JP5643271B2 - Method for detecting occurrence of idling and motor control device - Google Patents

Description

  The present invention relates to an electric motor control device that detects occurrence of idling or sliding (idling) of a moving wheel and performs re-adhesion control of the driving wheel.

  Electric vehicles, electric vehicles, and the like are known as vehicles that travel by driving a driving wheel with an electric motor. Hereinafter, a train (power vehicle) will be described 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. In the case of idling, the control for reducing the generated torque of the electric motor to return to the sticking running, that is, the re-sticking control is performed (for example, refer to Patent Document 1).

  In this re-adhesion control, in order to detect the speed and acceleration to be monitored, it is common to use a sensor that detects the rotation of the driving wheel. For example, a rotation generator such as a speed generator that is provided near the shaft end of the driving wheel shaft or the axle and detects the rotation of the driving wheel, or a pulse generator that detects the crests of the gears is known. The rotation of the driving wheel is detected directly or indirectly.

  Therefore, the rotation detection signal of the rotation detector includes a noise component in addition to the main signal component related to the rotation of the driving wheel in the circumferential direction by the electric motor. For example, it is a high-frequency component due to the influence of vibration of a cart or a car body. For this reason, conventionally, speed / acceleration is obtained by removing high-frequency components from the rotation detection signal by performing smoothing in the time axis direction such as a low-pass filter and moving average calculation using a digital filter such as an FIR filter. It was generally used for re-adhesion control.

JP 2002-44804 A

  However, there is a time delay in smoothing. For example, if a low-pass filter is used for smoothing, the time constant becomes a problem. If time is required for signal processing, the occurrence of idling will be detected with a delay from the actual idling, resulting in a control delay. In addition, the torque is reduced after the occurrence of idling and sliding is detected, but the end timing of the torque reduction, the control timing for returning to the original torque, and the like are also delayed.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a new balance between the removal of noise components included in the rotation detection signal and the reduction of time delay. A re-adhesion control method is proposed.

The first form for solving the above problems is:
An electric motor control method for controlling an electric motor that drives a driving wheel (for example, the electric motor 10 in FIG. 3) to perform re-adhesion control of the driving wheel,
A first acceleration detecting step (for example, idling in FIG. 4) that detects acceleration by performing a differential operation and a first smoothing process that smoothes in the time axis direction based on the speed of the moving wheel detected as needed. Acceleration detection by the acceleration detection unit 612 for sliding detection),
Based on the speed of the moving wheel detected at any time, a differential operation and a smoothing process for smoothing in the time axis direction, a second smoothing having a smoothing time width narrower than that of the first smoothing process A second acceleration detection step (for example, acceleration detection by the recovery detection acceleration detection unit 622 in FIG. 4) for detecting acceleration by performing processing;
An idling detection detection step (for example, idling detection by the idling detection unit 610 in FIG. 4) for detecting the occurrence of idling using the acceleration detected in the first acceleration detecting step;
A torque reduction start step (for example, torque reduction by the re-adhesion control unit 640 in FIG. 4) for starting torque reduction control of the electric motor in response to detection of the idling and sliding occurrence detection step;
A recovery detection step (for example, recovery detection by the recovery detection unit 620 in FIG. 4) for detecting recovery after idling using the acceleration detected in the second acceleration detection step after the start of the torque reduction control;
A torque reduction end step (for example, completion of torque reduction control by the re-adhesion control unit 640 in FIG. 4) for ending the torque reduction control in response to detection of the recovery detection step;
Is an electric motor control method including

As another form,
An electric motor control device (for example, the electric motor control device 50 in FIG. 3) that controls the electric motor that drives the driving wheel and performs re-adhesion control of the driving wheel,
Based on the speed of the moving wheel detected at any time, a first acceleration detecting unit (for example, the idling in FIG. 4) that detects the acceleration by performing a differential operation and a first smoothing process that smoothes in the time axis direction. Glide detection acceleration detection unit 612),
Based on the speed of the moving wheel detected at any time, a differential operation and a smoothing process for smoothing in the time axis direction, a second smoothing having a smoothing time width narrower than that of the first smoothing process A second acceleration detection unit (for example, a recovery detection acceleration detection unit 622 in FIG. 4) that performs processing and detects acceleration;
An idle running occurrence detection unit (for example, an idle running detection unit 610 in FIG. 4) that detects the occurrence of idle running using the acceleration detected by the first acceleration detection unit;
A recovery detector (for example, a recovery detector 620 in FIG. 4) that detects recovery after idling using the acceleration detected by the second acceleration detector;
And an electric motor control device that performs the re-adhesion control using the detection result of the idling and sliding occurrence detection unit and the detection result of the recovery detection unit.

  In the first embodiment and the like, the differential operation and the first smoothing process may be performed in the same order or the reverse order, or may be performed simultaneously. When performing simultaneously, there exists a method of extending the sampling interval of the speed of the driving wheel used for a differential calculation, for example. The same applies to the differential operation and the second smoothing process.

  According to the first embodiment and the like, acceleration is detected by performing a differential operation and a smoothing process for smoothing in the time axis direction based on the speed of the moving wheel detected at any time. Two types of acceleration are detected (required) by the first smoothing process having a wide width and the second smoothing process having a narrow width. Then, the occurrence of idling is detected using the acceleration detected using the first smoothing process, and the recovery after the idling is detected using the acceleration detected using the second smoothing process. The

  If the time width for smoothing is widened, reliable removal of noise components can be expected, but the time delay increases. On the other hand, if the smoothing time width is narrowed, the time delay is reduced, but the noise component cannot be completely removed, and components other than the main signal component related to the rotation of the driving wheel in the circumferential direction remain in the detected acceleration. There is a high possibility that it will end.

  According to the first form or the like, the acceleration detected using the first smoothing process with a wide time width to be smoothed is used for detecting the occurrence of idling. When the occurrence of idling is detected, the torque reduction control of the electric motor is performed immediately, so the occurrence detection of idling should be surely removed even at the expense of some time delay. is there. On the other hand, the acceleration detected by using the second smoothing process having a narrow time width for smoothing is used to detect the recovery after idling. After detection of the occurrence of idling, torque reduction is continuously performed until recovery is detected. If detection of recovery is delayed, the traction force will be reduced by that amount, and passenger comfort will be affected. In addition, even if recovery is erroneously detected, if the acceleration subsequently increases, the occurrence of idling can be detected again. For this reason, priority should be given to reducing the time delay for recovery detection. Therefore, according to the first embodiment or the like, it is possible to realize the re-adhesion control that appropriately balances the removal of the noise component included in the rotation detection signal and the reduction of the time delay.

Further, as a second form, the electric motor control method of the first form is
A speed reference smoothing width range changing step for changing the smoothing time width of the first smoothing process and / or the second smoothing process according to the traveling speed (for example, the smoothing time width setting unit in FIG. 5) (Smoothing time width setting by 650) may be further included.

  According to this 2nd form, it becomes possible to change the time width concerning the smoothing of the smoothing process according to the traveling speed. For example, the smoothing time width becomes wider as the running speed becomes higher, and becomes narrower as the speed becomes lower. The higher the speed, the higher priority is given to noise component removal, that is, more accurate acceleration detection. The effect of reducing delay, that is, preventing reduction in traction force due to excessive torque reduction can be expected.

Further, as a third form, the electric motor control method of the first or second form,
The motor control method may further include an extraction process step of extracting a given signal frequency component in the first smoothing process and / or the second smoothing process.

  According to the third aspect, it is possible to cut noise components in the first smoothing process and / or the second smoothing process.

Further, as a fourth form, the electric motor control method according to any one of the first to third forms,
A first detected acceleration vibration detecting step for detecting that the acceleration detected in the first acceleration detecting step includes a high-frequency component other than the main signal component related to the acceleration of the moving wheel driven by the electric motor ( For example, vibration generation determination by the vibration generation determination unit 760 in FIG.
A first smoothing width changing step (for example, a smoothing time width setting unit 770 in FIG. 10) that changes the smoothing time width of the first smoothing process according to the detection in the first detected acceleration vibration detecting step. Setting the smoothing time width by)
It is good also as comprising the electric motor control method containing these.

  According to the fourth aspect, when it is detected that the acceleration detected using the first smoothing process includes a high frequency component other than the main signal component related to the rotation by the electric motor, It becomes possible to change the time width concerning smoothing of 1 smoothing processing. For example, when a high frequency component is included, the noise component included in the acceleration detected using the first smoothing process is more reliably removed by changing the smoothing time width to be widened. It becomes possible.

Further, as a fifth mode, the electric motor control method according to any one of the first to fourth modes,
A second detected acceleration vibration detecting step for detecting that the acceleration detected in the second acceleration detecting step includes a high-frequency component other than the main signal component related to the acceleration of the moving wheel driven by the electric motor ( For example, vibration generation determination by the vibration generation determination unit 760 in FIG.
A second smoothing width changing step (for example, a smoothing time width setting unit 770 in FIG. 10) that changes the smoothing time width of the second smoothing process according to the detection in the second detected acceleration vibration detecting step. Setting the smoothing time width by)
It is good also as comprising the electric motor control method containing these.

  According to the fifth aspect, when it is detected that the acceleration detected using the second smoothing process includes a high frequency component other than the main signal component related to the rotation by the electric motor, It is possible to change the time width related to the smoothing of the smoothing process 2. For example, when a high frequency component is included, the noise component included in the acceleration detected by using the second smoothing process is more reliably removed by changing the smoothing time width to be widened. It becomes possible.

Further, as a sixth form, the electric motor control method of the fifth form,
An electric motor control method including a lowering speed changing step (for example, a lowering speed control by the lowering speed control unit 642 in FIG. 10) for changing a lowering speed in the torque lowering control according to the detection in the second detected acceleration vibration detecting step. It is good also as comprising.

  According to the sixth aspect, when it is detected that the acceleration detected using the second smoothing process includes a high frequency component other than the main signal component, the reduction speed in the torque reduction control is set. It becomes possible to change. For example, according to the fifth embodiment, when the smoothing time width is changed to include a high frequency component, the noise component can be more reliably removed, but the time delay is increased. growing. For this reason, even if the time delay becomes large by slowing down the torque reduction speed, the amount (magnitude) of the reduced torque is not changed so as to prevent the reduction of the traction force. It becomes possible.

Further, as a seventh aspect, the electric motor control method according to any one of the first to sixth aspects,
A first speed detection step for detecting a speed by performing a first rotation detection result smoothing process based on a rotation detection signal of the driving wheel by a rotation detector that detects the rotation of the driving wheel (for example, idling sliding of FIG. 7) Speed detection by the detection speed detector 611),
First detection speed vibration detection step (detection) for detecting that the speed detected in the first speed detection step includes a high-frequency component other than the main signal component related to the speed of the moving wheel driven by the motor. For example, vibration generation determination by the vibration generation determination unit 760 in FIG.
A first rotation detection result smoothing width changing step (for example, smoothing in FIG. 10) for changing the smoothing time width of the first rotation detection result smoothing process according to the detection in the first detection speed vibration detection step. Smoothing time width setting by the control time width setting unit 770),
Including
In the first acceleration detection step, acceleration is detected based on the speed detected in the first speed detection step.
It is good also as comprising an electric motor control method.

  According to the seventh aspect, when it is detected that the high speed component other than the main signal component is included in the speed detected by performing the first rotation detection result smoothing process, the first It is possible to change the time width related to the smoothing of the rotation detection result smoothing process. For example, when a high-frequency component is included, the noise component included in the speed detected by performing the first rotation detection result smoothing process is more surely changed by widening the smoothing time width. Can be removed.

Further, as an eighth mode, the electric motor control method of the seventh mode,
Based on the rotation detection signal, a second speed detection step for detecting a speed by performing a second rotation detection result smoothing process whose smoothing time width is narrower than that of the first rotation detection result smoothing process ( For example, speed detection by the recovery detection speed detection unit 621 in FIG.
A second detection speed vibration detection step for detecting that the speed detected in the second speed detection step includes a high-frequency component other than the main signal component related to the speed of the moving wheel driven by the electric motor ( For example, vibration generation determination by the vibration generation determination unit 760 in FIG.
A second rotation detection result smoothing width changing step for changing the smoothing time width of the second rotation detection result smoothing process according to the detection in the second detection speed vibration detecting step (for example, the smoothing width in FIG. 10). Smoothing time width setting by the control time width setting unit 770),
Including
In the second acceleration detection step, acceleration is detected based on the speed detected in the second speed detection step.
It is good also as comprising an electric motor control method.

  According to the eighth embodiment, combined with the seventh embodiment, the speed is detected by smoothing the rotation result of the rotation detector that detects the rotation of the driving wheel in the time axis direction, but the rotation is smoothed. Two types of speeds are detected (obtained) by the first rotation detection result smoothing process having a wide time width and the narrow second rotation detection result smoothing process. Then, based on the speed detected by the first rotation detection result smoothing process, the first acceleration smoothing process is performed to detect the acceleration, and the second rotation detection result smoothing process is performed to detect the acceleration. Based on the speed, acceleration is detected using the second smoothing process. Therefore, the speed detected by performing the first rotation detection result smoothing process with a wide smoothing time width is finally used for detecting the occurrence of idling, and the second rotation detection result with a narrow smoothing time width. The speed detected by performing the smoothing process is finally used for detection of recovery after idling. Therefore, as in the first embodiment, it is possible to realize rational re-adhesion control that balances the removal of noise components included in the rotation detection signal and the reduction of time delay.

  Further, when it is detected that the speed detected by the second rotation detection result smoothing process includes a high-frequency component other than the main signal component, the second rotation detection result smoothing process is smoothed. It becomes possible to change the time width concerning. For example, when a high frequency component is included, the noise component included in the speed detected by performing the second rotation detection result smoothing process is more surely changed by widening the smoothing time width. Can be removed.

Moreover, various forms can be considered for the detection of idling.
For example, as a ninth mode, the motor control method according to any one of the first to eighth modes,
In the idling detection occurrence step, the acceleration detected in the first acceleration detection step satisfies a first acceleration threshold condition, and a speed difference between the moving wheel speed and a given reference speed is given. It is a step of detecting the occurrence of idling when the speed difference threshold condition is satisfied,
It is good also as comprising an electric motor control method.

Further, as a tenth aspect, the electric motor control method according to any one of the first to eighth aspects,
Based on the speed of the moving wheel detected at any time, a differential operation and a smoothing process for smoothing in the time axis direction, and a third smoothing having a smoothing time width narrower than the first smoothing process And a third acceleration detecting step for detecting acceleration by performing processing,
In the idling detection occurrence step, the acceleration detected in the first acceleration detection step satisfies a first acceleration threshold condition, and the acceleration detected in the third acceleration detection step is a third acceleration threshold value. It is a step of detecting the occurrence of idling when the condition is satisfied,
It is good also as comprising an electric motor control method.

Further, as an eleventh aspect, the electric motor control method according to any one of the first to eighth aspects,
In the idling detection occurrence step, the acceleration detected in the first acceleration detection step satisfies a first acceleration threshold condition, and the acceleration detected in the second acceleration detection step is a second acceleration threshold value. It is a step of detecting the occurrence of idling when the condition is satisfied,
It is good also as comprising an electric motor control method.

The twelfth form is
An electric motor control method for controlling a motor that drives a driving wheel to perform re-adhesion control of the driving wheel,
A speed detection step of detecting a speed by performing a rotation detection result smoothing process based on a rotation detection signal of the driving wheel by a rotation detector that detects the rotation of the driving wheel (for example, speed detection by the speed detection unit 701 in FIG. 10). When,
Detection speed vibration detection step for detecting that the speed detected in the speed detection step includes a high-frequency component other than the main signal component related to the speed of the moving wheel driven by the electric motor (for example, for speed in FIG. 10) Determination of occurrence of vibration by the determination unit 762),
A rotation detection result smoothing width changing step for changing the smoothing time width of the rotation detection result smoothing process according to the detection in the detection speed vibration detecting step (for example, the smoothing time width by the speed setting unit 772 in FIG. 10) Settings) and
Based on the speed detected at any time in the speed detection step, an acceleration detection step (for example, an acceleration detection unit 702 in FIG. 10) that detects an acceleration by performing a differential operation and an acceleration smoothing process that smoothes in the time axis direction. Acceleration detection), and
A detected acceleration vibration detecting step for detecting that the acceleration detected in the acceleration detecting step includes a high frequency component other than the main signal component related to the acceleration of the moving wheel driven by the electric motor (for example, for acceleration in FIG. 10) Determination of occurrence of vibration by the determination unit 761),
A smoothing width changing step for changing the smoothing time width of the smoothing process in the acceleration detecting step according to the detection in the detected acceleration vibration detecting step (for example, the smoothing time width of the acceleration setting unit 771 in FIG. 10) Settings)
An idling detection detection step (for example, idling detection by the idling detection unit 610 in FIG. 10) for detecting the occurrence of idling using the acceleration detected in the acceleration detecting step;
A torque reduction start step (for example, torque reduction control by the re-adhesion control unit 640 in FIG. 10) for starting torque reduction control of the electric motor in response to detection of the idling and sliding occurrence detection step;
A recovery detection step (for example, recovery detection by the recovery detection unit 620 in FIG. 10) for detecting recovery after idling using the acceleration detected in the acceleration detection step after the start of the torque reduction control;
A torque reduction end step (for example, completion of torque reduction control by the re-adhesion control unit 640 in FIG. 10) for ending the torque reduction control in response to detection of the recovery detection step;
Is an electric motor control method including

As another form,
An electric motor control device that controls an electric motor that drives a driving wheel to perform re-adhesion control of the driving wheel,
A speed detection unit (for example, a speed detection unit 701 in FIG. 10) that detects a speed by performing a rotation detection result smoothing process based on a rotation detection signal of the driving wheel by a rotation detector that detects the rotation of the driving wheel;
A detection speed vibration detection unit that detects that the speed detected by the speed detection unit includes a high-frequency component other than the main signal component related to the speed of the moving wheel driven by the electric motor (for example, for the speed of FIG. 10). Determination unit 762),
A rotation detection result smoothing width changing unit (for example, a speed setting unit 772 in FIG. 10) that changes a smoothing time width of the rotation detection result smoothing process according to detection by the detection speed vibration detection unit;
Based on the speed detected at any time by the speed detection unit, an acceleration detection unit (for example, the acceleration detection unit 702 in FIG. 10) that detects the acceleration by performing differentiation and acceleration smoothing processing that smoothes in the time axis direction. )When,
A detected acceleration vibration detection unit (for example, for acceleration in FIG. 10) that detects that the acceleration detected by the acceleration detection unit includes a high-frequency component other than the main signal component related to the acceleration of the moving wheel driven by the motor. Determination unit 761),
A smoothing width changing unit (for example, an acceleration setting unit 771 in FIG. 10) that changes a smoothing time width of the smoothing process by the acceleration detecting unit in accordance with detection by the detected acceleration vibration detecting unit;
An idling run detection unit (for example, idling run detection unit 610 in FIG. 10) that detects the occurrence of idling using the acceleration detected by the acceleration detection unit;
A recovery detection unit (for example, recovery detection unit 620 in FIG. 10) that detects recovery after idling using the acceleration detected by the acceleration detection unit;
And a motor control device that performs the re-adhesion control using the detection result of the idling and sliding occurrence detection unit and the detection result of the recovery detection unit.

  According to the ninth embodiment, the speed is detected based on the rotation detection signal of the rotation detector that detects the rotation of the driving wheel, and the differential calculation and the smoothing in the time axis direction are performed based on the detected speed. The acceleration is detected by performing smoothing processing. However, when the detected speed includes a high-frequency component other than the main signal component related to rotation by the electric motor, the smoothing time width is changed, for example, by increasing the time width related to smoothing. Thus, it becomes possible to detect the rotational speed of the moving wheel in the circumferential direction more accurately. Even when the detected acceleration contains high-frequency components other than the main signal component, the time width for smoothing is changed, so that the rotational acceleration in the circumferential direction of the driving wheel can be detected more accurately. It becomes. Therefore, only when the noise component cannot be removed, the smoothing time width is widened.

  Using the acceleration detected in this way, the occurrence of idling and recovery after idling is detected and re-adhesion control is performed, so that false detection of speed and acceleration is suppressed, and time delay is also minimized. Re-adhesion control can be realized.

Further, as a thirteenth form, the electric motor control method of the twelfth form,
An electric motor control method including a lowering speed changing step (for example, changing the lowering speed by the lowering speed control unit 642 in FIG. 10) for changing the lowering speed in the torque lowering control according to the detection in the detected acceleration vibration detecting step is configured. It is good as well.

  According to the thirteenth embodiment, when it is detected that the acceleration detected using the smoothing process includes a high-frequency component other than the main signal component, the pull-down speed in the torque pull-down control is changed. Is possible. For example, according to the ninth embodiment, when the smoothing time width is changed to include a high frequency component, the noise component can be more reliably removed, but the time delay is reduced. growing. For this reason, even if the time delay becomes large by slowing down the torque reduction speed, the amount (magnitude) of the reduced torque is not changed so as to prevent the reduction of the traction force. It becomes possible.

The figure for demonstrating re-adhesion control. The figure which shows an example of the axial velocity and acceleration calculated from PG signal. The figure which shows the circuit block of the main circuit of the train of 1st Example. The block diagram of the re-adhesion control apparatus of 1st Example. The figure which shows the modification of the re-adhesion control apparatus of 1st Example. The figure which shows an example of the setting of the smoothing time width according to a speed range. The figure which shows the modification of the re-adhesion control apparatus of 1st Example. The figure which shows the modification of the re-adhesion control apparatus of 1st Example. The figure for demonstrating the idling detection using the acceleration detected by the some smoothing time width. The block diagram of the re-adhesion control apparatus of 2nd Example. The figure for demonstrating the relationship between the change of an axial speed and an acceleration, and the reduction | decrease speed of a torque part current command.

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 which is a kind of electric vehicle will be described. However, if the vehicle is driven by driving a driving wheel with an electric motor, the electric locomotive, which is another electric vehicle, It can also be applied to automobiles. Of course, the brake control can be applied not only to the regenerative brake but also to an electric vehicle that performs a brake control by a mechanical brake.
In addition, after describing the problems that are the basis of the concept of the present invention, specific examples will be described in detail. In the following description, the “motor torque” is increased or decreased as appropriate for the sake of simplification, but more precisely, “torque component current” and thus “torque component current command” is increased or decreased.

[problem]
FIG. 1 is a diagram for explaining the re-adhesion control. A series of signals from the idling state where no free-running has occurred to the re-adhesion control after re-adhesion control has occurred. The waveform is shown. A graph showing the axial speed V and the reference speed Vm of the control target dynamic axis, a graph showing the acceleration α of the control symmetry axis, a graph showing the motor torque τ _e, and a slipping detection signal, in order from the top, with the horizontal axis as time t And a graph of a recovery detection signal. In a state where no idling occurs, the shaft 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 Vd, which is the difference from the reference speed Vm, increases. Then, when the speed difference Vd reaches a predetermined idling detection threshold value Vs at time t1, occurrence of idling is detected. Here, the idling detection signal is turned ON.

Then, the re-adhesion control is activated, and the reduction of the motor torque τ _e (more precisely, the reduction of the current corresponding to the torque) is started. Reduction in motor torque tau _e is continuously performed at a predetermined lowered rate Wt. That is, the amount by which the torque τ _e is reduced 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 axial speed V continues to increase, but at time t2 when the acceleration α becomes zero, the increase in the axial speed V also becomes zero. The fact that the acceleration α has become zero is detected as the start of recovery from idle running to the original adhesive running (recovery detection). Here, the idling detection signal is turned off and the recovery detection signal is turned on. Although the acceleration α for recovery detection has been described as zero, it has been set to zero for the sake of simplification of description, and a predetermined recovery detection threshold (for example, “+1” or “−1” instead of zero). When the following is reached, it may be detected as recovery start.

When recovery is detected, the reduction of the motor torque τ _e is stopped and the amount of reduction is maintained. Then, the decrease in acceleration α, which has been negative, is gradually suppressed, and eventually increases. Further, the axial speed V, which has a large deviation from the reference speed Vm, starts to decrease. When the speed difference Vd becomes equal to or less than a predetermined re-adhesion detection threshold Vr, it is detected as re-adhesion (re-adhesion detection), and the control for the return operation is started. That is, the control for returning to decrease the torque to lower the amount of the held have the motor torque tau _e is started. Then, at the time t4 when the motor torque τ _e returns to a predetermined target torque value (for example, the value at the start time of the re-adhesion control (time t1)), the re-adhesion control ends. The motor torque τ _e after the re-adhesion detection is controlled so as to return over a predetermined return time Tt.

  In this case, the monitoring target for the idling / sliding detection and the re-adhesion detection is the axial speed V (and hence the speed difference Vd), but the acceleration α may be used in addition to the monitoring target. Further, although the acceleration α is set as the monitoring target for recovery detection, the axial velocity V (and thus the speed difference Vd) is also used in addition to the monitoring target, so that the acceleration α becomes zero, or the speed difference Vd is the idling sliding detection threshold Vs. You may detect that it is below the predetermined threshold below, considering it as a recovery start.

As described above, the re-adhesion control is controlled according to these values with the axial velocity V and the acceleration α being monitored, and the axial velocity V and the acceleration α are determined by the rotation detector that detects the rotation of the driving wheel. Generally, it is obtained from the detection result signal. In the following first to second embodiments, a pulse generator is used as the rotation detector. There are various methods for obtaining the shaft speed from the signal detected by the pulse generator (hereinafter referred to as “PG signal”). For example, as a method for obtaining digital speed using a digital filter such as an FIR filter, a certain time is used. The pulse number counting method that calculates the speed using the number of pulses counted during this period and the wheel diameter, and the entire pulse train that is obtained from pulses before and after a certain time width and pulses within the certain time An average pulse width counting method for calculating a speed using a detection time width, the number of pulses in the pulse train, and a wheel diameter is known. Both methods perform smoothing by averaging in the time axis direction. Further, when implemented as a signal processing circuit instead of digital arithmetic processing, it is constituted by a differentiator and a low-pass filter. In this case, the low-pass filter plays a role of smoothing in the time axis direction.
Further, the acceleration α is obtained by further differentiating the axial velocity V.

  However, a high-frequency noise component due to the influence of the vibration of the carriage or the vehicle body is superimposed on the PG signal, in addition to the circumferential speed component only by driving the motor. For this reason, it is common to perform a process of removing a noise component by providing a time width that is approximately equal to the time width related to smoothing when obtaining the axial speed. In addition, when calculating acceleration, a moving average calculation is performed, or a sampling time interval used for the calculation is set to a predetermined interval (more specifically, a sampling interval of speeds used for acceleration calculation among speeds detected at any time) Since the smoothing time width can be changed by changing, the sampling interval is kept at a predetermined interval.) In general, a certain degree of smoothing is performed in the time axis direction. FIG. 2 shows an example of the axial speed and acceleration calculated from the PG signal.

  In FIG. 2, the axial speed V indicates a first speed with a short average time width (for example, a smoothing time width of 1 ms) and a second speed with a long average time width (for example, a smoothing time width of 25 ms). Yes. It can be seen that the first speed axial speed V with a short smoothing time width causes minute vibrations, but the second speed axial speed V with a long smoothing time width has no vibrations. Each acceleration in FIG. 2 indicates the acceleration when the smoothing time width is variously changed with respect to the axial speed V of the second speed. The smoothing time width is increased (widened) in the order of the first acceleration to the fourth acceleration. The axial speed V of the second speed appears as if it is not vibrating in FIG. However, slight vibration (noise component) still remains. As a result, the graph of the acceleration α of the first acceleration having the shortest smoothing time width vibrates and has a large amplitude. It can be seen that the magnitude of vibration decreases at the acceleration α as the smoothing time width becomes longer (wider), that is, as the second acceleration, the third acceleration, and the fourth acceleration.

  However, a time delay occurs by increasing (widening) the smoothing time width. It can be seen that as the smoothing time width increases in the order of the first acceleration to the fourth acceleration, the graph of acceleration α is shifted to the right, and an acceleration detection delay occurs.

That is, widening the time width for smoothing in the time axis direction is effective in reducing noise components. Since it is possible to detect speed and acceleration with high accuracy by reducing the noise component, it is possible to reduce the possibility of erroneous detection of slipping detection, recovery detection, and re-adhesion detection. On the other hand, however, the detection of speed / acceleration is delayed. In re-adhesion control, when idling is detected, the motor torque τ _e is continuously reduced at a predetermined reduction speed until recovery is detected (see FIG. 1). Therefore, if the detection of recovery is delayed, excessive torque reduction is performed, leading to a decrease in the traction force of the train. In particular, we want to avoid a reduction in traction during low-speed driving or climbing. For this reason, we want to eliminate the detection delay of speed and acceleration as much as possible. It is important how to eliminate the noise component contained in the detection signal by the rotation detector and to reduce the speed / acceleration detection delay. An embodiment for solving this problem will be described below.

[First embodiment]
FIG. 3 is a diagram schematically showing a configuration related to the first embodiment in the circuit block of the main circuit of the train, and shows one drive shaft. That is, the control of the electric motor will be described below as individual control (so-called 1C1M), but the applicable form of the present invention is not limited to this. For example, the present invention can be applied to 1C2M that collectively controls the two driving wheels. According to FIG. 3, the main circuit of the train related to the first embodiment includes an electric motor 10, a pulse generator 20, an inverter 30, a current sensor 40, and an electric motor control device 50.

The electric motor 10 is a main electric motor (main motor) that rotates the axle by being supplied with electric power from the inverter 30, and is realized by, for example, a three-phase induction motor. The pulse generator 20 is a rotation detector that detects the rotation of the drive shaft, and outputs a PG signal as a detection signal to the re-adhesion control device 60 and the vector calculation control device 90. Other rotation detectors such as a speed generator may be used instead of the pulse generator. The current sensor 40 is provided at the input end of the electric motor 10 and detects U-phase and V-phase currents Iu and Iv flowing into the electric motor 10. The inverter 30 is supplied with overhead power via a pantograph and a converter. Then, the output voltage is adjusted based on the voltage command values Vu ^* , Vv ^* , and Vw ^* of the U-phase, V-phase, and W-phase input from the vector calculation control device 90, and the electric motor 10 is supplied with power.

  The electric motor control device 50 performs vector control of the electric motor 10. The electric motor control device 50 is realized by a computer or the like including a CPU, a ROM, a RAM, and the like. Configured as The electric motor control device 50 includes a re-adhesion control device 60 and a vector calculation control device 90.

  The re-adhesion control device 60 detects the shaft speed V of the drive shaft from the PG signal of the pulse generator 20, and further detects the acceleration α by performing a differentiation operation. Then, using the reference speed Vm, the detected axial speed V and the acceleration α are monitored, and slipping detection, recovery detection, and re-adhesion detection are performed, and control is performed to re-adhere the wheel that has slipped. In this re-adhesion control, a torque reduction command signal for re-adhering the moving wheels by controlling the torque generated by the electric motor 10 is generated and output to the vector arithmetic control device 90. Here, the reference speed Vm is a traveling speed of the train, and may be, for example, a speed obtained from a driver's cab or an axial speed of a follower wheel of a T car. Further, among the shaft speeds of the respective axes in the vehicle, the minimum value may be determined during power running, and the maximum value or the like may be determined during braking.

The vector arithmetic control device 90 includes an excitation current component Id, which is a d-axis component obtained by performing dq axis coordinate conversion on Iv, Iu detected by the current sensor 40, and a torque current component (motor torque), which is a q-axis component. (Divided current) Iq, shaft speed V obtained from the PG signal detected by the pulse generator 20, current command values Id ^* and Iq ^* input from a current command generator (not shown), and input from the re-adhesion control device 60 Based on the torque reduction command signal or the like, voltage command values Vu ^* , Vv ^* , Vw ^* for the inverter 30 are generated. Specifically, while the torque reduction command signal is not input, normal calculation processing based on the current command values Id ^* , Iq ^*, etc. is performed to calculate the voltage command values Vu ^* , Vv ^* , Vw ^* , and the torque reduction. When the command signal is input, the voltage command values Vu ^* , Vv ^* , Vw ^* are calculated so as to reduce the torque generated by the electric motor 10 by an amount corresponding to the signal. Here, since the arithmetic processing for calculating the voltage command values Vu ^* , Vv ^* , Vw ^* based on the current command values Id ^* , Iq ^*, etc. is a known arithmetic processing, detailed description thereof is omitted.

  FIG. 4 is a block diagram illustrating a configuration of the re-adhesion control device 60. The re-adhesion control device 60 includes a speed detection unit 601, an adder 603, an idling detection acceleration detection unit 612, an idling detection unit 610, a recovery detection acceleration detection unit 622, and a recovery detection unit 620. The re-adhesion detection acceleration detection unit 632, the re-adhesion detection unit 630, and the re-adhesion control unit 640 are configured.

  The speed detection unit 601 detects the speed by performing a rotation detection result smoothing process for smoothing the detection interval of the drive shaft or the number of detections per unit time in the time axis direction based on the PG signal. Specifically, the speed is detected by the above-mentioned constant time pulse number counting method, average pulse width counting method, or the like. The smoothing time width Ts is set to a value that provides a certain effect for removing a noise component that is a high-frequency vibration component, for example, 25 ms.

  The idling detection acceleration detection unit 612, the recovery detection acceleration detection unit 622, and the re-adhesion detection acceleration detection unit 632 each include a differential calculation unit that performs a differential calculation on the axis velocity V detected by the speed detection unit 601, and a time axis. Although the acceleration is detected by having a smoothing unit that smoothes in the direction, the time width for smoothing is different. Specifically, the smoothing time width Ta2 of the recovery detecting acceleration detecting unit 622 and the smoothing time width Ta3 of the re-adhesion detecting acceleration detecting unit 632 are set to be greater than the smoothing time width Ta1 of the idling / sliding detecting acceleration detecting unit 612. Has a narrower time range. Note that the differential calculation unit may perform differential calculation after the smoothing unit first smoothes in the time axis direction instead of performing differential calculation on the axial velocity V detected by the speed detection unit 601 first. Further, if a differential calculation is performed by changing the sampling interval of the speed detected at any time, the differential calculation and the smoothing process can be performed at the same time. Therefore, the idling sliding detection acceleration detection unit 612, the recovery detection The acceleration detection unit 622 and the re-adhesion detection acceleration detection unit 632 may adopt this method. In this case, the smoothing time width corresponds to the sampling interval.

  The idling detection detection unit 612 detects an acceleration α1 that the idling detection unit 610 uses to detect idling. When the idling is detected, the torque reduction control is started immediately, so that the idling is required to be accurate. Therefore, the smoothing time width Ta1 of the idling / sliding detection acceleration detecting unit 612 is longer than the smoothing time width Ta2 of the recovery detecting acceleration detecting unit 622 and the smoothing time width Ta3 of the re-adhesion detecting acceleration detecting unit 632. A time span is defined.

  On the other hand, the recovery detection acceleration detection unit 622 detects the acceleration α2 that the recovery detection unit 620 uses for recovery detection. Of course, the accuracy of detection is also required in the recovery detection, but if the recovery is detected erroneously, and the slipping again occurs, the slipping is detected again and the torque reduction control is performed. obtain. As shown in FIG. 1, since the amount of torque reduction is continuously reduced at a predetermined reduction speed until recovery is detected, the time delay is reduced rather than the accuracy, and the traction force is improved. Therefore, priority is given to immediacy, and the smoothing time width is narrowed compared with that of idling gliding detection.

  The smoothing time width Ta3 of the acceleration detection unit 632 for re-adhesion detection is the same reason. That is, while the amount of torque reduction is maintained from recovery detection to re-adhesion detection, the torque is still reduced. For this reason, the time delay is reduced, and the smoothness time width is determined by giving priority to immediacy for improving the traction force.

The adder 603 subtracts the reference speed Vm from the shaft speed V detected by the speed detector 601 and outputs a speed difference Vd.
The idling / sliding detection unit 610 compares the speed difference Vd with the comparator 614 for determining whether the acceleration α1 detected by the idling / sliding detection acceleration detecting unit 612 is equal to or greater than a predetermined acceleration threshold value. Comparators 615 and 616 for comparing whether or not a predetermined speed difference threshold value that is considered to be equal to or higher, a logical product unit 617, and a logical sum unit 618, and using the acceleration α1 and the speed difference Vd, The occurrence is detected and a detection signal is output to the re-adhesion control unit 640. The speed difference threshold value of the comparator 616 is set larger than the speed difference threshold value of the comparator 615, and is provided for safety when the threshold judgment by the comparators 614 and 615 does not work. Therefore, when safety is ensured only by determination by the comparator 614, or when another safety measure is taken, the comparators 615, 616, the logical product unit 617, and the logical sum unit 618 may be unnecessary. . Further, the comparator 615 and the logical product unit 617 may be left, and the comparator 616 and the logical sum unit 618 may be unnecessary.

  The recovery detection unit 620 includes comparators 624 and 625 and a logical sum unit 626, and outputs a recovery detection signal to the re-adhesion control unit 640. The comparator 624 compares and determines whether or not the acceleration α2 detected by the recovery detection acceleration detecting unit 622 is equal to or lower than a predetermined acceleration threshold value (for example, equal to or lower than zero in the example of FIG. 1). The comparator 625 determines whether or not the speed difference Vd is considered to have recovered even if the acceleration α2 is not less than or equal to a predetermined acceleration threshold value, based on whether or not the speed difference Vd is less than or equal to a predetermined speed difference threshold value. The logical sum unit 626 outputs a recovery detection signal to the re-adhesion control unit 640 as recovery detection based on the determination result of either the comparator 624 or the comparator 625.

  The re-adhesion detection unit 630 includes comparators 634 and 635 and a logical sum unit 636, and outputs a re-adhesion detection signal to the re-adhesion control unit 640. The comparator 634 compares and determines whether or not the acceleration α3 detected by the re-adhesion detection acceleration detecting unit 632 is equal to or less than a predetermined acceleration threshold value that is regarded as re-adhered. The comparator 635 compares and determines whether or not the speed difference Vd is equal to or less than a predetermined speed threshold value (for example, the threshold value Vr or less in the example of FIG. 1) that is regarded as having been re-adhered. The logical sum unit 636 outputs a re-adhesion detection signal to the re-adhesion control unit 640 as re-adhesion detection based on the determination result of either the comparator 634 or the comparator 635.

  The re-adhesion control unit 640 uses the idling / sliding detection signal input from the idling / sliding detection unit 610, the recovery detection signal input from the recovery detection unit 620, and the re-adhesion detection signal input from the re-adhesion detection unit 630. As shown in the re-adhesion control described with reference to FIG. 1, a torque reduction command signal for reducing the generated torque of the electric motor 10 and realizing the re-adhesion is generated and output to the vector calculation control device 90.

  As described above, according to the first embodiment, the idling / sliding detection acceleration detection unit 612 has a smoothing time width wider than the recovery detection acceleration detection unit 622 and the re-adhesion detection acceleration detection unit 632. Detect acceleration. Accordingly, the acceleration α1 detected by the idling detection acceleration detection unit 612 is compared with the acceleration α2 detected by the recovery detection acceleration detection unit 622 and the acceleration α3 detected by the re-adhesion detection acceleration detection unit 632. It can be said that there are few noise components and the acceleration is more accurate. On the other hand, the acceleration detection unit 622 for recovery detection and the acceleration detection unit 632 for re-adhesion detection detect acceleration by narrowing the smoothing time width compared to the acceleration detection unit 612 for idling / sliding detection. There is little delay, and therefore there is little time delay for recovery detection and re-adhesion detection. Therefore, the immediacy of the change in the acceleration of the dynamic axis is improved, and the reduction amount and the reduction time of the torque reduction leading to the reduction of the traction force can be achieved.

In the re-adhesion control device 60, the smoothing time width has been described as fixed, but may be variable according to the traveling speed. This will be specifically described.
FIG. 5 is a diagram illustrating a modification of the re-adhesion control device 60 of the first embodiment, and a smoothing time width setting unit 650 is added. The smoothing time width setting unit 650 sets the smoothing time widths related to the acceleration detection of the idling / sliding detection acceleration detecting unit 612, the recovery detecting acceleration detecting unit 622, and the re-adhesion detecting acceleration detecting unit 632 to the traveling speed range. Set to be variable accordingly. FIG. 6 shows an example of the setting of the smoothing time width according to the speed range. FIG. 6A shows the smoothing time width that is set in the acceleration detecting unit 612 for detecting idling and sliding. Indicates the smoothing time width set in the acceleration detection unit 622 for recovery detection and the acceleration detection unit 632 for re-adhesion detection. As shown in FIG. 6, the smoothing time width is set wider (longer) as the speed becomes higher and narrower (shorter) as the speed becomes lower in either acceleration detection unit. This is because torque reduction (reduction in traction force) due to time delay is one of the major problems in the low speed range, and detection accuracy is more problematic than time delay in the high speed range.

  Further, the idling detecting acceleration detecting unit 612 includes first to third idling detecting acceleration detecting units corresponding to the three speed ranges in FIG. 6, that is, three smoothing time widths. The detection unit selected by switching according to the setting of the time width setting unit 650 may detect the acceleration. The same applies to the recovery detection acceleration detection unit 622 and the re-adhesion detection acceleration detection unit 632.

  Further, in FIG. 6, the smoothing time width is described as being divided into three speed ranges, but may be set as being divided into two speed areas, such as a low speed area and other speed ranges. It may be set by dividing into four or more speed ranges.

  Further, in the first embodiment described above, the axial speed V detected by the speed detection unit 601 is determined based on the idling detection acceleration detection unit 612, the recovery detection acceleration detection unit 622, and the re-adhesion detection acceleration detection unit 632, respectively. It was explained as being commonly used for acceleration detection. However, the shaft speed may be detected separately depending on which detection is used.

  FIG. 7 is a diagram illustrating a modification of the re-adhesion control device 60 in this case. Instead of the speed detection unit 601, the idling / sliding detection speed detection unit 611, the recovery detection speed detection unit 621, and the re-adhesion A detection speed detection unit 631, and adders 613, 623, and 633 instead of the adder 603. The idling / sliding detection speed detection unit 611, the recovery detection speed detection unit 621, and the re-adhesion detection speed detection unit 631 detect the speed based on the PG signal, but have different smoothing time widths. The smoothing time width Ts2 of the recovery detection speed detection unit 621 and the smoothing time width Ts3 of the re-adhesion detection speed detection unit 631 are narrower than the smoothing time width Ts1 of the idling / sliding detection speed detection unit 611. It has been established. This is because of the same reason as the smoothing time widths Ta1, Ta2, and Ta3 related to acceleration detection.

As described above, the smoothing time width related to the speed detection is set according to which detection is used similarly to the smoothing time width related to the acceleration detection, so that the speed of the speed to be detected in the entire re-adhesion control is set. It is possible to achieve both accuracy and reduction in detection delay (immediateness).
In addition, as described with reference to FIGS. 5 and 6, the smoothing time widths of the respective speed detection units 611, 621 and 631 in FIG. 7 may be set variably according to the traveling speed.

In addition, the idling detection unit 610 detects idling using the acceleration α1 detected by the idling detection acceleration detection unit 612 and the speed difference Vd. Not limited. For example, as shown in FIG. 8, the idling is detected using the acceleration α1 detected by the idling detection acceleration detecting unit 612, the acceleration α2 detected by the recovery detecting acceleration detecting unit 622, and the speed difference Vd. It may be detected. Of course, in FIG. 8, the acceleration threshold value related to the acceleration α2 in the comparator 619 is set to a value different from the acceleration threshold value in the comparator 624.
Also in this case, the comparators 615 and 616 and the logical sum unit 618 may be unnecessary when safety is ensured only by the determination by the comparators 614 and 619 or when another safety measure is taken. Further, the comparator 615 may be left and the logical sum unit 618 may be unnecessary.

  Further, instead of the acceleration α2 detected by the recovery detection acceleration detection unit 622, another acceleration detection unit whose smoothing time width is narrower than the idling sliding detection acceleration detection unit 612 is provided, and the acceleration detected by this acceleration detection unit May be used instead of the acceleration α2. Moreover, it is good also as using each acceleration detected by 3 or more smoothing time widths, and it is good also as not using the speed difference Vd using a some acceleration.

  The advantage of the idling detection unit 610 detecting idling using the accelerations detected in a plurality of smoothing time widths will be described with reference to FIG. In FIG. 9, accelerations A to D are accelerations obtained by smoothing the axial velocity V with four smoothing time widths. The smoothing time width becomes longer (wider) in the order of accelerations A to D. In the past, in order to reliably detect idling, idling was detected using, for example, acceleration D with a longer (wider) smoothing time width. For example, the idling was detected when the acceleration D reached the threshold condition (circle) at time t22.

  On the other hand, the threshold condition regarding the acceleration D is relaxed (the threshold value is lowered) so that the idling can be detected earlier, and the idling is more reliably detected by using other accelerations. In the example of FIG. 9, threshold conditions are set for each of three accelerations A, B, and D having different smoothing time widths, and idling is detected when all these threshold conditions are satisfied (logical product). . As the threshold conditions for the accelerations A, B, and D, the threshold value is increased (the condition is severer) as the smoothing time width is shorter (narrower). In FIG. 9, this is the time t21 (circle mark in the figure). If the smoothing time width is short (narrow), it becomes sensitive to changes in speed and the possibility of false detection increases, so the threshold value is increased (strict conditions). On the other hand, since the threshold value related to the acceleration D is lower (relaxed) than in the past, idling can be detected earlier than in the past.

  When idling is detected at the time t22, the speed difference Vd, which is the idling speed of the shaft speed V, is the speed difference Vd2. If the idling is detected at the time t21, the idling speed is the speed difference. Vd1 (<Vd2) is sufficient. If the idling can be detected earlier, the re-adhesion control can be actuated earlier, the amount of torque reduction can be reduced, and as a result, the decrease in the traction force of the train can be suppressed as much as possible. However, it is important to reliably detect idling. For this reason, idling is detected using accelerations obtained in a plurality of smoothing time widths.

  In addition, it is also possible to apply to the re-adhesion control device 60 of FIG. 5 and FIG. 7 so that the idling / sliding detection unit 610 detects idling / sliding using accelerations detected in a plurality of smoothing time widths. It is.

[Second Embodiment]
Next, a second embodiment will be described. The second embodiment is an embodiment in which the re-adhesion control device 60 of the first embodiment is replaced with a re-adhesion control device 70. Accordingly, the same components as those in the first embodiment are denoted by the same reference numerals and detailed description thereof is omitted.

  FIG. 10 is a block diagram showing the configuration of the re-adhesion control device 70 of the second embodiment. In the re-adhesion control device 70 of the second embodiment, the speed detection unit 701 that detects the speed and the acceleration detection unit 702 that detects the acceleration each have one configuration. Then, the vibration generation determination unit 760 determines whether or not a high frequency vibration is generated in the detected axial velocity V and acceleration α, thereby determining whether or not a noise component is superimposed. More specifically, when the rotation speed / acceleration of the moving shaft that is assumed only by driving of the electric motor 10 is used as a main component, a change in high frequency rather than a change in the main component is regarded as a noise component. Since a known method can be applied as the noise detection method, detailed description thereof is omitted. The vibration generation determination unit 760 determines whether or not vibration is generated with respect to the acceleration α by the determination unit 761 for acceleration and the axial velocity V with respect to the speed determination unit 762.

  In the smoothing time width setting unit 770, the acceleration setting unit 771 determines the smoothing time width related to the acceleration detection of the acceleration detection unit 702 according to the determination result of the acceleration determination unit 761, and the speed setting unit 772 determines the speed. The smoothing time width related to the speed detection of the speed detection unit 701 is changed and set according to the determination result of the unit 762. For example, when it is determined that the object is vibrating (noise component is superimposed), both the acceleration setting unit 771 and the speed setting unit 772 are smoothed according to the speed detection unit 701 and the acceleration detection unit 702, respectively. If the time width is increased and it is determined that the vibration is not vibrated (no noise component is superimposed), the smoothing time width related to the acceleration setting unit 771 and the speed setting unit 772 is decreased. .

  In this way, when the noise component is superimposed, the smoothing time width is widened to control the noise component to be removed. When the noise component is not superimposed, the smoothing time width is narrowed, Control to reduce the detection delay.

  Further, the re-adhesion control unit 640 has a pull-down speed control unit 642 and reduces the torque according to the smoothing time width of the acceleration detection unit 702 set by the acceleration setting unit 771 of the smoothing time width setting unit 770. Variable speed control. Specifically, the reduction speed control unit 642 changes the torque reduction speed to a gentle (slow) when the smoothing time width is widened, and changes the torque reduction speed to a steep (fast) when it is narrowed. .

  FIG. 11 is a diagram for explaining the relationship between changes in the axial speed and acceleration calculated when the smoothing time width is changed, and the reduction speed of the torque current command. The relationship between the first speed to the second speed and the first acceleration to the fourth acceleration is the same as in FIG. 2, and the smoothing time width is longer (wider) as the number is larger. In FIG. 11, the change in the torque current command Iq_ref indicates the re-adhesion when the axial speed of the second speed having a longer (wider) smoothing time width than the first speed is detected and the acceleration of the second acceleration is detected. The change by control is shown. The idling is detected at time t11, and the recovery is detected at time t13 when the acceleration becomes zero. Between time t11 and time t13, the torque component current command Iq_ref is lowered to L1 by the torque reduction speed indicated by the straight line A1.

  The pull-down speed control unit 642 changes the torque pull-down speed to a gradual (slow) when the smoothing time width is widened. For example, when the smoothing time width is changed to the third acceleration wider than the second acceleration, the time when the acceleration becomes zero is time t15. If the torque reduction speed is fixed and not changed, the torque component current command Iq_ref is reduced to L2 by the torque reduction speed indicated by the straight line A1. The torque reduction amount becomes excessive by (L2-L1). By changing this to, for example, the torque reduction speed indicated by the straight line A2, it is possible to suppress the excessive reduction of the current command Iq_ref by the amount of torque.

  As described above, the pulling speed control unit 642 exhibits an effect of preventing excessive torque pulling when the smoothing time width is widened. Further, when the smoothing time width is narrowed, the torque reduction speed is increased. This is because the delay in detecting the acceleration is reduced by narrowing the smoothing time width, so that the torque reduction speed is increased and the torque reduction period is shortened.

  Note that the vibration occurrence determination unit 760 does not have the speed determination unit 762 and the smoothing time width setting unit 770 does not have the speed setting unit 772, so that the smoothing time width of the speed detection unit 701 is changed. Instead, only the smoothing time width of the acceleration detection unit 702 may be changed and set.

[Modification]
Although two embodiments have been described above, embodiments to which the present invention can be applied are not limited to these. For example, the present invention can be applied to a combination of the first embodiment and the second embodiment. Specifically, for example, the re-adhesion control device 60 in FIG. 4 includes the vibration generation determination unit 760, the smoothing time width setting unit 770, and the pulling-down speed control unit 642, and the smoothing time width setting unit. 770 changes and sets the smoothing time widths of the idle running acceleration detection unit 612, the recovery detection acceleration detection unit 622, and the re-adhesion detection acceleration detection unit 632, respectively. Then, the pull-down speed control unit 642 sets the pull-down speed variably according to the smoothing time width of the recovery detection acceleration detecting unit 622.

  In addition, the re-adhesion control device 60 of FIG. 7 includes the vibration generation determination unit 760, the smoothing time width setting unit 770, and the pulling speed control unit 642 of FIG. The smoothing time of the idling detection speed detection unit 611, the recovery detection speed detection unit 621, and the re-adhesion detection speed detection unit 631 is changed and set, the idling detection acceleration detection unit 612, and the recovery detection acceleration detection. The smoothing time widths of the unit 622 and the re-adhesion detection acceleration detection unit 632 may be changed and set. The same applies to FIG.

  In addition, the acceleration detection unit 702 of FIG. 7 in the second embodiment has first to nth (n ≧ 2) acceleration detection units as in the first embodiment, and the acceleration setting unit 771 is set. The acceleration detection unit selected by switching according to the detection may detect the acceleration.

  Further, in the embodiment including the two examples described above, the recovery detection and the re-adhesion detection are described as separate detections, but it is needless to say that the recovery detection may be regarded as the re-adhesion detection.

  Further, the speed detection units 601 and 701 have been described as detecting the speed and acceleration 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 detection units 601 and 701 detect (estimate) the shaft speed V by estimating the rotational speed from the motor current / voltage supplied to the motor 10, and further detect (estimate) the acceleration α. It is good to do.

  Further, in each of the above-described embodiments, the processing for smoothing the PG signal or the like in the time axis direction by changing the smoothing time width when obtaining the speed or acceleration has been described. In this smoothing processing, Extraction processing for cutting unnecessary frequencies (for example, noise) included in the signal or the like may be performed. Specifically, for example, a cut-off frequency is determined according to the frequency of the noise component, and a signal component less than the cut-off frequency is extracted. The smoothing process is performed on this signal component, or the smoothing process is performed on the signal component after the extraction process is performed.

DESCRIPTION OF SYMBOLS 10 Electric motor 20 Pulse generator 30 Inverter 50 Electric motor control apparatus 60 Re-adhesion control apparatus 601 Speed detection part 610 Free-running detection part 612 Free-running detection acceleration detection part 620 Recovery detection part 622 Recovery detection acceleration detection part 640 Re-adhesion control part

Claims (6)

A method for detecting the occurrence of idling or slipping by controlling an electric motor that drives a driving wheel to detect the occurrence of idling or sliding (hereinafter referred to as “idling and sliding”) of the driving wheel,
A first acceleration detecting step for detecting acceleration using a first smoothing process for smoothing in the time axis direction based on the speed of the moving wheel detected at any time;
Acceleration using a second smoothing process that is smoothed in the time axis direction based on the speed of the moving wheel that is detected at any time and has a smoothing time width narrower than that of the first smoothing process. A second acceleration detecting step for detecting
When the acceleration detected in the first acceleration detection step satisfies the first acceleration threshold condition and the acceleration detected in the second acceleration detection step satisfies the second acceleration threshold condition, A detection step for detecting the occurrence of gliding;
A method for detecting the occurrence of idling. Without determining the condition related to the speed difference between the speed of the moving wheel and a given reference speed, determine the occurrence of idling by the detection result in the detection step;
The method of detecting the occurrence of idling according to claim 1. The detecting step includes
Determining whether or not the first acceleration threshold condition is satisfied by comparing the acceleration detected in the first acceleration detection step with the first threshold;
Determining whether or not the second acceleration threshold condition is satisfied by comparing the acceleration detected in the second acceleration detecting step with a second threshold higher than the first threshold;
Is a step,
The method of detecting the occurrence of idling according to claim 1 or 2.   4. A speed reference smoothing width changing step of changing a smoothing time width of the first smoothing process and / or the second smoothing process according to a traveling speed. The method of detecting the occurrence of idling according to the item.   5. The idling detection according to claim 1, further comprising an extraction process step of extracting a given signal frequency component in the first smoothing process and / or the second smoothing process. Method. An electric motor control device that controls the electric motor that drives the driving wheel to detect the occurrence of idling of the driving wheel and performs re-adhesion control,
A first acceleration detector that detects acceleration using a first smoothing process that smoothes in the time axis direction based on the speed of the moving wheel detected as needed;
Acceleration using a second smoothing process that is smoothed in the time axis direction based on the speed of the moving wheel that is detected at any time and has a smoothing time width narrower than that of the first smoothing process. A second acceleration detector for detecting
When the acceleration detected in the first acceleration detection step satisfies the first acceleration threshold condition and the acceleration detected in the second acceleration detection step satisfies the second acceleration threshold condition, An idle running detection unit that detects the occurrence of sliding;
An electric motor control device.