JP2623648B2 - Differential rotation control device - Google Patents
Differential rotation control deviceInfo
- Publication number
- JP2623648B2 JP2623648B2 JP63055529A JP5552988A JP2623648B2 JP 2623648 B2 JP2623648 B2 JP 2623648B2 JP 63055529 A JP63055529 A JP 63055529A JP 5552988 A JP5552988 A JP 5552988A JP 2623648 B2 JP2623648 B2 JP 2623648B2
- Authority
- JP
- Japan
- Prior art keywords
- differential rotation
- set value
- rotation
- differential
- pulse
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Landscapes
- Control Of Velocity Or Acceleration (AREA)
- Control Of Multiple Motors (AREA)
Description
【発明の詳細な説明】 A.産業上の利用分野 本発明は、差動機構を含む動力伝達系の試験装置に係
り、特に差動機構の差回転制御装置に関する。The present invention relates to a test device for a power transmission system including a differential mechanism, and more particularly to a differential rotation control device for a differential mechanism.
B.発明の概要 本発明は、差動機構に結合される一対の回転体の差回
転検出信号と差回転設定値との突き合わせで該一対の回
転体の自動速度制御を行うにおいて、 一対の回転体の速度検出パルス数を差回転設定値に応
じて調節してアップダウンカウンタのアップ入力とダウ
ン入力にし、該カウンタの計数値に差回転設定値を得る
ことにより、 過渡応答精度を向上できるようにしたものである。B. Summary of the Invention The present invention provides automatic speed control of a pair of rotating bodies by comparing a differential rotation detection signal of a pair of rotating bodies coupled to a differential mechanism with a differential rotation set value. The transient response accuracy can be improved by adjusting the number of body speed detection pulses in accordance with the difference rotation set value to make up and down inputs of an up / down counter and obtaining the difference rotation set value in the count value of the counter. It was made.
C.従来の技術 自動車のシャーシダイナモメータやパワートレインテ
スタにおいては、ディファレンシャルギヤも含めて性能
試験を行う。このような差動機構を含む動力伝達系の試
験装置は、差動機構によって左右の車輪の回転数に差が
生ずることがあるため、その差回転を零（自動車の直進
を模擬）にする制御、あるいは差回転を一定値（左折又
は右折を模擬）にする制御を必要とする。C. Conventional technology For chassis dynamometers and power train testers of automobiles, performance tests are performed including differential gears. In a power transmission system test apparatus including such a differential mechanism, since the rotational speed of the right and left wheels may be different due to the differential mechanism, the control for reducing the differential rotation to zero (simulating the straight running of an automobile) is performed. Alternatively, it is necessary to control the difference rotation to a constant value (simulating left turn or right turn).
このため従来の差回転制御装置は、第３図に示す構成
にされている。ダイナモメータ制御系は試験車両１の車
輪1A,1Bを夫々ローラ2A,2B上に乗せ、車両１のエンジン
駆動による車輪1A,1Bの駆動力をローラ2A,2Bに結合され
るダイナモメータ3A,3Bで個別に吸収する。ダイナモメ
ータ3A,3Bはトルク制御装置4A,4B及び速度制御装置5A,5
B等によってトルク及び速度の自動制御が行われる。For this reason, the conventional differential rotation control device is configured as shown in FIG. The dynamometer control system puts the wheels 1A and 1B of the test vehicle 1 on rollers 2A and 2B, respectively, and applies the driving force of the wheels 1A and 1B driven by the engine of the vehicle 1 to the dynamometers 3A and 3B coupled to the rollers 2A and 2B. Absorb individually. Dynamometers 3A and 3B are torque controllers 4A and 4B and speed controllers 5A and 5A.
Automatic control of torque and speed is performed by B or the like.
このようなダイナモメータ制御系に対して、差回転制
御装置は、パルスピックアップ6A,6Bによるダイナモメ
ータ3A,3Bの回転速度（車輪1A,1Bの回転速度）検出信号
A,Bを夫々周波数−電圧変換器7A,7Bによって電圧信号に
変換し、両変換信号の減算によって差回転を検出し、差
回転設定器８のディジタル設定値をD/A変換器９で変換
した設定信号と上記差回転検出信号との偏差を比例積分
（PI）演算器10で演算増幅し、この演算器10の出力を速
度設定器11の設定値に加算してダイナモメータ3Bの速度
指令値とし、演算器10の出力を速度設定器11の設定値か
ら減算してダイナモメータ3Aの速度指令値とする。In contrast to such a dynamometer control system, the differential rotation control device detects the rotation speeds of the dynamometers 3A and 3B (the rotation speeds of the wheels 1A and 1B) by the pulse pickups 6A and 6B.
A and B are converted into voltage signals by frequency-voltage converters 7A and 7B, respectively, and a difference rotation is detected by subtraction of both conversion signals, and a digital setting value of the difference rotation setting unit 8 is converted by a D / A converter 9. The deviation between the set signal and the differential rotation detection signal is calculated and amplified by a proportional-integral (PI) calculator 10, and the output of the calculator 10 is added to the set value of the speed setting device 11 to adjust the speed command of the dynamometer 3B. The output of the arithmetic unit 10 is subtracted from the set value of the speed setting unit 11 to obtain a speed command value of the dynamometer 3A.
ここで、差回転の定常偏差を補償するために、偏差演
算部12によってパルスピックアップ6A,6Bの検出パルス
信号A,Bの単位時間の計数値の差（Ａ−Ｂ）に差回転設
定器８の設定値Ｃを突き合わせ、その偏差分Ｅを積分演
算部13によって積算し、この積算結果をD/A変換器14に
よってアナログ信号に変換して差回転補正値にする。Here, in order to compensate for the steady-state deviation of the differential rotation, the difference calculation unit 12 calculates the difference (AB) between the count values of the detection pulse signals A and B of the pulse pickups 6A and 6B per unit time (AB) by the deviation calculation unit 12. Are compared with each other, and the deviation E is integrated by the integration operation unit 13, and the integration result is converted into an analog signal by the D / A converter 14 to obtain a differential rotation correction value.
D.発明が解決しようとする課題 従来の差回転制御装置においては、偏差演算部12と積
分演算部13によって定常偏差を無くした高精度の差回転
制御ができるが、差回転制御の過渡状態では応答精度を
向上できない問題があった。D. Problems to be Solved by the InventionIn the conventional differential rotation control device, the differential operation unit 12 and the integration operation unit 13 can perform high-precision differential rotation control with no steady-state error, but in a transient state of the differential rotation control. There was a problem that the response accuracy could not be improved.
これは、偏差演算部12におけるパルスの計数と突き合
わせのためのサンプリングタイム及び積分演算部13にお
ける積分時間による遅れがあり、これら時間を長くする
ほど定常偏差の補償精度を向上させるが、逆に過渡的な
偏差にはデッドタイムになって補償遅れを伴い、過渡応
答を悪くすることに因る。This is because there is a delay due to the sampling time for counting and matching pulses in the deviation calculation unit 12 and the integration time in the integration calculation unit 13.The longer these times are, the more the accuracy of the steady-state deviation compensation is improved. Such a deviation is accompanied by a delay in compensation due to a dead time, resulting in poor transient response.
本発明の目的は、過渡状態も含めて差回転制御の精度
を向上させることができる差回転制御装置を提供するに
ある。An object of the present invention is to provide a differential rotation control device that can improve the accuracy of differential rotation control including a transient state.
E.課題を解決するための手段と作用 本発明は上記目的を達成するため、差動機構に結合さ
れる一対の回転体と、この一対の回転体の差回転検信号
と差回転設定値との突き合わせで両回転体の差回転速度
を自動速度制御する速度制御系とを備えた動力伝達系の
試験装置において、前記一対の回転体の各回転速度検出
パルス数の一方を差回転設定値に応じて調節するパルス
数調節手段と、この調節手段によって調節された両検出
パルスをアップ入力とダウン入力にするアップダウン計
数手段と、この計数手段の計数値と前記一対の回転体の
位相差零設定値との突き合わせによって前記差回転設定
値を得る突き合わせ手段とを備え、回転体の回転速度検
出パルス数の一方を差回転設定値に応じて調節すること
で該検出パルス数が調節量に応じて変化するよう自動速
度制御を行わせる。E. Means and Action for Solving the Problems In order to achieve the above object, the present invention provides a pair of rotators coupled to a differential mechanism, a differential rotation detection signal and a differential rotation set value of the pair of rotators. A speed control system for automatically controlling the differential rotation speed between the two rotating bodies by abutting the two rotating bodies, wherein one of the numbers of rotation speed detection pulses of the pair of rotating bodies is set to a differential rotation set value. Pulse number adjusting means for adjusting the number of pulses, up-down counting means for setting both detection pulses adjusted by the adjusting means to an up input and a down input, a count value of the counting means and a phase difference of zero between the pair of rotating bodies. Matching means for obtaining the differential rotation set value by matching with a set value, and adjusting one of the rotational speed detection pulse numbers of the rotating body according to the differential rotation set value so that the detected pulse number is adjusted according to the adjustment amount. Change To perform so that the automatic speed control.
F.実施例 第１図は本発明の一実施例を示す差回転制御装置の回
路図である。パルス数調節回路21はパルスピックアップ
6A,6Bの検出パルス信号A,Bを入力し、差回転設定器８の
設定値に比例した間引き率で信号Ａ又はＢの一方のパル
スを間引き、間引く方の信号は設定値の正負信号に応じ
て信号Ａ又はＢに決められる。アップダウンカウンタ22
はパルス数調節回路21によって調節されたパルス信号A0
をアップ側計数入力とし、パルス信号B0をダウン側計数
入力にし、信号A0とB0のパルス数の差を計数値として得
る。ディジタル突き合わせ回路23はアップダウンカウン
タ22の計数値出力と位相差設定器24の設定値との突き合
わせでその偏差を差回転設定値として得る。D/A変換器2
5は突き合わせ回路23の出力をアナログ信号に変換して
差回転検出信号との比較信号にする。F. Embodiment FIG. 1 is a circuit diagram of a differential rotation control device showing an embodiment of the present invention. Pulse number adjustment circuit 21 is a pulse pickup
6A and 6B detection pulse signals A and B are input, and one pulse of the signal A or B is thinned out at a thinning rate proportional to the set value of the differential rotation setting device 8, and the thinned signal is a positive or negative signal of the set value. The signal is determined to be signal A or B accordingly. Up-down counter 22
Is a pulse signal A 0 adjusted by the pulse number adjusting circuit 21.
Was an up-side count input, and the pulse signal B 0 to the down side count input, obtain a difference between the number of pulses of the signal A 0 and B 0 as the count value. The digital matching circuit 23 obtains the difference as a differential rotation setting value by comparing the count value output of the up / down counter 22 with the set value of the phase difference setting device 24. D / A converter 2
Reference numeral 5 converts the output of the matching circuit 23 into an analog signal and makes it a comparison signal with the differential rotation detection signal.
こうした構成において、ダイナモメータ3A,3Bが同速
度（位相差零）状態にあるとき、パルスピックアップ6
A,6Bの出力パルス信号A,Bが第２図（Ａ）に示すように
同じ波形になる。そして、差回転設定器８の設定値零で
はパルス数調節回路21の両出力信号A0,B0は信号A,Bと同
じ周波数になる。但し、信号A0,B0は波形調整され、後
段のアップダウンカウンタ22への同時入力を禁止するよ
う位相がずらされた第２図（Ｂ）に示す波形にされる。In such a configuration, when the dynamometers 3A and 3B are in the same speed (zero phase difference) state, the pulse pickup 6
The output pulse signals A and B of A and 6B have the same waveform as shown in FIG. When the setting value of the differential rotation setting unit 8 is zero, both output signals A 0 and B 0 of the pulse number adjusting circuit 21 have the same frequency as the signals A and B. However, the waveforms of the signals A 0 and B 0 are adjusted to have the waveforms shown in FIG. 2 (B) whose phases are shifted so as to prohibit simultaneous input to the up / down counter 22 at the subsequent stage.
この信号A0,B0によって、アップダウンカウンタ22は
１パルスのアップと１パルスのダウンを繰り返して現在
計数値を零に維持し、ディジタル突き合わせ回路23にお
ける位相零設定値との偏差に零を得る。この偏差零が差
回転信号の指令値になり、差回転検出信号も零になるよ
う自動速度制御がなされる。By the signals A 0 and B 0 , the up / down counter 22 keeps the current count value at zero by repeating one pulse up and one pulse down, and sets the deviation from the phase zero set value in the digital matching circuit 23 to zero. obtain. This deviation zero becomes the command value of the difference rotation signal, and the automatic speed control is performed so that the difference rotation detection signal also becomes zero.
このような同期状態は、車両の直進状態になる。この
状態において、差回転を与えるには、差回転設定器８に
その量Ｎ及び右折又は左折に対応する正負の極性を与え
る。この設定によって、パルス数調節回路21は信号Ａ又
はＢの一方のパルスに対して単位時間当たりＮ発のパル
スを間引く。例えば第２図（Ｂ）において、パルスP3を
消滅させた出力信号A0,B0を得る。このパルスの間引き
によって、アップダウンカウンタ22の計数値はダウン側
の入力信号B0のパルス数が少なくなり、計数値が減少し
始める。このとき、カウンタ22の計数値減少によって差
回転指令も低下し、ダイナモメータ3Bの増速側制御が開
始される。この制御によって、パルスピックアップ6Bの
出力パルス周波数が増加し、調節回路21での間引き分だ
け増速したときにアップダウンカウンタ22の計数値ダウ
ンが停止、そのときの計数値に維持される。すなわち、
カウンタ22の現在計数値が差回転設定値に維持され、こ
の差回転設定値にダイナモメータ3A,3Bの回転数差も維
持されて同期状態になる。Such a synchronized state is a state in which the vehicle travels straight. In this state, in order to provide the differential rotation, the differential rotation setting unit 8 is provided with the amount N and the positive or negative polarity corresponding to the right or left turn. With this setting, the pulse number adjusting circuit 21 thins out N pulses per unit time for one pulse of the signal A or B. For example, in FIG. 2B, output signals A 0 and B 0 in which the pulse P 3 has disappeared are obtained. By decimation of the pulse, the count value of the up-down counter 22 decreases the pulse of the input signal B 0 of the down side, the count value starts to decrease. At this time, the differential rotation command is also reduced due to the decrease in the count value of the counter 22, and the speed-up control of the dynamometer 3B is started. With this control, the output pulse frequency of the pulse pickup 6B increases, and when the speed is increased by the amount of thinning out in the adjustment circuit 21, the count down of the up / down counter 22 stops and is maintained at the count value at that time. That is,
The current count value of the counter 22 is maintained at the difference rotation set value, and the difference between the rotation speeds of the dynamometers 3A and 3B is also maintained at the difference rotation set value, and a synchronous state is established.
従って、ダイナモメータ3A,3Bの回転数の変動は直ち
にアップダウンカウンタ22の計数値の増減として表れ、
該変動の検出に従来のように単位時間内のパルス数計数
と積算による補償に較べて時間遅れが極めて少なくな
り、過渡状態での精度も向上できる。Therefore, the fluctuation of the rotation speed of the dynamometers 3A and 3B immediately appears as an increase or decrease in the count value of the up-down counter 22,
Compared with the conventional method of detecting the fluctuation, the number of pulses per unit time and the compensation by integration are extremely small in time delay, and the accuracy in a transient state can be improved.
なお、実施例において、パルス数調節回路21は一対の
分周回路にして差回転設定器８の設定値に応じて分周回
路の分周比を調節する構成にして同等の作用効果を得る
ことができる。In the embodiment, the same operation and effect can be obtained by configuring the pulse number adjusting circuit 21 as a pair of frequency dividing circuits to adjust the frequency dividing ratio of the frequency dividing circuit according to the set value of the difference rotation setting device 8. Can be.
G.発明の効果 以上のとおり、本発明によれば、差回転設定値に応じ
て一対の回転体の回転速度検出パルス信号の一方を調節
し、この調節パルス信号をアップ入力とダウン入力とす
るアップダウンカウンタの計数値から差回転設定値を得
るようにしたため、定常偏差を回転数検出精度にまで高
めながら過渡応答も回転数検出パルス周期にまで高める
ことができる効果がある。G. Effects of the Invention As described above, according to the present invention, one of the rotation speed detection pulse signals of the pair of rotating bodies is adjusted according to the differential rotation set value, and this adjusted pulse signal is used as an up input and a down input. Since the difference rotation set value is obtained from the count value of the up / down counter, there is an effect that the transient response can be increased to the rotation number detection pulse period while the steady-state deviation is increased to the rotation number detection accuracy.
第１図は本発明の一実施例を示す回路図、第２図（Ａ）
及び、第２図（Ｂ）は第１図における各部波形図、第３
図は従来の装置構成図である。 3A,3B……ダイナモメータ、6A,6B……パルスピックアッ
プ、7A,7B……周波数−電圧変換器、８……差回転設定
器、21……パルス数調節回路、22……アップダウンカウ
ンタ、23……ディジタル突き合わせ回路、24……位相差
設定器。FIG. 1 is a circuit diagram showing an embodiment of the present invention, and FIG.
FIG. 2 (B) is a waveform diagram of each part in FIG. 1, and FIG.
FIG. 1 is a configuration diagram of a conventional apparatus. 3A, 3B: dynamometer, 6A, 6B: pulse pickup, 7A, 7B: frequency-voltage converter, 8: differential rotation setting device, 21: pulse number adjustment circuit, 22: up / down counter, 23: Digital matching circuit, 24: Phase difference setting device.
Claims (1)
の一対の回転体の差回転検信号と差回転設定値との突き
合わせで両回転体の差回転速度を自動速度制御する速度
制御系とを備えた動力伝達系の試験装置において、前記
一対の回転体の各回転速度検出パルス数の一方を差回転
設定値に応じて調節するパルス数調節手段と、この調節
手段によって調節された両検出パルスをアップ入力とダ
ウン入力にするアップダウン計数手段と、この計数手段
の計数値と前記一対の回転体の位相差零設定値との突き
合わせによって前記差回転設定値を得る突き合わせ手段
とを備えたことを特徴とする差回転制御装置。1. A speed for automatically controlling a differential rotation speed between a pair of rotating bodies coupled to a differential mechanism and a differential rotation detection signal of the pair of rotating bodies and a differential rotation set value. In a power transmission system test apparatus including a control system, a pulse number adjusting unit that adjusts one of the rotational speed detection pulses of each of the pair of rotating bodies according to a difference rotation set value; Up / down counting means for setting the two detection pulses to an up input and a down input; and a matching means for obtaining the difference rotation set value by comparing the count value of the counting means with the zero phase difference set value of the pair of rotating bodies. A differential rotation control device comprising:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63055529A JP2623648B2 (en) | 1988-03-09 | 1988-03-09 | Differential rotation control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63055529A JP2623648B2 (en) | 1988-03-09 | 1988-03-09 | Differential rotation control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01227940A JPH01227940A (en) | 1989-09-12 |
| JP2623648B2 true JP2623648B2 (en) | 1997-06-25 |
Family
ID=13001258
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63055529A Expired - Lifetime JP2623648B2 (en) | 1988-03-09 | 1988-03-09 | Differential rotation control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2623648B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2527753Y2 (en) * | 1990-11-22 | 1997-03-05 | 株式会社明電舎 | Motor differential rotation control device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6162835A (en) * | 1984-09-04 | 1986-03-31 | Ono Sokki Co Ltd | Control apparatus for plural dynamometers |
| JPH0663920B2 (en) * | 1986-02-25 | 1994-08-22 | 株式会社明電舍 | Control device for shear dynamometer |
-
1988
- 1988-03-09 JP JP63055529A patent/JP2623648B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH01227940A (en) | 1989-09-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP2623648B2 (en) | Differential rotation control device | |
| JP2522495Y2 (en) | Output control device of reduction gear | |
| JP2671354B2 (en) | Differential rotation control device | |
| JP2010271151A (en) | Device for detection of rotor angle position and speed, and power test system of rotor | |
| JP2712627B2 (en) | Synchronous control circuit for dynamometer | |
| JPH03195973A (en) | Car body speed estimating apparatus | |
| JPH036459A (en) | Method for detecting number of rotations | |
| JP2501528Y2 (en) | Motor tracking controller | |
| JPH0720006A (en) | Constant speed controller of 4wd power train dynamo | |
| JP2501529Y2 (en) | Motor tracking controller | |
| JPS62197741A (en) | Controller for chassis dynamometer | |
| US4734842A (en) | Signal converter | |
| JPH01121911A (en) | Phase controller for rotating body | |
| JPH0643188B2 (en) | Steering sensor zero point correction method | |
| JP2527753Y2 (en) | Motor differential rotation control device | |
| JP2769379B2 (en) | Body control device | |
| JPH0665977B2 (en) | Automatic speed control method in vehicle mode test | |
| SU732807A1 (en) | Servo system | |
| JP2583604B2 (en) | Load control method for tire testing machine | |
| JPH0332008B2 (en) | ||
| JPS6153543A (en) | Speed matching control apparatus | |
| JPH0539478Y2 (en) | ||
| SU1744563A1 (en) | Vehicle technical state diagnosing stand | |
| JPH08133114A (en) | Steering effort controller of power steering device | |
| JPH05273058A (en) | Torque detector |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |