JPH01170828A - Circuit for detecting failure in speed change of drive robot - Google Patents

Abstract

PURPOSE:To surely detect the attaching position deviation of an actuator or the like by constituting a circuit so that a failure in speed change is decided when the duration of current of a motor exceeds a set time. CONSTITUTION:A current detector 8 which detects the current of a motor 3 is provided, and its detection signal passes an absolute value amplifier 9 and is compared with the set value of a current setter 10 by a comparator 5. The current setter 10 sets the set value to about 50% of the rated current of the motor 3, and it is discriminated by the comparator 5 whether the current flowing to the motor 3 is larger than the set value or not. The time longer than a maximum time required for shift lever operation of the motor 3 is set to a timer 7. The normal speed change operation and the abnormal speed change operation are discriminated by the length of the duration of the current to the motor 3. Consequently, a trouble of attaching position of the actuator or a failure in speed change which causes the gear sounding state is detected by extension of the duration of current to the motor 3 over that of normal speed change.

Description

DETAILED DESCRIPTION OF THE INVENTION A. Field of Industrial Application The present invention relates to a shift failure detection circuit for a drive robot.

B4 Summary of the Invention The present invention is a drive robot that changes the shift lever position by driving an electric motor, and is capable of reliable detection by detecting a failure in shifting based on the length of the current duration of the electric motor.

C0 Conventional technology Drive robots are used to obtain various driving states of vehicles for vehicle driving performance tests on chassis dynamometers and test courses, and control the vehicle's shift lever position according to remote control or programmed commands. Performs control, clutch control, etc. Among these, for shift lever position control, the shift lever is operated vertically and horizontally using an electric actuator to obtain a desired speed change state.

FIG. 3 shows a control circuit diagram of a conventional shift lever position control device. The shift lever driving electric motor 3 is controlled by feedback control by the stroke control section 1 and the stroke detection section 2 based on the stroke setting value obtained by decoding the shift command.
For this control, the actuator position is detected by a potentiometer 4.

In this control device, the shift failure detection circuit uses a bipolar comparator 5 and a deviation setter 6 to detect whether or not the deviation between the stroke setting value and the detection value of the stroke detection section 2 is within a predetermined value. When there is an abnormality, a timer 7 is activated by the inversion of the output of the comparator 5, and when this state exceeds the time limit of the timer 7, a shift failure alarm output is obtained from the output of the timer 7.

D9 Problems to be Solved by the Invention Conventional gear shift failure detection circuits compare the actuator stroke setting value and the electric actuator stroke detection value in shift lever position control, and perform a gear shift when the deviation between the two continues for a set time or longer. It is considered a failure. That is, the shift position abnormality is detected by the stroke of the actuator. Therefore, when installing the drive robot on a vehicle, if there is a relative positional deviation between the actuator and shift lever, the actuator control system will determine that it is operating normally, causing a failure in detecting the shift position abnormality and preventing a normal test. make impossible. In addition, gear shifts occur in a short period of time, and depending on the transmission, the gear may be shifted in without being synchronized, which may cause gear noise, and if a gear shift failure cannot be detected in this state, there is a risk of damage to the transmission. there were.

E. Means for Solving the Problems The present invention has been made in view of the problems mentioned in section 2 above, and is configured to determine that a shift has failed when the current duration of the motor exceeds a set time.

If there is a problem with the mounting position of the F1 action actuator or an abnormal shift-in of the transmission, a failure in gear shifting is detected from the length of the current continuation time by utilizing the fact that the electric motor is in a continuous current state.

G. Example FIG. 1 is a circuit diagram showing an embodiment of the present invention.

The difference between this figure and FIG. 3 is that a current detector 8 is provided to detect the current of the motor 3, and the detection signal of the current detector 8 is passed through an absolute value amplifier 9 to determine the magnitude of the setting value of the current setting device 10. This is because a comparator 5 is used for comparison. The current setting device 10 is set to about 50% of the rated current of the motor 3, and the comparator 5 determines whether the current of the motor 3 is flowing at a value exceeding the set value. The timer 7 is set to a value that exceeds the maximum time required for the electric motor 3 to operate the shift lever.

In such a configuration, a normal speed change operation and an abnormal speed change operation are determined based on the length of the current continuation time of the electric motor 3. FIG. 2 shows waveform diagrams of various parts during gear shifting, with period T1 showing the case of normal shifting operation, and period T showing the case of abnormal shifting operation.

In Fig. 2, in normal gear shifting operation, after the clutch is engaged and disengaged, the electric motor 3 changes by changing the stroke setting value.
Starts rotational position control. When the shift lever is shifted from 3rd gear to 4th gear by the rotation of this electric motor 3, the stroke will either be instantaneously held in the synchro zone SZ of the transmission, or the time from the start of the shift to the end of the shift will be approximately The current period of the electric motor 3 is constant (approximately 0.1 seconds in a vehicle transmission stroke) and ends in a constant time. Therefore,
By setting the time limit of the timer 7 to, for example, 1 second compared to the current supply period Tm of the electric motor 3, shift failure detection is not performed during a normal shift operation.

Next, as shown in period T in Figure 2, when the synchro zone position of the transmission is shifted due to the actuator being out of position or due to an abnormality in the transmission, there is a gear noise or the shift lever is in the 4th gear position. If the position detection of the button yometer 4 is not at the fourth speed position even though the position has been reached, the shift lever control system continues to supply current to the electric motor 3. At this time, current continues to flow through the electric motor 3 for a period longer than the period Tm required for normal gear shifting, and when the time limit Tt of the timer 7 is reached, a gear shifting failure detection signal is obtained. When this is detected, in addition to issuing an alarm, remote control on the test course can protect the transmission from gear noise by giving a neutral command to set the stroke setting to the neutral position.

As mentioned above, a malfunction in the mounting position of the actuator or a gear shift failure resulting in gear noise is detected because the current continuation of the motor 3 is longer than that during normal gear shifting.
Detection is more reliable than conventional detection from the stroke position of the actuator.

In addition, in the example, a case was shown in which a shift abnormality is detected from the current duration time of the electric motor, but when the gear is normally used, the motor current value is often larger than that when it is normal. A configuration in which a failure is detected and a shift failure detection signal is obtained by a logical sum of this detection and the detection of abnormality in current duration time allows for more reliable detection.

H1 Effects of the Invention As described above, according to the present invention, a gear shift failure is detected from the length of the duration of the motor current, so it is possible to reliably detect a gear shift failure due to misalignment of the actuator mounting position or gear shift abnormality, and it is possible to detect a gear shift failure due to a misalignment of the actuator mounting position or a gear shift abnormality. It is effective in making accurate testing possible and preventing damage to the transmission.

[Brief explanation of the drawing]

FIG. 1 is a circuit diagram showing an embodiment of the present invention, and FIG. 2 is a waveform diagram for explaining the shift failure detection operation in the embodiment.
FIG. 3 is a conventional circuit diagram. ■... Stroke control section, 2... Stroke detection section,
3...Electric 1a, 5-comparator, 7...Timer, 8
Current detector, 9. Absolute value amplifier, 10. Current setting device.

Claims (1)

[Claims] A drive robot that switches the shift lever position of a vehicle by controlling the rotational position of an electric motor according to a set stroke value, characterized in that the drive is configured to determine that a shift has failed when the current duration of the electric motor exceeds a set time. Robot gear shift failure detection circuit.