JP4862752B2 - Electric inertia control method - Google Patents

Description

  The present invention relates to an electric inertia control method in a dynamometer system, and more particularly to an electric inertia control method for controlling a roller inertia moment of a chassis dynamo system to an inertia moment equivalent to another vehicle body by electric inertia control.

An electric inertia control system is employed to electrically compensate a mechanical inertia component of a power measurement target on the load side or drive side of the dynamometer measurement system. As this electric inertia control system, Patent Document 1 is known. In Patent Document 1, a shaft torque generated in a power transmission shaft of a vehicle is detected by an installed shaft torque meter. The dynamometer obtains the electric inertia torque set value from the detected value of the shaft torque, the torque set value for the running resistance excluding the mechanical inertia, and the mechanical inertia and the set inertia of the dynamometer. The absorption torque is controlled by the sum of the torque setting value for the running resistance. Further, it is described that the acceleration detection for electric inertia control is not required, thereby improving the response of electric inertia control and enabling stable control.
JP 2004-361255 A

  In the patent literature, the mechanical system model of the dynamometer is a two-inertia system having resonance characteristics. In the patent document, since resonance characteristics of the mechanical system are not taken into consideration, an unstable phenomenon such as hunting or divergence due to the resonance characteristics of the mechanical system occurs when the electric inertia control response is increased. In addition, chassis dynamometer systems and drive train bench system dynamometer systems have shaft torque detection characteristics, dynamometer angular velocity detection characteristics, and inverter response characteristics in addition to mechanical resonance characteristics, and these are the detection delays in shaft torque. Without considering the torque response delay factor of the inverter or the inverter, stable control with higher response cannot be performed.

  The present invention has been made in view of such points, and it is an object of the present invention to provide an electric inertia control method that takes into account the resonance characteristics, shaft torque detection characteristics, dynamometer angular velocity detection characteristics, and inverter response characteristics of a mechanical system.

According to the first aspect of the present invention, a roller and a dynamometer are connected via a shaft, and a dynamometer rotational speed signal, a shaft torque signal and a roller rotational speed signal are input to an electric inertia control circuit having an observer section and an ASR section. In a chassis dynamometer system that calculates a torque current command value and performs electric inertia control via an inverter according to the obtained torque current command value.
The observer unit and the ASR unit are designed by a controller design method called H∞ control, μ design method,
The generalized plant of the observer part in the controller design method is a mechanical system model for calculating a roller angular velocity, a shaft axial torque and a dynamometer angular velocity by inputting a weighted roller surface driving force signal and a dynamometer torque command, respectively. A torque meter characteristic model that represents the detection characteristic of the shaft torque by inputting the shaft torque signal from this mechanical system model, an encoder characteristic model that detects the dynamometer angular speed by inputting the dynamometer angular speed from the mechanical system model,
The sum of the torque detection signal generated via the torque meter characteristic model and the weighted shaft torque detection error signal is used as the shaft torque detection signal, and the dynamometer angular velocity signal detected via the encoder characteristic model The sum of the found dynamometer angular velocity signals is input as an observing signal to the controller as a dynamometer angular velocity detection signal, and the output of the controller, the roller surface driving force signal, and the difference signal are weighted roller surface driving forces. Command signal,
In the controller design method, a generalized plant of the ASR unit inputs a weighted roller surface driving force signal and a dynamometer torque signal and calculates a roller angular velocity, a shaft torque of the shaft, and a dynamometer angular velocity, Generated by a torque meter characteristic model that expresses shaft torque detection characteristics by inputting shaft torque signal from this mechanical system model, encoder characteristic model that inputs dynamometer angular speed from mechanical system model and detects dynamometer angular speed and controller It has an inverter characteristic model that generates a response of the torque output actually generated in response to the torque current command to the inverter, adds the weighted inverter torque error to the output, and outputs it to the mechanical system model. And
The sum of the torque detection signal generated via the torque meter characteristic model and the weighted shaft torque detection error signal is used as the shaft torque detection signal, and the dynamometer angular velocity signal detected via the encoder characteristic model The difference signal between the summed dynamometer angular velocity signal and the weighted angular velocity command is input as an observation signal to the controller as a dynamometer angular velocity detection signal, and the output from this controller is the torque to the inverter. The current command is an output signal from the controller.

  According to a second aspect of the present invention, the input signal to the encoder characteristic model of the generalized plant of the observer section is a roller angular velocity signal from the mechanical system model. Control method.

  According to a third aspect of the present invention, the generalized plant of the ASR unit includes a sum of a dynamometer angular velocity signal detected through the encoder characteristic model and a weighted dynamometer angular velocity signal, and a weighted roller. The difference signal with respect to the angular velocity is given a predetermined weight having an integral characteristic, and the output from the controller is used as a torque current command to the inverter as the output signal from the controller.

  According to a fourth aspect of the present invention, the generalized plant of the ASR unit weights a deviation between the weighted angular velocity command and the roller angular velocity from the mechanical system model with a predetermined weight having an integral characteristic. The torque current command to the inverter is used as the output signal from the controller.

  According to claim 5 of the present invention, the encoder characteristic model of the generalized plant of the ASR section detects a dynamometer angular velocity from the mechanical system model, and the detected dynamometer angular velocity and a weighted dynamometer angular velocity signal The weight of the dynamometer and the weighted dynamometer angular velocity is weighted with a predetermined weight having an integral characteristic, and the torque current command to the inverter is used as the output signal from the controller. Is.

  According to a sixth aspect of the present invention, the encoder characteristic model of the generalized plant of the ASR unit detects a roller angular velocity from the mechanical system model, and the sum of the detected roller angular velocity and the weighted roller angular velocity signal The deviation from the weighted roller angular velocity is input to the controller as an observation amount, and the deviation between the weighted angular velocity command and the dynamometer angular velocity from the mechanical system model is given a predetermined weight having an integral characteristic, The output from the controller is used as a torque current command to the inverter as an output signal from the controller.

  As described above, according to the present invention, a desired electric inertia control circuit is designed by designing the observer part and ASR part of the electric inertia control circuit using a controller design technique called H∞ control and μ design method. Is done. For this reason, the electric inertia control circuit 4 that takes into account each characteristic affecting the response performance of the electric inertia control of the chassis dynamometer system, such as the resonance characteristic of the mechanical system, the shaft torque detection characteristic, the dynamometer angular velocity detection characteristic, and the inverter response characteristic. Therefore, the resonance characteristics are also suppressed, and the electric inertia control of the chassis dynamometer system that is more responsive and stable than the conventional one can be performed. Further, even when a running resistance (Road Load) is added to the electric inertia control circuit or when the set inertia amount is changed, it is possible to easily cope with it.

  The present invention does not provide an electric inertia control circuit itself as in Patent Document 1, but “general” for designing electric inertia control by a controller design method called “H∞ control” or “μ design method”. It is related to the construction method of the "chemical plant". “H∞ control”, “μ design method”, and “generalized plant” are explained in general textbooks of robust control in, for example, Liu Yasushi, “Linear Robust Control”, Corona, 2002, etc. ing.

The present invention is used in the chassis dynamometer system shown in FIG. 1 using a generalized plant model designed by using the above method. FIG. 2 shows a configuration diagram of the electric inertia control circuit.
In the chassis dynamometer system of FIG. 1, Dy is a dynamometer, R is a roller connected to the dynamometer Dy, IV is an inverter, EI is an electric inertia control circuit, TM is a shaft torque meter, EC1 is the rotation speed of the dynamometer. An encoder for detection, EC2, is an encoder for detecting the number of roller rotations, and each detection signal detected by the shaft torque meter TM and encoders EC1, EC2 is output to the electric inertia control circuit EI.

As shown in FIG. 2, the electric inertia control circuit has an observer (roller surface driving force estimation) part, an ASR (speed control) part, and an inertia part [1 / (EIC _- J * s)]. The set inertia amount is EIC _- J.

The present invention designs an inertia moment corresponding to a vehicle body by a controller design method called an H∞ control and μ design method in an observer part and an ASR part in an electric inertia control circuit of such a chassis dynamometer system. Electric inertia control based on moment is executed.
Hereinafter, a description will be given based on examples.

In the first embodiment, each generalized plant is designed by “H∞ control” or “μ design method” based on the observer generalized plant and the ASR generalized plant.
FIG. 3 is a generalized plant model diagram of an observer in an electric inertia control circuit showing an embodiment of the present invention, FIG. 4 is a transfer function of a mechanical system model in the generalized plant model, and FIG. FIG. 6 shows a transfer function of a mechanical system model in the generalized plant model.

  In the generalized plant model of the observer for electric inertia control shown in FIG. 3, roller surface driving force w1, dynamometer torque command w2, shaft torque observation noise w3, and dynamometer angular velocity observation noise w4 are inputted as disturbances. , The observation amounts A and B are detected and input to the controller 10. The disturbance signal assumes that the chassis dynamometer system is actually driven, and noise generated in the control loop at that time is a disturbance signal, and here, there are four disturbance signals w1 to w4. The controller 10 sets the parameters of the state equation of electric inertia and determines the parameters based on an algorithm so that the gain becomes small. In the generalized plant model, z1 to z4 are generated as control amounts.

  The input disturbances are weighted individually in weighting factor adding means 1 (Ow1 (s)) to 4 (Ow4 (s)) and 11 (Oz1 (s)) to 14 (Oz4 (s)), respectively. The desired characteristics can be obtained. That is, in the means 1, a certain constant is multiplied by the weight applied to the vehicle driving force, and it is output to the mechanical system model 20 (Omec (s)) as the rotational moment torque J1.T of the roller and to the subtracting means 7 Is done. In the means 2, a certain constant is multiplied by the weight applied to the torque command of the dynamometer, and the output is output to the mechanical system model 20 as J2.T. In the means 3, the weight applied to the detection error of the shaft torque is set to a characteristic such that the gain increases at a certain constant or high frequency, and is output to the adding means 5. In the means 4, the weight applied to the dynamometer angular velocity detection error is set to a certain constant or a characteristic such that the gain is increased in a high range, and is output to the adding means 6.

  8 (Otm (s)) is a torque meter characteristic generating means (torque meter characteristic model) for detecting the shaft torque. The shaft torque K12.T of the coupled shaft from the mechanical model 20 is input and added as a predetermined torque meter characteristic. Output to means 5. The adding means 5 adds the weighted shaft torque detection error signal and the torque meter characteristic to generate a shaft torque detection value, which is input to the controller 10 as the observation amount A. Reference numeral 9 (Oenc (s)) denotes an encoder characteristic generation means (encoder characteristic model), which inputs the dynamometer angular velocity J2.w from the machine model 20 to generate a predetermined encoder characteristic and outputs it to the adder 6. The adding unit 6 adds the weighted dynamometer angular velocity detection error signal and the encoder characteristic to generate a dynamometer angular velocity detection value, and outputs it to the controller 10 as an observation amount B. The controller 10 performs a predetermined calculation based on the input signal. The calculation signal is output to the subtracting means 7, subtracted from the rotational moment torque J1.T of the roller, and output to the means 11.

  The means 11 (Oz1 (s)) is a means for weighting the deviation value of the roller surface driving force estimation, and the weighted roller surface driving force is set to an integral characteristic or a predetermined characteristic such that the gain becomes low in a high range. The estimated value z1 is output. Means 12 (Oz2 (s)) is means for applying a weight to the shaft torque, and is a constant to which the shaft torque K12.T from the mechanical system model 20 is input or a predetermined value that increases the gain in the high range. The characteristic is output as a shaft torque control command z2. The means 13 (Oz3 (s)) is a means for applying a weight to the dynamometer angular velocity J2.w from the mechanical system model 20, and is weighted with a predetermined characteristic or a predetermined characteristic that increases the gain in a high frequency range. Output as the dynamometer command z3. Means 14 (Oz4 (s)) is means for applying a weight to the detection of the roller angular velocity from the mechanical system model 20, and outputs it as a weighted roller angular velocity command z4 as a characteristic that increases the gain in a certain constant or high frequency range.

An observer mechanical system model 20 shown in FIG. 4 represents a mechanical characteristic of a dynamometer by a transfer function, and is a two-inertia mechanical system model. The mechanical system model of this embodiment has J1.T and J2.T as inputs and J1.w, K12.T, and J2.w as outputs.
In the figure, 21 is a roller inertia moment element, and its output is outputted to the generalized plant as a roller angular velocity J1.w and also outputted to the subtracting means 26. A spring stiffness element 22 receives the difference signal between the dynamometer angular velocity and the roller angular velocity calculated by the subtracting means 26 and outputs it as a shaft torsion torque K12.T signal to the generalized plant. Output to. In the adding means 24, the rotational moment J1.T of the roller due to the vehicle driving force applied to the roller surface and the shaft torsion torque K12.T are added and input to the roller inertia moment element 21. Further, the subtracting means 25 obtains a difference signal between the input dynamometer torque signal J2.T and the shaft torsion torque K12.T and outputs it to the dynamometer inertia moment element 23. The angular velocity J2.w is calculated and output to the generalized plant and also output to the subtracting means 26.

  FIG. 5 is a generalized plant model diagram of the ASR unit. As a disturbance, roller surface driving force w1, inverter torque control error w2, angular velocity command w3, shaft torque observation noise w4, and dynamometer angular velocity observation noise w5 are input, and the observed amount A ′ and B ′ are detected and input to the controller 40. The disturbance signal assumes that the chassis dynamometer system is actually driven, and noise generated in the control loop at that time is a disturbance signal, and here, there are five disturbance signals, w1 to w5. In the controller 40, parameters of the state equation of electric inertia are set, and the parameters are determined based on an algorithm so that the gain becomes small. Further, in this ASR generalized plant model, z1 to z4 are generated as controlled variables.

The input disturbance and the control amounts z1 to z4 described later are respectively weight coefficient adding means 31 (Gw1 (s)) to 35 (Gw5 (s)) and 44 (Gz1 (s)) to 47 (Gz4 ( In s)), each is weighted separately to obtain a desired characteristic. That is, in the means 31 (Gw1 (s)), a certain constant is applied with a weight applied to the vehicle driving force, and the result is output to the mechanical system model 50 (Gmec (s)) as the rotational moment torque J1.T of the roller. The means 32 (Gw2 (s)) is a constant in the inverter torque control error w2 or has a characteristic in which the gain increases at a high frequency and is output to the adding means 43. The means 33 (Gw3 (s)) is a constant in the angular velocity command w3, or has a characteristic that the gain is increased in the high range, and is output to the subtracting means 41. The means 34 (Gw4 (s)) is a weight applied to the detection error w4 of the shaft torque, and has a characteristic such that the gain increases at a certain constant or high frequency, and is output to the adding means 39. The means 35 (Gw6 (s)) is output to the adding means 42 with a constant in the detection error of the dynamometer angular velocity or a characteristic in which the gain increases in the high frequency range.
Means 37 (Gtm (s)) is a torque meter characteristic generating means (torque meter characteristic model) for detecting the shaft torque, and the shaft torque K12.T of the coupled shaft from the mechanical model 50 is input to obtain a predetermined torque meter characteristic. It outputs to the addition means 39. The adding means 39 adds the weighted shaft torque detection error signal and the torque meter characteristic to generate a shaft torque detection value, which is input to the controller 40 as an observation amount A ′. A means 38 (Genc (s)) is an encoder characteristic generation means (encoder characteristic model), which inputs the dynamometer angular velocity J2.w from the machine model 50, generates a predetermined encoder characteristic, and outputs it to the adder 42. The adder 42 adds the weighted dynamometer angular velocity detection error signal and the encoder characteristic, and the addition signal is subjected to an angular velocity command and difference calculation in the subtracting means 41 to generate a dynamometer angular velocity control deviation signal. The quantity B ′ is output to the controller 40 and the means 48. In the means 48, a weight function having an integral characteristic is added to the deviation signal of the dynamometer angular speed control, and is output as a dynamometer angular speed control signal z3 via the means 46.
The controller 40 sets the parameters of the state equation of electric inertia based on the input shaft torque detection value A ′ and the dynamometer angular velocity detection value B ′, and determines the parameters based on the algorithm so that the gain is reduced. Is output as a torque current command z1 through the means 44 and output to the means 36.
The means 36 is an inverter characteristic generation means (inverter characteristic model) that represents the response characteristic of the torque output that is actually generated with respect to the torque command of the inverter. The response characteristic is such that the gain becomes low at a certain constant or high range. The torque command is added to the torque control error of the weighted inverter in the adding means 43, and then output to the mechanical system model 50 as a dynamometer torque signal J2.T.

  Of the means 44 to 47 for performing weighting, only the means 46 has a certain constant or a characteristic in which the gain becomes low in the high range, but the other means has a constant or gain in the high range. It has a higher characteristic.

  The ASR mechanical system model 50 shown in FIG. 6 has the same function as that of the observer mechanical system model shown in FIG.

  According to this embodiment, a desired electric inertia control circuit is designed by designing the observer part and the ASR part of the electric inertia control circuit using a controller design method called H∞ control and μ design method. For this reason, the electric inertia control circuit 4 that takes into account each characteristic affecting the response performance of the electric inertia control of the chassis dynamometer system, such as the resonance characteristic of the mechanical system, the shaft torque detection characteristic, the dynamometer angular velocity detection characteristic, and the inverter response characteristic. Therefore, the resonance characteristics are also suppressed, and the electric inertia control of the chassis dynamometer system that is more responsive and stable than the conventional one can be performed. Further, it is possible to easily cope with the case where a running resistance (Road Load) as shown in FIG. 2 is added to the electric inertia control circuit or when the set inertia amount is changed.

  FIG. 7 is a generalized plant model of the ASR unit for electric inertia control showing the second embodiment. In this embodiment, the difference from FIG. 5 is that the subtracting means 49 is provided on the input side of the means 48a for adding a weight function having an integral characteristic to the control command deviation of the roller angular speed, and the weight coefficient of the roller angular speed control. The function 46a, 47a is different from the function 46 applied to the means 46 for applying the weight coefficient to the dynamometer angular velocity detection. That is, the angular velocity command to which the weighting coefficient is added by the means 33 is output to the subtracting means 41 and also to the subtracting means 49, and the difference between the roller angular speed J1.w from the mechanical system model 50 in the subtracting means 49. Is obtained and output to the means 48a.

The means 46a has an output characteristic such that the gain becomes low at a certain constant or high frequency. Further, the means 47a has a certain constant or an output characteristic such that the gain becomes high in a high range. In the means 48a, a weighting function having an integral characteristic is added to the deviation signal of the roller angular velocity control, and these are output as a weighted roller angular velocity z3a and a weighted dynamometer angular velocity z4a, respectively.
The mechanical system model 50 used in this embodiment is the same as that of the first embodiment, and the observer generalized plant shown in FIG. 3 is also used to constitute the electric inertia control circuit 4. Is done.

  According to this embodiment, an effect equivalent to that of the first embodiment can be obtained by providing an integral characteristic to the control deviation of the roller angular velocity control in the ASR generalized plant for electric inertia control.

  FIG. 8 is a generalized plant model of the ASR unit for electric inertia control showing the third embodiment. In this embodiment, the difference from FIG. 5 is that an encoder characteristic generation means 38a for detecting a roller angular speed by inputting a roller angular speed signal from the mechanical system model 50 to the input of the means for generating the encoder characteristics. Then, the means 35a has a roller angular velocity detection error. Accordingly, the observation amount B ′ to the controller 40 becomes the roller angular velocity control deviation B ″ and B ″ is output to the means 48b, and the dynamometer angular velocity detection J2.w is output to the means 47b. It is to be done. The output of the means 48b is set to a certain constant by the means 46b or an output characteristic such that the gain becomes low in the high range, and is outputted as a weighted roller angular velocity z3b. Further, the means 47a outputs a weighted dynamometer angular velocity z4a having a certain constant or an output characteristic such that the gain becomes high in a high range. The means 35a is output to the adding means 42 with a certain constant or a characteristic in which the gain increases at high frequencies.

That is, in this embodiment, an encoder characteristic is generated in the means 38 a based on the roller angular velocity signal from the mechanical system model 50, and the output is added to the weighting roller angular velocity detection error signal in the adding means 42 to the subtracting means 41. Is output. In the subtracting means 41, a deviation calculation from the weighted roller angular velocity signal is executed, and a roller angular velocity control deviation B ″ is output to the controller 40 and the means 48b.
The means 48b is a weighting function having an integral characteristic in the control deviation of the input roller angular speed control, and is output as a weighted roller angular speed signal z3b via the means 46b. A weighted dynamometer angular velocity z4a is output from the means 47b that receives the dynamometer angular velocity signal from the mechanical system model 50.
Others are the same as in the first embodiment.

  According to this embodiment, the observation amount is set as the control deviation of the roller angular velocity control in the ASR generalized plant for electric inertia control, and the control deviation of the roller angular velocity control is provided with an integral characteristic. The same effect can be obtained.

  FIG. 9 is a generalized plant model of the ASR unit for electric inertia control showing the fourth embodiment. In this embodiment, the difference from FIG. 5 is that an encoder characteristic generation means 38a for detecting a roller angular speed by inputting a roller angular speed signal from the mechanical system model 50 to the input of the means for generating the encoder characteristics. Then, the means 35a has a roller angular velocity detection error. Accordingly, the observation amount is the roller angular velocity control deviation B ″, and the subtracting means 49a is provided on the input side of the means 48c.

  In this embodiment, an encoder characteristic is generated in the means 38 a based on the roller angular velocity signal from the mechanical system model 50, and its output is added to the weighted roller angular velocity error signal in the adding means 42 and output to the subtracting means 41. . In this subtracting means 41, a difference calculation with the weighted angular velocity command is executed, and a roller angular velocity control deviation B ″ is output to the controller 40. The weighted roller angular velocity command is also output to the subtracting means 49a, and the deviation from the dynamometer angular speed signal J2.w from the mechanical system model 50 is calculated and output to the means 48c.

In the means 48c, a weight function having an integral characteristic is added to the input control deviation of the dynamometer angular velocity control, and is output as a weighted dynamometer angular speed signal z3c through the means 46c. Also, a weighted roller angular velocity z4a is output from the means 47a that receives the roller angular velocity signal from the mechanical system model 50.
Others are the same as in the first embodiment.

  According to this embodiment, in the ASR generalized plant for electric inertia control, the observation amount is set as the control deviation of the roller angular velocity control, and the control deviation of the dynamometer angular velocity control is provided with the integral characteristic. Equivalent effect is obtained.

  FIG. 10 is a generalized plant model of an observer for electric inertia control showing a fifth embodiment. In this embodiment, the difference from the generalized plant model of the observer shown in FIG. 3 is that the observation amount input to the controller 10 is a roller angular velocity deviation and the signal applied to the adding means 6a. Is different. In other words, the disturbance w4a is the roller angular velocity, and the means 4a (Ow4 (s)) weights the detection error of the roller angular velocity, and has a characteristic that the gain increases at a certain constant or high frequency. The means 9a (Oenc (s)) generates the encoder characteristics by inputting the roller angular velocity from the mechanical system model 20, and the addition means 6a detects the error of the roller angular velocity weighted with the encoder characteristic signal. Addition and output to the controller 10 as an observation amount B.

The controller 10 sets the parameters of the state equation of electric inertia based on the input shaft torque detection value A and the roller angular velocity detection value B, and determines a parameter based on an algorithm so as to reduce the gain. Perform the operation. The operation signal output is output to the subtracting means 7. The subtracting means 7 subtracts the rotational moment torque J1.T of the roller, and outputs the weighted roller surface driving force estimated value z1 via the means 11.
Others are the same as in the first embodiment.

  According to this embodiment, the effect similar to that of the first embodiment can be obtained by combining the observation amount with the roller angular velocity deviation and combining with the ASR generalization plant in the observer generalization plant.

  In each of the above embodiments, the specific combination of the observer generalized plant and the ASR generalized plant has been described. However, the observer generalized plant model shown in FIGS. 3 and 10 and FIGS. Of course, the combination of the generalized plant models of ASR shown in FIG.

Configuration diagram of an electric inertia control system to which the present invention is applied Configuration diagram of electric inertia control circuit Schematic diagram of the generalized plant model of the observer of the present invention Mechanical system model applied to the generalized plant model of the observer Schematic diagram of ASR generalized plant model of the present invention Mechanical system model applied to ASR generalized plant model Schematic diagram of a generalized plant model of ASR according to another embodiment of the present invention Schematic diagram of a generalized plant model of ASR according to another embodiment of the present invention Schematic diagram of a generalized plant model of ASR according to another embodiment of the present invention Schematic diagram of a generalized plant model of an observer according to another embodiment of the present invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Dynamometer 2 ... Roller 3 ... Inverter 4 ... Electric inertia control circuit 5 ... Shaft torque meter 6, 7 ... Encoder

Claims (6)

A roller and a dynamometer are connected via a shaft, and a torque current command value is calculated by inputting a dynamometer rotation speed signal, a shaft torque signal and a roller rotation speed signal into an electric inertia control circuit having an observer section and an ASR section, In a chassis dynamometer system that performs electric inertia control via an inverter according to the obtained torque current command value,
The observer unit and the ASR unit are designed by a controller design method called H∞ control, μ design method,
The generalized plant of the observer part in the controller design method is a mechanical system model for calculating a roller angular velocity, a shaft axial torque and a dynamometer angular velocity by inputting a weighted roller surface driving force signal and a dynamometer torque command, respectively. A torque meter characteristic model that represents the detection characteristic of the shaft torque by inputting the shaft torque signal from this mechanical system model, an encoder characteristic model that detects the dynamometer angular speed by inputting the dynamometer angular speed from the mechanical system model,
The sum of the torque detection signal generated via the torque meter characteristic model and the weighted shaft torque detection error signal is used as the shaft torque detection signal, and the dynamometer angular velocity signal detected via the encoder characteristic model The sum of the found dynamometer angular velocity signals is input as an observing signal to the controller as a dynamometer angular velocity detection signal, and the output of the controller, the roller surface driving force signal, and the difference signal are weighted roller surface driving forces. Command signal,
In the controller design method, a generalized plant of the ASR unit inputs a weighted roller surface driving force signal and a dynamometer torque signal and calculates a roller angular velocity, a shaft torque of the shaft, and a dynamometer angular velocity, Generated by a torque meter characteristic model that expresses shaft torque detection characteristics by inputting shaft torque signal from this mechanical system model, encoder characteristic model that inputs dynamometer angular speed from mechanical system model and detects dynamometer angular speed and controller It has an inverter characteristic model that generates a response of the torque output actually generated in response to the torque current command to the inverter, adds the weighted inverter torque error to the output, and outputs it to the mechanical system model. And
The sum of the torque detection signal generated via the torque meter characteristic model and the weighted shaft torque detection error signal is used as the shaft torque detection signal, and the dynamometer angular velocity signal detected via the encoder characteristic model The difference signal between the summed dynamometer angular velocity signal and the weighted angular velocity command is input as an observation signal to the controller as a dynamometer angular velocity detection signal, and the output from this controller is the torque to the inverter. An electrical inertia control method in a dynamometer system, wherein a current command is an output signal from a controller. 2. An electric inertia control method in a dynamometer system according to claim 1, wherein an input signal to the encoder characteristic model of the generalized plant of the observer unit is a roller angular velocity signal from a mechanical system model. The generalized plant of the ASR unit integrates the difference signal between the sum of the dynamometer angular velocity signal detected via the encoder characteristic model and the weighted dynamometer angular velocity signal and the weighted roller angular velocity. 3. An electric inertia control method in a dynamometer system according to claim 1, wherein a predetermined weighting is provided and an output from the controller is used as a torque current command to the inverter as an output signal from the controller. The generalized plant of the ASR unit weights the deviation between the weighted angular velocity command and the roller angular velocity from the mechanical system model with a predetermined weight having an integral characteristic, and outputs the output from the controller to the torque current to the inverter. 3. The electric inertia control method in a dynamometer system according to claim 1, wherein the command is an output signal from the controller. The encoder characteristic model of the generalized plant of the ASR unit detects a dynamometer angular velocity from the mechanical system model, and is weighted with a sum of the detected dynamometer angular velocity and a weighted dynamometer angular velocity signal. 3. The power according to claim 1, wherein the deviation from the dynamometer angular velocity is given a predetermined weight having an integral characteristic, and an output from the controller is used as a torque current command to the inverter as an output signal from the controller. Electric inertia control method in metering system. The encoder characteristic model of the generalized plant of the ASR unit detects a roller angular velocity from the mechanical system model, a sum of the detected roller angular velocity and a weighted roller angular velocity signal, a weighted roller angular velocity, Is input to the controller as an observation amount, and a predetermined weight having an integral characteristic is applied to a deviation between the weighted angular velocity command and the dynamometer angular velocity from the mechanical system model, and the output from the controller is supplied to the inverter. The method of claim 1 or 2, wherein the torque current command is an output signal from the controller.

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