching control unit 28a to 28f.

加速度检测控制部26a至26f通过在检测到空转时节流扭转,来执行防空转再粘着控制;通过检测电机12a至12f的速度信号随时间的变化率的增加高于预定值,来执行该检测。 Acceleration detector 26a to 26f by the control unit upon detecting a throttle twist idling, performs anti-slip control readhesion; than by detecting the motor speed signal 12a to 12f increase the rate of change with time of a predetermined value, the detection is performed. 相反,滑行速度检测控制部27a至27f通过响应于来自电机12a至12f的速度信号Va至Vf 相对于预定参考速度Vref的增加量而节流转矩,来执行防空转再粘着控制。 In contrast, the sliding speed detected by the control unit 27a to 27f in response to the speed signal from the motor 12a to 12f Va to Vf of the increase from the reference velocity Vref is a predetermined torque is throttled to perform anti-slip control readhesion. 通过由参考速度计算部20执行的计算,得出预定参考速度Vref。 By performing calculation section 20 calculated by the reference speed, derived predetermined reference speed Vref. 在本发明的这个实施例中,将电机12a至12f的速度信号Va至Vf的最小值选择为参考速度。 In this embodiment of the present invention, the speed of the motor 12a to 12f signal Va to Vf is selected as the reference minimum speed.

接着,切换控制部28a至28f在加速度检测控制部26a至26f和滑行速度检测控制部27a至27f之间进行切换,通常,它们通过使用加速度检测控制部26a至26f,对控制用于每一底盘的、在车辆的行进方向中位于最后的电机的逆变器进行控制,并且进行切换,以便由滑行速度检测控制部27a至27f对控制其他两个电机的逆变器进行控制。 Subsequently, the switching control unit to switch between the acceleration detection control unit 26a to 26f and the sliding speed detection control unit 27a to 27f 28a to 28F, typically, to control them by using an acceleration detecting section 26a to 26f, each for controlling a chassis located in the traveling direction of the vehicle last inverter controlled motor, and switch to control the taxi speed detection control unit 27a to 27f of the inverter control of the motor is the other two. 例如,如果车辆的行进方向是图1中的向左方向,则进行下述这样的配置:通过加速度检测控制部26a至26f控制底盘上的在车辆的行进方向中位于最后的电机12c (12f),并且通过滑行速度检测控制部27a至27f控制其他两个电机12a、 12b (12d、 12e)。 For example, if the vehicle traveling direction is the leftward direction in FIG. 1, this configuration is performed by the following: on the last motor 12c (12f) in the direction of travel of the vehicle on the chassis by the acceleration detection controlling unit 26a to 26f control , and controls the motor 12a by the other two sliding speed detection control unit 27a to 27f, 12b (12d, 12e).

图4是根据本发明的第一实施例的车辆电机控制设备的详细框图。 FIG 4 is a detailed block diagram of a motor vehicle control apparatus according to the first embodiment of the present invention. 防空转再轱着控制部14a至14f的加速度检测控制部26a至26f 和滑行速度检测控制部27a至27f具有相同结构,因此,将仅描述防空转再粘着控制部14a的加速度检测控制部26a和滑行速度检测控制部27a。 Anti-slip again wheel with a control unit acceleration detection control unit 14a to 14f, 26a to 26f and the sliding speed detection control unit 27a to 27f have the same structure, and therefore, will be only described anti-slip readhesion acceleration detection control unit control section 14a, 26a and sliding speed detection control unit 27a.

加速度检测控制部26a包括速度计算部15a、加速度检测部16a、 转矩节流/复原计算部17a、开关29a、减法器19a和转矩指令模式输出部18a。 Acceleration detection controlling unit 26a includes a speed calculating section 15a, an acceleration detecting section 16a, a torque-saving / restoring calculating unit 17a, a switch 29a, the subtractor 19a and the torque command output mode unit 18a. 此外,滑行速度检测控制部27a包括速度计算部15a、减法器30a、初步延迟放大器22a、开关29a、减法器19a和转矩指令模式输出部18a。 Further, the control section 27a sliding speed detection comprises a speed calculating section 15a, a subtractor 30a, the initial delay amplifier 22a, switch 29a, the subtractor 19a and the torque command output mode unit 18a. 通过开关29a的切换,执行加速度检测控制部26a和滑行速度检测控制部27a的切换。 Switching switch 29a, the detection control unit 26a performs acceleration and coasting speed detection unit 27a by the control. 由切换控制部28a执行该切换。 28a executes the switching control by the switching unit.

首先,将描述当通过开关29a选择了加速度检测控制部26a时的操作。 First, will be described operation when the acceleration detector 29a is selected when the control unit 26a through the switch. 将由速度计算部15a转换的速度信号Va输入到加速度检测部16a,由此得出速度信号Va的变化率。 By the speed calculation unit 15a converts the velocity signal Va is input to the acceleration detection unit 16a, it follows that the rate of change of the velocity signal Va. 如果该速度信号Va的变化率超出了预定值,则识别出空转,如果没有超出预定值,则识别出复原。 If the rate of change of the velocity signal Va exceeds the predetermined value, the idling is identified, if not exceed the predetermined value, it is identified recovery. 转矩节流/复原计算部17a根据在加速度检测部16a中获得的空转识别信号,计算转矩节流量或复原量,并通过开关29a将其输出到减法器19a。 Torque throttle / idle restoration according to the identification signal obtained in the acceleration detecting section 16a, a computing section flow or restoring torque calculating unit 17a, and outputs it via the switch 29a to the subtractor 19a. 减法器19a将其与来自转矩指令模式输出部18a的转矩指令模式进行比较,并输出对应于其差值的转矩指令。 The subtractor 19a compares the torque command from the torque command pattern output mode unit 18a, and outputs a torque command corresponding to the difference thereof.

图5是示出了加速度检测控制部26a中的加速度检测控制方法的操作的操作波形图。 FIG 5 is a waveform diagram illustrating the operation of the operation control method for detecting an acceleration detecting acceleration in the control unit 26a. 当车轮和轨道间的粘着由于例如雨水而下降从而导致车轮空转时,存在速度变化率的急剧增加,因此,在速度变化率超出了某一设定值A的时间点tl上,设置空转检测标记,从而导致以比较陡的梯度开始转矩节流。 When the adhesion between the wheel and rail, for example due to the rain drops resulting wheel slip when there is a sharp increase in the rate of change of speed, and therefore, the rate of change exceeds a set value A, the time point tl, set the idling detection flag , resulting in a relatively steep gradient start torque throttle. 然后,在速度变化率变得小于给定的设置值B的时间点t2上,移除空转检测标记,从而允许执行其中利用由时间常数t提供的初步延迟常数緩慢地复原到初始转矩指令的操作。 Then, on the rate of change becomes smaller than a given value B set time T2, the idling detection flag is removed, thereby allowing the use of commands executed in which the initial torque constant initial delay provided by the time constant t was slowly restored to operating. 由此,通过用这种方式控制的电机轴,能执行基本上可靠的再粘着。 Thus, by controlling the motor shaft in this manner, and can reliably perform substantially readhesion.

接着,将描述在通过开关29a选择了滑行速度检测控制部27a的情况下的操作。 Next, the operation at the switch 29a is selected by sliding speed detection control section 27a of the case will be described. 将通过速度计算部15a转换的速度信号Va输入到减法器30a。 The input to the subtractor 30a by the speed signal Va velocity calculation unit 15a conversion. 减法器30a输入来自参考速度计算部20的参考速度Vref,得出速度信号Va和参考速度Vref的偏差,并且将该偏差输出到初步延迟放大部22a。 The subtracter input 30a from the reference speed Vref of the reference speed calculation unit 20, obtain the speed deviation signal Va and the reference velocity Vref, and outputs the deviation to the initial delay enlarged portion 22a. 参考速度计算部20选择由笫一轴至第六轴的速度计算部15a至15f计算的速度信号Va至Vf的最小值,并且将其输出为参考速度Vref。 Velocity signal Va selected reference speed calculation section 20 calculated by the speed calculation unit Zi shaft to the sixth shaft 15a to 15f to a minimum value of Vf and outputs a reference speed Vref.

初步延迟放大部22a根据速度信号Va和参考速度Vref的大于零的偏差,得出转矩节流量,并且通过开关29a将该结果输出到减法器19a。 Preliminary delay deviation is greater than zero according to the speed of 22a Vref and the reference velocity signal Va amplifying section, produce a torque flow section, and outputs to the subtractor 19a by the result of the switch 29a. 减法器将其与来自转矩指令模式输出部18a的转矩指令模式进行比较,并且根据其差值输出转矩指令。 The subtractor compares the torque command from the torque command pattern output mode unit 18a, and the output torque command in accordance with the difference.

图6是示出了根据滑行速度检测控制部27a中的滑行速度检测控制方法的操作的操作波形图。 FIG 6 is a waveform diagram illustrating the operation of the detection method of controlling the operation of the taxi speed detection control section 27a of the taxi speed. 当在时间点tl上作为车轮的空转结果电机12a的速度信号Va相对于参考速度Vref增加超出了某一个值时, 根据该增加量,从转矩指令模式中减去速度信号Va。 When at the time point tl as a result of the idler wheel speed signal Va motor 12a with respect to the reference speed Vref increases beyond a certain value, based on the amount of increase, the speed signal Va is subtracted from the torque command mode. 作为这种转矩节流的结果,在电机12a的速度信号Va和参考速度Vref的偏差由于再粘着而变得小于某一个值的时间点t2上,转矩节流量变为零。 As a result of this throttling torque, variation in the speed of the motor 12a of the reference velocity Vref and the signal Va due to re-adhesion of the point of time t2 becomes smaller than a certain value, the throttling amount of the torque to zero. 在这种速度检测控制下,通过偏差量连续地控制该转矩,同时允许车轮的滑行,因此,在轨道粘着已经降低了的条件下,电机12a的速度信号Va 通常大于参考速度Vref。 In this detection control speed is continuously controlled by the deviation of the torque, while allowing the sliding of the wheels, and therefore, the lower rail has reduced adhesion conditions, the speed of the motor 12a is typically greater than the reference velocity signal Va Vref.

接着,将描述加速度检测控制部26a至26f和滑行速度检测控制部27a至27f的切换。 Next, the acceleration detection switches 26a to 26f and the control unit sliding speed detection control unit 27a to 27f will be described. 由切换控制部28a至28f执行加速度检测控制部26a至26f和滑行速度检测控制部27a至27f的切换。 27a to 28f performs a switching control to 27f acceleration detection unit 26a to 26f and the sliding speed detection control unit switching control unit 28a.

与第一轴相关联的防空转再粘着控制部14a的切换控制部28a, 在与第四轴相关联的防空转再祐着控制部14d的切换控制部28d相同的条件下,执行切换。 Air Defense first shaft associated with the rotation control portion 14a of the re-adhesion control the switching unit 28a, and air defense fourth shaft rotation associated with Woo again under the same conditions as the control unit controls the switching unit 14d, 28d, handover is performed. 同样地,与第二轴相关联的防空转再粘着控制部14b的切换部28b和与第五轴相关联的防空转再粘着控制部14e的切换控制部28e在相同的条件下执行切换,并且与第三轴相关联的防空转再粘着控制部14c的切换控制部28c和与第六轴相关联的防空转再粘着控制部14f的切换控制部28f在相同的条件下执行切换。 Likewise, the second shaft associated with the anti-slip readhesion control switching portion 28b and a portion 14b of the fifth shaft associated anti-slip readhesion control unit controls the switching unit 14e, 28e performs switching under the same conditions, and associated with the third shaft and then the adhesive anti-slip control unit controls the switching portion 14c of the shaft 28c and the sixth associated anti-slip readhesion control section 14f of the switching control unit 28f performs switching under the same conditions.

关于笫一轴和第四轴,切换控制部28a、 28d在将前向行进指令和轴编号输入到AND电路31a、 31d时做出它们的判定。 On one axis and the fourth axis Zi, the switching control unit 28a, 28d prior to traveling to the AND circuit 31a to the input axis number and the command, 31d thereof when making the determination. 在前向驱动指令的情况下,切换控制部28a、 28d的AND电路31a、 31d取逻辑值"1",并且将开关29a、 29d切换到滑行速度检测控制部27a—侧。 In the former case the drive command, the control unit switching the AND circuit 31a 28a, 28d of, 31d takes a logical value "1", and the switches 29a, 29d is switched to the side 27a- taxi speed detection control unit. 相反,在反向行进指令的情况下,切换控制部28a、 28d的AND电路31a、 31d变为逻辑值"0",并且将开关29a、 29d切换到加速度检测控制部26a —侧, In contrast, in the case of the reverse travel instruction, the AND circuit 31a controls the switching unit 28a, 28d of, 31d becomes a logic value "0", and the switches 29a, 29d is switched to control the acceleration detection unit 26a - side,

关于第二和第五轴,切换控制部28b、 28e通过由OR电路32b、 32e输入前向行进或反向行进指令和通过将OR电路32b、 32e的输出和轴编号输入到AND电路31b、 31e,做出它们的判定。 Regarding the second and the fifth shaft, the switching control unit 28b, 28e by the OR circuit 32b, 32e is input to the front or reverse travel by travel instructions and the OR circuit 32b, and the output shaft 32e numbers input into the AND circuit 31b, 31e to make their judgment. 因此,在前向行进指令的情况下以及在反向行进指令的情况下,逻辑值变为"l", 并且将开关29a、 29d切换到滑行速度检测控制部27a —侧。 Thus, in the former case to travel instructions and in the case of reverse travel command, the logic value becomes "l", and the switches 29a, 29d to the switching control unit 27a taxi speed detector - side.

关于第三轴和笫六轴,切换控制部28c、 28f通过将反向行进指令和轴编号输入到AND电路31c、 31f,做出它们的判定。 And a third shaft on six axes Zi, the switching control unit 28c, 28f by a reverse travel command and the number of the input shaft to the AND circuit 31c, 31f, make their determination. 在反向行进指令的情况下,切换控制部28c、 28f的AND电路31c、 31f变为逻辑值"l",并且将开关29c、 29f切换到滑行速度检测控制部27a—侧。 In the case of the reverse travel instruction, the AND circuit 31c controls the switching unit 28c, 28f and 31 f becomes a logic value "l", and the switch 29c, 29f is switched to the side 27a- taxi speed detection control unit. 相反,在前向行进指令的情况下,切换控制部28c、 28f的AND电路31c、 31f变为逻辑值"0",并且将开关29c、 29f切换到加速度检测控制部26a —侧, In contrast, the case of forward travel of the instruction, the switching control unit 28c, AND circuit 31c 28f and 31 f becomes a logic value "0", and the switch 29c, 29f is switched to control the acceleration detection unit 26a - side,

用这种方式,通过滑行速度检测控制部27相对于前向行进方向控制第一和笫二电机12a、 12b以及笫四和第五电机12d、 12e,而且通过加速度检测控制部26控制第三和第六电机12c、 12f。 In this manner, the control 27 relative to the front sliding speed detection control section in the traveling direction of the first and the undertaking of two motors 12a, 12b and the fourth and fifth motors Zi 12d, 12e, and by detecting the acceleration control unit controls the third and 26 sixth motor 12c, 12f.

其原因是为了鉴于下述事实而获得稳定的参考速度:考虑到车辆的轴负栽的转移,轴负载的大小在第一电机轴的情况下最小,此后, 按第二、第四、笫三、第五和第六轴的顺序增加。 The reason is that in view of the fact that in order to obtain a stable reference speed: negative axis of the vehicle taking into account the transfer of the plant, the minimum size of the axial load of the motor shaft in the first case, after which, according to the second, fourth, three Zi , in increasing order of the fifth and sixth axes. 换句话说,通过将 In other words, by

加速度检测控制用作用于作为尾部电机的第三和第六电机的控制方法,能实现可靠的再粘着,其中在每一底盘中轴负载在第三和第六电机中最大。 Acceleration detection control is used as the third and sixth motor control method of the tail motor, so that reliable readhesion, wherein each of the chassis and the sixth axis of the third load motor maximum. 通过将滑行速度检测控制用于其他轴,使整体转矩节流最小化。 Sliding speed detected by the control shaft to the other, so that the overall torque throttle minimized.

利用第一实施例,通过使用加速度检测控制部26控制作为尾部电机的第三和第六电机(在每一底盘中轴负载在该电机中为最大),以及使用滑行速度检测控制部27控制其他轴,能实现车轮和轨道的可靠再粘着,并且能防止轴负载的转移引起其他轴的空转,从而使得最小化整体转矩节流量成为可能。 With the first embodiment, the control 27 controls the other motor as the third and sixth tail motor (load axis of the chassis in each of the motor is maximum), and the use of the sliding speed detected by the control unit control section 26 using an acceleration detecting shaft, wheel and rail to achieve a reliable re-adhesion, and can prevent transfer of axial load caused by the other idle shaft, so that the torque to minimize the overall flow section becomes possible. (第二实施例) (Second Embodiment)

图7是根据本发明的第二实施例的车辆电机控制设备的详细布局框图。 7 is a detailed block diagram of the layout of a motor vehicle control apparatus according to a second embodiment of the present invention. 在该第二实施例中,与图4所示的第一实施例不同,在切换控制部28a至28f中提供了参考速度异常检测部33a至33f。 In this second embodiment, the first embodiment shown in FIG. 4 different, a reference speed abnormality detecting section 33a to 33f in the switching control unit 28a to 28f. 向与图4的情形下相同的元件给予了相同的参考符号,并且省去了重复的描述。 Given the same reference symbols to the same elements as in the case of FIG. 4, and duplicate description is omitted.

第一轴和第四轴的切换控制部28a、 28d包括用于输入前向行进指令和轴编号的AND电路31a、 31d,以及用于输入AND电路31a、 31d的输出和参考速度异常检测部33a、 33d的输出的AND电路34a、 34d。 The switching control of the first shaft and the fourth shaft 28a, 28d comprising instructions for traveling to the front input shaft and the number of the AND circuits 31a, 31d, and an input of the AND circuit 31a, and the output of the reference rate abnormality detection unit 33a 31d , AND circuit output 34a 33d, 34d. 当参考速度异常检测部33a、 33d的参考速度Vref出现异常时, 输出逻辑值"0"。 When the reference speed abnormality detecting unit reference speed 33a, 33d of abnormal Vref, the output of logic value "0." 因此,当参考速度Vref出现异常时,AND电路34a、 34d的输出变为逻辑值"0",而与AND电路31a、 31d的输出无关,因此,选择了加速度检测控制部26。 Thus, when the abnormal reference speed Vref, the AND circuits 34a, 34d of the output becomes a logic value "0", and, 31d regardless of the output of the AND circuit 31a, therefore, the selected acceleration detection control unit 26.

第二轴和第五轴的切换控制部28b、 28e包括用于输入前向行进指令和反向行进指令的OR电路32b、 32e,用于输入OR电路32b、 32e的输出和轴编号的AND电路31b、 31e,以及用于输入AND电路31b、 31e的输出和参考速度异常检测部33b、 33e的输出的AND电路34b、 34e。 The switching control unit of the fifth shaft and the second shaft 28b, 28e OR circuit 32b includes a travel command is input to the front and reverse travel instructions, 32e, an input OR circuit 32b, 32e and the output shaft numbered AND circuit 31b, 31e, and an input of the aND circuit 31b, 31e and the output of the reference speed abnormality detecting section 33b, aND circuit output 34b 33e, 34e. 当参考速度Vref出现异常时,参考速度异常检测部33b、 33e输出逻辑值"0"。 When the abnormal reference speed Vref, the reference speed abnormality detecting section 33b, 33e outputs a logic value "0." 因此,当参考速度Vref出现异常时,AND电路34b、 34e的输出变为逻辑值"0",而与AND电路31b、 31e的输出无关,因此,选择了加速度检测控制部26。 Thus, when the abnormal reference speed Vref, the AND circuit 34b, 34e output becomes a logic value "0", and, regardless of the output 31e of the AND circuit 31b, therefore, the selected acceleration detection control unit 26.

第三轴和第六轴的切换控制部28c、 28f包括用于输入反向行进指令和轴编号的AND电路31c、 31f,以及用于输入AND电路31c、 31f的输出和参考速度异常检测部33c、 33f的输出的AND电路34c、 34f。 The switching control unit of the sixth shaft and the third shaft 28c, 28f comprises an input shaft and a reverse travel command numbered AND circuits 31c, 31f, and an input of the AND circuit 31c, and the output of the reference rate abnormality detection unit 33c 31f , AND circuit output 34c 33f, 34f. 当参考速度Vref出现异常时,参考速度异常检测部33c、 33f输出逻辑值"0"。 When the abnormal reference speed Vref, the reference speed abnormality detecting section 33c, 33f outputs a logic value "0." 因此,如果参考速度Vref出现异常时,则AND电路34c、 34f的输出变为逻辑值"0",而与AND电路31c、 31f的输出无关,因此,选择了加速度检测控制部26。 Therefore, if the abnormal reference speed Vref, the AND circuits 34c, 34f of the output becomes a logic value "0", and, regardless of the output of the AND circuit 31f 31c, and therefore, the selected acceleration detection control unit 26.

图8是本发明的第二实施例中的参考速度异常检测部33a至33f 的布局框图。 FIG 8 is a block diagram showing the layout of an abnormal speed of the second embodiment with reference to the embodiment of the present invention, the detecting section 33a to 33f of. 将来自参考速度计算部20的参考速度Vref输入到比较器35,并且由比较器35将其与笫一设定值进行比较。 The reference speed calculation unit 20 from the reference speed Vref is input to the comparator 35 and the comparator 35 and compared with a set value of Zi. 由此,判定参考速度Vref是否在笫一设定值范围(例如士0.5Hz)内。 Accordingly, it is determined whether or not the reference speed Vref (e.g., persons 0.5Hz) a set value in the range of Zi. 如果参考速度Vref持续在第一设定值范围内的时段等于或大于ON时间元件36的设定值(例如1秒),则将逻辑值"l"输出到NAND电路37。 If the reference speed Vref is set continuously in a first range of values ​​is equal to or greater than the set time value (e.g. 1 second) ON time of the element 36, then the logic value "l" is output to the NAND circuit 37.

同时,将电机12a至12f的速度信号Va至Vf输入到最大值计算部38,由此获得这些速度信号Va至Vf的最大值。 At the same time, the motor 12a to 12f speed signal Va to Vf is input to the maximum value calculation portion 38, whereby the velocity signal Va to obtain the maximum value of Vf. 将由最大值计算部38得出的速度信号Va至Vf的最大值输入到比较器39,并且如果速度信号Va至Vf的最大值等于或大于笫二设定值(例如2Hz),则比较器39将逻辑值"l,,输出到NAND电路37。因此,如果参考速度Vref 在第一设定值范围内、即在零附近,并且速度信号Va至Vf的最大值等于或大于第二i殳定值,即,如果速度信号Va至Vf中的任何一个处于异常条件下,则NAND电路37的输出变为逻辑值"O"。 Maximum value by the maximum value calculation portion 38 resulting velocity signal Va to Vf is input to a comparator 39, and if the speed signal Va is greater than or equal to a maximum set value Zi two (e.g., 2Hz) Vf of the comparator 39 the logic value "l ,, output to the NAND circuit 37. Thus, if a first reference speed Vref within the predetermined range, i.e., around zero, to a maximum signal Va and the speed Vf is equal to or greater than a second predetermined Shu i value, i.e., if the velocity signal Va to Vf any abnormality in a condition of, the output of the NAND circuit 37 becomes a logic value "O".

因此,如果电机12a至12f中的任何一个的速度信号Va至Vf 出现异常,则根据停留在零的结果,在选择了速度信号Va至Vf的最大值后,参考速度Vref也保持为零,因此,要进行滑行速度检测控制的电机的转矩处于节流条件下,即,电机变为停用。 Thus, if any of a velocity signal Va in the motor 12a to 12f to Vf abnormal, according to the stay in zero results in the selected speed signal Va to Vf of the maximum value, the reference speed Vref is also maintained zero, , the torque of the motor to be controlled in the sliding speed detected throttle condition, i.e., the motor becomes inactive.

因此,如果检测到参考速度Vref的异常,则将笫一和笫二以及第四和第五电机从滑行速度检测控制部27切换到加速度检测控制部26。 Thus, if an abnormality is detected the reference speed Vref, then Zi and Zi and the fourth and fifth two motor sliding speed detection control unit 27 to switch from the control unit 26 detects the acceleration. 用这种方式,能正常地至少起动与除其速度信号V异常的驱动轴之外的驱动轴相关联的电机12的逆变器。 In this manner, at least the starter can normally drive the inverter motor 12 associated with the velocity signal V in addition to its drive shaft abnormality.

通过该第二实施例,当检测到参考速度Vref的异常时,将所有电机切换到加速度检测控制部26,以便能正常地起动除异常的驱动轴之外的驱动轴的逆变器ll,因此,即使驱动轴中的一个或多个已经变为异常,也能执行防空转再粘着控制。 By this second embodiment, when an abnormality is detected the reference speed Vref, the acceleration detecting all the motor is switched to a control unit 26, so that the inverter can be started normally ll drive shaft other than the abnormality, thus , even if one or more drive shafts has become abnormal, and readhesion can perform anti-slip control.

可以在电动机车中应用本发明。 The present invention may be applied in a motor vehicle.

Claims (5)

  1. 1.一种车辆电机控制设备,在每一底盘上具有三个电机作为用于分别驱动车辆车轮的电机,而且所述电机由逆变器单独地控制,所述车辆电机控制设备包括: 为每个相应逆变器提供的加速度检测控制部,用于在检测到所述电机的速度信号随时间的变化率的增加超过了预定值时,节流转矩; 为每个相应逆变器提供的滑行速度检测控制部,用于响应于如下增加量来节流转矩,所述增加量是所述电机的速度信号相对于预定参考速度的增加量;以及切换控制部,用于在所述加速度检测控制部和所述滑行速度检测控制部之间进行切换,其中所述加速度检测控制部对控制每一底盘中在车辆行进的方向中位于最后的所述电机的逆变器进行控制,以及所述滑行速度检测控制部对控制其他两个电机的逆变器进行控制。 A motor vehicle control device, having a motor for driving the motor as a three vehicle wheels are on each of the chassis, and a motor controlled by an inverter individually, the motor vehicle control apparatus comprising: for each acceleration detection controlling a respective inverter unit provided for detecting when the speed signal to the motor exceeds a predetermined value with increasing time rate of change of throttle torque; providing for each respective inverter sliding speed detection control unit, in response to the throttle as to increase the amount of torque, the amount of increase of the motor speed signal is an amount of increase with respect to a predetermined reference speed; and a switching control unit for the acceleration between the detecting unit and for controlling the sliding speed detection control unit switches, wherein said acceleration detection control unit controls each of the chassis of the motor on the last vehicle in the direction of travel of the inverter control, and the said sliding speed detection control unit controls the inverter of the other two motors is controlled.
  2. 2. 如权利要求1所述的车辆电机控制设备,其中,如果甚至当在逆变器起动后过去了预定时间时预定参考速度等于或低于第一设定值,并且相应电机的所述速度信号的最大值已经变得等于或大于第二设定值,则所述切换控制部通过所述加速度检测控制部对所有所述逆变器进行控制。 2. The motor vehicle control apparatus as claimed in claim 1 and the speed of the respective motor, wherein, if the predetermined reference speed even when a predetermined time has passed after starting the inverter at or below a first set value, the maximum value of the signal has become equal to or greater than the second set value, the control unit controls the switching of all of the inverter by detecting the acceleration control unit.
  3. 3. 如权利要求2所述的车辆电机控制设备, 其中,所述第一设定值为士0.5Hz。 The vehicle motor control apparatus according to claim 2, wherein the first set value disabilities 0.5Hz.
  4. 4. 如权利要求2所述的车辆电机控制设备, 其中,所述第二设定值为2Hz。 Motor vehicle as claimed in claim 2, said control device, wherein the second setting value is 2Hz.
  5. 5. 如权利要求1所述的车辆电机控制设备,其中,在每一车辆中提供的两个所述底盘中分别提供三个电机,并且在所述车辆的行进方向中所识别的笫一电机、第二电机、第三电机、第四电机、第五电机和第六电机中,就所述第三电机和第六电机执行加速度检测控制,而就剩余的其它电机执行滑行速度检测控制。 5. The motor vehicle control apparatus as claimed in claim 1 and in the traveling direction of the vehicle identified in a motor Zi claim, wherein two of said chassis provided in each of the vehicles three motors are provided, , a second motor, a third motor, the motor fourth, fifth and sixth motors motor, acceleration detection control is executed and the sixth motor third motor, and on the rest of the coasting speed detection control of the other motor.
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CN103010229B (en) * 2012-12-13 2015-01-21 中国北车集团大连机车车辆有限公司 Locomotive anti-slip sliding method based on rotational speed control
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