JPH01227941A - Rotational difference controller - Google Patents

Abstract

PURPOSE:To improve the accuracy of rotational difference control including a transient state by adding pulse signals corresponding to a rotational difference set value to one side of the rotating speed detecting pulse signals of a pair of rotating bodies and obtaining the rotational difference set value from the count value of the pulse signals. CONSTITUTION:Pulse synthesizing circuits 25A and 25B synthesize pulse signals whose frequency is adjusted to correspond to a rotational difference set value by means of a frequency adjusting circuit 23 to the rotating speed detecting pulse signals of a pair of rotating bodies coupled with a differential mechanism in accordance with the positive and negative polarities of the rotational difference set value. Both of the synthesized detecting pulses A1 and B1 are inputted to an up-down counter 26 and the count value of the counter 26 is collated with the phase-difference-zero set value of the paired rotating bodies at a collating circuit 27 and the difference between them is outputted as a rotational difference set value. Thus the pulse signals having a frequency corresponding to the rotational difference set value are synthesized to one side of the rotating speed detecting pulse signal of the rotating bodies and automatic speed control is performed.

Description

DETAILED DESCRIPTION OF THE INVENTION A. Field of Industrial Application The present invention relates to a testing device for a power transmission system including a differential mechanism, and more particularly to a differential rotation control device for a differential mechanism.

B. Summary of the Invention The present invention provides automatic speed control of a pair of rotating bodies connected to a differential mechanism by matching a differential rotation detection signal and a differential rotation setting value of the pair of rotating bodies. Combine a pulse signal with a frequency corresponding to the speed detection valve switch of a pair of rotating bodies into one of the speed detection pulses, and use this combined speed detection pulse as the up input of the up/down counter and the human power of the up/down counter.
By obtaining a differential rotation setting value from the counted value of the counter, the transient response accuracy can be improved.

C. Conventional technology Automatic dynamometers and powertrain testers perform performance tests including the differential gear. Testing equipment for power transmission systems that include such a differential mechanism sometimes produces a difference in the rotational speed of the left and right wheels due to the differential mechanism, so the differential rotation is reduced to zero (simulating straight-ahead driving in automatic mode). 4 control, or control to keep the differential rotation at a constant value (simulating a left turn or right turn) is required.

For this reason, the conventional differential rotation control device has a small configuration as shown in FIG. During the test, the dynamometer control system placed wheels IA and IB of car 1 on rollers 2A and 2111, respectively, and
The driving force of the wheels IΔ, II (by the engine drive of [1
- Dynamometer 3Δ, 3 coupled to LA 2Δ, 2■3
B is absorbed separately.

Dynamometers 3A, 31 (torque control device 4A).

4B and speed control devices 5A and 5133), torque and speed are automatically controlled.

For such a dynamometer control system, the differential rotation control device uses pulse pickups 6Δ, 611 to detect the rotational speeds (rotational speeds of small wheels IA, 11) of the dynamometers 3A, 3B. The frequency-to-voltage converters 7A and 7H convert the signals into voltages A and Z, and by subtracting both converted signals, the differential rotation is detected, and the differential rotation setting device 8 The deviation between the setting signal converted by the I)/A converter 9 and the L rotation detection signal is calculated by proportional integration (
)" l) Operational amplification is performed by the computing unit 10, and this computing unit lO
The output of the calculator 10 is added to the set value of the speed setter 11 to obtain the speed command value of the dynamometer 311, and the output of the arithmetic unit 10 is subtracted from the set value of the speed setter 11 to obtain the speed command value of the dynamometer 3A.

Here, in order to compensate for the steady deviation of the difference [11 rotations], the deviation calculating section 12 generates a pulse pickup 6Δ.

6B's detection pulse signal r, >A, H's intermediate time count value difference (A - B) is compared with the set value C of the differential rotation setting device 8, and the deviation E is integrated by the integral calculation IN3,
This integration result is converted into an analog signal by the D/A converter 14 and calculated as a differential rotation correction value.

D. Problems to be Solved by the Invention In the conventional differential rotation control device, the steady-state deviation is eliminated by L in the deviation calculation section 12 and the integral calculation section I3. H'Hi
Accurate X rotation control is possible, but transient state of differential rotation control 73
However, there is a problem in which response accuracy cannot be improved.

This is because there is a delay due to the sampling time for pulse counting and matching in the deviation calculation unit 12 and the integration time in the integral calculation unit 13, and the longer these times are, the more the steady-state deviation compensation accuracy is improved. However, on the contrary, it becomes a dead time for transient deviations. This is due to the fact that this is accompanied by a compensation delay, which worsens the transient response.

An object of the present invention is to provide a differential rotation control device that can improve the accuracy of differential rotation control, including in transient conditions.

E. Means and Function for Solving the Problems (4) The present invention provides a pair of rotating bodies coupled to a differential mechanism, and a differential rotation detection signal between the pair of rotating bodies. In a power transmission system testing device equipped with a speed control system that automatically controls the differential rotational speed of both rotating bodies by comparing the differential rotational speed with the differential rotational setting, frequency adjustment is performed to obtain a pulse signal with a frequency corresponding to the differential rotational setting. means, a pulse synthesizing means for synthesizing this pulse signal into a speed detection pulse signal of the pair of rotating bodies determined according to the positive/negative polarity of the differential rotation setting value, and a rain detection pulse synthesized by the synthesizing means as an up input. The apparatus comprises: an up-down counting means for converting down manually; and a matching means for obtaining the differential rotation setting value by matching the counted value of the counting means with a zero phase difference setting value of the pair of rotating bodies described in ijj, and the differential rotation setting value By combining a pulse signal with a frequency corresponding to one of the rotational speed detection pulse signals of the rotating body, automatic speed control is performed so that the number of detected pulses changes in accordance with the differential rotation setting value.

F. Embodiment FIG. 1 is a circuit diagram of a small-medium differential rotation control device according to an embodiment of the present invention. The putband circuit 21 receives the detection pulse signal A of the pulse pickups 6A and 611.

(2) Shape the waveform and adjust the phase of 1. This process prevents simultaneous input of up and down inputs to the up-down counter at the subsequent stage. For example, when the pulse signals Δ and I3 are in the synchronous state shown in FIG. 2(A), the dead band circuit 21 converts the signal A into a pulse signal A with a narrow rise timing. Convert the signal I (to a narrow pulse signal B with a timing difference of 1γ.

Convert both signals A. The simultaneous occurrence of and tq is prohibited.

The clock generator 22 generates knock pulses at a predetermined frequency, and the frequency adjustment circuit 23 increases or decreases the knock pulse frequency according to the set value of the differential rotation setting device 8. The positive/negative switching circuit 24 outputs the output pulse of the adjusting circuit 23 as a pulse signal CA or CB according to the positive/negative polarity signal set in the differential rotation setting device 8 by switching from - to -. Pulse synthesis circuit 25A.

25B is the output pulse signal Ao of the dead band circuit 21;
Pulse signal from switching circuit 24 to Bo) CA,
Pulse signals A+ and B+ are obtained by adding CB, respectively.

The synthesis by the synthesis circuits 25A and 25B is performed, for example, when the pulse signal C8 is applied (the pulse shown in FIG. 2(B)).
Add one pulse between )1 and l).

The up/down counter 26 is connected to the pulse synthesis circuit 25A, 2
Among the pulses received from 5B, Δ, ,B, the signal j−;−A
, is the up-side counting input, signal B1 is the down-side counting input, and the difference between the number of pulses of signal 1; A and B is obtained as the counted value. The digital matching circuit 27 matches the count value output of the up/down counter 26 with the set value of the phase difference setter 28 and obtains the deviation as a differential rotation set value 7. The D/A converter 29 converts the output of the matching circuit 27 into an analog signal and uses it as a comparison signal with the I rotation detection signal.

In such a configuration, dynamometer 3A.

When the pulse pickups 3B are at the same speed (zero phase difference), the output pulse signals A of the pulse pickups 6A and 611.

B has the same waveform as shown in FIG. 2(A), and the output pulse of the dead band circuit 21 has a waveform with the same frequency and a phase difference as shown in FIG. 2(B). and,
The setting of the differential rotation setter 8 (at zero, it matches the clock pulse frequency or its divided frequency, and both the output pulse signals 'jcA and Cn of the positive/negative switching circuit 24 are not output. The output pulse signals A, , R, become the same frequency, and the up/down counter 26 repeats 1 pulse up and 1 pulse down to maintain the current value at zero, and the phase zero setting value in the dinotal matching circuit 27 and Obtain zero for the deviation of .

Automatic speed control is performed so that this deviation of zero becomes the command value of the differential rotation signal, and the differential rotation detection signal also becomes zero.

Such a synchronized state results in a state in which both vehicles travel straight ahead.

In this state, in order to increase the differential rotation by 5, the amount N and the positive and negative polarities corresponding to the right turn or left turn are given to the differential rotation setting device 8. With this setting, the frequency The j-node circuit 23 generates a pulse with a frequency that is increased or decreased by the ratio of fiN to 1, and this pulse is sent to the positive/negative switching circuit 24 to be given to one of the pulse synthesis circuits 25∆ or 25∆3. signal A. Or B. The pulse signals A + and B + are obtained by increasing the number of pulses (per unit time) of one of the signals.

Due to the increased number of pulses of the signals A and B, the count value of the up-down counter 26 increases, for example, because the number of pulses of the up-side input signal >: A becomes greater than that of the signal B, and the count value increases. start. At this time, due to the increase in the count value of the counter 26, the differential rotation command is changed to L'j? .

Then, the deceleration side control of the dynamometer 3Δ is started. By this control, when the output pulse frequency of the pulse pickup 6A is decreased and decelerated by the increment N in the pulse synthesis circuit 25A, the count value of the up/down counter 26 stops increasing and is maintained at the count value at that time. That is, the current count value of the counter 26 is maintained at the differential rotation setting value, and the rotational speed difference between the dynamometers 3A and 3B is also maintained at this differential rotation setting value, resulting in a synchronized state.

Therefore, fluctuations in the rotational speed of the dynamometers 3A and 3B immediately appear as an increase or decrease in the count value of the up/down counter 26, and it takes more time to detect the fluctuations than conventional compensation by counting the number of pulses within a unit time and integrating them. Delays are extremely reduced, and the accuracy of transient deafness can also be improved.

G0 Effects of the Invention As described above, according to the present invention, a pulse signal with a frequency corresponding to the differential rotation setting value is added to one of the rotation speed detection pulse signals of a pair of rotating bodies, and this composite pulse signal is used as an up input. Since the differential rotation setting value is obtained from the down manual power and the count value of the 4-up/down counter, it is possible to improve the steady-state deviation to the rotation speed detection accuracy while increasing the transient response to the rotation speed detection pulse period. be.

[Brief explanation of the drawing]

Figure 1 is a circuit diagram showing an embodiment of the present invention, Figure 2 (Δ)
2(B) is a waveform diagram of each part in FIG. 1, and FIG. 3 is a diagram of a conventional device configuration. 3A, 3B... Dynamometer, 6A, 6B... Pulse pickup, 7A, 7B... Frequency-voltage converter, 8... Differential rotation setting device, 21... Dead band circuit, 22 Clock generator , 23...frequency adjustment circuit, 2
4. Positive/negative switching circuit, 25A, 2513. Pulse synthesis circuit, 26. Up/down counter, 27. Dinotal matching circuit, 28. Phase difference setting device. Figure 2 (A) Waveform diagram of the example Figure 2 (B) Waveform diagram of the example

Claims (1)

[Claims] (1) A pair of rotating bodies connected to a differential mechanism, and a speed control system that automatically controls the differential rotational speed of both rotating bodies by matching the differential rotation detection signal of the pair of rotating bodies with the differential rotation setting value. A power transmission system testing apparatus comprising: a frequency adjusting means for obtaining a pulse signal of a frequency corresponding to a differential rotation setting value; and a pair of rotating bodies that determines the pulse signal according to the positive or negative polarity of the differential rotation setting value. a pulse synthesizing means for synthesizing the detected pulse signal into the speed detection pulse signal of the above-mentioned speed detection pulse signal; an up-down counting means for inputting both detection pulses synthesized by the synthesizing means into an up input and a down input; A differential rotation control device comprising: matching means for obtaining the differential rotation setting value by comparing it with a phase difference zero setting value.