JP5443294B2 - Electric motor control method and electric motor control device - Google Patents

Description

  The present invention relates to a motor control method and the like.

  Known as vehicles that drive by driving wheels with an electric motor are electric vehicles, electric locomotives that drive by driving electric motors with electric power generated by an internal combustion engine (for example, electric diesel locomotives), and electric vehicles. However, a train (power vehicle) will be described below as a representative example. The train is accelerated and decelerated by the tangential force between the wheels and rails (also called adhesive force). If the driving force generated by the generated torque of the electric motor is less than the adhesive force acting on the wheels and rails, the adhesive running is performed. If the driving force exceeds the adhesive force, the idle running or sliding (hereinafter referred to as “idling running”) is performed. Occurs. When idling and sliding occurs, control is performed to reduce the generated torque of the electric motor and return to the adhesive running (see, for example, Patent Document 1).

JP 2002-44804 A

  When idling occurs on a certain shaft, the motor torque (more precisely, the torque component current) is temporarily reduced. At that time, bogie pitching and axial movement occur due to fluctuations in the motor torque, etc., causing idling. There is a possibility that idling will be induced on other axes that are not. As measures against this, when the occurrence of idling is detected, there is a measure to reduce the torque of the detected axis and also reduce the torque of the other axis that has not been detected, but there is a problem in terms of the traction force of the entire train.

  That is, when the motor torques of both the axis where the occurrence of idling is detected and the other axis where it is not detected are reduced, the traction force of the entire train is reduced at the same time. As a result, a decrease in climbing force and an improvement limit of the maximum traction force become problems, and the influence on the riding comfort due to a fluctuating train is also a problem.

  Further, when the occurrence of idling is detected, the motor torque is greatly reduced. Therefore, in order to prevent false detection due to the effects of curves, rail joints, and wheel diameter differences of each axis, the threshold for detecting idling is usually set to a threshold that can reliably determine that idling has occurred. It is. As a result, when idling is detected, there is a case where idling is being induced on the other axis.

  The present invention has been made in view of the above-mentioned problems, and its object is to propose a new measure for appropriately suppressing the induction of idling on an axis different from the idling axis. That is.

The first mode for solving the above problems is to perform a detection process for detecting idling by comparing the state value for detecting idling of the moving shaft with a given threshold, and for the moving shaft where the idling has occurred. An electric motor control method for performing a control for reducing a current corresponding to torque,
A first detection processing step (for example, the second axis to the fourth axis in FIG. 2) for performing the detection processing on a first moving axis (for example, the idling / sliding detection unit according to the second axis in FIG. 2);
A second detection processing step (for example, the idling / sliding detection unit 70-1 according to the first axis in FIG. 2) for performing the detection processing on a second dynamic axis (for example, the first axis in FIG. 2);
In addition,
When a detection is made in the first detection processing step, a threshold reduction processing step (for example, in FIG. 2) that performs the detection processing in the second detection processing step as detection processing in which the threshold is temporarily reduced. Control parameter value setting section 50-1) related to the first axis,
Is an electric motor control method (for example, the re-adhesion control process of FIG. 8).

As another form, a control process for detecting idling by comparing the state value for detecting idling of the moving shaft with a given threshold is performed, and control for lowering the current corresponding to the torque of the moving shaft where idling has occurred is performed. An electric motor control device to perform (for example, the control device 30-1 in FIG. 2),
First detection processing means for performing the detection processing on the first moving axis;
Second detection processing means for performing the detection processing on the second moving axis;
A threshold reduction processing unit that, when detected by the first detection processing unit, performs the detection process by the second detection processing unit as a detection process that temporarily reduces the threshold;
It is good also as comprising the motor control apparatus provided with.

  According to this 1st form etc., the detection process which detects that the state value for the idling detection of a dynamic shaft has reached the threshold value is performed about each dynamic shaft. When the first moving axis is detected, the second moving axis detection process is executed as a detection process in which the threshold value is temporarily reduced. For example, when idling on the first moving axis occurs, there may be a state in which idling is also being induced on the second moving axis. At this time, the detection process of the second moving axis is performed as a detection process in which the threshold is temporarily reduced. As a result, it is possible to effectively detect the idling of the second moving axis by grasping the state where the idling of the idling on the second moving axis is occurring at an earlier stage, and performing control to reduce the current corresponding to the torque. Can be suppressed.

  The second mode is the electric motor control method according to the first mode, wherein the threshold value in the threshold reduction step is set according to the positional relationship between the first dynamic axis and the second dynamic axis. The electric motor control method further includes a reduction amount changing step (for example, step S6 in FIGS. 5 and 8) for changing the reduction amount (for example, coefficient K in FIG. 4).

  According to the second mode, the second movement axis is determined according to the positional relationship between the first movement axis in which the occurrence of idling and the like is detected and the second movement axis that has not been detected at that time. The threshold reduction amount related to the axis detection process is changed. The reduction of the current corresponding to the torque on the first dynamic axis causes bogie pitching, axial movement, and the like, but the effect varies depending on the positional relationship between the first dynamic axis and the second dynamic axis. Therefore, it is possible to appropriately change the threshold reduction amount in accordance with the positional relationship between the first dynamic axis and the second dynamic axis.

More specifically, as the third form,
In the reduction amount changing step, when the first moving shaft and the second moving shaft are in the same vehicle, (1) when they are in the same cart (for example, in FIG. (The relationship between the first axis and the second axis), (2) when the cart is different, the threshold reduction amount is changed according to the positional relationship of the cart (for example, the relationship between the first axis and the third axis in FIG. 5). To
The electric motor control method may be configured as described above.

Furthermore, as the fourth form,
In the reduction amount changing step, when the first dynamic axis and the second dynamic axis are different vehicles, the reduction amount of the threshold is set according to the positional relationship of the vehicle (for example, FIG. 10). change,
The electric motor control method may be configured as described above.

The fifth form is the electric motor control method according to any one of the first to fourth forms,
In the second detection processing step, when detection is performed by performing the detection processing in which the threshold is reduced by the threshold reduction processing step, the detection is performed in the detection processing in which the threshold is not reduced by the threshold reduction processing step. A lowering control step (for example, step S12 in FIG. 8) for lowering the torque component current related to the second moving shaft by a lowering control method different from the lowering control method at the time,
This is an electric motor control method.

  According to the fifth aspect, when the occurrence of idling or the like is detected on the first dynamic axis, the detection process of the second dynamic axis is executed as a detection process with a reduced threshold. When detection is performed during the execution of detection processing with a reduced threshold value, the torque related to the second dynamic axis by a pull-down control method different from the pull-down control method when detection is performed with detection processing that has not been reduced. The shunt current is lowered. The detection of the occurrence of idling of the second dynamic axis during the reduction of the threshold value means that the idling of the idling is occurring on the second dynamic axis. Accordingly, the current corresponding to the torque related to the second moving shaft is lowered by a lowering control method different from the case where the idling is actually generated.

For example, as the sixth form,
The lowering control step includes (1) a lowering amount that is smaller than the lowering amount when detected by the detection process in which the threshold is not reduced by the threshold reduction processing step, and (2) the threshold is reduced by the threshold reduction processing step. A lowering speed faster than a lowering speed when detected by the detection process that has not been reduced; (3) a lowering holding time when detected by the detection process in which the threshold is not reduced by the threshold reduction processing step A reduction control method including at least one of a short holding time and (4) a return time shorter than a return time after reduction when the threshold is not reduced by the threshold reduction processing step. Reducing the torque component current associated with the second dynamic shaft,
The electric motor control method may be configured as described above.

The figure for demonstrating re-adhesion control. The circuit block diagram of 1st Example. The figure for demonstrating the logic structure of an idling skid detection part. The figure for demonstrating the logic structure of a control parameter value setting part. The figure which shows the structure of the coefficient table which K calculation part has memorize | stored. The figure which shows the specific numerical example of a power running time coefficient table. The figure for demonstrating a pull-down control value. The figure which shows the whole flow of a re-adhesion control process. The figure which shows a driving simulation result. The figure for demonstrating another example of a coefficient table. The figure for demonstrating the modification of switching of a control parameter value. The circuit block diagram of 2nd Example. The circuit block diagram of 3rd Example. The figure for demonstrating the modification of the circuit block of a re-adhesion control apparatus. The figure for demonstrating the modification of the logic structure of an idling skid detection part. The figure for demonstrating the modification of the logic structure of an idling skid detection part.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In the following, the case where the present invention is applied to a train will be described. However, if the vehicle is driven by driving a driving wheel with an electric motor, the electric motor is driven with an electric vehicle other than the train or with electric power generated by an internal combustion engine. The present invention can be applied to an electric locomotive or the like that travels in an electric vehicle, or may be applied to an electric vehicle. In the following description, the “motor torque” is increased or decreased for the sake of simplification. However, more accurately, “torque current” means to increase or decrease, and “motor torque” and “torque current” are This will be described as synonymous.

  Further, “re-adhesion control” in a narrow sense means lowering and returning of torque component current after detection of occurrence of idling (reduction of reduction amount, including holding of torque component current and return of torque component current). However, in the present embodiment, the term “re-adhesion control” is used in a broad sense, and detection of the occurrence of idling and torque reduction / return after detection is performed. And control.

First, re-adhesion control of this embodiment will be described with reference to FIG. FIG. 1 is a diagram for explaining the re-adhesion control of the present embodiment, and with respect to a moving shaft to be controlled, idle running occurs from a constant acceleration state in which no idle running occurs, torque reduction, A series of signal waveforms from return control to re-adhesion are shown. FIG. 5 is a graph showing a shaft rotation speed V and a reference speed Vm, a graph showing acceleration α, and a motor torque τ _e in order from the top, with the horizontal axis as time t. In a state in which no idling occurs, the speed V substantially matches the reference speed Vm, and the motor torque τ _e is kept substantially constant. When idling occurs, the shaft speed V starts to increase, and the speed difference ΔV that is the difference from the reference speed Vm increases. When the speed difference ΔV reaches a predetermined idling detection threshold value Vs at time t10, it is detected that idling has occurred.

Then, torque reduction / return control is activated, and reduction of the motor torque τ _e (more precisely, reduction of the current corresponding to torque) is started. Reduction in motor torque tau _e is at a predetermined lowered speed Wt, it is continuously performed until lowering the predetermined lowered amount Qt. That is, the reduction amount of the motor torque τ _e is increased. When the motor torque τ _e is reduced, the increase in the acceleration α is gradually suppressed, and starts to decrease. During this time, the speed V continues to increase, but at time t20 when the acceleration α becomes zero, the increase in the speed V also becomes zero. In FIG. 1, the time point when the amount is reduced to the reduction amount Qt is time t20. The condition for ending the reduction of the motor torque τ _e may be a condition for detecting recovery in addition to the reduction by the reduction amount Qt. Specifically, it is detected that the acceleration α is below a predetermined recovery detection threshold value (for example, zero, “+1”, “−1”, etc.) as the start of recovery from idle running to the original adhesive running. Yes (recovery detection).

After the motor torque τ _e is lowered by the amount of reduction Qt, the amount of reduction is held for a predetermined holding time Th. Then, the decrease in acceleration α, which has been negative, is gradually suppressed, and eventually increases. Further, the speed V, which has a large deviation from the reference speed Vm, starts to decrease. Then, after the holding time Th elapses, the control for the return operation is started to return the torque over the return time Tt. Instead of performing the return operation after the holding time Th elapses, the return operation may be started when the speed difference ΔV is equal to or less than a predetermined re-adhesion detection threshold.

By the torque return operation, the amount of reduction in the motor torque τ _e that has been held is reduced to return the torque to a predetermined target torque value (for example, the value at the start time of torque reduction / return control (time t10)). At time t40, the torque reduction / return control ends. This torque return operation is controlled to return over a return time Tt.

  Here, the state value (state value for idling detection) to be monitored for idling / sliding detection has been described as the speed V (and hence the speed difference ΔV). However, in the embodiment, the acceleration α is also set to the idling / sliding detection status value. In addition, it will be used together. Of course, the differential value (jerk) of the acceleration α may be used as the state value for detecting idling or sliding, or may be used in combination.

The re-adhesion control described above is performed for each of the dynamic axes, but the occurrence of idling is detected for one of the dynamic axes (first dynamic axis), and torque reduction / return control of the motor torque τ _e is performed. In this case, the value of the control parameter related to the re-adhesion control (hereinafter referred to as “control parameter value”) is changed for the other dynamic axis (second dynamic axis). However, the change of the control parameter value is temporary. Specifically, the control parameter value is changed during a period in which the start time is detected when the occurrence of idling on a certain moving axis is detected, and the elapse time of a predetermined time Tp is set as the end time. Hereinafter, this period is referred to as “control parameter value change period Pp”. The control parameter value during the control parameter value change period Pp is referred to as “control parameter temporary value”, and the original control parameter value before the temporary change of the control parameter value is referred to as “control”. It is called “parameter standard value”.

  In the present embodiment, the control parameter value to be changed is a control parameter value related to threshold values of speed V and acceleration α for detecting idling (hereinafter referred to as “idling detection threshold”), and idling detection. There is a control parameter value (hereinafter referred to as “reduction control value”) related to torque reduction / return control after the operation. The pull-down control value includes a pull-down speed Wt, a pull-down amount Qt, a holding time Th, and a return time Tt. Of course, other parameters such as the return speed of torque return may be included.

  Further, how to specifically change the control parameter value will be described later in detail, but in the present embodiment, it is generally changed as follows. Reduce the idling detection threshold. If the occurrence of idling is detected for one moving axis, there is a possibility / probability of triggering for the other moving axis. For this reason, the idling detection threshold for other motion axes with the possibility of induction / probability is reduced, and the occurrence detection of idling is made sensitive. As a result, the state in which the idling of the idle running on the other moving axis is being induced is detected earlier, and the induction is effectively suppressed.

  Further, the amount of reduction of the idling / sliding detection threshold is changed according to the positional relationship between one moving axis in which the occurrence of idling / sliding is detected and another moving axis that reduces the idling / sliding detection threshold. This is because cart pitching, axle load movement, and the like occur due to the reduction of the torque component current related to one dynamic axis, and the influence thereof varies depending on the positional relationship between one dynamic axis and another dynamic axis.

  Further, the reduction amount Qt, the holding time Th, and the return time Tt, which are the reduction control values, are respectively reduced, and the reduction speed Wt is increased. Even if the occurrence of idling is detected within the control parameter value change period Pp, the detection is merely a detection of a state in which idling is being induced. Accordingly, the reduction amount Qt, the holding time Th, and the return time Tt are set to values smaller than the control parameter standard value, and the reduction speed Wt is set to a large value to quickly cope with the induction sign.

  Hereinafter, three examples to which the present embodiment is applied will be described.

<First embodiment>
FIG. 2 is a circuit block diagram of a first example to which the present embodiment is applied, and is a diagram schematically showing a circuit block related to re-adhesion control in a main circuit of a train. The control of the electric motor is individual control (so-called 1C1M). Hereinafter, only the main circuit according to the first axis will be described with reference to FIG. 2, but the second to fourth axes have the same configuration. The main circuit according to the first axis includes an electric motor 10-1, a pulse generator 15-1, an inverter 20-1, and a control device 30-1.

  The electric motor 10-1 is a main electric motor (main motor) that rotates the axle by being supplied with electric power from the inverter 20-1, and is realized by, for example, a three-phase induction motor. The pulse generator 15-1 is a rotation detector that detects the rotation of the dynamic axis (first axis, which is “own axis” here) driven by the electric motor 10-1, and outputs a PG signal that is a detection signal. It outputs to the speed / acceleration detection unit 60-1.

The inverter 20-1 is supplied with electric power from an overhead line via a converter, a main transformer, and the like. The inverter 20-1 adjusts the output voltage according to the voltage command values Vu ^* , Vv ^* , Vw ^{* of the} U phase, V phase, and W phase input from the control device 30-1, and supplies power to the motor 10-1. .

The control device 30-1 is an electric motor control device that performs vector control of the electric motor 10-1. The control device 30-1 is realized by a computer constituted by a CPU and various memories (ROM, RAM, etc.), various electronic circuits, etc., for example, mounted as a control board, or integrated with the inverter 20-1. It is configured as an inverter device. When configured integrally with the inverter 20-1, the inverter 20-1 and the control device 30-1 are electric motor control devices. The control device 30-1 includes a re-adhesion control device 40-1 and a vector calculation control device 90-1, and generates voltage command values Vu ^* , Vv ^* , Vw ^* for vector control of the electric motor 10-1 and the above-mentioned. Perform re-adhesion control.

Specifically, the vector calculation control device 90-1 calculates the excitation current component Id as the d-axis component and the torque current as the q-axis component from the current flowing into the electric motor 10-1 detected by a current sensor (not shown). A component (torque component current) Iq is obtained. In addition to the obtained excitation current component Id and torque current component (torque component current) Iq, the PG signal detected by the pulse generator 15-1, the speed V and the acceleration α detected by the speed / acceleration detector 60-1. Based on current command values Id ^* and Iq ^* input from a current command generator (not shown), a torque reduction command signal input from the re-adhesion control device 40-1, and the like, a voltage command value Vu for the inverter 20-1. ^* , Vv ^* , Vw ^* are generated.

  The re-adhesion control device 40-1 includes a control parameter value setting unit 50-1, a speed / acceleration detection unit 60-1, an idle running detection unit 70-1, and a torque reduction command control unit 80-1. The re-adhesion control process described with reference to FIG. 1 is executed.

  The speed / acceleration detection unit 60-1 detects the speed V and acceleration α of the own axis from the PG signal by a known arithmetic process / signal process or the like. The detected speed V and acceleration α are output to the idling / sliding detector 70-1.

  The idling / sliding detection unit 70-1 includes a speed V and an acceleration α detected by the speed / acceleration detection unit 60-1, a given reference speed Vm, an acceleration threshold value Sα, a first speed threshold value SV1, and a first speed value. Using the two threshold values SV2, detection processing is performed to determine whether or not idling has occurred on the own axis (first axis). The acceleration threshold value Sα, the speed first threshold value SV1, and the speed second threshold value SV2 that are idle running detection threshold values are set by the control parameter value setting unit 50-1. The principle of detection of the occurrence of idling has been briefly described with reference to FIG. 1, but the occurrence determination (detection process) of idling / sliding performed by the idling / sliding detection unit 70-1 is more complicated, so refer to FIG. I will explain.

FIG. 3 is a diagram illustrating a specific logic configuration of the idling / sliding detection unit 70-1.
The idling / sliding detection unit 70-1 includes an adder 71, comparators 72 to 74, a logical product circuit 75, and a logical sum circuit 76. Each of these circuits may be configured as an electronic circuit, or may be configured as a functional block for digital computation. In the latter case, since it is configured as a computer program, the idling / sliding detection unit 70-1 includes a processor that can execute the program.

  The adder 71 calculates a speed difference ΔV by subtracting the reference speed Vm from the speed V detected by the speed / acceleration detection unit 60-1. The comparator 72 compares the acceleration α detected by the speed / acceleration detection unit 60-1 with the acceleration threshold value Sα. The comparator 73 compares the speed difference ΔV with the speed first threshold value SV1, and the comparator 74 compares the speed difference ΔV with the speed second threshold value SV2. Any of the comparators 72 to 74 outputs an H signal when the value to be compared is equal to or greater than a threshold value, and outputs an L signal when the compared value is less than the threshold value. The logical product circuit 75 calculates the logical product of the comparison results of the comparator 72 and the comparator 73 and outputs the logical product to the logical sum circuit 76. The logical sum circuit 76 outputs the logical sum of the output of the logical product circuit 75 and the comparison result of the comparator 74 as the detection result of the idling / sliding detection unit 70-1.

Therefore, when the acceleration α is equal to or greater than the acceleration threshold value Sα and the speed difference ΔV is equal to or greater than the first speed threshold value SV1, a detection signal indicating that idling is occurring is output. In addition, even when the speed difference ΔV is equal to or greater than the speed second threshold value SV2, a detection signal indicating that idling has occurred is output. This is because no matter how large the speed difference ΔV is, the speed difference ΔV is equal to or greater than the speed second threshold value SV2 in order to prevent a situation in which the occurrence of idling is not detected because the acceleration α is less than the acceleration threshold value Sα. If this happens, it is determined that idling has occurred. Therefore, the speed second threshold value SV2 is set to a value larger than the speed first threshold value SV1.
The speed V, the speed difference ΔV, and the acceleration α are examples of the state value for detecting idling.

The detection signal of the idling / sliding detection unit 70-1 is output to the torque reduction command control unit 80-1, and is also output to the other axis as the first axis detection information (first axis information).
Although the acquisition destination of the reference speed Vm is not shown, the reference speed Vm may be the train speed acquired from the driver's cab, or the minimum speed of each axis of the same vehicle may be the reference speed. Alternatively, the speed of a predetermined slave shaft may be set as the reference speed.

  The torque reduction command control unit 80-1 receives the detection signal indicating that the self-spinning slipping has occurred from the idling / sliding detection unit 70-1, and the pulling-down control set by the control parameter value setting unit 50-1 A torque reduction command signal is generated according to the value.

Specifically, as shown in FIG. 1, when a detection signal indicating that the self-spinning slip has occurred is input from the slipping detection unit 70-1, the current motor torque τ _e is stored and reduced. A command signal for causing the motor torque (current corresponding to torque) to be reduced by the reduction amount Qt at the speed Wt is generated. After the motor torque is reduced by the reduction amount Qt, the motor torque τ _e is held for the holding time Th, and then the torque is gradually increased over the return time Tt toward the previously stored motor torque. A command signal for reducing the torque reduction amount is generated so as to raise the torque, and is output to the vector arithmetic control device 90-1.

The control parameter value setting unit 50-1 sets the control parameter value as the control parameter standard value when the occurrence of idling on the other axis is not detected and is not within the control parameter value change period Pp. When the occurrence of idling is detected and within the control parameter value change period Pp, the control parameter value is changed to a temporary control parameter value.
As described above, the control parameter value includes the idling / sliding detection threshold value and the lowering control value, the idling / sliding detection threshold value includes the acceleration threshold value Sα, the first speed threshold value SV1, and the second speed threshold value SV2, and the lowering control value includes There are a pulling speed Wt, a pulling amount Qt, a holding time Th, and a return time Tt.

FIG. 4 is a diagram illustrating a specific logic configuration of the control parameter value setting unit 50-1.
The control parameter value setting unit 50-1 includes a K calculation unit 51, timer switchers 53 and 54, and a multiplier 55. Each of these circuits may be configured as an electronic circuit, or may be configured as a functional block for digital computation. In the latter case, since it is configured as a computer program, the control parameter value setting unit 50-1 includes a processor that can execute the program.

First, the setting of the acceleration threshold value Sα, the speed first threshold value SV1, and the speed second threshold value SV2 that are idle running detection threshold values will be described.
The control parameter value setting unit 50-1 includes an acceleration standard threshold value Sα _S , a speed first standard threshold value SV1 _S , and a speed second value, which are standard values of the acceleration threshold value Sα, the speed first threshold value SV1, and the speed second threshold value SV2. The standard threshold value SV2 _S is stored in advance, and the multiplier 55 multiplies the standard threshold value by a coefficient K (0 <K ≦ 1), whereby the acceleration threshold value Sα, the speed first threshold value SV1, and the speed second threshold value SV2 are stored. Is calculated and set. Each set threshold value is output to the idling / sliding detector 70-1. Therefore, it can be said that the control parameter value setting unit 50-1 is a threshold reduction processing unit that temporarily reduces each threshold for detecting slipping by the slipping detection unit 70-1.

  The coefficient K is set to K = 1 when the occurrence of idling on the other shaft is not detected, and when detected, the coefficient K of the control parameter value change period Pp from the detection until the time Tp elapses. In the meantime, the value is calculated by the K calculation unit 51. This switching is performed by the timer switch 53.

  The K calculation unit 51 determines whether or not the occurrence of idling on the other axis is detected based on the other axis information input from the other axis, and if there is a detected axis, The coefficient K is determined based on the positional relationship with the own axis.

  FIG. 5 is a diagram for explaining the configuration of the coefficient table stored in the K calculation unit 51. The coefficient table includes a power running coefficient table 511 applied during power running (during idling) and a braking coefficient table 512 applied during braking (sliding). Whether the current running state is during power running or braking. It is selectively applied depending on the time. The determination as to whether the vehicle is powering or braking may be performed by inputting the speed V or acceleration α from the speed / acceleration detection unit 60-1, for example, or by obtaining an operation signal from the cab. Also good.

  As shown in FIG. 5, the K calculation unit 51 selects a coefficient table according to whether the current running state is power running or braking, and then automatically detects the axis (detection axis) where the occurrence of idling is detected. The coefficient K is determined from the relationship with the axis.

  A specific numerical example of each coefficient defined in the power running coefficient table 511 is shown in FIG. FIG. 6A is a diagram showing the positional relationship between the axes, and FIG. 6B is a specific numerical example. Actual numerical values are determined by actual vehicle experiments or the like, and the numerical trends are as shown in FIG. That is, when the detection axis and the own axis are the same carriage, in the case where the detection axis is the front (for example, the first axis) and the own axis is the rear (for example, the second axis), the detection axis is the rear (for example, the second axis). Thus, the coefficient K is set to a smaller value than the case where the own axis is forward (for example, the first axis) (the same applies to the relationship between the third axis and the fourth axis). Similarly, in the case of a cart in which the detection axis and the own axis are different, in the case where the detection axis is the front (for example, the first axis or the second axis) and the own axis is the rear (for example, the third axis or the fourth axis), The coefficient K is set to a value smaller than that in the case where the detection axis is rearward (for example, the third axis or the fourth axis) and the own axis is forward (for example, the first axis or the second axis).

  Further, the tendency of the coefficient K determined in the braking time coefficient table 512 is the reverse of that in the powering time coefficient table 511. That is, in the case where the detection axis and the own axis are the same carriage, in the case where the detection axis is the front and the own axis is the rear, the coefficient K is set to a larger value than the case where the detection axis is the rear and the own axis is the front. The Similarly, in the case of a cart in which the detection axis and the own axis are different, in the case where the detection axis is the front and the own axis is the rear, the coefficient K is larger than the case where the detection axis is the rear and the own axis is the front. Is set. However, the coefficient K is 1 or less.

  Returning to FIG. 4, the control parameter value setting unit 50-1 also changes the reduction control value during the control parameter value change period Pp. Specifically, when the occurrence of idling on the other shaft is not detected, the control parameter standard value is selected, and the control parameter is changed during the control parameter value change period Pp after the occurrence of idling is detected. The temporary value is selected and output to the torque reduction command control unit 80-1. FIG. 7 is a diagram illustrating a control parameter standard value and a control parameter temporary value related to the reduction control value.

Next, the overall flow of the re-adhesion control process executed by the re-adhesion control device 40-1 will be described with reference to FIG.
First, the re-adhesion control device 40-1 determines whether or not the occurrence of idling on the other axis is detected based on the other axis information that is detection information from the other axis (step S2). If detected (step S2: YES), a timer is started to cause the timer switchers 53 and 54 of the control parameter value setting unit 50-1 to measure the control parameter value change period Pp (step S4).

  Then, the K calculation unit 51 calculates and determines the coefficient K based on the positional relationship between the detection axis where the occurrence of idling and the own axis is detected, and the control parameter value is determined by switching selection by the timer switchers 53 and 54. Is changed to the control parameter temporary value (step S6). The re-adhesion control device 40-1 performs the occurrence determination of the idling of the own axis by using the idling detection threshold included in the control parameter temporary value (step S8), and detects the idling of the own axis. (Step S10: YES), torque reduction / return control is performed based on the reduction control value included in the control parameter temporary value (step S12). The processes in steps S8 to S12 are executed until the timer switches 53 and 54 are turned off, that is, during the control parameter value change period Pp.

  When the timer switches 53 and 54 are turned off (step S14: YES), and the control parameter value change period Pp has elapsed, the switching selection by the timer switches 53 and 54 is returned to the original control parameter standard value (step). S16), the re-adhesion control device 40-1 shifts the processing to step S2.

  On the other hand, if the occurrence of idling on the other axis is not detected in step S2 (step S2: NO), the re-adhesion control device 40-1 determines whether idling on the own axis has occurred (step S2). S20). This determination is made using the idling detection threshold included in the control parameter standard value. When it is detected that idling has occurred (step S22: YES), the re-adhesion control device 40-1 outputs information indicating the detection to the other axis (step S24). Then, torque reduction / return control is performed based on the reduction control value included in the control parameter standard value (step S26).

  Next, FIG. 9 shows the result of running simulation with a bogie model having two driving wheels under 1C1M control. FIG. 9 shows the first axis and the second axis when the first axis is the first axis and the rear axis is the second axis, and the first axis is idled around t = 2 seconds and 3.2 seconds. It is a figure which shows the mode of a change of the motor torque and speed of each axis | shaft. The broken line is the first axis, and the solid line is the second axis.

  At about t = 2.2 seconds and 3.3 seconds, the first shaft idling is detected, and torque reduction / return control is started. On the other hand, on the second axis, a speed difference starts to occur around t = 2.8 seconds so that the first axis idles, and idling is detected around t = 3.1 seconds. As can be seen by comparing the speed change of the second axis near t = 3.1 seconds and the speed change of the first axis near t = 2.2 seconds, the idling detection threshold has been reduced. On the second axis, slipping is detected at an early stage. Further, the torque reduction amount and the holding time of the second shaft are also reduced compared to those of the first shaft.

  Various control parameter values of the 2nd axis were changed by detecting the idling of the 1st axis. As you can see from the change in the speed of the 2nd axis near t = 3.1 seconds, the 2nd axis induced idling. Since the torque was reduced in the initial state being applied, it re-adheres early. That is, it can be said that the induction was effectively suppressed and the traction force was maintained and improved.

  As described above, according to the first embodiment, when the occurrence of idling on the other axis is detected, the acceleration threshold value Sα, the first speed threshold value SV1, and the second speed threshold value SV2 that are idling detection threshold values of the own axis. Is temporarily reduced during the control parameter value change period Pp. When the occurrence of idling on the other axis is detected, the idling may also be induced on the own axis. Therefore, by temporarily reducing the idling slip detection threshold of the own axis, it is possible to catch the state where the idling of the idling on the own axis is being induced earlier, and to perform the torque current reduction control at an early stage, Induction of idling on the own axis can be effectively suppressed.

  Further, the amount of reduction in the idling detection threshold is changed in accordance with the positional relationship between the other axis where the occurrence of idling is detected and the own axis not yet detected at that time. If the occurrence of idling on the other axis is detected and the current corresponding to the torque is reduced, bogie pitching, axle load movement, etc. occur, so the influence on the own axis depends on the positional relationship between the other axis and the own axis. It is possible to make an appropriate guess and change the threshold reduction amount appropriately.

  In addition, when the occurrence of idling on the other axis is detected, and the idling detection on the own axis is detected while the idling idling threshold of the own axis is reduced (during the control parameter value change period Pp) The torque reduction / return control is performed by reducing the pull-down control value related to the torque reduction / return control. Detecting the occurrence of idling with the idling detection threshold being reduced only means that the idling of the idling is being detected. Therefore, during the control parameter value change period Pp, the reduction amount Qt, the holding time Th, the return time Tt related to the torque reduction / return control are reduced, and the reduction speed Wt is increased, thereby reducing the normal reduction control method. The torque reduction current is controlled by different reduction control methods.

  Note that the control parameter values related to the re-adhesion control described in the first embodiment are examples, and other control parameter values may be included. Further, the control parameter values to be changed are set to some of the control parameter values described in the first embodiment (for example, the acceleration threshold value Sα and the speed first threshold value SV1 for the idling / sliding detection threshold value, and the reduction amount Qt for the reduction control value). The holding time h) may be changed.

  Further, in the first embodiment, the method for determining the coefficient K has been described on the assumption that the relationship between the detection axis where the occurrence of idling and the own axis are in the same vehicle. The same applies to the above. For example, when the detection axis and the own axis are in the same vehicle, the coefficient K is determined according to the coefficient table of FIG. 5, and when the detection axis and the own axis are different vehicles, the coefficient K is determined according to the coefficient table of FIG. To do. In FIG. 10, although the three-car train of the first vehicle to the third vehicle is used, four or more cars may be used. Further, the coefficient K may not be changed (k = 1 remains) when the detection axis vehicle and the own axis vehicle are separated by two or more.

  Further, temporary control parameter values corresponding to the positional relationship between the detection axis and the own axis may be determined in advance and used. Specifically, when the occurrence of idling on the other shaft is not detected, the re-adhesion control is executed using the control parameter standard value of FIG. When the occurrence of idling on the other axis is detected, as shown in FIG. 10 (b), control parameter temporary values determined in advance corresponding to the positional relationship between the detection axis and the own axis are selected. Then, the control parameter temporary value corresponding to the positional relationship between the detection axis and the own axis is selected, and the re-adhesion control is executed.

  Further, the first embodiment has been described as the 1C1M system in which one inverter drives and controls one motor. However, the present invention is also applied to the 1C2M system and the like in which one inverter drives and controls a plurality of motors. be able to. In that case, the amount of change in the control parameter value may be changed depending on whether the detection axis where the occurrence of idling is detected and the own axis are controlled by the same inverter. However, the control parameter value to be changed is finally determined at the experimental stage or the design stage, and the basic inventive concept is the same as that of the first embodiment described above.

<Second embodiment>
FIG. 12 is a circuit block diagram of the second embodiment. The difference from the first embodiment is that the information output / input between the axes is not the slip detection information but the speed V / acceleration α information output by the speed / acceleration detection unit, and each axis has another axis. This is to detect the occurrence of idling. Therefore, the re-adhesion control device 40-1 newly has an idle running detection unit 45-1 that detects the occurrence of idle running on the other axis based on the other axis information.

<Third embodiment>
FIG. 13 is a circuit block diagram of the third embodiment. The third embodiment is an embodiment in the case where there is an overall control device as a host device that performs overall control of the control devices for each axis. The overall control device 300 is a device that collectively manages and controls electric vehicles or formations, and is configured to include an overall re-adhesion control unit 700.

The overall re-adhesion control unit 700 receives the PG signal of each axis and detects the occurrence of idling of each axis, performs torque reduction / return control of each axis, generates a torque reduction command signal, and generates a torque reduction command signal. To the control device 30 (30-1, 30-2,...).
The overall re-adhesion control unit 700 has circuit blocks corresponding to the control parameter value setting unit, the idling / sliding detection unit, and the torque reduction command control unit of FIG. 2 for each axis, and the re-adhesion of FIG. 8 for each axis. By executing the same process as the control process in parallel, the re-adhesion control of each axis is performed collectively.

[Modification]
As mentioned above, although embodiment which applied this invention was described, embodiment which can apply this invention is not necessarily restricted to these.
For example, although application to an electric vehicle has been described, it is needless to say that the present invention can be applied to an electric locomotive that travels by driving an electric motor with electric power generated by an internal combustion engine.
Further, although the number of axes of one vehicle is illustrated and described as “4”, it may be “6” or “8”.

  In the above-described embodiment, the speed and acceleration are detected based on the PG signal. However, speed sensorless vector control technology may be applied to detect speed and acceleration without using a speed sensor such as a pulse generator. Specifically, the speed / acceleration detection unit 60 detects (estimates) the shaft speed V by estimating the rotational speed from the motor current / voltage supplied to the motor 10, and further detects (estimates) the acceleration α. It is good to do.

(Modification of circuit block of re-adhesion control device)
In the above-described embodiment, the control parameter value related to the re-adhesion control has been described as switching between the control parameter standard value and the control parameter temporary value. However, the idle running detection unit and the torque reduction command control unit are prepared in two systems (two sets), one is set as a control parameter standard value, the other is set as a control parameter temporary value, and two systems (two sets) are prepared. It is good also as a circuit structure to switch. FIG. 14 shows a modification in which the above-described first embodiment is changed to this circuit configuration.

In FIG. 14, the main circuit relating to the first axis includes a standard system A-1 having an idling / sliding detector 70A-1 and a torque reduction command controller 80A-1 in which standard control parameter values are set, and temporary control parameter values. Is provided with a temporary system B-1 having an idling / sliding detection unit 70B-1 and a torque reduction command control unit 80B-1 and a switching unit 65-1. The switching unit 65-1 switches between the standard system A-1 and the temporary system B-1 based on the other axis information. Therefore, when other axis information is not input, idling and torque reduction / return control according to the control parameter standard value is performed, and when other axis information is input, the control parameter temporary value is followed. Free running detection and torque reduction / return control are performed.
Although the case where it applied to 1st Example was demonstrated, of course, it can apply similarly to 2nd Example and 3rd Example.

(State value for idling detection)
In the above-described embodiment, it has been described that the speed V and the acceleration α are used as the state value for detecting the idling and sliding, but the jerk J may be further used.
FIG. 15 is a diagram illustrating an example of a logic configuration of the idling / sliding detection unit when jerk is used. Compared to the logic configuration of FIG. 3, a comparator 701 is added, the logical product circuit 75 is replaced with a logical product circuit 702, and the logical sum circuit 76 is replaced with a logical sum circuit 703.
The jerk J is obtained by the speed / acceleration detection unit 60-1 further differentiating the detected acceleration α. The comparator 701 compares the jerk J detected by the speed / acceleration detection unit 60-1 with the jerk threshold SJ. When the jerk J is greater than or equal to the jerk threshold SJ, the H signal is output. The logical product circuit 702 calculates the logical product of the comparison results of the comparators 701, 72, and 73 and outputs the logical product to the logical sum circuit 703.

(Sliding detection)
In the embodiment described above, the determination of idling was described as the only determination. However, it is also possible to determine a preliminary (predictive) state before determining that the vehicle is in an idling state and to detect the idling state in multiple stages. For example, the logic configuration of the idling / sliding detection unit may be configured as shown in FIG. The logic configuration of FIG. 16 is a configuration in which a logical sum circuit 704 that calculates the logical sum of the comparison results of the comparator 701 and the comparator 72 and outputs the result as a primary detection result is added to the logic configuration of FIG. . According to the logic configuration of FIG. 16, primary detection that the self-axis jerk J or the self-axis acceleration α is equal to or greater than a predetermined threshold value is output as a primary detection result. This primary detection result is used as the axis information of the first to fourth axes described above. That is, for example, in FIG. 2, when the primary detection is performed on any of the second axis to the fourth axis, the control parameter value is changed to a temporary control parameter value. By doing so, when the other shaft is in a preliminary (predictive) state of idling, the re-adhesion control of the own shaft becomes a sensitive control, and the induction of idling can be further suppressed. Of course, the present invention can be similarly applied to the second embodiment and the third embodiment.

DESCRIPTION OF SYMBOLS 10-1 Electric motor 20-1 Inverter 30-1 Control apparatus 40-1 Re-adhesion control apparatus 50-1 Control parameter value setting part 70-1 Sliding slip detection part 80-1 Torque reduction command control part 90-1 Vector arithmetic control apparatus

Claims (5)

Motor control that performs detection processing to detect the occurrence of idling by comparing the state value for detecting idling of the driving shaft with a given threshold value, and to reduce the current corresponding to the torque of the moving shaft detected by the detection processing A method,
A first detecting process step for detecting that the have line detection processing, idling sliding either dynamic shaft occurs for each of the plurality of shafts,
When the occurrence of idling is detected in the first detection processing step, of the plurality of dynamic axes, other than the detected dynamic axis (hereinafter, this dynamic axis is referred to as “first dynamic axis”) . For each of the dynamic axes (hereinafter, this dynamic axis is referred to as “second dynamic axis”) , the threshold value is temporarily reduced to perform the detection process in which the detection of the occurrence of idling is made more sensitive than before the reduction . Detection processing steps,
An electric motor control method including: In the second detection processing step, the threshold value is reduced for each of the second moving axes for a predetermined period from when the occurrence of idling in the first detection processing step is detected, and the detection processing is performed. The steps to do are
The electric motor control method according to claim 1. A first lowering control step of lowering a current corresponding to the torque of the first moving shaft by a first lowering control method when occurrence of idling is detected in the first detection processing step;
The generation of idle sliding in the first detection processing step is detected, and, when the occurrence of idle sliding in said second detection process step has been detected, a second rotary shaft which is the detected first A second lowering control step for lowering the torque current by a second lowering control method different from the lowering control method ;
Further motor control method according to including claim 1 or 2. The second lowering control step includes (1) a lowering amount less than the lowering amount by the first lowering control method , (2) a lowering speed faster than the lowering rate by the first lowering control method , (3) The second including at least one of a holding time shorter than a holding time at the time of lowering by the first lowering control method , and (4) a returning time shorter than a returning time after the lowering by the first lowering control method . lowering control method comprising lowering the torque current, the
The electric motor control method according to claim 3 . Motor control that performs detection processing to detect the occurrence of idling by comparing the state value for detecting idling of the driving shaft with a given threshold value, and to reduce the current corresponding to the torque of the moving shaft detected by the detection processing A device,
A first detection processing means have lines the detection process for each of the plurality of shafts, idle sliding either the dynamic axis is detected that has occurred,
When the occurrence of idling is detected in the first detection processing step, the threshold is temporarily set for each of the second moving axes other than the detected first moving axis among the plurality of moving axes. A second detection processing means for performing the detection processing to reduce the occurrence of idling and make the detection of the occurrence of idling more sensitive than before the reduction ,
An electric motor control device.

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