JP2024017535A - Electric inertia control device and vehicle testing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electric inertia control device having an increasable responsivity, for controlling the electric inertia for a dynamometer which provides a torque to a test piece.

SOLUTION: An electric inertia control device 2 includes: an electric inertia torque calculation unit 4 for calculating an expected torque Te of a dynamometer 1 from the difference between an actual rotation rate v1 of the dynamometer 1 and the rate of an expected rate v2 and determining an electric inertia torque Tair to cancel a disturbance torque which acts on the dynamometer 1; and a differential correction unit 6 for adding a value obtained by adding the electric inertia torque Tair to the torque change amount of the dynamometer 1 calculated using the differential value of the actual rotation rate v1, to the expected torque Te.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present invention relates to an electric inertia control device that performs electric inertia control on a dynamometer that applies torque to a specimen, and a vehicle testing device equipped with the same.

An electric inertia control device is known that performs electric inertia control on a dynamometer that applies torque to a specimen. For example, Patent Document 1 discloses a specimen including an input shaft and an output shaft, a dynamometer connected to either the input shaft or the output shaft via a connecting shaft, and a dynamometer that an inverter that supplies power to the dynamometer; an axial torque sensor that generates an angular velocity detection signal that corresponds to the axial torque generated in the connected shaft; and an angular velocity sensor that generates an angular velocity detection signal that corresponds to the angular velocity of the dynamometer. An electric inertia control device is disclosed.

Specifically, the electric inertia control device of Patent Document 1 uses the dynamometer to simulate the behavior of an inertial body having a predetermined set inertia. The electric inertia control device also includes a disturbance observer that generates a disturbance compensation torque signal, and an inertia compensator that generates an inertia compensation torque signal by summing the torque signal, the disturbance compensation torque signal, and the shaft torque detection signal. and has.

Patent No. 6497408

The electrical inertia control device as disclosed in Patent Document 1 realizes the same behavior as the actual machine for the specimen by controlling the torque of the dynamometer connected to the specimen as described above.

By the way, the electric inertia control device may perform electric inertia control based on the speed difference between the predicted speed of the dynamometer and the actual rotational speed. In such an electric inertia control device, electric inertia control cannot be performed accurately unless there is a speed difference between the predicted speed and the actual rotational speed. Therefore, when there is no speed difference between the predicted speed and the actual rotational speed, the responsiveness of the electric inertia control decreases. Therefore, there is a need for an electric inertia control device that can perform the electric inertia control even if there is no speed difference between the predicted speed and the actual rotational speed and can improve the responsiveness of the electric inertia control.

An object of the present invention is to obtain a configuration capable of improving responsiveness in an electric inertia control device that performs electric inertia control on a dynamometer that applies torque to a specimen.

An electrical inertia control device according to an embodiment of the present invention is an electrical inertia control device that performs electrical inertia control on a dynamometer that applies torque to a specimen. This electric inertia control device calculates the expected torque of the dynamometer from the speed difference between the actual rotational speed and the expected speed of the dynamometer, and determines the electric inertia torque for canceling the disturbance torque acting on the dynamometer. an electric inertia torque calculation unit; and a differential correction unit that adds a value obtained by adding the electric inertia torque to the torque change amount of the dynamometer calculated using the differential value of the actual rotational speed to the predicted torque. (first configuration).

This allows the differential correction section to calculate the predicted torque even when there is no speed difference between the actual rotational speed of the dynamometer and the predicted speed. That is, when the electric inertia control device does not have the differential correction section, it was not possible to perform electric inertia control of the dynamometer with good responsiveness, but with the above configuration, even in a state where the speed difference does not occur, the electric inertia control of the dynamometer cannot be performed with good response. Electric inertia control of the dynamometer can be performed.

As a result, the actual rotational speed of the dynamometer can be quickly brought close to the target rotational speed. Therefore, in an electric inertia control device that performs electric inertia control on a dynamometer that applies torque to a specimen, a configuration that can improve responsiveness can be obtained.

The first configuration further includes an expected speed calculation unit that calculates the expected speed based on the difference between the electric inertia torque and the expected torque (second configuration).

Thereby, the speed difference for determining the electric inertia torque can be determined with high accuracy. Therefore, the electrical inertia torque can be determined with higher accuracy.

A vehicle testing device according to an embodiment of the present invention is a vehicle testing device for testing a drive mechanism including a transmission. This vehicle testing device includes an electric inertia control device having the first or second configuration, and the dynamometer. The specimen is a transmission (third configuration).

As a result, in a vehicle testing device in which a dynamometer is drive-connected to a transmission, even if the torque of the transmission suddenly changes, the dynamometer can be electrically inertia controlled with good responsiveness. Therefore, a highly responsive vehicle testing device is realized.

According to the electric inertia control device according to an embodiment of the present invention, the electric inertia control device calculates the expected torque of the dynamometer from the speed difference between the actual rotational speed and the expected speed of the dynamometer, and an electric inertia torque calculation unit that calculates an electric inertia torque for canceling the disturbance torque acting on the electric inertia torque, and a value obtained by adding the electric inertia torque to the torque change amount of the dynamometer calculated using the differential value of the actual rotational speed. and a differential correction unit that adds the expected torque to the predicted torque. Thereby, it is possible to obtain an electric inertia control device that can improve responsiveness.

FIG. 1 is a functional block diagram showing a schematic configuration of an electric inertia control device. FIG. 2 is a diagram showing an example of rotational speed and torque when the electric inertia control device does not have a differential correction section. FIG. 3 is a diagram showing an example of rotational speed and torque when the electric inertia control device has a differential correction section.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Identical or corresponding parts in the figures are designated by the same reference numerals, and the description thereof will not be repeated.

The vehicle testing apparatus 100 according to the embodiment is an apparatus that performs a performance test on a specimen 200 that is a part of the power transmission system of a vehicle such as an automobile. In this embodiment, the specimen 200 is, for example, a transmission.

The vehicle testing device 100 includes a dynamometer 1 and an electric inertia control device 2. FIG. 1 is a functional block diagram showing an example of the configuration of the electric inertia control device 2. As shown in FIG.

As shown in FIG. 1, the electric inertia control device 2 includes a speed detector 3, an electric inertia torque calculation section 4, an expected speed calculation section 5, and a differential correction section 6.

The speed detector 3 detects the actual rotational speed v1 of the dynamometer 1. For example, the speed detector 3 includes a sensor that detects rotational speed, such as a resolver or an encoder.

The electric inertia torque calculation unit 4 calculates the expected torque Te of the dynamometer 1 from the speed difference Δv between the actual rotational speed v1 of the dynamometer 1 and a predicted speed v2, which will be described later. Further, the electric inertia torque calculation unit 4 uses the predicted torque Te to calculate electric inertia torque Tair for canceling the disturbance torque acting on the dynamometer 1. Note that the "disturbance torque" is, for example, a torque that is input as a disturbance to the shaft systems (power transmission systems) of the dynamometer 1 and the specimen 200.

Specifically, the electric inertia torque calculating section 4 includes a time difference multiplier 41, a first adder 42, and an electric inertia torque calculator 43.

The time difference multiplier 41 multiplies a speed difference Δv obtained by subtracting a predicted speed v2, which will be described later, from the actual rotational speed v1 by a predetermined value.

The first adder 42 calculates the expected torque Te by adding the value obtained by the time difference multiplier 41 and the value obtained by the differential correction section 6, which will be described later.

The electric inertia torque calculator 43 calculates the electric inertia torque Tair by multiplying the calculated expected torque Te by (Jc-Jm/Jc). Note that the coefficient Jc is the moment of inertia of the simulated vehicle body. The coefficient Jm is the moment of inertia of the dynamometer 1.

The expected speed calculation unit 5 calculates the expected speed v2 of the dynamometer 1 based on the value obtained by subtracting the electric inertia torque Tair from the expected torque Te. For example, the predicted speed v2 is the predicted value of the current rotational speed of the dynamometer 1.

Specifically, the expected speed calculation section 5 includes an integrator 51. The integrator 51 divides the value obtained by subtracting the electric inertia torque Tair from the expected torque Te by a coefficient Jm, and performs an integral operation on the value obtained by the division. By performing these calculations, the expected speed calculation unit 5 calculates the expected speed v2 of the dynamometer 1.

The differential correction unit 6 calculates the amount of torque change of the dynamometer 1 using the differential value of the actual rotational speed v1. This amount of torque change is the amount of change in torque caused by disturbances applied to the dynamometer 1 and the specimen 200. Further, the differential correction unit 6 adds a value obtained by adding the electric inertia torque Tair to the calculated torque change amount to the expected torque Te.

Specifically, the differential correction section 6 includes a differentiator 61, a multiplier 62, and a second adder 63.

The differentiator 61 performs a differential operation on the actual rotational speed v1 obtained from the output signal of the speed detector 3. The multiplier 62 multiplies the value calculated by the differentiator 61 by a coefficient Jm.

The second adder 63 adds the electrical inertia torque Tair to the torque change amount of the dynamometer 1 obtained by the multiplier 62. Then, the differential correction section 6 inputs the value processed by the second adder 63 to the first adder 42 of the electric inertia torque calculation section 4.

In this way, the differential correction unit 6 adds the sum of the torque change amount of the dynamometer 1 and the electric inertia torque Tair, which are calculated using the differential value of the actual rotational speed v1, to the expected torque Te.

When the differential correction unit 6 is not provided, when there is no speed difference between the actual rotational speed v1 and the expected speed v2 of the dynamometer 1, the value of the expected torque Te is suppressed, and the electrical inertia of the dynamometer 1 is suppressed with good responsiveness. cannot be controlled.

However, since the electric inertia control device 2 includes the differential correction section 6, it is possible to calculate the expected torque Te based on the differential value of the actual rotational speed v1. For example, even when there is no speed difference between the actual rotational speed v1 and the predicted speed v2 of the dynamometer 1, such as when the dynamometer 1 starts rotating, the electrical inertia control of the dynamometer 1 can be performed with good responsiveness. . Therefore, the responsiveness of electrical inertia control for the dynamometer 1 can be improved.

A drive control section (not shown) controls the electric power supplied to the dynamometer 1 based on a value obtained by subtracting the electric inertia torque Tair from the torque command value Tref input from a controller (not shown). Through such power control, the dynamometer 1 outputs torque that is corrected so that the influence of disturbances is canceled out.

Next, the effects when the electric inertia control device 2 includes the differential correction section 6 will be explained using the graphs of FIGS. 2 and 3.

First, in the graphs of FIGS. 2 and 3, "disturbance torque" indicates an example of the magnitude of the torque input as a disturbance to the shaft system (power transmission system) of the dynamometer and the specimen. "Electrical inertia torque" indicates an example of the amount of correction of the torque of the dynamometer 1 calculated to cancel the influence of disturbance. Moreover, "ideal speed" indicates an example of the ideal rotational speed of the dynamometer 1. “Actual rotation speed” indicates an example of the actual rotation speed of the dynamometer 1.

FIG. 2 shows an example of temporal changes in the torque and rotational speed of the dynamometer 1 when the electric inertia control device does not have a differential correction section.

As shown in FIG. 2, at the beginning of the rotation of the dynamometer 1, it takes time until the slope of the rotational speed becomes constant due to a delay in the reaction of the electric inertia control of the dynamometer 1. One reason for this is that there is a delay in the response of the electric inertia control of the dynamometer 1 until the speed difference Δv between the actual rotational speed v1 and the predicted speed v2 of the dynamometer 1 reaches a sufficiently large value.

In contrast, in the present embodiment, the electric inertia control device 2 includes the differential correction section 6, so that even when there is no speed difference between the actual rotational speed v1 and the expected speed v2 of the dynamometer 1, the differential correction section 6 , the expected torque Te can be calculated. That is, electric inertia control of the dynamometer 1 can be performed even in a state where no speed difference occurs.

FIG. 3 shows an example of temporal changes in the torque and rotational speed of the dynamometer 1 when the dynamometer 1 is electrically inertia controlled by the electrical inertia control device 2 (when it has the differential correction unit 6) according to the present embodiment.

As shown in FIG. 3, immediately after starting the dynamometer 1, the deviation between the slope of the actual rotational speed v1 and the slope of the ideal speed is small. Moreover, the difference between the ideal speed and the actual rotational speed v1 is suppressed. In FIG. 3, the electric inertia control of the dynamometer 1 is performed immediately after the start of the dynamometer 1 without waiting until the speed difference Δv between the actual rotational speed v1 and the expected speed v2 of the dynamometer 1 becomes a sufficiently large value. This shows that the process is responsive and effective.

As described above, the electrical inertia control device 2 of this embodiment performs electrical inertia control on the dynamometer 1 that applies torque to the specimen 200. The electric inertia control device 2 calculates the expected torque Te of the dynamometer 1 from the speed difference Δv between the actual rotational speed v1 and the expected speed v2 of the dynamometer 1, and uses electric power to cancel the disturbance torque acting on the dynamometer 1. The electric inertia torque calculation unit 4 that calculates the inertia torque Tair and the electric inertia torque Tair added to the torque change amount of the dynamometer 1 calculated using the differential value of the actual rotational speed v1 are added to the predicted torque Te. and a differential correction section 6.

Thereby, even when there is no speed difference between the actual rotational speed v1 of the dynamometer 1 and the predicted speed v2, the differential correction unit 6 can calculate the predicted torque Te. That is, if the electric inertia control device 2 did not have the differential correction section 6, the electric inertia control of the dynamometer 1 could not be performed until the speed difference occurred, but with the above configuration, the speed difference Electric inertia control of the dynamometer 1 can be performed even in a state where this does not occur. Therefore, the responsiveness of electrical inertia control for the dynamometer 1 can be improved.

The electric inertia control device 2 further includes an expected speed calculation unit 5 that calculates the expected speed v2 based on the difference between the electric inertia torque Tair and the expected torque Te.

Thereby, the speed difference Δv for determining the electric inertia torque Tair can be determined with high accuracy. Therefore, the electric inertia torque Tair can be determined with higher accuracy.

Furthermore, the vehicle testing apparatus 100 of this embodiment tests a drive mechanism including a transmission. The vehicle testing device 100 includes the above-described electric inertia control device 2 and a dynamometer 1. The specimen 200 is a transmission.

Thereby, in the vehicle testing apparatus 100 in which the dynamometer 1 is drive-connected to the transmission, even if the torque of the transmission suddenly changes, the dynamometer 1 can be electrically inertia controlled with good responsiveness. Therefore, the vehicle testing apparatus 100 with high responsiveness is realized.

(Other embodiments)
Although the embodiments of the present invention have been described above, the embodiments described above are merely examples for implementing the present invention. Therefore, without being limited to the embodiments described above, the embodiments described above can be modified and implemented as appropriate without departing from the spirit thereof.

In the embodiment, the expected speed calculation unit 5 calculates the expected speed v2 of the dynamometer 1 based on the difference between the electric inertia torque Tair and the expected torque Te. However, the expected speed calculation unit may calculate the expected speed of the dynamometer based on a value other than the difference between the electric inertia torque and the expected torque. Furthermore, the electric inertia control device does not need to include the expected speed calculation section. In this case, the electric inertia control device may calculate the predicted torque using the predicted speed obtained by a method other than the present embodiment.

In the embodiment described above, an example was described in which the vehicle testing apparatus 100 tests a part of the configuration of an automobile. However, the vehicle testing device may be a device that tests vehicles other than automobiles, such as two-wheeled vehicles and three-wheeled vehicles. Furthermore, the vehicle testing device may be a device that tests a vehicle that does not have tires, such as a tracked vehicle.

In the embodiment described above, the example in which the specimen 200 is a transmission has been described. However, the specimen may be a part of a power transmission system other than a transmission, such as a clutch, transmission, drive shaft, or differential gear. The dynamometer may be connected to the input shaft or the output shaft of the specimen.

In the embodiment described above, an example has been described in which the vehicle testing apparatus 100 includes one dynamometer 1 and one electric inertia control device 2. However, the vehicle testing device may have multiple dynamometers and multiple electrical inertia control devices.

In the embodiment described above, the speed detector 3 includes a resolver or an encoder. However, the speed detector may include a sensor capable of detecting the rotational speed of the dynamometer other than the resolver and encoder.

INDUSTRIAL APPLICABILITY The present invention can be used in an electric inertia control device that performs electric inertia control on a dynamometer that applies torque to a specimen, and a vehicle testing device that includes the electric inertia control device.

1 Dynamometer 2 Electric inertia control device 3 Speed detector 4 Electric inertia torque calculation unit 41 Time difference multiplier 42 First adder 43 Electric inertia torque calculation unit 5 Expected speed calculation unit 51 Integrator 6 Differential correction unit 61 Differentiator 62 Multiplication Device 63 Second adder 100 Vehicle testing device 200 Specimen Jc Coefficient Jm Coefficient Tair Electrical inertia torque Te Expected torque Tref Command value v1 Rotational speed v2 Expected speed Δv Speed difference

Claims (3)

An electrical inertia control device that performs electrical inertia control on a dynamometer that applies torque to a specimen,
an electric inertia torque calculation unit that calculates the expected torque of the dynamometer from the speed difference between the actual rotational speed and the expected speed of the dynamometer, and calculates an electric inertia torque for canceling a disturbance torque acting on the dynamometer;
a differential correction unit that adds a value obtained by adding the electrical inertia torque to the torque change amount of the dynamometer calculated using the differential value of the actual rotational speed to the predicted torque;
has,
Electric inertia control device. The electric inertia control device according to claim 1,
further comprising an expected speed calculation unit that calculates the expected speed based on the difference between the electric inertia torque and the expected torque,
Electric inertia control device. A vehicle testing device for testing a drive mechanism including a transmission,
The electric inertia control device according to claim 1 or 2,
The dynamometer;
Equipped with
The specimen is a transmission,
Vehicle testing equipment.

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