CN106461506B - Control device for chassis dynamometer - Google Patents
Control device for chassis dynamometer Download PDFInfo
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- CN106461506B CN106461506B CN201580029368.3A CN201580029368A CN106461506B CN 106461506 B CN106461506 B CN 106461506B CN 201580029368 A CN201580029368 A CN 201580029368A CN 106461506 B CN106461506 B CN 106461506B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
Abstract
In the control device of chassis dynamometer, workload error and machine difference between workbench have compared with bad influence the measurement accuracy of measurement vehicle feature.Detection speed signal and torque detection signal are input to driving force observer (6), and export the electrical inertia order of positive inertia.Electrical inertia order is added to the running resistance order exported from running resistance setup unit (7) to correspond to detection speed signal, subtracts torque detection signal from additive value to generate moment of torsion control order.Together with driving force observer (6), the electrical inertia setup unit (20) for the electrical inertia order for exporting negative inertia is provided.As M>Mo, wherein M is to set inertia and Mo is fixed inertia, exports electrical inertia order from driving force observer (6), as M<Mo, exports electrical inertia order from electrical inertia setup unit (20).In addition, the velocity correction value of velocity correction unit (21) is added to the electrical inertia order.
Description
Technical field
The present invention relates to the control devices for chassis dynamometer, and relate more particularly to improve the work of chassis dynamometer
Make the precision of load and reduces the control device of the type of machine difference.
Background technique
When the survey for the motor vehicles for intending to carry out performance test, venting test etc. by using chassis dynamometer system
When examination, running resistance control is executed by control device to provide the inertia for being equivalent to actual vehicle for dynamometer machine to execute in reality
The simulation test travelled on the road of border.
Figure 13 is the schematic block diagram of chassis dynamometer control unit, wherein indicate is that (vehicle will for tested vehicle by 1
It is tested), 2 be dynamometer machine and 3 indicate the roller of the tested setting of vehicle 1 on it.4 indicate load sensors and 5 are arteries and veins
Pick-up is rushed, and driving force observer 6 is input to by the signal that load sensor 4 and p mulse picker 5 generate.
7 indicate running resistance configuration part, and the signal generated by p mulse picker 5 is inputted in traveling Resistance Setting portion simultaneously
And running resistance order is exported from running resistance configuration part according to car speed.Output is directed into adder 8 and driving force is seen
Survey device 6.During this period, the electrical inertia compensation system control provided by driving force observer 6 hinders the traveling absorbed by dynamometer machine
The inertia resistance of a part of power, the system are well known by patent document 1.In patent document 1, as changing used
The device for measuring resistance changes the output torque of dynamometer machine and is using by changing by gain that torque control system generates
System.The stabilization of electrical inertia ring is obtained as a result,.
The output of running resistance configuration part 7 is added in adder 8 each other with the output of driving force observer 6, and
At subtraction portion 9, the torque detected by load sensor 4 is subtracted from additive value and is input to difference (that is, subtracting each other result)
Moment of torsion control portion 10 is output to inverter 11 for torque command as controlling value to generate torque command.In response to torque
Order, inverter 11 execute the control to the torque absorption of dynamometer machine 2.
Existing technical literature
Patent document
Patent document 1: Japanese patent application discloses (special open) 4-278434
Summary of the invention
When executing the performance test of motor vehicles by chassis dynamometer, occur by travelling acquisition on real road
The workload that workload and the mode by implementing to run on dynamometer machine obtain mismatches, to generate error.It is known
The error of workload is different between workbench, and between workbench the generation of error and the generation of machine difference by with
Lower three factor A to C cause.It should be noted that workload error rate etc. is limited by formula (1) to (5).
Workload error rate [%]=(workload [J] measured-target operation load [J])/target operation is negative
Lotus [J] × 100 [%] ... ... (1)
Target operation load [J]=∫ (target drive force [N] × car speed [km/h] detected)/(3.5)
dt………(2)
The workload [J] that measures=∫ (driving force [N] measured × car speed [km/h] detected)/
(3.6)dt………(3)
Target drive force [J]=setting running resistance+(fixed inertia [kg]+electrical inertia [kg]) × acceleration [m/
s2]………(4)
The driving force [J] measured=DY torque [N]+mechanical loss [N]+fixation inertia [kg] × acceleration [m/
s2]………(5)
Wherein: DY: dynamometer machine
A: change as caused by the control response in moment of torsion control portion
In control response, certain benchmark, such as 90% response are set, response etc. in 100ms.However, due to controlling people
The feedforward amount of setting and the difference of PID adjustment parameter, control response tend to lead to the machine difference of responsiveness.Due to this reason,
The machine difference of the response performance of electrical inertia is generated, and is accordingly used in the dispersion of the workload error rate of measurement
(dispersion) it is affected.Although detecting the torque handled in feedback control using unique low-pass filter,
It is to reduce detection responsiveness using such low-pass filter, and therefore, it is difficult to increase responsiveness.
B: the electrical inertia control system of negative inertia is set
In the electrical inertia control system used in the driving force observer 6 of Figure 13, it is using described in patent document 1
System.Within the system, estimate the output torque of prime mover, and by the output torque of estimation multiplied by from machine inertia and electrical inertia
Gain derived from the two is compensated, to generate the torque command for being used for electrical inertia.Therefore, the increasing of the gain of observer can be reduced
Plus/minus is small and unrelated with increase/reduction of electrical inertia compensation, and therefore, system has the advantage that, that is, responsiveness increases
Add.However, the calculating for exporting electrical inertia order is forced to open from the generation torque for fixing inertia in negative inertia
Begin, and therefore, at velocity variations point, system must indicate the electricity bigger than electrical inertia indicated by theoretical electrical inertia order
Inertia.
When the driving force observer electricity for comparing the theoretical electrical inertia order indicated by formula (7) and being indicated by formula (6) is used
When amount order, the above problem will be elucidated with.It should be noted that " setting inertia-fixation inertia " indicates electrical inertia.Due in electrical inertia
The setting inertia provided when negative inertia is provided and is less than fixed inertia, therefore it is used to drive the order of force observer electrical inertia to be greater than theoretical electricity
Amount order, therefore, electrical inertia tend to carry out excessive operation at velocity variations point, so as to cause the generation of workload error.
Drive force observer electrical inertia order=(load sensor torque+fixation inertia × acceleration) × (setting inertia-
Fixed inertia)/setting inertia ... ... (6)
Theoretical electrical inertia order=electrical inertia × acceleration ... ... (7)
It should be noted that negative inertia is to provide for the inertia less than the machine inertia of chassis dynamometer (fixed inertia) and applies
The inertia added.That is, for example, test weight is 700kg's when fixed inertia is 1000kg (corresponding vehicle weight)
Vehicle needs the negative inertia of application -300Kg.That is, being driven since chassis dynamometer.
C: velocity correction gain
In order to control chassis dynamometer, the correction for being known as " velocity correction " is executed, keeps target vehicle fast by the correction
Speed difference between degree and actual vehicle speed is 0 (zero).As shown in formula (8) to (10), the correction is executed to export mesh
Car speed is marked, to establish " target drive force=measure driving force ".That is, when being correctly corrected,
Workload error can be made closer to 0 (zero).
In these cases, by the way that car speed is poor (that is, difference between target vehicle velocity and actual vehicle speed)
Correcting value is obtained multiplied by some gain.Therefore, in the case where vehicle weight setting is big or small, effect rate cannot show expectation
Value, causes workload error rate to be changed by setting inertia.
Target drive force=running resistance setting+(fixed inertia+electrical inertia) × acceleration ... ... (8)
The driving force measured=DY torque+mechanical loss+fixation inertia × acceleration ... ... (9)
When making " formula (8)=formula (9) ", following formula is obtained.
Target vehicle velocity=1/ electrical inertia × ∫ (DY torque+mechanical loss-running resistance setting) dt ... ... (10)
The object of the present invention is to provide a kind of control devices for chassis dynamometer, can improve control Chassis dynamometer
The precision of machine and reduce machine difference.
The means solved the problems, such as
In accordance with an embodiment of the present disclosure, a kind of control device for chassis dynamometer is provided, in chassis dynamometer to
The vehicle of test is placed on the roller of the dynamometer machine, the speed signal of the roller being detected and being detected for the dynamometer machine
The torque signal measured is input to driving force observer to export positive inertia electrical inertia order, according to the speed being detected
The running resistance order of signal output is added to the electrical inertia order to generate additive value, and by subtracting from the additive value
The difference that the torque signal being detected provides is input to moment of torsion control portion to generate moment of torsion control order, is borrowed by inverter
Help the moment of torsion control order and control the dynamometer machine,
The control device includes:
Electrical inertia configuration part, the speed signal being detected input in the electrical inertia configuration part to export negative inertia
Electrical inertia order；And
Adder, the adder are configured to when setting inertia M and fixed inertia Mo shows M > Mo, from the driving force
Observer exports the electrical inertia order, when setting inertia M and fixed inertia Mo shows M < Mo, from the electrical inertia configuration part
The electrical inertia order is exported, the electrical inertia order is added to the running resistance order.
In accordance with an embodiment of the present disclosure, the control device further includes velocity correction portion, and the velocity correction portion includes root
According to the velocity correction gain map of electrical inertia setting value mapping velocity correction gain；And velocity correction change in gain-adder,
By means of the velocity correction change in gain-adder, the velocity correction gain according to the electrical inertia set point change simultaneously
And it is added to the output of the driving force observer and any of the output of the electrical inertia configuration part.
In accordance with an embodiment of the present disclosure, the control device is arranged so that the electrical inertia configuration part includes to described
The first differential circuit that the speed signal being detected is differentiated and by the differential signal from first differential circuit multiplied by
First mlultiplying circuit of preset electrical inertia；And the traveling is added to by the multiplied value that first mlultiplying circuit provides
Drag command.
In accordance with an embodiment of the present disclosure, the control device is arranged so that the velocity correction portion by by the row
The difference sailed between drag command and the torque signal being detected exports acceleration divided by the electrical inertia, and right
The acceleration being derived there is quadratured so as to calculating operation speed；The velocity correction portion is also by the operation thus calculated speed
Degree is multiplied by the inertia value as the ratio between the setting electrical inertia and the setting inertia to export the first service speed；Institute
Velocity correction portion is stated also to be detected the inertia value as the ratio between the fixed inertia and the setting inertia multiplied by described
The speed signal measured is to export the second service speed；First service speed is also added to described by the velocity correction portion
Two service speeds to export target speed value, and export by the target speed value and the speed signal being detected it
Between difference generate velocity error；And the velocity correction gain map is supplied to correction output section, so that from described
The correction signal that the velocity correction gain of correction output section exports correction signal multiplied by the velocity error, and is derived there
It is added to the output of the driving force observer or the output of the electrical inertia configuration part.
In accordance with an embodiment of the present disclosure, the control device is arranged so that low-pass filter is connected to for feeding back
State the torque detection circuit of the torque signal being detected in moment of torsion control portion；And the characteristic quilt of the low-pass filter
It is set so that the peak value of the resonance enlargement ratio relative to the mechanical handling properties being measured to is equal to or less than 1 times.
In accordance with an embodiment of the present disclosure, the driving force observer includes: the second differential circuit, second differential circuit
It differentiates to the speed signal being detected；Second multiplier, second multiplier will be from the second differential electricity
The differential signal on road is multiplied by preset fixed inertia；And subtraction portion, the subtraction portion is will be by second multiplier
After derived multiplied value is added to the output valve of the low-pass filter to export additive value, calculate the additive value being derived there and
Difference between the running resistance order, wherein by the calculated difference of the subtraction portion multiplied by used as preset electricity
The electrical inertia setting value of ratio between amount and setting inertia is to export multiplied value, and the multiplied value is added to the traveling resistance
Power order.
As described above, according to the present invention, workload error and machine difference between workbench reduce, and therefore right
In the measurement of the high precision of vehicle feature be possible.
Detailed description of the invention
Fig. 1 is the block diagram for showing the embodiment of the present invention.
Fig. 2 is the block diagram of electrical inertia configuration part.
Fig. 3 is the block diagram in velocity correction portion.
Fig. 4 is the block diagram for driving force observer.
Fig. 5 is the performance plot of conventional electrical inertia order.
Fig. 6 is the performance plot of electrical inertia order according to the present invention.
Fig. 7 is the performance plot of machine operation.
Fig. 8 is the comparison figure of moment of torsion control characteristic.
Fig. 9 is the comparison figure for detecting responsiveness.
Figure 10 is the electrical inertia performance plot of conventional equipment under instantaneous state.
Figure 11 is the electrical inertia performance plot of the device of the invention under instantaneous state.
Figure 12 is the variation diagram of the transformation of the margin of error under mode traveling.
Figure 13 is the block diagram of the conventional control units of chassis dynamometer.
Specific embodiment
Fig. 1 is the block diagram for showing the embodiment of the present invention.Component same as figure 13 and corresponding to Figure 13 component use
Identical appended drawing reference indicates, and the explanation by omission to same parts.Number 13 indicates to be connected to the defeated of load sensor 4
The low-pass filter of side out, and the output of low-pass filter 13 is input to both driving force observer 6 and subtraction portion 9.
Number 20 indicates that the signal generated by p mulse picker 5 inputs electrical inertia configuration part therein.To used
In being described below of electrical inertia system, " positive inertia time electrical inertia system " is known as by the system that driving force observer 6 uses, and
And the electrical inertia system used in electrical inertia configuration part 20 is known as " negative inertia time electrical inertia system " (differential system).
The corresponding of both selectively output driving force observer 6 and electrical inertia configuration part 20 is operated due to switching device
Electrical inertia setting value, and selected output and the correcting value provided by velocity correction portion 21 are in the phase each other of adder 22
Add, the output from adder 22 is added at adder 8 each other with the output from running resistance configuration part 7.
Will be described in as follows, when M > Mo is set up, wherein M indicates setting inertia and Mo indicates fixed inertia, from drive
Power observer 6 exports electrical inertia setting value, and when M < Mo is set up, that is, in the case where negative inertia, electrical inertia setting
Value is exported from electrical inertia configuration part 20 towards adder 8.As mentioned above it is possible, by negative inertia setting time switching control system
System can reduce the margin of error generated in changes in vehicle speed point (that is, in negative inertia time).
Although not showing in Fig. 1, torque detects signal, speed indicates signal and the row from running resistance configuration part 7
It sails drag command and is input to velocity correction portion 21, it is described below as shown in Figure 3.
Fig. 2 is shown in the detailed configuration of the moment of torsion control portion 10a, inverter 11 and electrical inertia configuration part 20 that show in Fig. 1,
And in Fig. 2, driving force observer 6, switching device, velocity correction portion 21 and the adder 22 shown in Fig. 1 is omitted.
In addition, replacing in the frame simulation shown between the outlet side of inverter 11 and car speed V in Fig. 2 including being shown in Fig. 1
The mechanical arrangements part of the dynamometer machine 2 and roller 3 that show.Therefore, in the frame, by will be subtracted from the driving force of tested vehicle 1
Multiplied by 1/sMo, derived end value indicates to correspond to the pulse-picked by being connected to roller 3 difference that the driving force of dynamometer machine 2 provides
The car speed that device 5 detects (the case where arrangement is with the Fig. 4 that will hereinafter mention is identical).
The speed detected by p mulse picker 5 indicates in signal input electrical inertia configuration part 20 and in differential circuit
Differential in 20a, and resulting differential signal is used multiplied by the electricity set in the 20c of configuration part in multiplier 20b
Measure Me.Multiplied result from multiplier 20b is in adder 22 and the corrected value phase that is provided by 21 (not shown) of velocity correction portion
In addition it is output to adder 8 afterwards, and in adder 8, the output result for guiding thereunto is added to be set by running resistance
The running resistance order that portion 7 provides.
Fig. 3 shows the construction in velocity correction portion 21.Velocity correction portion 21, which executes, to be corrected so as to detect derived reason from torque
It is 0 (zero) by the difference between car speed and actual vehicle speed.For the correction, velocity correction portion 21 maps proportional gain
To correcting value, and correction output is generated according to inertia setting value.
In subtraction portion 21a, calculate between the running resistance bid value of running resistance configuration part 7 and torque detection signal
Difference, and at the 21b of part, divide that difference by electrical inertia Me with generate acceleration (at multiplier 21b, will be from subtraction portion 21a
The difference of output is multiplied by 1/Me to generate acceleration).
In integrator 21c, acceleration is integrated to generate the service speed for being input to multiplier 21d.In configuration part 21e
In, it sets electrical inertia Me and sets the ratio between inertia M, and at multiplier 21d, by service speed multiplied by setting ratio
To generate the first service speed for being input to adder 21f.
And at the 21g of configuration part, inertia value is set by the ratio between the fixation inertia Mo and setting inertia M of chassis dynamometer
It is fixed, and the inertia value thus set at multiplier 21h multiplied by speed detection value to generate the second service speed.In adder
At 21f, add operation is executed between the second service speed and the first service speed to generate speed target value (target velocity).
At subtraction portion 21i, difference (that is, detected value of p mulse picker 5) conduct between speed target value and speed detection value is obtained
Velocity error.By at multiplier 21j by velocity error multiplied by the proportional gain for carrying out self-correcting output section 21k, correcting value (SE
Correction) it is exported and is output to the adder 22 of Fig. 1.
Correction output section 21k is drawn and is had with velocity correction gain map, according to inertia setting value and is used for
The vertical axes of velocity correction gain and trunnion axis for electrical inertia setting value.That is, by the way that function of gain calibration is added
To velocity correction function and by changing velocity correction gain according to inertia setting value, determine that target vehicle velocity makes target
Driving force and measured driving force become being equal to each other.
In the configuration in figure 3, the first service speed based on electrical inertia Me is independently obtained (that is, from multiplier 21d's
Output) and based on the second service speed (that is, output from multiplier 21h) for fixing inertia Mo, and therefore, it can be ideal
Ground calculates target velocity.
Fig. 4 shows the detailed configuration of the driving force observer 6 of Fig. 1.The switching device that is shown in Fig. 1, electrical inertia setting
Portion 20, velocity correction portion 21 and adder 22 are omitted in Fig. 4.Indicate that signal is defeated by the speed that p mulse picker 5 detects
Enter to running resistance configuration part 7 to generate the running resistance bid value exported from it.Speed indicates that signal also enters into driving
Force observer 6, and the differential at differential circuit 6a, and thus the signal of differential is set in advance multiplied by the 6c of configuration part
The fixation inertia Mo of fixed chassis dynamometer (at multiplier 6b).
The multiplied value of multiplier 6b is added to torque detected value (that is, from the defeated of low-pass filter 13 at adder 6d
Out) to export the torque capacity provided by machine inertia.At subtraction portion 6e, torque capacity and running resistance bid value is made to carry out poor behaviour
Make, and thus obtained difference is output to multiplier 6f.At the 6g of configuration part, between electrical inertia Me and setting inertia M
Ratio set inertia value, and at multiplier 6f, by the inertia value thus set multiplied by the torque provided by machine inertia
It measures and is output to adder side 8 as electrical inertia setting value.As described in the part of Fig. 1, the output from adder 8 passes through
Subtraction portion 9 is directed into moment of torsion control portion 10a to generate torque command.
The torque detection signal detected by load sensor 4 is fed back to moment of torsion control portion 10a.Low-pass filter 13 connects
To the outlet side of torque detection load sensor.In order to increase the control response of moment of torsion control portion 10a, low-pass filter is carried out
13 selection is so that the mechanical handling properties of measurement filter are in advance to grasp the mechanical handling properties for quantification filtering device
The mechanical resonant point and enlargement ratio of filter, and filter has to the ideal frequency characteristic of torque detection, by described
The peak value of frequency characteristic, the resonance enlargement ratio relative to measured mechanical handling properties is equal to or less than 1 times.For example, for
The selection of filter, target are directed toward 90%/30msec (millisecond) to increase control response and electrical inertia responsiveness.
In the control device of chassis dynamometer with above-mentioned construction, when controlling dynamometer machine with positive inertia, from speed
The corrected value of degree correction unit 21 is added to the electrical inertia setting value provided by driving force observer 6 and as electrical inertia setting value
It is output to adder 8.During this period, in driving force observer 6, detection speed signal through differential (that is, differential circuit 6a
Output) multiplied by fixed inertia Mo to generate multiplied value, and transmitted in multiplied value at adder and by low-pass filter 13
Torque detection between execute add operation.
Then, at subtraction portion 6e, execution is for exporting the addition value of adder 6d and from running resistance configuration part 7
The operation of difference between running resistance order.In addition, the operation of subtraction portion 6e is exported multiplied by as electricity at multiplier 6f
Ratio between inertia Me and setting value M, the inertia value that is set at the 6g of configuration part, and as a result, electrical inertia is set
Definite value is output to adder 8 from multiplier 6f.
It is set by running resistance configuration part 7 and adder 8 is output to according to the running resistance order that car speed provides.
Therefore, at adder 8, running resistance order is added each other with electrical inertia setting value (that is, output from multiplier 6f).
At subtraction portion 9, the additive value of adder 8 carries out subtraction operation with the torque detection that low-pass filter 13 is fed back has been passed through,
And difference is input to moment of torsion control portion 10a to generate torque command by this, and the torque command is controlled by inverter 11
Dynamometer machine 2.
When controlling dynamometer machine 2 with positive inertia, sets inertia M and fixes relationship of the inertia Mo instruction M > Mo as them,
The electrical inertia setting value generated by electrical inertia configuration part 20 is not output to adder 8.
Then, when since the control of dynamometer machine 2 is switched to the electrical inertia order for being used for negative inertia, setting inertia M and
Fixed inertia Mo indicates M < Mo as their relationship, and the corrected value from velocity correction portion 21 is added to by electrical inertia configuration part
Therefore the 20 inertia values provided, and are output to adder 8 as electrical inertia setting value, and, by moment of torsion control portion 10a and
Inverter 11 controls dynamometer machine 2 with negative inertia.Certainly, in the case where M=Mo, any setting value is not exported.
Figures 5 and 6 are the performance plots of electrical inertia order.In each figure, line A indicates that fixed inertia torque, line B indicate driving
Force observer output (=fix inertia torque+load sensor torque), line C representation theory electrical inertia order, line D indicates that electricity is used
Amount order, and line E indicates car speed.
In the case where being provided solely for the electrical inertia order of driving force observer 6 as seen in Figure 5 (that is, in regular situation
In the case where), electrical inertia range expands in positive inertia side, and in negative inertia side, it is used to apply excessive electricity under extreme primary condition
Amount, so that generating difference between electrical inertia order (line D) and theoretical electrical inertia order (line C).However, as seen in Figure 6
In the case where further providing for electrical inertia configuration part 20 (in the present case), electrical inertia order (line D) and theoretical electricity are used
Amount order (line C) matching, so that applying electrical inertia with high precision.
Fig. 7 is the Bode diagram for showing machine operating characteristic.As shown, there is resonance point near 40Hz.It is humorous by considering
Vibration point selects the characteristic of low-pass filter 13 with enlargement ratio.
Fig. 8 is Bode diagram, wherein the torque for the case where comparing using low-pass filter 13 for considering machine operating characteristic
Control characteristic.In the figure, line A (Japanese katakana) indicates the moment of torsion control characteristic before adjusting low-pass filter, line B
(Japanese katakana) indicates moment of torsion control characteristic after adjusting low-pass filter, as can be seen from Fig., frequency characteristic more into
One step widely extends.
Figure 10 and 11 is the figure for showing electrical inertia order when changes in vehicle speed is in instantaneous state.Figure 10 is only
The performance plot provided when electrical inertia order is issued from conventional driving force observer 6, and Figure 11 is to work as to further provide for according to this
The performance plot of the electrical inertia order provided when the electrical inertia configuration part 20 of invention.In each figure, line B indicates electrical inertia order,
Line C representation theory electrical inertia order, line E indicate car speed.It should be appreciated that becoming when comparing Figure 10 and 11 in car speed
When changing in instantaneous state, the close theoretical electrical inertia order (line C) of electrical inertia order (line B shown in Figure 11).
From fig. 9, it can be seen that improving torsion due to Spline smoothing due to moment of torsion control gain increase according to the present invention
Square responsiveness.It should be noted that Fig. 9 (a) shows conventional torque responsive, and Fig. 9 (b) display works as use and considers machine operation
The torque responsive for providing or guaranteeing when the low-pass filter 13 of characteristic.From Fig. 9 (b) it is found that the short time due to torque is detected
And improve electrical inertia responsiveness.
Figure 12 is the variation diagram of the transformation of the margin of error under mode traveling, that is, when practical carry out mode integrates when driving
The variation diagram of the obtained workload margin of error.The variation diagram is shown, is set when further providing for electrical inertia according to the present invention
When portion 20, the workload margin of error is close to 0 (zero).
According to the present invention, following beneficial effect is obtained.
(1) due to providing in positive inertia using the driving force observer of electrical inertia system and being used in negative inertia using electricity
The electrical inertia configuration part of amount system exports electrical inertia from driving force observer when setting inertia M and fixed inertia Mo as M > Mo
Value obtains the output of electrical inertia configuration part, therefore realize the optimization of electrical inertia setting value when above-mentioned relation is M < Mo, and
Therefore, improve the responsiveness when control is switched to the negative inertia time and reduce the error generated at changes in vehicle speed point
Amount.
(2) due to the offer in velocity correction portion, occur speed correcting gain when inertia setting value every time and change.Therefore, energy
It is enough that velocity correction is carried out on the entire scope of electrical inertia setting value, and therefore, such control is able to carry out so that target
Driving force and the driving force measured are equal to each other.
(3) the torque detection feed circuit in moment of torsion control portion is equipped with low-pass filter, and the feature of low-pass filter
It is that carrying out such torque detects so that the peak value of resonance enlargement ratio is less than or equal to the machine operation spy being previously measured
Property.Torque detection in this way, improves the responsiveness of moment of torsion control.
(4) when using chassis dynamometer using using all items (1) to adopt to (3) or with any combination
When being operated with execution pattern while the device of some of which, the generation of the workload error between workbench and machine
The generation of difference reduces relative to conventional equipment.Since workload error has the relative connection with fuel consumption, change
The responsiveness of kind fuel consumption measurement, and it is able to carry out the measurement of the high precision of vehicle feature.
Claims (6)
1. a kind of control device for chassis dynamometer, vehicle to be tested is placed on the dynamometer machine in chassis dynamometer
Roller on, the speed signal of the roller being detected and the torque signal of the dynamometer machine being detected are input to driving force
Observer is added to exporting positive inertia electrical inertia order according to the running resistance order of the speed signal output being detected
The electrical inertia order is provided with generating additive value by subtracting the torque signal being detected from the additive value
Difference be input to moment of torsion control portion to generate moment of torsion control order, institute is controlled by means of the moment of torsion control order by inverter
Dynamometer machine is stated,
It is characterized in that, the control device includes:
Electrical inertia configuration part, the speed signal being detected input used to export negative inertia electricity in the electrical inertia configuration part
Amount order；And
Adder, the adder are configured to observe when setting inertia M and fixed inertia Mo shows M > Mo from the driving force
Device exports the electrical inertia order, when setting inertia M and fixed inertia Mo shows M < Mo, exports from the electrical inertia configuration part
The electrical inertia order, the electrical inertia order are added to the running resistance order.
2. the control device according to claim 1 for chassis dynamometer, which is characterized in that the control device also wraps
It includes:
Velocity correction portion, the velocity correction portion include the velocity correction increasing that velocity correction gain is mapped according to electrical inertia setting value
Benefit mapping；And
Velocity correction change in gain-adder, by means of the velocity correction change in gain-adder, the velocity correction increases
Benefit is according to the electrical inertia set point change and is added to the output for driving force observer and the electrical inertia configuration part
Any of output.
3. the control device according to claim 1 or 2 for chassis dynamometer, which is characterized in that
The electrical inertia configuration part includes the first differential circuit differentiated to the speed signal being detected and will come from
The differential signal of first differential circuit multiplied by preset electrical inertia the first mlultiplying circuit；And
The running resistance order is added to by the multiplied value that first mlultiplying circuit provides.
4. the control device according to claim 2 for chassis dynamometer, which is characterized in that
The velocity correction portion is by removing the difference between the running resistance order and the torque signal being detected
With the electrical inertia to export acceleration, and quadrature the acceleration being derived there so as to calculating operation speed；
The velocity correction portion is also by the service speed thus calculated multiplied by as the setting electrical inertia and the setting
The inertia value of ratio between inertia is to export the first service speed；
The velocity correction portion also by as the fixed inertia and it is described setting inertia between ratio inertia value multiplied by institute
The speed signal being detected is stated to export the second service speed；
First service speed is also added to second service speed to export target speed value by the velocity correction portion, and
And the velocity error that export is generated by the difference between the target speed value and the speed signal being detected；And
The velocity correction gain map is supplied to correction output section, so that the velocity correction gain from the correction output section
Multiplied by the velocity error to export correction signal, and the correction signal being derived there is added to the driving force observer
Output or the output of the electrical inertia configuration part.
5. the control device according to claim 1 for chassis dynamometer, which is characterized in that
Low-pass filter is connected to the detection of the torque for feeding back the torque signal being detected described in the moment of torsion control portion
Circuit；And
The characteristic of the low-pass filter is set so that the resonance times magnification relative to the mechanical handling properties being measured to
The peak value of rate is equal to or less than 1 times.
6. the control device according to claim 5 for chassis dynamometer, which is characterized in that the driving force observer
Include:
Second differential circuit, second differential circuit differentiate to the speed signal being detected；
Second multiplier, second multiplier is by the differential signal from second differential circuit multiplied by preset solid
Determine inertia；And
Subtraction portion, the subtraction portion is in the output that the multiplied value as derived from second multiplier is added to the low-pass filter
After value is to export additive value, the difference between the additive value being derived there and the running resistance order is calculated,
Wherein by the calculated difference of the subtraction portion multiplied by as the ratio between preset electrical inertia and setting inertia
Electrical inertia setting value to export multiplied value, and the multiplied value is added to the running resistance order.
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| JP2014-113655 | 2014-06-02 | ||
| JP2014113655 | 2014-06-02 | ||
| PCT/JP2015/065498 WO2015186616A1 (en) | 2014-06-02 | 2015-05-29 | Control device for chassis dynamometer |
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| CN106461506A CN106461506A (en) | 2017-02-22 |
| CN106461506B true CN106461506B (en) | 2019-01-25 |
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| WO (1) | WO2015186616A1 (en) |
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| EP3614234A4 (en) * | 2017-04-21 | 2020-12-30 | Alps Alpine Co., Ltd. | Rotary-type operation device, method for controlling same, and program |
| CN113074865A (en) * | 2021-02-18 | 2021-07-06 | 河南省计量科学研究院 | Torsion calibrating device of chassis dynamometer |
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| JPH04278434A (en) * | 1991-03-07 | 1992-10-05 | Meidensha Corp | Method for compensating electric inertia of dynamo meter |
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| CN101587020A (en) * | 2009-06-18 | 2009-11-25 | 天津市天波科达科技有限公司 | The high-precision fast self-compensating method of automobile chassis dynamometer resistance simulation |
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2015
- 2015-05-29 WO PCT/JP2015/065498 patent/WO2015186616A1/en active Application Filing
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| JPS5618108B2 (en) * | 1976-12-10 | 1981-04-27 | ||
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| JPH03163329A (en) * | 1989-11-22 | 1991-07-15 | Hitachi Ltd | Running-resistance control device of vehicle testing machine |
| JPH04278434A (en) * | 1991-03-07 | 1992-10-05 | Meidensha Corp | Method for compensating electric inertia of dynamo meter |
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|---|---|
| WO2015186616A1 (en) | 2015-12-10 |
| CN106461506A (en) | 2017-02-22 |
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