JP3525397B2 - Control device for traveling vehicles - Google Patents
Control device for traveling vehiclesInfo
- Publication number
- JP3525397B2 JP3525397B2 JP00650395A JP650395A JP3525397B2 JP 3525397 B2 JP3525397 B2 JP 3525397B2 JP 00650395 A JP00650395 A JP 00650395A JP 650395 A JP650395 A JP 650395A JP 3525397 B2 JP3525397 B2 JP 3525397B2
- Authority
- JP
- Japan
- Prior art keywords
- speed
- control device
- control
- command value
- value
- 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 Ac Motors In General (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Description
【発明の詳細な説明】
【０００１】
【産業上の利用分野】この発明は、多軸駆動される走行
車の制御装置に関する。
【０００２】
【従来の技術】図３は従来の走行車の例を示す概要図で
ある。同図において、１０は走行台車、２Ａ，２Ｂは誘
導電動機（以下、単にモータという）である。すなわ
ち、走行台車１０はモータ２Ａ，２Ｂにより前後輪個別
に駆動（多軸駆動）される。また、モータ２Ａ，２Ｂは
図４に示す制御装置により制御される。
【０００３】図４に示すように、制御装置１Ａ，１Ｂは
速度調節器（ＡＳＲ）１１Ａ、ＲＯＭを含む関数発生器
１２Ａ，１２Ｂ、ベクトル演算器１３Ａ，１３Ｂおよび
電力変換回路１４Ａ，１４Ｂ等より構成される。電力変
換回路１４Ａ，１４Ｂは電流制御回路（ＡＣＲ）やイン
バータ主回路等の電力変換器からなり、モータ２Ａ，２
Ｂの各相の電流指令値ｉａ* 〜ｉｃ* を入力されて、指
令値通りの電流をモータ２Ａ，２Ｂへ供給する。
【０００４】ベクトル演算器１３Ａ，１３Ｂはトルク指
令値τ*と二次磁束指令値Φ２*を入力され、下記数１
（（１）〜（３）式）の（３）式に従い、各相の電流指
令値ｉａ*〜ｉｃ*を出力する。
【数１】
【０００５】なお、上記数１の（１）式に示すｉＭ *
は一次電流の二次磁束と平行な成分の電流指令値（磁束
電流指令値）、上記数１の（２）式に示すｉＴ * は一
次電流の二次磁束と垂直な成分の電流指令値（トルク電
流指令値）、φ２ は二次磁束の推定位置を示す。
【０００６】上記φ２ は下記の（４）式にて求まるす
べり周波数指令値ωｓとモータ２Ａ，２Ｂに取り付けら
れたパルスエンコーダ３Ａ，３Ｂにより検出されるモー
タの回転角速度ω２とを加算し、その結果を積分するこ
とにより求められる。なお、Ｒ２はモータの２次抵抗で
ある。
ωｓ＝Ｒ２×ｉＴ * ／Φ２ * …（４）
また、関数発生器１２Ａ，１２Ｂは速度実際値から、速
度に見合う二次磁束指令値Φ２ * を出力するものであ
る。
【０００７】制御装置１Ａでは、速度調節器（ＡＳＲ）
１１Ａに外部から速度指令値と、パルスエンコーダ３Ａ
により検出された速度検出値（速度実際値）との偏差が
入力されるので、ＡＳＲ１１Ａは速度実際値を速度指令
値に一致させるべくトルク指令値τ* を出力し、速度制
御を行なう。また、ここではモータ２Ａ，２Ｂの負荷バ
ランスをとる目的から、制御装置１Ｂには制御装置１Ａ
からトルク指令値τ*を入力してトルク制御を行なうよ
うにしている。
【０００８】
【発明が解決しようとする課題】上記従来例では、前，
後輪（モータ２Ａ，２Ｂ）の負荷バランスをとりながら
制御を行なうべく、モータ２Ａについては速度制御、モ
ータ２Ｂについてはトルク制御をそれぞれ行なってい
る。ところで、路面の状態（雨等）により、モータ２Ｂ
で駆動している後輪がスリップすると、路面との摩擦が
小さくなるためトルク制御をしているモータ２Ｂは空転
し、速度が上昇し続けることになる。場合によっては、
モータの許容最大速度にまで到達してアラームトリップ
したり、空転中に負荷が前輪にかたよったりするなどの
問題が発生する。したがって、この発明の課題は、多軸
駆動される走行台車において、各軸の負荷バランスをと
りつつ空転等の問題を生じさせないようにすることにあ
る。
【０００９】
【課題を解決するための手段】このような課題を解決す
るため、請求項１の発明では、速度指令値と速度実際値
との偏差に応じて誘導電動機の回転速度を調整する速度
調節器を少なくとも有し、速度制御を行なう１つの第１
制御装置と、前記速度調節器からの出力をトルク指令値
としてトルク制御を行なう少なくとも１つの第２制御装
置とを備え、走行車をその車軸または車輪毎に制御する
走行車用制御装置において、前記第２制御装置側に速度
調節器と切換手段とを設けておき、速度指令値と速度実
際値との偏差が所定値よりも大きくなったときは、前記
切換手段によりトルク制御から速度制御へ切り換えるこ
とを特徴としている。
【００１０】
【作用】トルク制御を行なう側に速度調節器を設けてお
き、走行車をその車軸または車輪毎に負荷バランスをと
りつつ運転しているときに空転等が生じた場合は、上記
速度調節器に切り換えて速度制御を行なうことにより、
空転を抑止し得るようにする。
【００１１】
【実施例】図１はこの発明の実施例に到る例を示す構成
図である。同図からも明らかなように、この例は図４に
示す従来例にセレクタ１５および掛算器１６を付加して
構成される。セレクタ１５にはモータ２Ａの速度検出値
と、モータ２Ｂの速度検出値が入力され、いずれか高い
値が出力される。また、掛算器１６は、回転変動等でセ
レクタ１５の出力が頻繁に切り換わらないようにする目
的で設けられ、モータ２Ｂの速度検出値に或る定数ｋ１
（ｋ１＜１．０）を乗じてセレクタ１５に入力する役目
を果している。
【００１２】したがって、通常はセレクタ１５にはモー
タ２Ａの速度実際値が入力され、これにもとづき上述と
同様にモータ２Ａ側は速度制御が、また、モータ２Ｂ側
はトルク制御がそれぞれ行なわれることになる。これに
対し、上述のようなスリップ等により、例えばモータ２
Ｂの速度が上昇すると、セレクタ１５からはモータ２Ｂ
の速度が出力され、このモータ２Ｂの速度が、制御装置
１ＡのＡＳＲ１１Ａの速度実際値として用いられ、上記
と同様の制御が行なわれる。その結果、モータ２Ｂは空
転が収まるよう、ＡＳＲ１１Ａにより制御されることに
なる。
【００１３】図２はこの発明の実施例を示す構成図であ
る。同図からも明らかなように、この実施例は図４に示
す従来例にＡＳＲ１１Ｂ，比較器１７および切換スイッ
チ１８を付加して構成される。これは、制御装置１Ｂ側
にもＡＳＲ１１Ｂを設け、速度指令値と速度実際値との
偏差を比較器１７により一定値ｋ２と比較し、偏差の方
が一定値ｋ２よりも大きくなったら切換スイッチ１８を
動作させ、制御装置１Ｂ側でもＡＳＲ１１Ｂにて速度制
御を行なうようにしたものである。
【００１４】すなわち、制御装置１Ｂは通常は従来通り
制御装置１Ａからトルク指令値τ*を入力されてトルク
制御を行なうが、スリップ等によってモータ２Ｂの速度
が上昇し、比較器１７に入力される速度指令値と速度実
際値との偏差が一定値ｋ２よりも大きくなると、切換ス
イッチ１８が図示の状態からＡＳＲ１１Ｂ側に切り換わ
るため、制御装置１Ｂ側でもＡＳＲ１１Ｂによる速度制
御が行なわれ、これによってモータ２Ｂの空転が抑止さ
れるわけである。
【００１５】以上では前，後輪を個別に２軸駆動する場
合について説明したが、この発明は４輪個別に４軸駆動
する場合等についても適用し得ることは勿論である。ま
た、制御装置としていわゆるベクトル制御を行なうもの
を想定しているが、これに限らないことは言うまでもな
い。
【００１６】
【発明の効果】この発明によれば、多軸駆動される走行
台車において、トルク制御を行なう側に速度調節器を設
けておき、各軸の負荷バランスをとりつつ運転している
ときに空転等が生じた場合は、上記速度調節器に切り換
えて速度制御を行なうようにしたので、空転を抑止する
ことが可能になるという利点が得られる。Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a multi-axis driven traveling vehicle. 2. Description of the Related Art FIG. 3 is a schematic diagram showing an example of a conventional traveling vehicle. In FIG. 1, reference numeral 10 denotes a traveling vehicle, and 2A and 2B denote induction motors (hereinafter simply referred to as motors). That is, the traveling vehicle 10 is driven individually by the motors 2A and 2B (multi-axis driving). The motors 2A and 2B are controlled by the control device shown in FIG. As shown in FIG. 4, control devices 1A and 1B include a speed controller (ASR) 11A, function generators 12A and 12B including ROM, vector operators 13A and 13B, power conversion circuits 14A and 14B, and the like. Is done. The power conversion circuits 14A and 14B include power converters such as a current control circuit (ACR) and an inverter main circuit.
The current command values ia * to ic * of each phase of B are input, and the currents according to the command values are supplied to the motors 2A and 2B. The vector calculators 13A and 13B receive the torque command value τ * and the secondary magnetic flux command value Φ2 *, and receive
According to equation (3) of ((1) to (3)), current command values ia * to ic * of each phase are output. (Equation 1) It should be noted that iM * shown in the above equation (1)
Is a current command value of a component parallel to the secondary magnetic flux of the primary current (magnetic flux current command value), and iT * shown in the above equation (2) is a current command value of a component perpendicular to the secondary magnetic flux of the primary current ( (Torque current command value), φ2 indicates the estimated position of the secondary magnetic flux. The above φ2 is obtained by adding the slip frequency command value ωs obtained by the following equation (4) and the rotational angular velocity ω2 of the motor detected by the pulse encoders 3A and 3B attached to the motors 2A and 2B. Is obtained by integrating. R2 is a secondary resistance of the motor. ωs = R2 × iT * / Φ2 * (4) The function generators 12A and 12B output the secondary magnetic flux command value Φ2 * corresponding to the speed from the actual speed value. [0007] In the control device 1A, a speed controller (ASR)
Speed command value from outside and pulse encoder 3A
Is input, the ASR 11A outputs a torque command value τ * to make the actual speed value coincide with the speed command value, and performs speed control. Here, for the purpose of balancing the loads on the motors 2A and 2B, the control device 1B includes the control device 1A.
, A torque command value τ * is input to perform torque control. In the above conventional example,
In order to control the rear wheels (motors 2A and 2B) while maintaining the load balance, speed control is performed on the motor 2A and torque control is performed on the motor 2B. By the way, depending on the road surface condition (rain etc.), the motor 2B
When the rear wheel slips on the road, the friction with the road surface becomes small, so that the motor 2B performing the torque control runs idle and the speed continues to increase. In some cases,
Problems such as an alarm trip when the motor reaches the maximum allowable speed and a load leaning on the front wheels during idling occur. SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a multi-axis driven traveling vehicle that does not cause problems such as idling while maintaining the load of each axis. In order to solve such a problem, according to the first aspect of the present invention, a speed for adjusting a rotation speed of an induction motor in accordance with a deviation between a speed command value and an actual speed value. One first having a regulator and providing speed control
A traveling device control device comprising: a control device; and at least one second control device that performs torque control using an output from the speed regulator as a torque command value, and controls the traveling vehicle for each axle or wheel. A speed controller and switching means are provided on the second control device side, and when the deviation between the speed command value and the actual speed value becomes larger than a predetermined value, the switching means switches from torque control to speed control. It is characterized by: A speed controller is provided on the torque control side.
Can, if idling or the like occurs when the vehicle per the axles or wheels are driving while taking a load balance by performing speed control is switched to the <br/> speed regulator,
Be able to deter idling. [0011] [Embodiment] FIG. 1 is a block diagram showing an example leading to embodiments of the present invention. As can be seen from the figure, this example is configured by adding a selector 15 and a multiplier 16 to the conventional example shown in FIG. The selector 15 receives the detected speed value of the motor 2A and the detected speed value of the motor 2B, and outputs the higher value. Further, the multiplier 16 is provided for the purpose of preventing the output of the selector 15 from frequently switching due to rotation fluctuations and the like, and a certain constant k1 is added to the speed detection value of the motor 2B.
(K1 <1.0) is multiplied and input to the selector 15. Therefore, normally, the actual speed value of the motor 2A is input to the selector 15, and based on this, the speed control is performed on the motor 2A side and the torque control is performed on the motor 2B side in the same manner as described above. Become. On the other hand, for example, the motor 2
When the speed of B increases, the selector 15 outputs the motor 2B
The speed of the motor 2B is used as the actual speed of the ASR 11A of the control device 1A, and the same control as described above is performed. As a result, the motor 2B is controlled by the ASR 11A so that the idling stops. FIG. 2 is a block diagram showing an embodiment of the present invention. As can be seen from the figure, this embodiment is configured by adding an ASR 11B, a comparator 17, and a changeover switch 18 to the conventional example shown in FIG. This is because the ASR 11B is also provided on the control device 1B side, and the deviation between the speed command value and the actual speed value is compared with a constant value k2 by the comparator 17, and when the deviation becomes larger than the constant value k2, the changeover switch 18 And the speed is controlled by the ASR 11B also on the control device 1B side. That is, the control device 1B normally controls the torque by inputting the torque command value τ * from the control device 1A as in the conventional case. However, the speed of the motor 2B increases due to slip or the like and is input to the comparator 17. If the deviation between the speed command value and the speed actual value is greater than a predetermined value k2, since the changeover switch 18 is switched from the state shown in ASR11B side, ASR11B speed control by is performed in the control device 1B side, whereby the motor The idling of 2B is suppressed. In the above description, the case where the front and rear wheels are individually driven on two axes has been described. However, the present invention can naturally be applied to the case where the four wheels are individually driven on four axes. Further, the control device is assumed to perform so-called vector control, but it is needless to say that the control device is not limited to this. According to the present invention, in a traveling vehicle driven by multiple axes , a speed regulator is provided on the side that performs torque control.
In addition, when idling or the like occurs during operation while maintaining the load balance of each axis, the speed control is performed by switching to the above-mentioned speed controller, so that idling can be suppressed. Is obtained.
【図面の簡単な説明】
【図１】この発明の実施例に到る例を示す構成図であ
る。
【図２】この発明の実施例を示す構成図である。
【図３】走行台車の従来例を示す概要図である。
【図４】図３に対応する制御装置の従来例を示す構成図
である。
【符号の説明】
１Ａ，１Ｂ…制御装置、２Ａ，２Ｂ…誘導電動機（モー
タ）、３Ａ，３Ｂ…パルスエンコーダ、１１Ａ，１１Ｂ
…速度調節器（ＡＳＲ）、１２Ａ，１２Ｂ…関数発生
器、１３Ａ，１３Ｂ…ベクトル演算器、１４Ａ，１４Ｂ
…電力変換回路、１５…セレクタ、１６…掛算器、１７
…比較器、１８…切換スイッチ。BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a configuration diagram showing an example of an embodiment of the present invention. FIG. 2 is a configuration diagram showing an embodiment of the present invention. FIG. 3 is a schematic view showing a conventional example of a traveling vehicle. 4 is a configuration diagram showing a conventional example of a control device corresponding to FIG. [Description of Signs] 1A, 1B: control device, 2A, 2B: induction motor (motor), 3A, 3B: pulse encoder, 11A, 11B
... speed regulator (ASR), 12A, 12B ... function generator, 13A, 13B ... vector calculator, 14A, 14B
... power conversion circuit, 15 ... selector, 16 ... multiplier, 17
... Comparator, 18 ... Switch.
───────────────────────────────────────────────────── フロントページの続き (58)調査した分野(Int.Cl.7，ＤＢ名) B60L 9/00 - 9/32 B60L 15/00 - 15/38 B60K 17/356 H02P 21/00 ──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. 7 , DB name) B60L 9/00-9/32 B60L 15/00-15/38 B60K 17/356 H02P 21/00
Claims (1)
て誘導電動機の回転速度を調整する速度調節器を少なく
とも有し、速度制御を行なう１つの第１制御装置と、前
記速度調節器からの出力をトルク指令値としてトルク制
御を行なう少なくとも１つの第２制御装置とを備え、走
行車をその車軸または車輪毎に制御する走行車用制御装
置において、 前記第２制御装置側に速度調節器と切換手段とを設けて
おき、速度指令値と速度実際値との偏差が所定値よりも
大きくなったときは、前記切換手段によりトルク制御か
ら速度制御へ切り換えることを特徴とする走行車用制御
装置。(57) [Claim 1] At least one speed controller for adjusting a rotation speed of an induction motor according to a deviation between a speed command value and an actual speed value, and one speed controller for performing speed control. A control device for controlling a traveling vehicle for each axle or wheel thereof, comprising: a first control device; and at least one second control device that performs torque control using an output from the speed regulator as a torque command value. A speed controller and a switching means are provided on the second control device side.
And the deviation between the speed command value and the actual speed value is
When it is larger, the torque is controlled by the switching means.
A control device for a traveling vehicle characterized by switching from speed control to speed control .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP00650395A JP3525397B2 (en) | 1995-01-19 | 1995-01-19 | Control device for traveling vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP00650395A JP3525397B2 (en) | 1995-01-19 | 1995-01-19 | Control device for traveling vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH08205311A JPH08205311A (en) | 1996-08-09 |
| JP3525397B2 true JP3525397B2 (en) | 2004-05-10 |
Family
ID=11640247
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP00650395A Expired - Lifetime JP3525397B2 (en) | 1995-01-19 | 1995-01-19 | Control device for traveling vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3525397B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9308926B2 (en) * | 2008-12-29 | 2016-04-12 | Universal City Studios Llc | Position control system |
| CN108036813B (en) * | 2017-12-23 | 2020-04-21 | 马鞍山钢铁股份有限公司 | Automatic detection method for slipping of motor encoder catcher |
-
1995
- 1995-01-19 JP JP00650395A patent/JP3525397B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH08205311A (en) | 1996-08-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR950015169B1 (en) | Control system for induction motor driven electric car | |
| JP3328509B2 (en) | Drive system for electric vehicles | |
| US5877607A (en) | Electric motor controller capable of performing stable current control during load disturbance and/or a regenerating mode | |
| EP1768252A1 (en) | Motor controlling device for mounting on vehicle | |
| JP3525397B2 (en) | Control device for traveling vehicles | |
| JP3127033B2 (en) | Electric car | |
| JP3241252B2 (en) | AC motor control device | |
| JPH05115108A (en) | Electric automobile | |
| JP2004023943A (en) | Reversing suppression controller for electric vehicle | |
| CA3156399A1 (en) | Control system for dc bus regulation | |
| JPH05155352A (en) | Electromotive power steering device | |
| Mutoh et al. | Electric vehicle system independently driving front and rear wheels | |
| JP3198839B2 (en) | Electric power steering device | |
| JP3397354B2 (en) | Motor control device for electric vehicle | |
| JP2998007B2 (en) | Vehicle drive | |
| JPH0424957B2 (en) | ||
| JP3488894B2 (en) | Electric motor control device for electric vehicle | |
| JP3185419B2 (en) | Induction motor control device | |
| JP3624565B2 (en) | Power converter for electric vehicle with transmission | |
| JP3323901B2 (en) | Control device for linear motor electric vehicle | |
| JP2858433B2 (en) | Induction motor speed detection method | |
| JPH10136511A (en) | Power converter in electric car with transmission | |
| JPH01115770A (en) | Power steering device | |
| JPH04183205A (en) | Optimal efficiency controller for electrical drive vehicle | |
| JP3591118B2 (en) | Drive control device for electric vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| RD03 | Notification of appointment of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7423 Effective date: 20031201 |
|
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20040205 |
|
| RD04 | Notification of resignation of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7424 Effective date: 20040205 |
|
| A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20040206 |
|
| R150 | Certificate of patent or registration of utility model |
Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20080227 Year of fee payment: 4 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20090227 Year of fee payment: 5 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20100227 Year of fee payment: 6 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20110227 Year of fee payment: 7 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20110227 Year of fee payment: 7 |
|
| S531 | Written request for registration of change of domicile |
Free format text: JAPANESE INTERMEDIATE CODE: R313531 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120227 Year of fee payment: 8 |
|
| R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120227 Year of fee payment: 8 |
|
| S111 | Request for change of ownership or part of ownership |
Free format text: JAPANESE INTERMEDIATE CODE: R313111 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120227 Year of fee payment: 8 |
|
| R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130227 Year of fee payment: 9 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| EXPY | Cancellation because of completion of term |