JP6079356B2 - Control device for each wheel independent drive cart - Google Patents

Description

  The present invention relates to a wheel independent drive carriage in which each wheel (four wheels or a plurality of wheels) rotates independently, and more particularly, to each wheel cooperative control.

  A conventional railcar driving carriage has a structure in which left and right wheels are coupled by a shaft, and the left and right wheels are collectively driven by a single electric motor. In this configuration, the left and right wheel rotational angular velocities match, but the traveling distance differs between the inside and outside of the curve due to the difference in rail length when passing through the curve. In order to absorb the influence of the difference in rail length, a gradient is given to the wheel tread that comes into contact with the rail so that the wheel turning radius at the contact position is small inside the curve and large outside the curve.

  However, if it becomes a steep curve, the difference in rail length cannot be absorbed only by the above-mentioned tread surface gradient, and the flange contact of the wheel and the slip with the rail are caused. As a result, vibration, noise, and wear of rails and wheels are increased.

  On the other hand, the configuration of each wheel independent drive cart that can eliminate the connecting shaft between the left and right wheels and install an electric motor on each wheel and independently rotate the wheel can be studied. Since each wheel independent drive bogie can arbitrarily control the rotational angular velocity of the left and right wheels with individual electric motors, it can be expected to improve running performance when passing a curve and to reduce floor space and space by eliminating the coupling shaft.

  On the other hand, if the electric motors of the wheels are not controlled in a coordinated manner, smooth running may not be possible, and the control method becomes an important issue. In Patent Document 1 and Patent Document 2, the rotational angular velocity of each wheel is detected, the difference between the left and right rotational angular velocities is determined for each of the front wheel left and right and the rear wheel left and right, and control is performed so that the left and right rotational angular velocity difference becomes an arbitrary value. A method is proposed. For example, by controlling so that the difference between the left and right rotational angular velocities is zero when passing through a straight line, the left and right rotational angular velocities are made to coincide with each other in the same manner as in the configuration with the conventional coupling shaft, thereby improving the stability during linear travel. Yes.

  Further, when passing through the curve, the angular velocity control is performed so as to have an arbitrary left-right rotational angular velocity difference according to the curve radius, and the resulting correction torque is added to or subtracted from the driving torque to enable smooth running.

Japanese Patent Laid-Open No. 08-242506 JP 09-233613 A

  However, when the traveling (trolley speed and traveling direction) is controlled by each wheel independent drive cart shown in FIG. 1, the motor is restrained by the cart, so the traveling control by the motor of each wheel interferes with each other. As a result, the angular velocity control of each wheel is affected by the angular velocity control in the motors of the other wheels, and the control performance is degraded.

  In addition, since the transfer characteristics of the rotational motion and the motion without rotation differ from the force applied to the carriage, it is desirable to design a control system for each, but usually the same angular velocity control system for each wheel It becomes. Therefore, the control system is adjusted in accordance with the characteristic that tends to be unstable, and it is difficult to obtain optimum control characteristics.

  As described above, in the control device for each wheel independent drive cart, it is a problem to suppress the traveling control by the motors of each wheel from interfering with each other and to construct a control system suitable for each operation mode. It becomes.

The present invention has been devised in view of the above-described conventional problems. One aspect of the present invention is a control device for each wheel independent drive carriage that controls each wheel independently, and the detected angular velocity of each wheel is determined. the transformation matrix T _X, and the angular velocity detected converter for variable transformation to control angular velocity detected indicating the relative movement between the movement and the wheels entire vehicle, which is calculated on the basis of the control angular velocity detected, the entire vehicle movement When the relative movement between the wheels, which contribute control torque command to, the transformation matrix T _X, characterized by comprising a torque command converter for inverse conversion to a torque command for each wheel.

Further, the transformation matrix T _X may be expressed by the following equation (1).

  Further, the control detected angular velocity includes an average angular velocity of the four wheels, a difference between the average angular velocity of the front wheels and the average angular velocity of the rear wheels, a difference between the average angular velocity of the right wheel and the average angular velocity of the left wheel, and a difference between the front and rear of the differential angular velocity of the right wheel and the left wheel. The control torque command includes the total torque of the four wheels, the difference between the front wheel total torque and the rear wheel total torque, the difference between the right wheel total torque and the rear wheel total torque, and the difference between the front and rear of the difference torque between the right wheel and the left wheel. , You may.

  Further, the angular velocity controller may perform angular velocity control based on the deviation between the control angular velocity command and the control detected angular velocity, and calculate the control torque command.

  Furthermore, the angular velocity command generator may convert the angular velocity command for each wheel into a control angular velocity command based on the conversion matrix of the equation (1).

  Further, as another aspect, the angular velocity controller includes an average angular velocity of four wheels, a difference between an average angular velocity of a right wheel and an average angular velocity of a left wheel, without performing angular velocity control, and a difference between an average angular velocity of a front wheel and an average angular velocity of a rear wheel, The angular velocity control is performed only for the difference in angular velocity between the right wheel and the left wheel, and the difference between the total torque of the four wheels as the driver's operation and the right wheel total torque and the left wheel total torque with respect to the output of the angular speed controller, A value obtained by adding is used as a control torque command.

  Furthermore, as another aspect, the angular velocity controller inputs a control angular velocity command as zero.

  According to the control device for each wheel independently driven carriage of the present invention, it is possible to suppress the traveling control by the motors of each wheel from interfering with each other and to construct a control system suitable for each operation mode. .

It is the side view and bottom view which show the electric vehicle model of Embodiment 1-3. It is a block diagram which shows the control apparatus of each wheel independent drive trolley | bogie in Embodiment 1. It is a block diagram which shows the control apparatus of each wheel independent drive trolley | bogie in Embodiment 2. It is a block diagram which shows the control apparatus of each wheel independent drive trolley | bogie in Embodiment 3. It is the side view and bottom view which show the electric vehicle model of this invention. It is a figure which shows the transmission characteristic of control torque instruction | command and the detected angular velocity of four wheels.

[Embodiment 1]
FIG. 1 is a side view and a bottom view showing the electric vehicle model according to the first embodiment. As shown in FIG. 1, each wheel independent drive cart drives each wheel 2a-2d independently by the torque of motors Ma-Md directly connected to each wheel 2a-2d. And the torque of these motors Ma-Md is controlled by the control apparatus 10 shown in FIG.

  As shown in FIG. 2, the control device 10 includes an angular velocity command generator 11, an angular velocity controller 12, a torque command converter 13, an inverter 14, and a detected angular velocity converter 15.

  The control device 10 performs variable conversion using the following equation (1).

The detected angular velocity converter 15 converts the detected angular velocities [ω _FR , ω _FL , ω _RR , ω _RL ] ^T of the four wheels in the cart 1 (P (s)) into a transformation matrix T _X as shown in the following equation (2). And converted into control detected angular velocities [ω _W , dω _W , Δω _W , δω _W ] ^T.

However, the detected angular velocities of the four wheels are ω _FR : front right wheel angular velocity, ω _FL : front left wheel angular velocity, ω _RR : rear right wheel angular velocity, ω _RL : rear left wheel angular velocity, and control detected angular velocity respectively ω _W : Corresponds to the average angular velocity of the four wheels, dω _W : difference between the average angular velocity of the front wheels and the average angular velocity of the rear wheel, Δω _W : difference between the average angular velocity of the right wheel and the left wheel, and δω _W : difference between the front and rear of the differential angular velocity of the right and left wheels . With this control angular velocity [ω _W , dω _W , Δω _W , δω _W ] ^T as a control object, an angular velocity control system is configured as shown in FIG.

Even if the angular velocity command is the angular velocity command [ω _FR ^* , ω _FL ^* , ω _RR ^* , ω _RL ^* ] ^T for each wheel, the control angular velocity command [ω _W ^* , dω _W ^* , Δω _W as the control angular velocity is used. ^* , Δω _W ^* ] ^T , but in the case of angular velocity commands [ω _FR ^* , ω _FL ^* , ω _RR ^* , ω _RL ^* ] ^T for each wheel, the transformation matrix T in the angular velocity command generator 11 _{X is} converted into control angular velocity commands [ω _W ^* , dω _W ^* , Δω _W ^* , δω _W ^* ] ^T as shown in the following equation (3).

In the angular velocity controller 12, the angular velocity deviation between the control angular velocity command [ω _W ^* , dω _W ^* , Δω _W ^* , δω _W ^* ] ^T and the control detected angular velocity [ω _W , dω _W , Δω _W , δω _W ] ^T is set. Accordingly, the control torque command [T _W ^* , dT _W ^* , ΔT _W ^* , δT _W ^* ] ^T is calculated, and the torque command converter 13 controls the following equation (4) using the conversion matrix T _X. torque command ^{_{[T W *, dT W *}} , ΔT W *, δT W *] torque command for each wheel from ^{_{T [T FR *, T FL}} *, T RR *, T RL *] computes a.

The motors Ma to Md of the carriage 1 are controlled by the inverter 14 (Q (s)) using the torque commands [T _FR ^* , T _FL ^* , T _RR ^* , T _RL ^* ] for each wheel as torque command values.

Here, T _FR : front right wheel torque, T _FL : front left wheel torque, T _RR : rear right wheel torque, T _RL : rear left wheel torque, T _W : total torque of four wheels, dT _W : front wheel total torque and rear Difference in total wheel torque, ΔT _W : difference between right wheel total torque and left wheel total torque, δT _W : corresponding to difference in front and rear of difference torque between right wheel and left wheel. * Indicates a command value.

The control device 10 shown in FIG. 2 sets a configuration and a value suitable for each control angular velocity command [ω _W ^* , dω _W ^* , Δω _W ^* , δω _W ^* ] ^T. For example, if the angular velocity controller 12 (C (s)) is represented by the following equation (5), the speed of the carriage (average angular velocity ω _{W of the} four wheels) and the traveling direction (difference Δω _W between the average angular velocity of the right wheel and the average angular velocity of the left wheel) ) For PI control (K _1P + K _1I / s, K _3P + K _3I / s), and for others, P control (K ₂ , K ₄ ) is used to speed the movement of the entire vehicle (cart speed and traveling direction). together match the command, (the difference d [omega _W of average front wheel angular velocity and the rear wheel average velocity, [delta] [omega _W the differential of the difference angular velocity of the right wheel and left wheel) relative motion between the wheels can be stabilized.

  As described above, according to the control device for each wheel independently driven carriage in the first embodiment, the driving control by the motor of each wheel is performed by converting the control system variable so as to correspond to the operation mode. Can be prevented from interfering with each other, and a control system suitable for each operation mode can be constructed to perform high-performance angular velocity control.

[Embodiment 2]
FIG. 3 is a block diagram showing a control device for each wheel independent drive carriage in the second embodiment. Hereinafter, differences from the first embodiment will be described.

In the second embodiment, it is assumed that the driver steers the vehicle. In order to control the movement (acceleration and traveling direction) of the entire vehicle, the driver controls the total torque command T _W ^* for the four wheels, A difference command ΔT _W ^* between the right wheel total torque and the left wheel total torque is added to the output of the angular velocity controller 12.

The angular velocity controller 12 does not perform angular velocity control with respect to the average angular velocity ω _W of the four wheels and the difference Δω _W between the average angular velocity of the left wheel and the right wheel in the entire vehicle, but relative movement between the wheels (the average angular velocity of the front wheel and the rear wheel). Only the difference dω _W with respect to the average angular velocity and the difference in angular velocity between the right wheel and the left wheel δω _W ) are controlled to stabilize relative motion between the wheels. In the second embodiment, the control angular velocity command is set to zero. In this case, the angular velocity controller 12 (C (s)) is expressed by the following equation (6).

As described above, according to the control device for each wheel independently driven carriage in the second embodiment, in addition to the effects of the first embodiment, the movement of the entire vehicle (the total torque command T _W ^{* of the} four wheels, the right wheel, The difference command ΔT _W ^* ) between the total torque and the left wheel total torque is left to the driver, and the relative motion between the wheels (the difference dω _W between the average angular velocity of the front wheels and the average angular velocity of the rear wheels, the difference angular velocity of the right wheel and the left wheel) It is possible to stabilize the front-to-back difference δω _W ).

[Embodiment 3]
FIG. 4 is a block diagram showing a control device for each wheel independent drive carriage in the third embodiment.

In the second embodiment, the angular velocity command is always set to 0. For example, when passing a curve, the difference between the right and left torques is given by the difference command ΔT _W ^* between the right wheel total torque and the left wheel total torque with respect to the input of the torque command converter 13 to smooth Realizes a curved run. On the other hand, in the third embodiment, not only the torque difference command ΔT _W ^* between the right wheel total torque and the left wheel total torque is given to the output of the angular velocity controller 12 according to the curve, but also in the angular velocity command generator 11. The angular velocity command value suitable for the curve passing situation is given. The configuration of the angular velocity command generator 11 is the same as that of the first embodiment, and generates angular velocity command values [ω _W ^* , dω _W ^* , Δω _W ^* , δω _W ^* ] suitable for smooth running according to the curve information. . Other configurations are the same as those of the second embodiment.

According to the control device for each wheel independently driven carriage in the third embodiment, in addition to the effects of the second embodiment, the control angular velocity command [ω for each wheel suitable for the running state (road surface condition such as a curve, vehicle speed, etc.). _W ^* , dω _W ^* , Δω _W ^* , δω _W ^* ] and torque command [T _W ^* , dT _W ^* , ΔT _W ^* , δT _W ^* ] can be given, so that smoother running can be realized. Is possible.

[Principle of the present invention]
Here, the principle of the present invention will be described.

  When the traveling (trolley speed, traveling direction) is controlled by each wheel independent drive cart shown in FIG. 5, since the motor is restrained by the cart 1, the traveling control of each wheel interferes with each other, and the angular velocity control of each wheel is controlled. It will be influenced by angular velocity control in other wheels. Further, since the four wheels (2a to 2d) attached to the carriage 1 have a geometrically symmetrical configuration, the angular velocity control of each wheel is usually the same configuration.

  In the present invention, by considering the control by changing the variables of the control system so as to correspond to the motion mode, interference between the angular velocity control in each wheel is eliminated, and a control system suitable for each driving mode is constructed. This enables high-performance angular velocity control.

Here, the equation of motion of each wheel (four wheels) independent drive cart can be expressed as follows. However, the movement is two-dimensional and does not consider vertical movement. The driving force generated at the wheel is determined by the vehicle speed and the wheel peripheral speed. For example, the front right wheel has the following equation (7-1) with respect to the traveling direction (x direction), and the y direction force is (7-2) ) (K _X , K _Y : constants).

  Formulating the equation of motion for the electric vehicle model shown in FIG. 5 and arranging it so that the relationship between the motor torque and the motor rotational angular velocity is easy to understand, the following equations (8) to (14) are obtained.

4 transportation average angular velocity omega _W, the center position and velocity (x component) of the four-wheel x _W of, u _W, carriage center of gravity position and velocity (x component) x _C, equation for u _C is as follows (8) Thus, the average angular velocity ω _W of the four wheels is determined only by the total torque T _W of the four wheels.

The difference between the front wheel average angular velocity and the rear wheel average angular velocity dω _W , the front / rear axis difference left / right average position / velocity (x component) dx _W , du _W is the following equation (9), and the difference between the front wheel average angular velocity and the rear wheel average angular velocity: dω _W is determined by the difference dT _W between the front wheel total torque and the rear wheel total torque.

Difference of right wheel average angular velocity and left wheel average angular velocity Δω _W , four wheel center position / speed (y component) y _W , v _W , cart center of gravity position / speed (y component) yc, vc, four wheel position speed left / right difference The equation for the longitudinal average (x component) Δx _W , Δu _W , cart yaw angle / angular velocity η _C , σ _C is the following equation (10), and the difference Δω _W between the right wheel average angular velocity and the left wheel average angular velocity is the right wheel total torque It is determined by the difference ΔT _{W in the} left wheel total torque.

The difference between the right wheel and left wheel difference angular velocity δω _W , and the difference between left and right position and speed difference (x component) δx _W , δu _W is the following equation (11). It can be calculated by δT _W.

  The following equations (12), (13), and (14) are equations that are not related to motor rotation.

Equations regarding the torque front and rear wheel difference left and right average position / speed (y component) dy _W and dv _W are shown in the following equation (12).

The following equation (13) shows an equation related to the front-rear average (y component) Δy _W , Δv _W of the four wheel position speed left / right difference.

The following equation (14) shows an equation relating to the longitudinal difference (y component) δy _W , δv _W of the lateral position difference / speed difference.

As is apparent from the equations (8), (9), (10), and (11), the detected angular velocity [ω of the four wheels with respect to the control torque command [T _W , dT _W , ΔT _W , δT _W ] ^T _W , dω _W , Δω _W , δω _W ] have a one-to-one relationship. FIG. 6 shows this relationship.

  As described above, by applying the control configuration of the first embodiment, it is possible to realize control suitable for each control amount.

In the second and third embodiments, when the driver operates the vehicle, the movement of the entire vehicle is left to the driver, before and after the difference dω _W between the front wheel average angular velocity and the rear wheel average angular velocity, and the difference angle between the right wheel and the left wheel. By controlling the difference δω _W , it is possible to realize a stable operation.

  In the first to third embodiments, each wheel independent drive bogie in four wheels has been described. However, even if the number of wheels in the bogie is a plurality of wheels other than four, it can be applied by appropriately changing mathematical formulas and the like. .

DESCRIPTION OF SYMBOLS 1 ... Carriage 2a-2d ... Wheel Ma-Md ... Motor 11 ... Angular velocity command generator 12 ... Angular velocity controller 13 ... Torque command converter 14 ... Inverter 15 ... Detection angular velocity converter

Claims (6)

A control device for each wheel independent drive cart that controls each wheel independently,
A detection angular velocity converter for variable-converting the detected angular velocity of each wheel into a control detected angular velocity indicating a movement of the entire vehicle and a relative movement between the wheels by a conversion matrix 1 / 4T _X ;
A torque command for inversely converting a control torque command, which is calculated based on the control detection angular velocity and which contributes to the motion of the entire vehicle and the relative motion between the wheels, to the torque command of each wheel using the conversion matrix T _X. A control device for each wheel independent drive carriage, comprising: a converter; The transformation matrix T _X is represented by the following equation (1):
The control detection angular velocity includes four wheel average angular velocity ωw, front wheel average angular velocity and rear wheel average angular velocity dωw, right wheel average angular velocity and left wheel average angular velocity difference Δωw, and right and left wheel differential angular velocity difference. δωw,
The detected angular velocities of the four wheels indicate a front right wheel angular velocity ω _FR , a front left wheel angular velocity ω _FL , a rear right wheel angular velocity ω _RR, and a rear left wheel angular velocity ω _RL ,
The detected angular velocity converter calculates a control detected angular velocity according to the following equation (2):
The control torque command includes four wheel total torque Tw, front wheel total torque and rear wheel total torque difference dTw, right wheel total torque and left wheel total torque difference ΔTw, and right and left wheel differential torque difference. δTw,
The torque command for each wheel, shows the front right wheel torque T _FR, front left wheel torque T _FL, and the rear right wheel torque T _RR, a left rear wheel torque T _RL, a,
The said torque command converter calculates the torque command of each wheel by following (4) Formula, The control apparatus of each wheel independent drive trolley | bogie of Claim 1 characterized by the above-mentioned.

3. The control apparatus for each wheel independent drive carriage according to claim 2, further comprising an angular velocity controller that performs angular velocity control based on a deviation between the control angular velocity command and the control detected angular velocity and calculates a control torque command. The front right wheel angular velocity command ω _FR ^* , the front left wheel angular velocity command ω _FL ^* , the rear right wheel angular velocity command ω _RR ^* , and the rear left wheel angular velocity command ω _RL ^* , which are angular velocity commands for each wheel , are converted into the conversion matrix of the above equation (1). On the basis of the following equation (3) , the control wheel speed command four wheel average angular speed command ωw ^* , front wheel average angular speed and rear wheel average angular speed difference command dωw ^* , right wheel average angular speed and left wheel average angular speed difference command Derutaomegadaburyu ^* a control device for each wheel independently driven truck according to claim 3, wherein further comprising an angular velocity command generator for converting the front and rear differential command Derutaomegadaburyu ^* difference angular velocity of the right wheel and the left wheel.

The angular velocity controller is
The average angular velocity of the four wheels, the difference between the average angular velocity of the right wheel and the average angular velocity of the left wheel is not controlled, and the angular velocity control is performed only for the difference between the average angular velocity of the front wheels and the average angular velocity of the rear wheels, and the difference between the right and left wheels. And
The control torque command is a value obtained by adding the total torque of the four wheels, which is a driver's operation, and the difference between the right wheel total torque and the left wheel total torque to the output of the angular velocity controller. Item 5. The control device for each wheel independent drive carriage according to Item 3 or 4.   6. The control apparatus for each wheel independent drive carriage according to claim 5, wherein the angular velocity controller inputs a control angular velocity command as zero.

Images