JP6555142B2 - Torque control value generation device and dynamo drive control device including the same - Google Patents

Description

  The present invention relates to a torque control value generation device that generates a torque control value that is input to a control unit that drives and controls a dynamo, and a dynamo drive control device including the torque control value generation device.

  2. Description of the Related Art Conventionally, a configuration for generating a torque control value that is input to a control unit that drives and controls a dynamo is known. For example, Patent Document 1 discloses that a controller generates a torque current command (torque control value) based on a torque command, a point that controls driving of a dynamometer by the torque current command via an inverter, and the like. ing.

JP2013-15386A

  By the way, as in the configuration disclosed in Patent Document 1 described above, when a torque control value is generated from a torque command by a controller and then dynamo drive control is performed according to the torque control value, the dynamo reactance or the like is used. The waveform of the output torque output from the dynamo is different from the waveform of the torque command. That is, the output torque of the dynamo is delayed with respect to the torque command. Therefore, in general, the responsiveness of the dynamo output torque to the torque command is not so high.

  An object of the present invention is to obtain a configuration capable of improving the responsiveness of dynamo output torque to a torque command in a torque control value generation device that generates a torque control value input to a control unit that drives and controls a dynamo. .

  A torque control value generation device according to an embodiment of the present invention is a torque control value generation device that generates a torque control value that is input to a control unit for driving and controlling a dynamo in accordance with a torque command. The torque control value generating device includes an output torque estimating unit that estimates an output torque output from the dynamo based on the torque command, a difference calculating unit that obtains a difference between the torque command and the output torque, and the difference A torque control value calculation unit that obtains the torque control value using the torque command (first configuration);

  In the above configuration, the output torque output by the dynamo is estimated based on the torque command, and the torque control value is obtained using the difference between the torque command and the output torque and the torque command. As a result, the torque command can be corrected according to the output torque of the dynamo, so that the response of the dynamo output torque to the torque command can be improved. Therefore, it is possible to improve responsiveness such as dynamo speed control, torque control, and electric inertia control.

  In the first configuration, the output torque estimation unit estimates the output torque using a function that approximates the output torque characteristic of the dynamo (second configuration). As described above, the output torque of the dynamo can be easily estimated by estimating the output torque using a function that approximates the output torque characteristic of the dynamo.

  In the first or second configuration, the function is a transfer function of a low-pass filter (third configuration). The output torque characteristic of a dynamo is similar to the frequency characteristic of a low-pass filter. Therefore, the output torque of the dynamo can be easily estimated by a simple low-pass filter transfer function. Therefore, the estimated value of the output torque of the dynamo can be easily obtained by calculation.

  In any one of the first to third configurations, a difference adjustment unit that adjusts the difference and outputs the adjusted difference to the torque control value calculation unit (fourth configuration). Thereby, the difference between the torque command and the estimated value of the output torque of the dynamo can be adjusted. Therefore, the torque control value can be adjusted so that the responsiveness of the dynamo output torque to the torque command is improved. Therefore, the responsiveness of the dynamo output torque to the torque command can be improved.

  A dynamo drive control device according to an embodiment of the present invention includes a torque control value generation device according to any one of first to fourth configurations, and a torque control generated by the torque control value generation device. And a control unit that drives and controls the dynamo based on the value (fifth configuration).

  Thereby, the dynamo drive control apparatus which can improve the responsiveness of the output torque of the dynamo with respect to a torque command is realizable.

  According to the torque control value generation device according to an embodiment of the present invention, the torque control for inputting to the control unit using the difference between the output torque of the dynamo estimated based on the torque command and the torque command. Find the value. Thereby, the responsiveness of the dynamo output torque to the torque command can be improved.

FIG. 1 is a block diagram showing a schematic configuration of a dynamo drive control device according to an embodiment of the present invention. FIG. 2 is a diagram illustrating an example of waveforms of a torque command and a dynamo output torque. FIG. 3 is a diagram showing frequency characteristics of the output current of the dynamo.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The same or corresponding parts in the drawings are denoted by the same reference numerals and description thereof will not be repeated.

(overall structure)
FIG. 1 is a diagram showing a schematic configuration of a dynamo drive control device 1 according to an embodiment of the present invention. This dynamo drive control device 1 is a device for controlling the drive of a dynamo 2 ("G" in FIG. 1) used in, for example, a vehicle test apparatus. The dynamo drive control device 1 includes a torque control value generation device 10 that generates a torque control value according to a torque command, and an inverter 20 ("INV" in FIG. 1) that drives the dynamo 2 based on the torque control value. Prepare.

  That is, the dynamo 2 is driven and controlled based on the torque control value generated from the torque command.

  The torque control value generation device 10 generates a torque control value for driving the dynamo 2 by the inverter 20 based on the torque command. Specifically, the torque control value generation device 10 generates the torque control value by correcting the torque command using the difference between the torque command and the output torque of the dynamo 2 estimated based on the torque command. .

  The torque control value generation device 10 includes an output torque estimation unit 11, a difference calculation unit 12, a difference adjustment unit 13, and a control value calculation unit 14.

  The output torque estimation unit 11 estimates the output torque of the dynamo 2 based on the torque command. Specifically, the output torque estimation unit 11 estimates the output torque of the dynamo 2 from the torque command using a function that approximates the output torque characteristic of the dynamo 2. The output torque estimation unit 11 outputs the estimated output torque as an output torque estimated value.

  Here, the output torque characteristic of the dynamo 2 approximates the transfer function of the low-pass filter. Therefore, the output torque estimating unit 11 estimates the output torque of the dynamo 2 by multiplying the torque command by a transfer function H (s) of a low-pass filter such as the following equation.

H (s) = 1 / (1 + T · s)
In the above equation, T is a time constant and s is a Laplace operator.

  The difference calculation unit 12 obtains a difference between the output torque estimated value output from the output torque estimation unit 11 and the torque command. The difference calculation unit 12 outputs the difference as a difference calculation value.

  The difference adjustment unit 13 performs gain adjustment on the difference. That is, the difference adjustment unit 13 obtains a difference adjustment value by multiplying the difference by a predetermined coefficient. Thereby, when the control value calculation unit 14 obtains the torque control value, the difference can be adjusted by the difference adjustment unit 13. Therefore, the torque control value can be adjusted so as to improve the response of the output torque of the dynamo 2. The difference adjustment unit 13 outputs the difference adjustment value.

  The control value calculation unit 14 obtains a torque control value by adding the difference adjusted by the difference adjustment unit 13 to the torque command. The control value calculation unit 14 outputs the obtained torque control value to the inverter 20. The inverter 20 drives the dynamo 2 based on the input torque control value.

(Operation of dynamo drive controller)
Next, operation | movement of the dynamo drive control apparatus 1 which has the above-mentioned structure is demonstrated.

  When a torque command is input to the dynamo drive control device 1, first, the torque command is input to the torque control value generation device 10. In the torque control value generation device 10, when a torque command is input, the output torque estimation unit 11 estimates the output torque of the dynamo 2 based on the torque command. The output torque estimating unit 11 estimates the output torque of the dynamo 2 using a transfer function of a low-pass filter that approximates the output torque characteristic of the dynamo 2. The output torque estimation unit 11 outputs this output torque as an output torque estimated value.

  The estimated output torque value output from the output torque estimation unit 11 is input to the difference calculation unit 12. The difference calculation unit 12 obtains a difference between the torque command and the output torque estimated value. The difference calculation unit 12 outputs the calculated difference as a difference calculation value.

  The difference calculation value output from the difference calculation unit 12 is input to the difference adjustment unit 13. The difference adjustment unit 13 obtains a difference adjustment value by multiplying the difference calculation value by a predetermined coefficient. This coefficient may be set in advance or may be changeable. The difference adjustment unit 13 outputs the difference adjustment value.

  The difference adjustment value output from the difference adjustment unit 13 is input to the control value calculation unit 14. The control value calculation unit 14 obtains a torque control value by adding the difference adjustment value and the torque command. The control value calculation unit 14 outputs the torque control value.

  The torque control value output from the control value calculation unit 14 is input to the inverter 20. The inverter 20 drives the dynamo 2 based on the torque control value.

  FIG. 2 shows an example of a torque command (solid line) that changes with time and an example of a time change of torque (dashed line and one-dot chain line) that is output from the dynamo 2 in response to the torque command.

  When the torque control value generation device 10 according to the present embodiment is not used, when the dynamo 2 is driven by the inverter 20 based on the stepped torque command as shown by the solid line in FIG. An output torque as shown in FIG. This output torque is considerably delayed with respect to the torque command. Therefore, when the torque control value generation device 10 according to the present embodiment is not used, the response of the output torque of the dynamo 2 to the torque command is not good.

  On the other hand, when the torque control value generation device 10 according to the present embodiment is used, when the dynamo 2 is driven by the inverter 20 based on the torque control value obtained by the torque control value generation device 10, the dynamo 2 From FIG. 2, an output torque as shown by a one-dot chain line is obtained. This output torque has a waveform close to a stepped torque command. Therefore, by using the torque control value generation device 10 according to the present embodiment, the response of the output torque of the dynamo 2 to the torque command can be improved.

  FIG. 3 shows the frequency characteristics of the output current of the dynamo 2. Since the output current of the dynamo 2 corresponds to the output torque of the dynamo 2, the frequency characteristic of the output current is almost close to the frequency characteristic of the output torque. 3A shows gain characteristics, and FIG. 3B shows phase characteristics.

  In FIG. 3, the thin line shows the frequency characteristic of the output current of the dynamo 2 when the torque control value generation device 10 according to the present embodiment is not used. On the other hand, in FIG. 3, the thick line shows the frequency characteristic of the output current of the dynamo 2 when the torque control value generation device 10 according to the present embodiment is used.

  As shown in FIG. 3A, it can be seen that the thick line has a larger gain and higher responsiveness than the thin line. In particular, in the region where the frequency is high, the gain of the thick line is larger than that of the thin line, and it can be seen that the response is high in the region of high frequency. Moreover, as shown in FIG.3 (b), it turns out that the direction of the thick line is advanced compared with a thin line, and its responsiveness is high. That is, by using the torque control value generation device 10 according to the present embodiment, the response of the output torque of the dynamo 2 can be improved.

  As described above, the dynamo 2 is driven by the inverter 20 based on the output torque of the dynamo 2 estimated based on the torque command and the torque control value generated by the torque command. The output torque response can be improved.

  Moreover, when estimating the output torque of the dynamo 2 based on the torque command, the estimated value of the output torque can be easily calculated by using a low-pass filter transfer function that is close to the frequency characteristic of the output torque of the dynamo 2. Can do.

  Further, by providing the difference adjustment unit 13 that can adjust the difference between the estimated value of the output torque and the torque command, the torque control value can be changed in accordance with the frequency characteristics of the output torque of the dynamo 2. That is, by obtaining the difference adjustment value obtained by adjusting the difference by the difference adjustment unit 13, the torque control value obtained from the difference adjustment value and the torque command can be freely changed. Therefore, since the torque control value can be changed by the difference adjustment unit 13 according to the frequency characteristic of the output torque of the dynamo 2, a torque control value with better responsiveness of the output torque to the torque command can be obtained.

(Other embodiments)
While the embodiments of the present invention have been described above, the above-described embodiments are merely examples for carrying out the present invention. Therefore, the present invention is not limited to the above-described embodiment, and the above-described embodiment can be appropriately modified and implemented without departing from the spirit of the invention.

  In the embodiment, the output torque estimating unit 11 calculates the output torque based on the torque command using the transfer function of the low-pass filter that approximates the frequency characteristic of the output torque of the dynamo 2. However, the output torque estimating unit 11 may estimate the output torque of the dynamo 2 using another function.

  In the embodiment, the torque control value generation device 10 includes the difference adjustment unit 13 that adjusts the difference between the torque command and the output torque estimated value. However, the torque control value generation device 10 may not have the difference adjustment unit 13.

  The present invention is applicable to a torque control value generation device that generates a torque control value for driving and controlling a dynamo.

DESCRIPTION OF SYMBOLS 1 Dynamo drive control apparatus 2 Dynamo 10 Torque control value generation apparatus 11 Output torque estimation part 12 Difference calculation part 13 Difference adjustment part 14 Control value calculation part 20 Inverter (control part)

Claims (5)

A torque control value generating device that generates a torque control value that is input to a control unit for driving and controlling a dynamo according to a torque command,
An output torque estimator for estimating an output torque output by the dynamo based on the torque command;
A difference calculation unit for obtaining a difference between the torque command and the output torque;
A torque control value generation device comprising: a torque control value calculation unit that obtains the torque control value using the difference and the torque command. The torque control value generation device according to claim 1,
The said output torque estimation part is a torque control value production | generation apparatus which estimates the said output torque using the function approximated to the output torque characteristic of the said dynamo. The torque control value generation device according to claim 2,
The torque control value generation device, wherein the function is a transfer function of a low-pass filter. The torque control value generating device according to any one of claims 1 to 3,
A torque control value generation device further comprising a difference adjustment unit that adjusts the difference and outputs the difference to the torque control value calculation unit. The torque control value generation device according to any one of claims 1 to 4,
A dynamo drive control device comprising: a control unit that drives and controls a dynamo based on the torque control value generated by the torque control value generation device.

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