JP4655677B2 - Power transmission system test apparatus and control method thereof - Google Patents

Description

  The present invention relates to a power transmission system test apparatus and a control method therefor.

Conventionally, as a power transmission system test apparatus, for example, there is one disclosed in Patent Document 1.
This test apparatus includes a dynamometer connected as a power absorbing means to a power transmission system in order to perform a vehicle performance test and a durability test indoors, and by controlling the generated torque of the dynamometer, In addition, an inertia that is equivalent to that of an actual vehicle is loaded to enable a test that simulates actual vehicle travel.
Japanese Patent No. 3158461

  However, in the test apparatus shown in Patent Document 1, in order to control the generated torque of the dynamometer, the speed of the dynamometer is detected, and the differential value of the speed is calculated to obtain the acceleration of the dynamometer. . For this reason, noise is easily generated in the acceleration value of the obtained dynamometer, and it is difficult to control the generated torque of the dynamometer with high accuracy.

In addition, when detecting the speed of the dynamometer by a position detecting means such as an encoder or a resolver, the detected position information must be second-order differentiated in order to obtain the acceleration value of the dynamometer. There is a problem of lowering.
In these cases, if the detection period is lengthened, accuracy and resolution can be improved to some extent, but detection is delayed, which is not preferable.
In addition, it is conceivable to detect the generated torque directly by attaching a torque converter to the output shaft of the dynamometer, but there are problems such as transient vibration and errors due to the rigidity of the shaft. Conceivable.

On the other hand, an inertial amount of a device to be tested, for example, a vehicle (specimen side) is required at the time of control. In this case, the inertia amount of the engine, transmission, differential gear, etc. is often unknown.
Also, for gears such as transmissions that change gears, the control setting is switched because the amount of inertia of the vehicle (specimen side) seen from the axis connecting the vehicle (specimen side) and the dynamometer changes. However, the timing of control setting is difficult, and control delay becomes a problem.
Thus, it is difficult to accurately grasp the inertia amount of the vehicle (the specimen side) and control the generated torque of the dynamometer based on this.

  The present invention has been made in view of such circumstances, and even when the inertia amount on the specimen side is not known, a test is performed by giving an appropriate torque generated by a dynamometer to a power transmission system including a power source. It is an object of the present invention to provide a power transmission system testing apparatus and a control method thereof.

To achieve the above object, the present invention provides a power transmission system test apparatus including a power source, wherein the power transmission system is connected to the power transmission system via a shaft and generates torque on the shaft, or the power source is A dynamometer that simulates and generates torque on the output shaft of the power source; a speed detection means that detects an actual speed of the dynamometer; and a speed estimation means that estimates the speed of the dynamometer using a single inertia system as a model; Filter means 1 for removing high frequency components from the actual speed detected by the speed detecting means; Filter means 2 for removing high frequency components from the estimated speed estimated by the speed estimating means; Deviation calculating means for calculating a deviation between the removed estimated speed and the actual speed from which the high frequency component has been removed by the filter means 1, and multiplying the deviation by an observer gain. And a torque source for estimating the shaft torque of the shaft or the output shaft, and based on the estimated shaft torque, the inertia amount of the dynamometer viewed from the power source, or a power source simulated by the dynamometer Control means for controlling the generated torque of the dynamometer so that the inertial amount becomes a desired inertial amount.
The present invention is also a power transmission system test apparatus including a power source, wherein the power transmission system is connected to the power transmission system via a shaft and generates torque on the shaft, or the power source is simulated to simulate the power source. A dynamometer that generates torque on the output shaft thereof, speed detection means for detecting the actual speed of the dynamometer, speed estimation means for estimating the speed of the dynamometer using a single inertia system consisting of only the dynamometer as a model, and A deviation calculating means for calculating a deviation between the estimated speed and the actual speed, a filter means for removing a harmonic component of the deviation, and multiplying the deviation from which the harmonic component is removed by an observer gain, said shaft or torque estimating means for estimating the shaft torque of said output shaft, the actual inertia of the said estimated shaft torque dynamometer, a die as viewed from the power source Inertia of Mometa, or a torque command value calculating unit for the inertia of the power source simulates the dynamometer calculates the generated torque of the dynamometer such that the desired inertial amount, a generation torque the operational Control means for controlling the dynamometer as described above .

The present invention is also a power transmission system test apparatus including a power source, wherein the power transmission system is connected to the power transmission system via a shaft and generates torque on the shaft, or the power source is simulated to simulate the power source. A dynamometer that generates torque on the output shaft thereof, speed detection means for detecting the actual speed of the dynamometer, speed estimation means for estimating the speed of the dynamometer using a single inertia system consisting of only the dynamometer as a model, and A deviation calculating means for calculating a deviation between the estimated speed and the actual speed; and an axial torque detecting means for detecting an actual shaft torque connected to the dynamometer, wherein the deviation is multiplied by an observer gain, and the detection is performed. by compensating the axial torque is, with the shaft or torque estimating means for estimating the shaft torque of said output shaft, and the estimated shaft torque the Dainamome In fact from the inertial amount, a torque command for calculating the inertia weight, or generation torque of the dynamometer as the inertia of the power source becomes a desired inertial amount simulates the dynamometer dynamometer as viewed from the power source And a control means for controlling the dynamometer so as to obtain the calculated generated torque .
The present invention is also a power transmission system test apparatus including a power source, wherein the power transmission system is connected to the power transmission system via a shaft and generates torque on the shaft, or the power source is simulated to simulate the power source. A dynamometer that generates torque on the output shaft thereof, speed detection means for detecting the actual speed of the dynamometer, speed estimation means for estimating the speed of the dynamometer using a single inertia system consisting of only the dynamometer as a model, and A deviation calculating means for calculating a deviation between the estimated speed and the actual speed; a torque command value generating means for a power source of the power transmission system; or a drive torque predicting means for predicting a drive torque, multiplied by the gain by compensating by the torque command value or the driving torque prediction value, and a torque estimating means for estimating a shaft torque of the shaft or the output shaft, the The actual inertia of the constant is a shaft torque the dynamometer inertia of the dynamometer as viewed from the power source, or power source simulates the dynamometer inertia weight desired inertial quantity to become such a dynamo A torque command value calculation unit for calculating the generated torque of the meter, and control means for controlling the dynamometer so as to obtain the calculated generated torque .

Further, in the present invention, low-pass filter means for removing high-frequency components with the same characteristics is provided in each signal system of the actual speed and the estimated speed before the calculation of the deviation between the actual speed and the estimated speed. It is characterized by.
Further, the present invention is characterized in that low-pass filter means for removing the high-frequency component is provided after the calculation of the deviation between the actual speed and the estimated speed.
Further, the present invention determines a change point of a torque command value or a predicted drive torque value to the power source, and a change point determination means for switching a filter time constant of the filter means at the change point of the torque command value or the predicted drive torque value. It is characterized by having.

The present invention also relates to a test method for a power transmission system including a power source, wherein a torque is generated on the shaft or the power source is simulated by a dynamometer connected to the power transmission system via the shaft. Generating a torque on the output shaft of the power source, detecting the actual speed, estimating a speed of the dynamometer using a single inertial system including only the dynamometer as a model, and the speed A step of removing a high frequency component from the actual speed detected by the detecting means and the estimated speed estimated by the speed estimating means; and the estimated speed from which the high frequency component has been removed and the actual speed from which the high frequency component has been removed. A step of calculating a deviation, and a step of estimating a shaft torque of the shaft or the output shaft by multiplying the deviation by an observer gain, based on the estimated shaft torque And a step of controlling the generated torque of the dynamometer so that the inertial amount of the dynamometer viewed from the power source or the inertial amount of the power source simulated by the dynamometer becomes a desired inertial amount. .
The present invention also relates to a test method for a power transmission system including a power source, wherein a torque is generated on the shaft or the power source is simulated by a dynamometer connected to the power transmission system via the shaft. Then, the speed of the dynamometer is estimated using as a model a step of generating torque on the output shaft of the power source, speed detecting means for detecting the actual speed of the dynamometer , and one inertial system consisting only of the dynamometer. Calculating a deviation between the estimated speed and the actual speed; removing a harmonic component of the calculated deviation; and multiplying the deviation from which the harmonic component has been removed by an observer gain. Accordingly, a step of estimating the shaft torque of the shaft or the output shaft, the actual inertia of the said estimated shaft torque dynamometer, viewed from the power source Dainamome The dynamometer as inertia weight, or a step of the inertia of the power source simulates the dynamometer calculates the generated torque of the dynamometer such that the desired inertial amount, a generation torque the operation And a step of controlling.

The present invention also relates to a test method for a power transmission system including a power source, wherein a torque is generated on the shaft or the power source is simulated by a dynamometer connected to the power transmission system via the shaft. Generating a torque on the output shaft of the power source, detecting an actual speed of the dynamometer , estimating a speed of the dynamometer using a single inertia system consisting of only the dynamometer as a model, Calculating a deviation between the estimated speed and the actual speed, and detecting a real shaft torque connected to the dynamometer, multiplying the deviation by an observer gain, and using the detected shaft torque by compensating the steps of estimating the shaft torque of the shaft or the output shaft, the actual inertia of the said estimated shaft torque dynamometer, the power And a step of calculating a torque of the dynamometer as the inertia of the dynamometer, or inertia of the power source simulates the dynamometer the desired inertial weight seen from a generation torque the operational And a step of controlling the dynamometer as described above .

The present invention also relates to a test method for a power transmission system including a power source, wherein a torque is generated on the shaft or the power source is simulated by a dynamometer connected to the power transmission system via the shaft. Generating a torque on the output shaft of the power source, detecting an actual speed of the dynamometer , estimating a speed of the dynamometer using a single inertia system consisting of only the dynamometer as a model, A step of calculating a deviation between the estimated speed and the actual speed, and a step of predicting a torque command value generating means or a driving torque of a power source of the power transmission system, and multiplying the deviation by an observer gain, by compensated by the torque command value or the driving torque prediction value, wherein the step of estimating the shaft torque of the shaft or the output shaft, and the estimated shaft torque dynamo The actual inertia of over data, calculates the inertia weight, or generation torque of the dynamometer as the inertia of the power source becomes a desired inertial amount simulates the dynamometer dynamometer as viewed from the power source And a step of controlling the dynamometer so as to obtain the calculated generated torque .

Further, the present invention further includes a step of removing high frequency components with the same characteristics in the respective signal systems of the actual speed and the estimated speed before the calculation of the deviation between the actual speed and the estimated speed. And
In addition, the present invention is characterized by further comprising a step of removing the high-frequency component in the latter stage of calculation of the deviation between the actual speed and the estimated speed.
Further, the present invention determines a change point of a torque command value or a predicted drive torque value to the power source, and a change point determination means for switching a filter time constant of the filter means at the change point of the torque command value or the predicted drive torque value. It is characterized by having.

As described above, according to the present invention, a power transmission system test apparatus including a power source is connected to the power transmission system via a shaft and generates torque on the shaft, or the power source. Dynamometer for generating torque on the output shaft of the power source, speed detecting means for detecting the actual speed of the dynamometer, and a speed of the dynamometer using a single inertial system consisting only of the dynamometer as a model And estimating the shaft torque of the shaft or the output shaft by adding the observer gain to the deviation between the estimated speed and the actual speed, and seeing from the power source based on the estimated shaft torque. Control means for controlling the torque generated by the dynamometer so that the inertial amount of the dynamometer or the inertial amount of the power source simulated by the dynamometer becomes a desired inertial amount. , Even without knowing the inertia weight of the specimen side, with respect to a power transmission system including a power source, it is possible to perform a test by applying torque generated proper dynamometer.

  That is, without using the shaft torque of the shaft connecting the power source and the dynamometer, or the output of the dynamometer simulating the power source and the power transmission system, or the acceleration of the dynamometer, only the inertia amount of the dynamometer and the set inertia amount Therefore, it is possible to control the generated torque of the dynamometer, and it is convenient that the simulation of the power transmission system can be properly performed without knowing the inertia amount of the power source as the specimen.

  In addition, shaft torque detecting means for detecting actual shaft torque connected to the dynamometer is provided, and the control means is based on the estimated shaft torque and the actual shaft torque, and the dynamometer viewed from the power source. The generated torque of the dynamometer is controlled so that the inertial amount of the meter or the inertial amount of the power source simulated by the dynamometer becomes a desired inertial amount, so the shaft torque (expected value or detected value) is used. Thus, by compensating for the estimated delay of the shaft torque observer, there is the convenience that the response of the electric inertia control can be made faster without increasing the gain of the shaft torque observer.

  In addition, a drive torque estimation unit that estimates a drive torque of the power transmission system is provided, and the control unit is a dynamometer viewed from the power source based on the estimated shaft torque and the estimated drive torque. Therefore, the generated torque of the dynamometer is controlled so that the inertial amount of the power source simulated by the dynamometer becomes a desired inertial amount. By compensating for the estimated delay, there is the convenience that the response of the electric inertia control can be made faster without increasing the gain of the shaft torque observer.

  Further, since the control means includes a low-pass filter that reduces the estimated shaft torque ripple, there is a convenience that the estimated shaft torque ripple can be suppressed without lowering the response of the electric inertia control. Yes. When the driving torque or the shaft torque changes greatly, the response of the electric inertia control can be further improved by reducing or eliminating the filter time constant.

Also, a power transmission having a dynamometer connected to a power transmission system including a power source via a shaft and generating torque on the shaft, or simulating the power source and generating torque on the output shaft of the power source A method for controlling a system test apparatus, wherein the actual speed of the dynamometer is detected, and the speed of the dynamometer is estimated using a single inertial system consisting only of the dynamometer as a model. A shaft torque of the shaft or the output shaft is estimated by adding an observer gain to a deviation from the estimated speed, and an inertial amount of the dynamometer viewed from the power source based on the estimated shaft torque Or the torque generated by the dynamometer is controlled so that the inertial amount of the power source simulated by the dynamometer becomes a desired inertial amount. Without knowing the amount, relative to a power transmission system including a power source, it is possible to perform a test by applying torque generated proper dynamometer.

  That is, without using the torque of the shaft connecting the power source and the dynamometer, or the output of the dynamometer simulating the power source and the power transmission system, or the acceleration of the dynamometer, the inertial amount of the dynamometer and the set inertial amount Therefore, it is possible to control the torque generated by the dynamometer based only on this, and there is the convenience that the simulation of the power transmission system can be properly performed without knowing the amount of inertia of the power source as the specimen.

  The actual shaft torque connected to the dynamometer is detected, and based on the estimated shaft torque and the actual shaft torque, the inertia amount of the dynamometer viewed from the power source or the power simulated by the dynamometer Since the generated torque of the dynamometer is controlled so that the inertial amount of the source becomes a desired inertial amount, the electric torque is compensated by compensating for the estimated delay of the axial torque observer using the axial torque (expected value or detected value). There is the convenience that the response of the inertial control can be speeded up without increasing the gain of the shaft torque observer.

  A power source that estimates the driving torque of the power transmission system and simulates the inertia amount of the dynamometer viewed from the power source or the dynamometer based on the estimated shaft torque and the estimated driving torque Since the generated torque of the dynamometer is controlled so that the inertial amount becomes a desired inertial amount, the response of the electric inertial control is compensated by compensating for the estimated delay of the shaft torque observer using the approximate drive torque. There is the convenience that the speed can be increased without increasing the gain of the shaft torque observer.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
A. First Embodiment FIG. 1 shows the configuration of a power transmission system testing apparatus according to a first embodiment of the present invention. The power transmission system test apparatus according to the first embodiment of the present invention is, for example, a vehicle engine test apparatus 1, as shown in FIG. A dynamometer 3 to be connected, a speed sensor 4 for detecting an actual speed ω of the dynamometer 3, and a control device 5 for controlling the torque generated by the dynamometer 3 are provided.

The dynamometer 3 is a generator / motor, and by adjusting the torque applied to the dynamometer 3 to adjust the load applied to the engine 2, the running resistance load of the actually running vehicle and the vehicle weight corresponding to acceleration / deceleration are equivalent. It is possible to simulate the torque load applied to the engine 2 by the inertia load. That is, the dynamometer 3 functions as a generator when the dynamometer 3 is installed on the output side of the engine 2 which is a power source of the power transmission system, in the case of a vehicle, and the electric inertia control is performed on the tire side. When the dynamometer 3 is installed in place of the drive side of the transmission system, that is, the engine 2 and electric inertia control is performed to make the inertia amount of the dynamometer 3 look equivalent to the engine 2, the motor functions as an electric motor.
The speed sensor 4 is, for example, a tacho generator. The same applies to the case where the velocity is detected using an angle detector such as a pulse encoder or resolver.

The control device 5 includes a shaft torque observer 6 that estimates a shaft torque generated in a shaft 101 that connects the engine 2 as a specimen and the dynamometer 3. This shaft torque observer is based on the following concept.
FIG. 2 illustrates the relationship between each generated torque and the amount of inertia in a state where the engine in the actual vehicle, that is, the specimen side 100 and the dynamometer side 102 of the test apparatus are connected via the shaft 101. .
In the drawing, the inertia amount on the specimen (engine) side 100 is J _D , the specimen side torque is τ _D , the shaft torque on the shaft 101 is τ _S , the inertia amount on the dynamometer side is J _L , and the torque on the dynamometer 102 is That is, let τ _L be the torque generated by the dynamometer 3.

  When the dynamometer 102 side is viewed from the shaft 101, the acceleration αm of the dynamometer 3 is

It becomes.
The acceleration αm ′ of the dynamometer 3 when the inertia amount of the dynamometer 3 becomes the target value Jx in the electric inertia control is

It becomes.
In order to simulate the inertia of the vehicle by the dynamometer 3, the condition αm = αm ′ may be satisfied. Therefore, on the condition of αm = αm ′, if the acceleration is eliminated from the above equations (1) and (2),

Thus, if the shaft torque τ _S can be known, the generated torque τ _L of the dynamometer 3 can be controlled by the above equation (3).
Next, FIG. 3 shows a basic configuration of a control system for electric inertia control using an axial torque observer in the power transmission system testing apparatus according to the first embodiment of the present invention.
In the figure, reference numeral 20 denotes a mechanical part (inertia) of the test apparatus including the dynamometer 3.
The control device 5 that performs electric inertia control includes a shaft torque observer 6 and a torque command value calculation unit 10 that calculates a dynamometer torque command value.

In the first embodiment, the axial torque observer 6 includes an acceleration estimation unit 7, a speed estimation unit 8, and an axial torque estimation unit 9.
The acceleration estimation unit 7 is a part that estimates the acceleration of the dynamometer 3 when the torque τ _L of the dynamometer 3 fluctuates with respect to the axial torque τ _S , and uses a single inertia system consisting only of the dynamometer 3 as a model. Yes.

The speed estimator 8 is a part that estimates the speed of the dynamometer 3 when the torque τ _L of the dynamometer 3 fluctuates with respect to the shaft torque τ _S , and uses a single inertia system consisting of only the dynamometer 3 as a model. Yes.
Moreover, the shaft torque estimation part 9 is comprised by the observer gain G which consists only of a proportional element. As a result, the shaft torque observer 6 is a minimum dimension observer.

The acceleration estimating unit 7, the just an inertia model representing a dynamometer 3 equivalent subjects, dynamometer calculated based on the target value Jx and the actual inertial amount J _L of the inertia of the dynamometer 3 in among such shaft torque tau _{S ^} (3 estimated torque tau _L 3, a symbol indicating the estimated values denoted by "^" over the omega or tau _S, convenience in writing, omega or tau The estimated acceleration α ^ of the dynamometer 3 can be output by inputting the deviation of "^" on the right side of _S.

Further, the speed estimation unit 8 can output the estimated speed ω ^ by integrating the estimated acceleration α ^ estimated by the acceleration estimation unit 7.
The torque estimation unit 9 is obtained by negatively feeding back the actual speed ω of the dynamometer 3 detected by the speed sensor 4 to the estimated speed ω ^ of the dynamometer 3 obtained as described above. The estimated speed deviation is input, and the estimated shaft torque value τ _S ^ is output.

In the above configuration, the dynamometer 3 is supplied with the shaft torque τ _S from the directly connected engine 2 via the shaft 101, and also receives the generated torque command τ _L of the dynamometer 3 from the control device 5.
Dynamometer 3 is considered as one inertial system including the inertial amount J _L, the axial torque tau _S to the one inertial system and generated torque command tau _L is input, the actual speed ω is output which is detected by the speed sensor 4 Is done.

Further, the control device 5 outputs the generated torque τ _L of the dynamometer 3 from the command command value calculation unit 10 according to the above equation (3) based on the estimated shaft torque value τ _S ^ estimated by the shaft torque observer 6. . The output from the command value calculation unit 10 is returned to the shaft torque observer 6.

In FIG. 3, when the shaft torque estimation value τ _S ^ is obtained by the shaft torque estimation unit 9 in the shaft torque observer 6, the shaft torque estimation value τ _S ^ and the dynamometer 3 calculated by the command value calculation unit 10 are obtained. The deviation from the generated torque τ _L is input to the acceleration estimation unit 7.
The acceleration estimation unit 7 obtains an estimated acceleration α ^ by the following equation.

  The estimated acceleration α ^ obtained by the above equation (4) is input to the speed estimation unit 8, and the estimated velocity ω ^ is obtained by integrating the estimated acceleration α ^ according to the following equation.

Next, the deviation between the actual speed ω of the dynamometer detected by the speed sensor 4 and the estimated speed ω ^ estimated by the speed estimation unit 8 is input to the shaft torque estimation unit 9.
The shaft torque estimation unit 9 obtains a shaft torque estimated value τ _S ^ by the following equation.

Here, G is an observer gain, for example, a proportional gain. The observer gain G is not limited to a proportional gain, and may be a combination of a proportional element, an integral element, or a differential element.
The estimated shaft torque value τ _S ^ obtained by the shaft torque estimating unit 9 is input to the command value calculating unit 10, and the command value calculating unit 10 calculates the generated torque τ _L of the dynamometer 3 by the following equation.

The command value calculation unit 10 inputs the generated torque τ _L obtained by the above equation (7) to the dynamometer 3 in the mechanical device portion 20 as the torque command value τ _L.
The dynamometer 3 outputs an acceleration α obtained by the following equation based on the deviation between the shaft torque τ _S and the torque command value τ _L calculated by the command value calculator 10.

  The acceleration output from the dynamometer 3 is input by the speed sensor 4, and the speed sensor 4 obtains the actual speed ω by the following equation.

As described above, by controlling the generated torque of the dynamometer 3 by the control device 5 can be controlled to be the inertial amount J _L of dynamometer 3 which is the control setpoint target value Jx.
In the above description, the dynamometer 3 is installed on the output side of the power transmission system (the output side of the engine 2 as a power source), that is, in the case of a vehicle, the dynamometer 3 is installed on the tire side to control the electric inertia. Although the case has been described, the present invention is not limited to this, and when applied to the drive side of the power transmission system, that is, in the case of a vehicle, a dynamometer 3 is installed instead of the engine 2 and the inertia amount of the dynamometer 3 is equivalent to the engine 2 The same applies to the case where the electric inertia control that appears to be performed is performed.

According to the test apparatus 1 for the vehicle engine 2 according to the first embodiment configured as described above, the actual speed of the dynamometer is detected, and the inertial system including only the dynamometer 3 is used as a model. A speed is estimated, a proportional gain is added to a deviation between the detected actual speed and the estimated speed to estimate a shaft torque of the shaft, and the power source is based on the estimated shaft torque. Since the generated torque of the dynamometer is controlled so that the inertia amount of the dynamometer viewed from the viewpoint becomes a desired inertia amount, a power transmission system including a power source can be obtained even if the inertia amount on the specimen side is not known. On the other hand, it is possible to perform a test by giving an appropriate torque generated by the dynamometer.

  That is, the generated torque of the dynamometer can be controlled based on only the inertia amount of the dynamometer and the set inertia amount without using the shaft torque of the shaft connecting the power source and the dynamometer or the acceleration of the dynamometer. This makes it possible to perform simulation of the power transmission system properly without knowing the amount of inertia of the power source as the specimen.

B. Second Embodiment Next, a second embodiment of the present invention will be described.
The response of the electric inertia control described above is limited due to a delay in torque estimation of the shaft torque observer 6. The response can be improved by increasing the gain of the compensator of the shaft torque observer 6 (for example, the proportional gain G). However, the ripple of torque estimation also increases and matches the torsional resonance frequency of the shaft. Occurs continuously. In the second embodiment, the response of the electric inertia control is made faster without increasing the gain of the shaft torque observer 6.

FIG. 4 shows the configuration of a power transmission system test apparatus according to a second embodiment of the present invention and the basic configuration of a control system for electric inertia control using a shaft torque observer. The parts corresponding to those in FIG. 1 or FIG.
In the figure, reference numeral 30 denotes a transmission that changes the rotational speed of the engine 2. The rotation of the engine 2 is once transmitted to the shaft 101 via the transmission 30. The shaft 101, the torque meter 31 is provided, the shaft torque tau _S of the shaft 101, which is the output of the shaft torque estimating portion 9 of the shaft torque observer 6 in the control unit 5, the estimated shaft torque tau _S ^ Positive feedback to be added to.

The angle detector 32 includes a resolver and an encoder that detect the shaft angle θ of the dynamometer 3, and supplies the angle θ of the dynamometer 3 to the differentiator 33. The differentiator 33 calculates the rotational speed ω _m of the dynamometer 3 from the angle θ and is supplied to the shaft torque observer 6 in the control device 5. That is, a speed deviation obtained by negatively feeding back the rotational speed ω _m of the dynamometer 3 to the estimated speed ω ^ of the dynamometer 3 is input to the torque estimating unit 9, and the estimated shaft torque value τ _S ^ is obtained. It is output.
The output from the command value calculation unit 10 is returned to the shaft torque observer 6 and supplied to the dynamometer 3 as a dynamo torque command τ ^* .

  According to the second embodiment described above, by using the shaft torque (predicted value or detected value) to compensate for the estimated delay of the shaft torque observer 6, the response of the electric inertia control and the gain of the shaft torque observer 6 are increased. High speed can be achieved without raising.

C. Third Embodiment Next, a third embodiment of the present invention will be described.
In the third embodiment, as in the second embodiment, the response of the electric inertia control is made faster without increasing the gain of the shaft torque observer 6.

  FIG. 5 shows a configuration of a power transmission system test apparatus according to a third embodiment of the present invention and a basic configuration of a control system for electric inertia control using a shaft torque observer. Note that portions corresponding to those in FIG. 4 are denoted by the same reference numerals and description thereof is omitted.

In the figure, reference numeral 40 denotes an adjuster (calibrator) for adjusting the fuel injection amount to the engine 2 in accordance with an external operation (for example, an accelerator operation). The engine torque calculation unit 41 calculates an engine torque value from the external operation and supplies it to the torque transfer characteristic unit 42. The torque transfer characteristic unit 42 outputs an estimated torque value based on the torque transfer characteristic from the engine torque value, and is an estimated shaft torque τ _S that is an output of the shaft torque estimating unit 9 of the shaft torque observer 6 in the control device 5. Positive feedback to be added to ^.

  According to the third embodiment described above, as in the second embodiment described above, the shaft torque observer is used by using an approximate driving torque (the shaft torque observer 6 compensates for any delay or error). By compensating for the estimated delay of 6, the response of the electric inertia control can be speeded up without increasing the gain of the shaft torque observer 6.

  In the second or third embodiment described above, the ripple of the estimated shaft torque is further reduced before the shaft torque estimating unit 9, or after the speed estimating unit 8 and after the differentiator 33. For this purpose, a low-pass filter may be inserted. Thereby, the ripple of the estimated shaft torque can be suppressed without lowering the response of the electric inertia control. When the driving torque or the shaft torque changes greatly, the response of the electric inertia control can be further improved by reducing or eliminating the filter time constant.

1 is a block diagram showing a basic configuration of an engine test apparatus according to a first embodiment of the present invention. Explanatory drawing which shows the relationship between each generated torque in the state in which the specimen side and the dynamometer side of the test apparatus were connected via the axis | shaft, and an inertial amount. The block diagram which shows the basic composition of the control system of the electric inertia control using the torque observer in the engine testing apparatus shown in FIG. The block diagram which shows the basic composition of the control system of the electric inertia control using the structure of the test device of the power transmission system which concerns on 2nd Embodiment of this invention, and a shaft torque observer. The block diagram which shows the basic composition of the control system of the electric inertia control using the structure of the test device of the power transmission system which concerns on 3rd Embodiment of this invention, and an axial torque observer.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Test apparatus 2 ... Engine 3 ... Dynamometer 4 ... Speed sensor (speed detection means) 5 ... Control apparatus (control means) 6 ... Shaft torque observer 10 ... Command value calculating part 30 ... Transmission 31 ... Torque meter (shaft torque detection) Means) 32 ... Angle detector 33 ... Differentiator 40 ... Adjuster 41 ... Engine torque calculation section (drive torque estimation means) 42 ... Torque transmission characteristic section (drive torque estimation means)

Claims (14)

A power transmission system test apparatus including a power source,
A dynamometer that is connected to the power transmission system via a shaft and generates torque on the shaft, or that simulates the power source and generates torque on the output shaft of the power source;
Speed detecting means for detecting an actual speed of the dynamometer;
Speed estimation means for estimating the speed of the dynamometer using a model of an inertial system consisting of only the dynamometer ;
Filter means 1 for removing high frequency components from the actual speed detected by the speed detection means;
Filter means 2 for removing high frequency components from the estimated speed estimated by the speed estimating means;
Deviation calculating means for calculating a deviation between the estimated speed from which the high frequency component has been removed by the filter means 2 and the actual speed from which the high frequency component has been removed by the filter means 1;
Torque estimating means for estimating the shaft torque of the shaft or the output shaft by multiplying the deviation by an observer gain ;
The actual inertia of the dynamometer and the estimated shaft torque, the inertia of the dynamometer as viewed from the power source, or as the inertia of the power source simulates the dynamometer the desired inertial weight the A torque command value calculation unit for calculating the generated torque of the dynamometer, and a control means for controlling the dynamometer so as to obtain the calculated generated torque ;
A test apparatus for a power transmission system, comprising: A power transmission system test apparatus including a power source,
A dynamometer that is connected to the power transmission system via a shaft and generates torque on the shaft, or that simulates the power source and generates torque on the output shaft of the power source;
Speed detecting means for detecting an actual speed of the dynamometer;
Speed estimation means for estimating the speed of the dynamometer using a model of an inertial system consisting of only the dynamometer ;
Deviation calculating means for calculating a deviation between the estimated speed and the actual speed;
Filter means for removing harmonic components of the deviation;
Torque estimation means for estimating the shaft torque of the shaft or the output shaft by multiplying the deviation from which the harmonic component has been removed by an observer gain ;
The actual inertia of the dynamometer and the estimated shaft torque, the inertia of the dynamometer as viewed from the power source, or as the inertia of the power source simulates the dynamometer the desired inertial weight the A torque command value calculation unit for calculating the generated torque of the dynamometer, and a control means for controlling the dynamometer so as to obtain the calculated generated torque ;
A test apparatus for a power transmission system, comprising: A power transmission system test apparatus including a power source,
A dynamometer that is connected to the power transmission system via a shaft and generates torque on the shaft, or that simulates the power source and generates torque on the output shaft of the power source;
Speed detecting means for detecting an actual speed of the dynamometer;
Speed estimation means for estimating the speed of the dynamometer using a model of an inertial system consisting of only the dynamometer ;
Deviation calculating means for calculating a deviation between the estimated speed and the actual speed;
A shaft torque detecting means for detecting a real shaft torque connected to the dynamometer,
Torque estimation means for multiplying the deviation by an observer gain and compensating for the detected shaft torque to estimate the shaft torque of the shaft or the output shaft ;
The actual inertia of the dynamometer and the estimated shaft torque, the inertia of the dynamometer as viewed from the power source, or as the inertia of the power source simulates the dynamometer the desired inertial weight the A torque command value calculation unit for calculating the generated torque of the dynamometer, and a control means for controlling the dynamometer so as to obtain the calculated generated torque ;
A test apparatus for a power transmission system, comprising: A power transmission system test apparatus including a power source,
A dynamometer that is connected to the power transmission system via a shaft and generates torque on the shaft, or that simulates the power source and generates torque on the output shaft of the power source;
Speed detecting means for detecting an actual speed of the dynamometer;
Speed estimation means for estimating the speed of the dynamometer using a model of an inertial system consisting of only the dynamometer ;
Deviation calculating means for calculating a deviation between the estimated speed and the actual speed;
A torque command value generating means for a power source of the power transmission system or a drive torque predicting means for predicting a drive torque,
Torque estimating means for estimating the shaft torque of the shaft or the output shaft by multiplying the deviation by an observer gain and compensating by the torque command value or the predicted drive torque value ;
The actual inertia of the dynamometer and the estimated shaft torque, the inertia of the dynamometer as viewed from the power source, or as the inertia of the power source simulates the dynamometer the desired inertial weight the A torque command value calculation unit for calculating the generated torque of the dynamometer, and a control means for controlling the dynamometer so as to obtain the calculated generated torque ;
A test apparatus for a power transmission system, comprising:   The low-pass filter means for removing high-frequency components with the same characteristics as each other is provided in each signal system of the actual speed and the estimated speed before the calculation of the deviation between the actual speed and the estimated speed. Item 5. The power transmission system testing device according to any one of Items 3 and 4.   5. The power transmission system testing device according to claim 3, further comprising low-pass filter means for removing a high-frequency component after the calculation of the deviation between the actual speed and the estimated speed.   It has a change point judging means for judging a change point of a torque command value or a predicted drive torque value to the power source and switching a filter time constant of the filter means at the change point of the torque command value or the predicted drive torque value. The power transmission system testing device according to claim 1, wherein A test method for a power transmission system including a power source,
Generating torque on the shaft by a dynamometer connected to the power transmission system via a shaft, or generating torque on the output shaft of the power source by simulating the power source; and
Detecting the actual speed;
Estimating the speed of the dynamometer using a single inertial system consisting only of the dynamometer as a model;
Removing a high frequency component from the actual speed detected by the speed detection means and the estimated speed estimated by the speed estimation means;
Calculating a deviation between the estimated speed from which the high frequency component has been removed and the actual speed from which the high frequency component has been removed;
Estimating the shaft torque of the shaft or the output shaft by multiplying the deviation by an observer gain ;
The actual inertia of the dynamometer and the estimated shaft torque, the inertia of the dynamometer as viewed from the power source, or as the inertia of the power source simulates the dynamometer the desired inertial weight the Calculating the generated torque of the dynamometer, and controlling the dynamometer so as to obtain the calculated generated torque ;
A control method for a power transmission system test apparatus. A test method for a power transmission system including a power source,
Generating a torque on the shaft by a dynamometer connected to the power transmission system via a shaft, or generating a torque on the output shaft of the power source by simulating the power source; and
Speed detecting means for detecting an actual speed of the dynamometer;
Estimating the speed of the dynamometer using a single inertial system consisting only of the dynamometer as a model;
Calculating a deviation between the estimated speed and the actual speed;
Removing a harmonic component of the calculated deviation;
Estimating the shaft torque of the shaft or the output shaft by multiplying the deviation from which the harmonic component has been removed by an observer gain ;
The actual inertia of the dynamometer and the estimated shaft torque, the inertia of the dynamometer as viewed from the power source, or as the inertia of the power source simulates the dynamometer the desired inertial weight the Calculating the generated torque of the dynamometer, and controlling the dynamometer so as to obtain the calculated generated torque ;
A control method for a power transmission system test apparatus. A test method for a power transmission system including a power source,
Generating a torque on the shaft by a dynamometer connected to the power transmission system via a shaft, or generating a torque on the output shaft of the power source by simulating the power source; and
Detecting the actual speed of the dynamometer;
Estimating the speed of the dynamometer using a single inertial system consisting only of the dynamometer as a model;
Calculating a deviation between the estimated speed and the actual speed;
Detecting a real shaft torque connected to the dynamometer,
Multiplying the deviation by an observer gain and compensating for the detected shaft torque to estimate the shaft torque of the shaft or the output shaft ;
The actual inertia of the dynamometer and the estimated shaft torque, the inertia of the dynamometer as viewed from the power source, or as the inertia of the power source simulates the dynamometer the desired inertial weight the Calculating the generated torque of the dynamometer, and controlling the dynamometer so as to obtain the calculated generated torque ;
A control method for a power transmission system test apparatus. A test method for a power transmission system including a power source,
Generating a torque on the shaft by a dynamometer connected to the power transmission system via a shaft, or generating a torque on the output shaft of the power source by simulating the power source; and
Detecting the actual speed of the dynamometer;
Estimating the speed of the dynamometer using a single inertial system consisting only of the dynamometer as a model;
Calculating a deviation between the estimated speed and the actual speed;
A step of predicting a torque command value generating means or driving torque of a power source of the power transmission system,
Estimating the shaft torque of the shaft or the output shaft by multiplying the deviation by an observer gain and compensating by the torque command value or the predicted drive torque value ;
The actual inertia of the dynamometer and the estimated shaft torque, the inertia of the dynamometer as viewed from the power source, or as the inertia of the power source simulates the dynamometer the desired inertial weight the Calculating the generated torque of the dynamometer, and controlling the dynamometer so as to obtain the calculated generated torque ;
A control method for a power transmission system test apparatus.   11. The method of claim 10, further comprising a step of removing high-frequency components with the same characteristics in the respective signal systems of the actual speed and the estimated speed before the calculation of the deviation between the actual speed and the estimated speed. Or a control method for a power transmission system test device according to any one of 11 and 11.   12. The method for controlling a power transmission system test device according to claim 10, further comprising a step of removing the high-frequency component after the calculation of the deviation between the actual speed and the estimated speed.   It has a change point judging means for judging a change point of a torque command value or a predicted drive torque value to the power source and switching a filter time constant of the filter means at the change point of the torque command value or the predicted drive torque value. A method for controlling a power transmission system test device according to any one of claims 8, 9, 12, or 13.

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