JP5830870B2 - Rotating body speed / acceleration measurement / control device - Google Patents

Description

  The present invention measures the speed and acceleration of one rotating body of a shaft-coupled two-inertia system or a multi-inertia system of three or more inertia systems, and further measures the rotating body speed / acceleration for controlling the speed and torque of the rotating body. The present invention relates to a control device, and more particularly to a measurement / control device that eliminates the influence on measurement / control caused by torsional vibration of a coupling shaft (coupling).

  As a device for measuring and controlling the speed and acceleration of a rotating body, for example, a dynamometer is connected to a roller driven by a test vehicle, and the speed and acceleration of the dynamometer are detected and the speed and torque are detected. There is a dynamometer system to control.

  This dynamometer system has a system configuration shown in FIG. 5, for example. In the figure, a roller 2 is driven by a drive wheel 1 A of a test vehicle 1, and a dynamometer 3 that is axially coupled to the roller 2 is torque-controlled by a torque controller 4. This torque control is set to the running resistance set by the running resistance setting device 5 of the test vehicle based on the vehicle speed detection, and further, the electric inertia set by the electric inertia setting circuit 6 using the acceleration obtained from the detected vehicle speed. It is made the sum of minutes.

  The vehicle speed control system obtains an acceleration / deceleration command from the speed controller 8 based on the deviation between the vehicle speed command and the detection speed of the speed detector 7, and the switching unit 9 switches between the acceleration control command and the deceleration control command depending on whether the output is positive or negative. The acceleration control command controls the opening degree of the engine accelerator (throttle) of the test vehicle 1, and the deceleration control command controls the depression force of the brake pedal of the test vehicle 1.

  Here, the running resistance of the vehicle is obtained by adding uphill slope resistance to flat road steady running resistance composed of tire rolling resistance and air resistance with the vehicle speed as a variable. Of these running resistances, the flywheel 10 whose inertial resistance is set to an inertia equivalent to that of the actual vehicle may be used. However, since the flywheel requires a large installation space and becomes expensive, an electric inertia setting circuit is used. 6 is set as the absorption torque of the dynamometer 3, and torque control is performed. Furthermore, there is also a combined method in which the inertia is roughly set with a flywheel and the electric inertia is controlled for the difference from the inertia to be set.

Conventional electric inertia control by the torque controller 4 has, for example, an equivalent block configuration shown in FIG. 6 (see Patent Document 1). In the figure, reference numerals 11 to 14 denote a dynamometer torque control system having a current control system in the minor loop. The torque control amplifier 11 performs a proportional integral calculation on the deviation between the absorption torque command Fms and the detected torque of the torque detection unit 14, the calculation result (using an inverter as a power converter) current control system for the 12 current command, taken as a machine output of the absorption torque F _M by the output current Io of the current control system 12 to the dynamometer (induction motor) 13 It is.

F _R is the engine driving torque from the engine of the test vehicle 1 through the clutch and the transmission, and the difference Fα (= F _R −F _M ) with the absorption torque F _M of the dynamometer is the acceleration of the rollers and the dynamometer. helpful.

The torque that becomes the acceleration force appears as a speed N ₀ through an integration element 15 that is an integral of the mechanical inertia J ₀ of a roller, a dynamometer, or the like.

The speed detector 16 detects the speed N _{0 of the} dynamometer as the detected speed N, and the acceleration detector 17 detects the acceleration dN / dt by the differentiation of the detected speed N of the speed detector 16.

The traveling resistance setting unit 18 (5 in FIG. 5) obtains a traveling resistance F _RL obtained by removing the inertial resistance from the traveling resistance of the vehicle according to the detected speed N. The electric inertia setting unit 19 (6 in FIG. 5) sets an electric inertia J _E (= J−J ₀ ) obtained by subtracting the mechanical inertia J ₀ from the inertia J corresponding to the weight of the vehicle, and the multiplier 20 detects the detected acceleration dN. The inertial resistance (J _E × dN / dt) is obtained by multiplying / dt by the electric inertia J _E. These running resistance F _RL and inertial resistance (J _E × dN / dt) are added to obtain the absorption torque command Fms.

Japanese Patent No. 3687305

  In the test of the power transmission system of the test vehicle in the dynamometer system, power is transmitted from the roller 2 driven by the drive wheel 1 to the dynamometer 3 through a relatively long coupling shaft, and from the roller 2 to the flywheel 10. Is transmitted through a relatively long coupling shaft.

  Since the roller 2, the dynamometer 3 and the flywheel 10 are heavy and have a large inertia and a large driving torque, a torsional vibration is likely to occur on the shaft connecting them. The torsional vibration is caused by the detection speed of the speed detector 16 in FIG. 6 and the detected acceleration waveform by the acceleration detector 17 having the speed and acceleration detected values having the natural vibration frequency of the system. Therefore, the speed control and torque control using the detected value may be reduced in accuracy or unstable, and high-precision measurement and stable control will be difficult.

  The following methods can be considered as methods for suppressing the torsional vibration of the coupling axis in this dynamometer system, but any of these methods causes problems such as an increase in the size of the coupling axis, an increase in cost, and a decrease in responsiveness due to detection delay. .

  (A) Increase the rigidity of the shaft (change of material).

  (B) Expansion of shaft diameter and shortening of shaft length.

(C) Increasing the rigidity of the coupling (d) A configuration that does not use a coupling. For example, a 48-inch overhang chassis dynamometer is used.

  (E) A high frequency vibration component and a noise component are removed from a detection signal by a noise filter.

  The problems as described above are not limited to the measurement / control of the speed / acceleration of the roller and dynamometer and flywheel that are axially coupled in the dynamometer system. It also exists in measurement and control devices equipped with a three-inertia rotating body.

  An object of the present invention is to measure the rotational speed / acceleration of a rotating body that can eliminate the influence on the measurement and control due to the torsional vibration of the coupled shaft in a multi-inertial system rotating body of two inertia systems or three inertia systems or more. -To provide a control device.

  In order to solve the above-described problems, the present invention greatly affects the influence of the torsional vibration of the coupling shaft on the detected waveform of speed and acceleration due to the relative difference in the inertia values of the rotating bodies coupled by the coupling shaft. Paying attention to this, using each inertial value of the rotating body to which the shaft is coupled and each detected value of speed or acceleration, the speed or acceleration is weighted and averaged to measure the speed or acceleration of the rotating body. The speed and torque of the rotating body are controlled by the measured value of acceleration, and the following configuration is characteristic.

(1) A rotating body measuring / controlling device controlled by a torque controller having a minor loop current control system, which measures the speed of a rotating body of two inertia systems that are axially coupled, and uses the measured values of these speeds , In what controls the inertial resistance by the rotating body by electric inertia,
A weighted average processing means for obtaining a speed detection value of one rotating body by performing a weighted average processing of the speed using each inertial value and each detected value of the speed of the rotating body of the two-inertia system coupled to the shaft;
The weighted average processing means calculates the weighted average of the speeds of the two-inertia-type rotating body in which the first rotating body and the second rotating body are axially coupled,
(J1 ・ N1 + J2 ・ N2) / (J1 + J2)
Where J1 and J2 are inertia values of the first and second rotating bodies,
N1 and N2 are the speeds of the first and second rotating bodies,
Multiply the acceleration obtained by differentiating the calculated value by the set mechanical inertia, add the detected torque extracted by the output current of the current control system to the multiplied value, and set this value The electric inertia value is obtained by multiplying the ratio of the set electric inertia and the set inertia, and is input to the current control system as an electric inertia torque.

(2) A measurement / control device for a rotating body controlled by a torque controller having a minor loop current control system, which measures the acceleration of a rotating body of a two-inertia system that is axially coupled, and uses these acceleration measurements, In what controls the inertial resistance by the rotating body by electric inertia,
A weighted average processing means for obtaining a detected acceleration value of one rotating body by performing a weighted average processing of the acceleration using each inertial value and each detected value of acceleration of the two-inertia-type rotating body coupled to the axis;
The weighted average processing means the weighted average of the acceleration of the first rotating body and the rotating body of the second rotating body is axially coupled 2-inertia system,
(J1 · dN1 / dt + J2 · dN2 / dt) / (J1 + J2)
Where J1 and J2 are inertia values of the first and second rotating bodies,
dN1 / dt and dN2 / dt are accelerations of the first and second rotating bodies,
Multiply the calculated value by the set mechanical inertia, add the detected torque extracted by the output current of the current control system to the multiplied value, and set the electric inertia and the set inertia set to the added value. The electric inertia value is obtained by multiplying the ratio, and is input to the current control system as the electric inertia torque.

(3) A rotating body measuring / controlling device controlled by a torque controller having a minor loop current control system, which measures the speed of a rotating body of a three-inertia system coupled to a shaft, and uses the measured values of these speeds , In what controls the inertial resistance by the rotating body by electric inertia,
A weighted average processing means for performing a weighted average process of speed using each inertial value and each detected value of speed of the plurality of rotating bodies coupled to the shaft to obtain a speed detected value of one rotating body;
The weighted average processing means, a weighted average of the speed of the first rotor and the second rotor and the rotating body of the third 3-inertia system which rotating body is axially coupled to,
(J1 ・ N1 + J2 ・ N2 + J3 ・ N3) / (J1 + J2 + J3)
However, J1, J2, and J3 are inertia values of the first, second, and third rotating bodies,
N1, N2, and N3 are the speeds of the first, second, and third rotating bodies,
Multiply the acceleration obtained by differentiating the calculated value by the set mechanical inertia, add the detected torque extracted by the output current of the current control system to the multiplied value, and set this value The electric inertia value is obtained by multiplying the ratio of the set electric inertia and the set inertia, and is input to the current control system as an electric inertia torque.

(4) A rotating body measuring / controlling device controlled by a torque controller having a minor loop current control system, which measures the acceleration of a rotating body of a three-inertia system that is axially coupled, and uses the measured values of these accelerations, In what controls the inertial resistance by the rotating body by electric inertia,
A weighted average processing means for performing a weighted average process of acceleration using each inertia value and each detected value of acceleration of the three-rotor system coupled to the axis to obtain an acceleration detected value of one rotary body;
The weighted average processing means, a weighted average of the acceleration of the first rotor and the second rotor and the rotating body of the third 3-inertia system which rotating body is axially coupled to,
(J1 · dN1 / dt + J2 · dN2 / dt + J3 · dN3 / dt) / (J1 + J2 + J3)
However, J1, J2, and J3 are inertia values of the first, second, and third rotating bodies,
dN1 / dt, dN2 / dt, dN3 / dt are accelerations of the first, second and third rotating bodies,
Multiply the calculated value by the set mechanical inertia, add the detected torque extracted by the output current of the current control system to the multiplied value, and set the electric inertia and the set inertia set to the added value. The electric inertia value is obtained by multiplying the ratio, and is input to the current control system as the electric inertia torque.

(5) A rotating body measurement / control device controlled by a torque controller having a minor loop current control system, which measures the acceleration of a rotating body of three or more inertial systems that are axially coupled, and uses the measured values of these accelerations In the case where the inertial resistance due to the rotating body is controlled by the electric inertia,
A weighted average processing means for performing a weighted average process of acceleration using each inertial value and each detected value of acceleration of the plurality of rotating bodies coupled to each other to obtain an acceleration detected value of one rotating body;
The weighted average processing means the weighted average of the acceleration of the first rotating member-rotator rotating body of P inertial system that is axially coupled to the P,
(J1 · dN1 / dt + J2 · dN2 / dt + ... + JP · dNP / dt) / (J1 + J2 + ... + JP)
Here, J1, J2,..., JP are inertia values of the first to P-th rotating bodies,
dN1 / dt, dN2 / dt,..., dNP / dt are accelerations of the first to P-th rotating bodies,
Multiply the calculated value by the set mechanical inertia, add the detected torque extracted by the output current of the current control system to the multiplied value, and set the electric inertia and the set inertia set to the added value. The electric inertia value is obtained by multiplying the ratio, and is input to the current control system as the electric inertia torque.

(6) A two-inertia dynamo in which a roller driven by a drive wheel of a test vehicle is the first rotating body, and a dynamometer axially coupled to the first rotating body is the second rotating body. A control system that controls part or all of the inertial resistance of the test vehicle with torque generated by the dynamometer,
The weighted average processing means performs a speed load averaging process using each of the inertia values and speed detection values of the roller and the dynamometer to obtain a speed detection value of the dynamometer.
(7) A two-inertia dynamo in which a roller driven by a driving wheel of a test vehicle is the first rotating body, and a dynamometer axially coupled to the first rotating body is the second rotating body. A control system that controls part or all of the inertial resistance of the test vehicle with torque generated by the dynamometer,
The weighted average processing means performs a weighted average process of acceleration using each of the inertia values and detected acceleration values of the roller and dynamometer to obtain an acceleration detected value of the dynamometer.
(8) A roller driven by the drive wheel of the test vehicle is the first rotating body, a dynamometer that is axially coupled to the first rotating body is the second rotating body, and is further axially coupled to the roller. A three-inertia dynamometer system in which the flywheel is used as the third rotating body, wherein a part or all of the inertial resistance of the test vehicle is controlled by a torque generated by the dynamometer,
The weighted average processing means performs a weighted average process of speed using each of the inertia values and speed detection values of the roller, dynamometer and flywheel to obtain a speed detection value of the dynamometer. .
(9) A roller driven by a driving wheel of the test vehicle is the first rotating body, a dynamometer that is axially coupled to the first rotating body is the second rotating body, and is further axially coupled to the roller. A three-inertia dynamometer system in which the flywheel is used as the third rotating body, wherein a part or all of the inertial resistance of the test vehicle is controlled by a torque generated by the dynamometer,
The weighted average processing means performs weighted average processing of acceleration using each of the inertia values and acceleration detected values of the roller, dynamometer and flywheel to obtain an acceleration detected value of the dynamometer. .

  As described above, according to the present invention, the speed or acceleration of the rotating body is measured by performing the weighted average processing of the speed or acceleration using the inertia values of the rotating bodies to be axially coupled and the detected values of speed or acceleration. In addition, since the speed and torque of the rotating body are controlled by the measured values of the speed or acceleration, the measurement is performed by the torsional vibration of the coupled shaft in the rotary body of the multi-inertia system having two or more inertia systems coupled to the shaft. -The influence on the control can be removed.

  As a result, speed control and torque control using detected values such as speed and acceleration in the dynamometer do not deteriorate or become unstable, and high-precision measurement and stable control are facilitated.

  Further, the weighted average processing of speed or acceleration can remove the influence on the measurement and control due to the torsional vibration of the coupling shaft, and can be easily realized by only the arithmetic processing compared to increasing the rigidity of the coupling shaft.

1 is a block diagram of an electric inertia control device for a dynamometer according to Embodiment 1. FIG. Calculation block for inertial weighted average processing of acceleration in a two-inertia system. The waveform diagram in the case where there is a case where there is no inertia value weighted average processing in a two-inertia system. Calculation block for inertial weighted average processing of acceleration in a three-inertia system. A configuration example of a dynamometer system. The equivalent block diagram of the electric inertia control of a torque controller.

(Embodiment 1)
FIG. 1 is a block diagram of an electric inertia control device for a dynamometer showing an embodiment of the present invention. A driving force observer estimates a vehicle-generated driving force F _R ^* from an acceleration detection value and the like, and this estimated driving force F _This is a system that performs electric inertia control using _R ^* , and the same parts as in FIG.

In the system shown in FIG. 5, in the two-inertia system of the roller 2 and the dynamometer 3 for controlling all the inertial resistance by the flywheel 10 and the dynamometer 3, the estimated vehicle generated driving force F _R ^* is ^calculated by the roller 2 as the driving wheel. 1A is a driving torque that is estimated by the observer as the sum of the mechanical inertia torque of the roller 2 and the dynamometer 3 and the braking torque of the dynamometer, and the braking torque is detected by the torque detector 14 as F _M ^* , and the mechanical inertia torque is obtained by multiplying the acceleration dN / dt detected by the acceleration detector 17 by the multiplier 22 and the mechanical inertia J ₀ of the roller 2 and dynamometer 3 set by the setting device 21. The electric inertia torque F _E is a ratio of the electric inertia J _E and the set inertia J set by the setting device 23 to a value Fα (set inertia acceleration torque) obtained by subtracting the running resistance F _RL from the vehicle generated driving force F _R ^* ( J _E / J) is obtained by multiplying by the multiplier 24.

The electric inertia torque component is obtained by these calculations because the relational expression (F _R −F _RL ) / J = (F _R −F _M ) / J ₀ is assumed that the traveling motion of the actual vehicle and the motion on the dynamometer are equal. Deformed F _M = (J−J ₀ ) / J × F _R + J ₀ / J × F _RL .

Here, J ₀ / J × When _{F RL = -F RL + J 0} / J × F RL + F RL, above F _M relationship _{F M = J E / J ×} (F R -F RL) + F RL become.

  In the electric inertia control apparatus of the dynamometer by the driving force observer having the above-described configuration, in this embodiment, speed detection is performed by speed weighted average processing using the inertia values of the dynamometer 3 and the roller 2, and this detection speed is further detected. Thus, the influence of the torsional vibration of the coupling shaft of the dynamometer 3 and the roller 2 on the speed and acceleration detection is removed, and further stable torque control of the dynamometer is realized.

Speed weighted average processing, calculated by the speed weighted average calculation unit 25, the inertia J ₁ and the inertia J ₂ of the roller dynamometer required for this operation is set as an inertial value with the 2-inertia system 26, the speed of the dynamometer N ₁ and the roller speed N ₂ are taken in as detection values of speed detectors 27 ₁ and 27 ₂ provided near the dynamometer or roller of the two-inertia system 26. The calculation of the speed weighted average calculation unit 25 is (J ₁ · N ₁ + J ₂ · N ₂ ) / (J ₁ + J ₂ ).

  By the above speed-weighted averaging process, the high-frequency component and noise component due to the torsional vibration of the coupling shaft of the dynamometer 3 and the roller 2 are added to the detection waveform of the speed N, and further to the detection waveform of the acceleration dN / dt obtained from this speed detection waveform. A reduced detection value can be obtained.

(Embodiment 2)
The above speed-weighted average processing shows the case where the influence on the measurement and control due to the torsional vibration of the connecting shaft in the two-inertia dynamometer system is removed. The three-inertia system in which a part of the inertia is set by the flywheel 10 The same effect can be obtained by applying to the electric inertia control device (for example, the configuration of FIG. 5).

In this three-inertia system, the speed-weighted average processing is performed by adding the inertia J _{3 of the} flywheel 10 and the speed detection value N ₃ to (J ₁ · N ₁ + J ₂ · N ₂ + J ₃ · N ₃ ) / (J ₁ + J ₂ + J ₃ ).

(Embodiment 3)
Although FIG. 1 shows the case where the influence due to the torsional vibration of the coupling axis is removed by the speed weighted average process, the influence on the acceleration detection waveform due to the torsional vibration of the coupling axis can be eliminated by the weighted averaging process of acceleration.

  In this acceleration weighted average process, the inertia of the dynamometer 3 is J1, the detected acceleration value is dN1 / dt, and the inertia of the roller 2 is set as shown in FIG. If J2 and the acceleration detection value is dN2 / dt, it can be calculated by the following equation.

(J1 · dN1 / dt + J2 · dN2 / dt) / (J1 + J2)
FIG. 3 shows a velocity detection waveform and an acceleration detection waveform when the acceleration weighted average processing in the two inertia system is not provided in (a), and (b) is provided with the acceleration weighted average processing in the two inertia system. The velocity detection waveform and acceleration detection waveform waveform in the case are shown. As is clear from these waveform diagrams, when the acceleration weighted average processing is not provided, the high frequency vibration waveform is superimposed on the velocity detection waveform, while the vibration amplitude is obtained by performing the acceleration weighted average processing. And pulsation becomes extremely small.

Specifically, in FIG. 3 (a) and (b), the acceleration detection reduces the resonance point to ^{1.3m / s 2 → 0.3m / s} 2, during deceleration 1.4 m / s ² → Reduced to 0.2 m / s ²

  Similarly, the acceleration-weighted average processing in the three-inertia system is as follows, assuming that the inertia of the flywheel 10 is J3 and the detected acceleration value is dN3 / dt, as shown in FIG. It can be obtained by calculating the expression.

(J1 · dN1 / dt + J2 · dN2 / dt + J3 · dN3 / dt) / (J1 + J2 + J3)
Vibration acceleration and pulsation are further reduced by the acceleration weighted average processing in the three inertia system. According to the experiment, it was possible to reduce the vibration amplitude and pulsation during acceleration and deceleration when the acceleration weighted average processing in the three inertia system was not provided and when the acceleration weighted average processing was provided.

Theoretically, the inertial value weighted average processing is performed on the two-inertia system and the multi-inertia system more than the three-inertia system as described above, so that speed / acceleration detection and control without the influence of torsional vibration can be performed. Can be obtained. For example, the weighted average processing means is configured to calculate a weighted average of accelerations of a rotating body of a P inertial system in which a first rotating body to a Pth rotating body are axially coupled,
(J1 · dN1 / dt + J2 · dN2 / dt + ... + JP · dNP / dt) / (J1 + J2 + ... + JP)
Here, J1, J2,..., JP are inertia values of the first to P-th rotating bodies,
dN1 / dt, dN2 / dt,..., dNP / dt are accelerations of the first to P-th rotating bodies,
Calculate by

DESCRIPTION OF SYMBOLS 1 Test vehicle 2 Roller 3 Dynamometer 4 Torque controller 10 Flywheel 16 Speed detector 17 Acceleration detector 18 Running resistance setting device 25 Speed weighted average calculating part 26 2 Inertial system 27 ₁ , 27 ₂ Speed detector

Claims (9)

This is a measurement and control device for a rotating body controlled by a torque controller having a minor loop current control system, which measures the speed of a two-inertia system rotating body that is axially coupled, and uses the measured values of these speeds to In what controls the inertial resistance by electric inertia,
A weighted average processing means for obtaining a speed detection value of one rotating body by performing a weighted average processing of the speed using each inertial value and each detected value of the speed of the rotating body of the two-inertia system coupled to the shaft;
The weighted average processing means, a weighted average of the speed of the first rotating body and the rotating body of the second rotating body is axially coupled 2-inertia system, (J1 · N1 + J2 · N2) / (J1 + J2)
Where J1 and J2 are inertia values of the first and second rotating bodies,
N1 and N2 are the speeds of the first and second rotating bodies,
Multiply the acceleration obtained by differentiating the calculated value by the set mechanical inertia, add the detected torque extracted by the output current of the current control system to the multiplied value, and set this value A rotating body speed / acceleration measuring / controlling device characterized in that an electric inertia value is obtained by multiplying the ratio of the electric inertia and the set inertia, and is input to the current control system as an electric inertia torque. This is a measurement and control device for a rotating body controlled by a torque controller having a minor loop current control system, which measures the acceleration of a rotary body of two inertia systems that are axially coupled, and uses the measured values of these accelerations, In what controls the inertial resistance by electric inertia,
A weighted average processing means for obtaining a detected acceleration value of one rotating body by performing a weighted average processing of the acceleration using each inertial value and each detected value of acceleration of the two-inertia-type rotating body coupled to the axis;
The weighted average processing means, a weighted average of the acceleration of the first rotating body and the rotating body of the second rotating body is axially coupled 2-inertia system, (J1 · dN1 / dt + J2 · dN2 / dt) / (J1 + J2 )
Where J1 and J2 are inertia values of the first and second rotating bodies,
dN1 / dt and dN2 / dt are accelerations of the first and second rotating bodies,
Multiply the calculated value by the set mechanical inertia, add the detected torque extracted by the output current of the current control system to the multiplied value, and set the electric inertia and the set inertia set to the added value. The rotating body speed / acceleration measuring / controlling device is characterized in that an electric inertia value is obtained by multiplying the ratio and input to the current control system as an electric inertia torque. This is a measurement and control device for a rotating body controlled by a torque controller having a minor loop current control system, which measures the speed of a rotating body of a three-inertia system that is axially coupled, and uses the measured values of these speeds to In what controls the inertial resistance by electric inertia,
A weighted average processing means for performing a weighted average process of speed using each inertial value and each detected value of speed of the plurality of rotating bodies coupled to the shaft to obtain a speed detected value of one rotating body;
The weighted average processing means, a weighted average of the speed of the first rotor and the second rotor and the rotating body of the third 3-inertia system which rotating body is axially coupled to,
(J1 ・ N1 + J2 ・ N2 + J3 ・ N3) / (J1 + J2 + J3)
However, J1, J2, and J3 are inertia values of the first, second, and third rotating bodies,
N1, N2, and N3 are the speeds of the first, second, and third rotating bodies,
Multiply the acceleration obtained by differentiating the calculated value by the set mechanical inertia, add the detected torque extracted by the output current of the current control system to the multiplied value, and set this value A rotating body speed / acceleration measuring / controlling device characterized in that an electric inertia value is obtained by multiplying the ratio of the electric inertia and the set inertia, and is input to the current control system as an electric inertia torque. This is a measurement and control device for a rotating body controlled by a torque controller having a minor loop current control system, which measures the acceleration of a rotating body of a three-inertia system that is axially coupled, and uses the measured values of these accelerations. In what controls the inertial resistance by electric inertia,
A weighted average processing means for performing a weighted average process of acceleration using each inertia value and each detected value of acceleration of the three-rotor system coupled to the axis to obtain an acceleration detected value of one rotary body;
The weighted average processing means, a weighted average of the acceleration of the first rotor and the second rotor and the rotating body of the third 3-inertia system which rotating body is axially coupled to,
(J1 · dN1 / dt + J2 · dN2 / dt + J3 · dN3 / dt) / (J1 + J2 + J3)
However, J1, J2, and J3 are inertia values of the first, second, and third rotating bodies,
dN1 / dt, dN2 / dt, dN3 / dt are accelerations of the first, second and third rotating bodies,
Multiply the calculated value by the set mechanical inertia, add the detected torque extracted by the output current of the current control system to the multiplied value, and set the electric inertia and the set inertia set to the added value. The rotating body speed / acceleration measuring / controlling device is characterized in that an electric inertia value is obtained by multiplying the ratio and input to the current control system as an electric inertia torque. A measurement and control device of the rotary member which is controlled by the torque controller with minor loop current control system measures the accelerations in the three-inertia system or of a body of revolution which is axially coupled, using the measured values of the acceleration, the rotating body In what controls the inertial resistance due to the electric inertia,
A weighted average processing means for performing a weighted average process of acceleration using each inertial value and each detected value of acceleration of the plurality of rotating bodies coupled to each other to obtain an acceleration detected value of one rotating body;
The weighted average processing means the weighted average of the acceleration of the first rotating member-rotator rotating body of P inertial system that is axially coupled to the P,
(J1 · dN1 / dt + J2 · dN2 / dt + ... + JP · dNP / dt) / (J1 + J2 + ... + JP)
Here, J1, J2,..., JP are inertia values of the first to P-th rotating bodies,
dN1 / dt, dN2 / dt,..., dNP / dt are accelerations of the first to P-th rotating bodies,
Multiply the calculated value by the set mechanical inertia, add the detected torque extracted by the output current of the current control system to the multiplied value, and set the electric inertia and the set inertia set to the added value. The rotating body speed / acceleration measuring / controlling device is characterized in that an electric inertia value is obtained by multiplying the ratio and input to the current control system as an electric inertia torque. A two-inertia dynamometer system in which a roller driven by a driving wheel of a test vehicle is the first rotating body, and a dynamometer axially coupled to the first rotating body is the second rotating body. A control device that controls part or all of the inertial resistance of the test vehicle with torque generated by the dynamometer,
The weighted average processing means to claim 1, wherein the determination as the speed detection value of the dynamometer performs weighted average processing speed using the detected values of the inertia value and the speed of the roller and the dynamometer rotator speed / acceleration measurement and control device according. A two-inertia dynamometer system in which a roller driven by a driving wheel of a test vehicle is the first rotating body, and a dynamometer axially coupled to the first rotating body is the second rotating body. A control device that controls part or all of the inertial resistance of the test vehicle with torque generated by the dynamometer,
  The weighted average processing means performs weighted average processing of acceleration using each inertia value and each detected acceleration value of the roller and dynamometer to obtain an acceleration detected value of the dynamometer. Rotating body speed / acceleration measuring / controlling device described in 1. A roller driven by the drive wheel of the test vehicle is the first rotating body, a dynamometer that is axially coupled to the first rotating body is the second rotating body, and a fly that is further axially coupled to the roller. A three-inertia dynamometer system having a wheel as the third rotating body, wherein a part or all of an inertial resistance of a test vehicle is controlled by a torque generated by the dynamometer;
  The weighted average processing means performs a weighted average process of speed using each of the inertia values and speed detection values of the roller, dynamometer and flywheel to obtain a speed detection value of the dynamometer. The rotating body speed / acceleration measuring / controlling device according to claim 3. A roller driven by the drive wheel of the test vehicle is the first rotating body, a dynamometer that is axially coupled to the first rotating body is the second rotating body, and a fly that is further axially coupled to the roller. A three-inertia dynamometer system having a wheel as the third rotating body, wherein a part or all of an inertial resistance of a test vehicle is controlled by a torque generated by the dynamometer;
  The weighted average processing means performs weighted average processing of acceleration using each of the inertia values and acceleration detected values of the roller, dynamometer and flywheel to obtain an acceleration detected value of the dynamometer. The rotating body speed / acceleration measuring / controlling device according to claim 4.

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