JP2647576B2 - Electric inertia compensation controller for driving test machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to electrical inertia compensation system GoSo drive tester for implementing the actual vehicle equivalent test of a drive system of an automobile or the like
It relates to location, in particular the compensation of high response, relates to electrical inertia compensation control device capable of inertia weight compensation of high range.

[0002]

2. Description of the Related Art As an apparatus related to this kind of inertia compensation control, there is known an inertia compensation control apparatus for a driving test machine described in Japanese Patent Application Laid-Open No. 61-28832 .

[0003] As shown in FIG.
A torque detector 41 for detecting a driving torque of the gin 21;
Voltage conversion to convert to a voltage signal proportional to the detected torque
A circuit 42 and a pallet for detecting the rotational speed of the electric dynamometer 22
Pickup 23 and output of pulse pickup 23
F / V converter 24 for converting the F / V into a voltage,
The running resistance equivalent torque based on the output of the steering unit 24
A resistance constant setting circuit 32 and an output of the voltage conversion circuit 42
Acceleration / deceleration torque, which is the difference between the
A first comparison circuit 35 for calculating the threshold value;
An integrating circuit 39 for integrating the output of the above to calculate the rotational angular velocity
Based on the output of the integrating circuit 39,
Inertial resistance that sets the vehicle's inertial resistance converted to the output shaft
The constant setting circuit 40 and the output of the F / V converter 24
Second ratio for calculating a difference between outputs of the resistance setting circuit 40
A comparison circuit 25 and an amplifier for amplifying the output of the comparison circuit 25.
From the output of the amplifier 26 and the variable power supply 31
A current for detecting a current value applied to the electric dynamometer 22
Compare the output of the detector 28 and apply it to the electric dynamometer 22
A third comparison circuit 27 for calculating a control amount of a current to be applied;
Based on the output of the comparison circuit 27, the electric dynamometer 22
Current control amplifier 29 for amplifying the control amount of applied current
Based on the output of the current control amplifier 29,
Phase control circuit 30 for controlling thyristor of variable power supply section 31
Are provided.

[0004]

SUMMARY OF THE INVENTION In the above prior art,
The output of the torque detector to the control system of the electric dynamometer.
Since it is used as a feedback signal,
And control delays occur.

In view of the above circumstances, an object of the present invention is to provide
Simplifies the control system of the side motor and improves the stability of the control system
And easy adjustment of the drive tester's electric inertia compensation system
Control device.

[0006]

Means for Solving the Problems To achieve the above object,
Therefore, in the present invention, the push-pull wire
Drive with throttle operated by actuator
A torque command device for commanding the driving torque of the driving-side motor,
A torque pickup that detects the driving torque of the driving engine
And a pulse pick that detects the rotational speed of the absorption motor
Up and convert pulse pickup output to voltage
A pulse frequency / voltage converter and the pulse frequency / voltage
Calculate the running resistance equivalent torque based on the output of the converter
Traveling resistance equivalent torque setting calculator and torque command device
Is the difference between the output of the
A first addition operational amplifier for calculating an acceleration / deceleration component torque,
It corresponds to the inertia amount of the whole vehicle on which the prime mover is mounted in advance.
An inertia amount setting device for setting an inertia amount, and the addition operational amplifier
Divided by the output of the inertial amount setting unit
A divider for calculating the rotational angular acceleration of the motive;
An integrator for calculating the rotational angular velocity by integrating the output;
Difference between the output of the Luth frequency / voltage converter and the output of the integrator
And a second addition operational amplifier for calculating
Based on the output of the operational amplifier
To match the rotational angular velocity calculated by the integrator with
A speed control operational amplifier for calculating the control value of
The output of the operational amplifier and the absorption from the thyristor power supply
Output of the current detector that detects the current value applied to the side motor
An adder for calculating the difference in force, and an output of the adder
Control amount of the current applied to the absorption-side motor based on
A constant current control operation amplifier to be calculated, and the constant current control operation
The size of the thyristor power supply is determined based on the output of the amplifier.
Thyristor gate pulse generator to control the lister
Between the output of the torque pickup and the output of the torque command device.
A third summing operational amplifier for calculating the difference, and the third summing operation amplifier;
Controlling the actuator based on the output of the operational amplifier
Torque control for calculating an amount and controlling the actuator
Equipment.

[0007]

[Action] Torque command device, torque control device and operation act
The torque of a drive tester in which a
A torque command value from the command device to the third addition operational amplifier
Is applied.

[0008] The control system of the driving prime mover has a torque pick-up.
Feedback the drive torque detected in the backup
If a torque control system is configured,
The generated drive torque is the torque output from the torque command device.
Is equal to the command value. Therefore, means for obtaining driving torque
The torque command device of the driving-side prime mover
Torque command value output from the torque command device.
No.

The adder sends a signal from the torque command device.
Torque command value and running resistance equivalent torque setting device
With the set value of running resistance equivalent torque sent from
Then, the difference is obtained, and this value is applied to the divider.

As described above, the detection of the driving torque is performed on the absorption side.
Separate from the motive control system and simply
Purification improves control system stability and facilitates adjustment
can do.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows an electric inertia compensation system of a driving test machine according to the present invention.
Block diagram of control device, Fig. 2 shows rotational angular velocity and running resistance phase
FIG. 4 is a characteristic diagram showing a relationship between the torques.

In FIG . 1, reference numeral 1 denotes a driving-side prime mover.
Carrot. 2 is a transmission connected to the engine 1
Have been. 5 is a torque pickup,
2 via output shaft 3 and coupling 4
Have been. 6 is an absorption side motor, and a torque pickup
5 through an output shaft 3 and a coupling 4
I have.

Reference numeral 8 denotes a pulse pickup, and
It is connected to the motive 6. 15 is a pulse frequency / voltage change
Converter converts the output of the pulse pickup 8 into a voltage.
You. Reference numeral 9 denotes a current detector which is applied to the absorption side motor 6.
Detect the current that flows. Reference numeral 10 denotes a thyristor power supply,
A current is applied to the electric motor 6 on the absorption side. 11 is a thyristage
The pulse applied to the absorption-side motor 6 is generated by a heat pulse generator.
Control the flow rate. 12 is a constant current control operational amplifier,
The control value is applied to the lister gate pulse generator 11.

Reference numeral 16 denotes a torque setting device corresponding to running resistance.
Automatically based on the output of the pulse frequency / voltage converter 15
Set the torque equivalent to the running resistance of the vehicle. 19 is the inertia setting
Set the amount of inertia with a constant meter. 201 is a torque command device
Then, the torque to be output by the engine 1 is set.

[0015] 101 is an addition operational amplifier, the running resistance
Connected to equivalent torque setting device 16 and torque command device 201
Have been. Reference numeral 102 denotes a divider, and the inertia amount setting unit 19
And an addition operational amplifier 101. 103 is the product
A divider is connected to the divider 102. 104
Is an adder, which integrates with the pulse frequency / voltage converter 15
Connected to the vessel 103. 105 is speed control arithmetic amplification
And is connected to the adder 104. 106 is an adder
Connected to the current detector 9 and the speed control operational amplifier 105.
Has been continued. The output of the adder 106 is the constant current
It is applied to the control operational amplifier 12.

Reference numeral 202 denotes an addition operational amplifier,
Backup 5 and connected to the torque command device 201.
You. Reference numeral 203 denotes a torque control device,
It is connected to the. Reference numeral 204 denotes an operation actuator.
It is connected to the control unit 203. 205 is a push
One end of the operating actuator 204
The other end is connected to the throttle 206 of the engine 1.
Is joined to.

With such a configuration, the engine 1 is operated.
Then, the driving torque of the engine 1 by the torque pickup 5
Te is detected and applied to the summing operational amplifier 202.
In the addition operational amplifier 202, the torque command device 201
Command value applied and applied from torque pickup 5
The difference value ΔTe from the output torque calculated is calculated, and the torque
It is applied to the control device 203. In the torque control device 203,
Based on the difference value ΔTe applied from the addition operational amplifier 202,
To calculate the operation amount of the operation actuator 204,
Activate the operating actuator 204 and push
The drive torque Te matches the command value via the ear 205
The throttle 206 is operated as follows.

[0018] hand, the pulse pickup 8 detects the rotation angular velocity ωm of the absorption side motor 6 is applied to the running resistance equivalent torque setting calculator 16 via a pulse frequency / voltage amplifier 15 and the summing operational amplifier 104. The running resistance equivalent torque setting calculator 16, the pulse frequency / voltage converter 1
5 phase to the rotational angular velocity ωm of the absorption side motor 6 applied from
The running resistance-equivalent torque R is calculated according to the applied voltage and applied to the addition operational amplifier 101 . In addition, the absorption side electric motor 6
Running resistance equivalent torque R from the rotational angular speed ωm of is set is calculated by the running resistance curve shown in FIG.

However, it is necessary to calculate the rotational angular acceleration dθ / dtm from the contribution of the driving torque Te of the engine 1 to the acceleration / deceleration. Thus, the acceleration / deceleration torque is obtained using the above equation (1). FIG. 2 shows the relationship. This figure 2
Smell Te, it integrates the rotation angular acceleration d [theta] / dtm in integrator 103 to obtain the rotational angular speed ωm (t). This rotational angular velocity ωm (t) is an inertia-compensated rotational angular velocity, which is a value having a change rate corresponding to the rotational angular acceleration dθ / dtm with respect to the time axis. The value is sent to the addition operational amplifier 104 as a value.

[0020] Then, the a rotation angular velocity .omega.m (t) by summing operational amplifier 104, the pulse frequency / voltage converter 1
5 is compared with a voltage corresponding to the rotational angular velocity ωm sent from the control unit 5, and the deviation is sent to the speed control operational amplifier 105. Through the speed control operational amplifier 105, the absorption-side electric motor 6 is accelerated at the rotational angular velocity ωm (t). At the point where the running resistance equivalent torque R and the driving torque Te are R = Te, the difference value ΔTe = 0 between the two values, so that the input to the integrator 103 is also 0, and the absorption-side electric motor 6 is shown in FIG. Is maintained at the rotational angular velocity ωm ₁ .

In FIG. 2, when the driving torque of the engine 1 is Te and the driving torque changes from Te ′ to Te from the state of the rotational angular velocity ωm ₂ , the torque ΔT
e acts as a deceleration torque, and thereafter acts in the same manner as in the case of the acceleration.

The summing operational amplifier 101 has the torque
Command value applied from the command device 201 and running resistance
Equivalent torque setting Equivalent to running resistance applied from computing unit 16
By adding the torque R, a difference value ΔTe is obtained. ΔTe = Te−R (1) The running resistance equivalent torque R is the steady state resistance of the vehicle, that is,
Since the running resistance is at each constant speed state, the driving torque T
The difference value ΔTe between e and the running resistance equivalent torque R is
It will be Luk. The difference value ΔTe is divided by a divider 102
Send to

The inertia amount It is set in the inertia amount setting unit 19.
This inertia amount It is applied to the divider 102.
You. This amount of inertia It corresponds to the total amount of inertia of the vehicle. Split
The arithmetic unit 102 is configured to drive the driving
Difference value ΔTe between dynamic torque Te and running resistance equivalent torque R
Is divided by the inertia amount It applied from the inertia amount setting unit 19.
The rotational angular acceleration dθ / dtm of the absorption-side motor 6 is calculated as
calculate. dθ / dtm = ΔTe / It (2) Then, the result is applied to the integrator 103.

The integrator 103 receives the signal from the divider 102
The rotation angle is obtained by integrating the applied rotation angular acceleration dθ / dtm.
The speed ωm (t) is obtained. This rotational angular velocity ωm (t)
Is the inertial compensation rotational angular velocity value, and this rotational angular velocity ωm
(T) is applied to the addition operational amplifier 104.

The addition operational amplifier 104 is connected to the integrator 103
The rotational angular velocity ωm (t) applied from the
Rotation of the absorption-side motor 6 sent from the voltage converter 15
Find the difference from the angular velocity ωm, and amplify the value by speed control arithmetic amplification
To the vessel 105.

The speed control operational amplifier 105 is provided with
Based on the value applied from the operational amplifier 104,
The rotational angular velocity ωm of the motive 6 and the value calculated by the integrator 103
Rotation angular velocity ωm (t), that is, inertial compensation rotation angular velocity
The control value is calculated so as to match the value, and the addition
6 is applied.

The addition arithmetic unit 106 increases the speed control arithmetic operation.
The control value is fetched from the band 105 and the thyristor power supply
Current detector 9 provided between device 10 and absorption-side motor 6
The current value supplied to the absorption-side motor 6 from the
And compares the control value with the current value to determine the difference.
It is applied to the current control operational amplifier 12.

The output from the torque command device 201 is
The torque command value is calculated by the addition operational amplifier 202 as described above.
And the output of the torque pickup 5 is matched.
The torque control device 203 and the operation so that
Operation actuator 204, push-pull wire 205
The throttle 206 of the engine 1 is automatically controlled through
You. Therefore, output from torque command device 201
The torque command value is determined by the drive detected by the torque pickup 5.
The value is equal to the dynamic torque Te. As a result, the summing amplifier
At 101, the difference value ΔTe substantially equal to the above equation (1) is obtained.
You.

Therefore, the difference value between the torque command value obtained by the addition operational amplifier 101 and the running resistance equivalent torque R is divided by the inertia amount It using the above equation ( 2 ) by the divider 105 to obtain the rotational angular acceleration dθ / dtm. Is calculated by the integrator 103 to obtain a rotational angular velocity ωm (t).
Controlling the absorption-side electric motor 6 using this as a command value also functions similarly.

FIG. 3 is a block diagram showing a second embodiment of an electric inertia compensation control apparatus for a driving test machine according to the present invention.
FIG . In the second embodiment, the engine 1 is driven.
A torque simulator 301 is connected. The drive torque
The output of the simulation device 301 is connected to the addition operational amplifier 101.
Has been continued.

The simulated 5 Ru drive torque Te by the driving torque simulating device 301, a drive torque Te which the engine 1 is generated is proportional to the intake amount of fuel, the intake quantity of fuel is proportional to the throttle opening By utilizing this , the drive torque Te can be simulated by the throttle opening signal.

The simulation procedure is as follows.
The drive torque Te when the drive torque is changed to １００100% is read by the torque pickup 5 in advance, and the drive torque simulator 3
01 is stored. The driving torque of the engine 1 is read before starting the operation of the driving test machine.
Ru can be achieved by performing a trial run of the engine 1 (Techingu operation) at 100%. Drive torque simulator 3
Corresponds to the opening signal from 0 to 100% of the throttle opening from 01
And output the driving torque of the engine 1 as a simulation value.
This is sent to the addition operational amplifier 101.

The simulation of the driving torque Te from the intake pipe pressure (boost pressure) is performed using the fact that the intake pipe pressure is proportional to the throttle opening. The simulation of the driving torque of the engine 1 from the throttle opening signal is as described above. Then, the drive torque simulating device 301 outputs the drive torque of the engine 1 corresponding to the intake pipe pressure as a simulated value, and sends the simulated value to the addition operational amplifier 101.

The addition operational amplifier 101 obtains a difference value between the simulated value of the driving torque sent from the driving torque simulating device 301 and the running resistance equivalent torque R sent from the running resistance equivalent torque setting calculator 16. The angular difference dθ / dtm is calculated by dividing the difference value by the inertia amount It using the equation (3) by the divider 102, and this is integrated by the integrator 103 to obtain the rotational angular velocity ωm (t).
Even when the absorption-side electric motor 6 is controlled using this as a command value, it functions in the same manner as in the first embodiment.

In each of the above-described embodiments, the obtained driving torque
Lu is the command value, and the absorption-side electric motor 6
Open loop for control system, feedback
Does not generate block-type blocks.

Furthermore, in each embodiment which does not depend on the type in which the drive torque Te is detected by the torque pickup 5 and fed back to the control system of the absorption motor 6, the control system of the absorption motor 6 has no torque feedback system. It is possible to reduce the difficulty of the adjustment due to the causality of the feedback and to make the adjustment much easier.

Further, each of the embodiments, the torque is an example of an engine driving an electric motor that is driving the dynamic has a torque command device and the torque control device, in accordance with a torque command value output from the torque command device The first embodiment can be applied to the case of driving with an electric motor as long as the motor is driven.
Furthermore, since the driving torque generated from the driven motor is proportional to the current supplied to the motor, if the driving torque is simulated from the current, the second embodiment can be applied to the case of driving the motor. Can be applied.

[0038]

As described above, according to the present invention, the drive
A torque command device, torque control device, and operation
In a drive tester with a coutuator connected in series,
Pressure for obtaining a difference between the run line resistance equivalent torque and driving torque
In the calculator, the drive torque detected by the torque pickup is
Torque output from the torque command device in place of
It is configured to apply a command value, and the drive torque is detected.
Out of the control system of the absorption motor
Simplifies the control system of the absorption-side motor.
The stability of the control system of the absorption motor can be improved
There is an effect that adjustment can be easily performed.

[Brief description of the drawings]

FIG. 1 shows an electric inertia compensation control device of a driving test machine according to the present invention .
FIG.

FIG. 2 shows the relationship between rotational angular velocity and running resistance equivalent torque.
Characteristic diagram.

FIG. 3 is an electric inertia compensation control device of a driving test machine according to the present invention .
FIG. 4 is a block diagram showing a second embodiment of the device.

FIG. 4 is an electric inertia compensation control device of a driving test machine according to the prior art .
Block diagram of FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Engine which is a drive side prime mover, 2 ... Transmission, 5 ... Torque pickup, 6 ... Absorption side electric motor, 8
... Pulse pickup, 15 ... Pulse frequency / voltage converter, 10 ... Thyristor power supply device, 12 ... Constant current control operational amplifier, 16 ... Torque setting computing device equivalent to running resistance, 19 ...
Inertial amount setting device, 101: addition operational amplifier, 102: divider, 103: integrator, 104: addition operational amplifier, 10
5: speed control operational amplifier, 201: torque command device, 2
02: Addition operational amplifier, 203: Torque control device, 20
4. Operating actuator, 206: throttle.

Claims (1)

(57) [Claims] 1. Actuator via push-pull wire
Prime mover with throttle operated by motor
Command device for commanding the drive torque of the motor
Torque pickup that detects the driving torque of the machine and absorption
A pulse pickup for detecting the rotation speed of the side motor,
A pulse frequency that converts the output of the pulse pickup into a voltage
Number / voltage converter and the output of the pulse frequency / voltage converter
Running resistance phase that calculates running resistance equivalent torque based on force
The torque setting calculator, and the output and running of the torque command device
Acceleration / deceleration, which is the difference between the outputs of the row resistance equivalent torque setting calculator
A first summing operational amplifier for calculating a torque;
Set an inertia amount equivalent to the inertia amount of the entire vehicle on which the motive is mounted.
And the output of the addition operational amplifier.
The rotation of the absorption side motor is divided by the output of the inertia amount setting device.
A divider for calculating angular acceleration, and integrating the output of the divider
An integrator for calculating a rotational angular velocity by using the pulse frequency
/ Calculate the difference between the output of the voltage converter and the output of the integrator
A second summing operational amplifier, and a second summing operational amplifier.
Based on the output, the rotational angular velocity of the absorption-side motor and the integral
The control value for matching the rotational angular velocity calculated by the
A speed control operational amplifier to calculate, and the speed control operational amplifier
From the thyristor power supply to the absorption motor
Calculates the difference between the outputs of the current detector that detects the applied current value
Based on the output of the addition arithmetic unit and the output of the addition arithmetic unit.
A constant for calculating a control amount of a current applied to the absorption-side motor.
A current control operational amplifier and the output of the constant current control operational amplifier.
Control the thyristor of the thyristor power supply based on the force.
A thyristor gate pulse generator to control
The difference between the backup output and the output of the torque command device.
A third summing operational amplifier, and the third summing operational amplifier
Calculates the control amount of the actuator based on the output of
And a torque control device for controlling the actuator.
Electrical inertia compensation control of a driving test machine characterized by being provided
apparatus.