JPH0332008B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention is useful for testing, for example, operating gear systems and four-wheel drive systems of automobiles, directly or indirectly through the shafts of tires and drums, etc. Relating to a device for controlling multiple dynamometers connected together,
In the above tests, it is used to apply a predetermined speed or load condition to the test object.

BACKGROUND ART In this type of control, control is generally performed in each control section of a plurality of dynamometers according to the respective set target values. 57−
There is a control device for two dynamometers in which operating gear devices are tested as disclosed in Japanese Patent Publication No. 15330 and Japanese Patent Publication No. 57-15329.

In the former method, a speed control section is provided for each of the first and second dynamometers connected to each output shaft of the operating gear device, and a set target value is given to each, and a speed difference is controlled between the two dynamometers. When generating the speed difference, a value of 1/2 of the speed difference is added to or subtracted from each of the set target values. The latter is also similar to the former, but the control section of each dynamometer is a torque control section, in which case the speed and torque of the propeller shaft, which is the input shaft to the differential gear system, is controlled. Assuming that there is a proportional relationship, the set target value of each control section is given by the deviation between the speed set value of the propeller shaft and the feedback speed value.

However, in all of these, the set target values of the control units of the respective dynamometers are simply set to be the same or with a predetermined difference, and after all, both dynamometers are controlled independently from each other. In this case, it is difficult to accurately control both dynamometers to a constant speed or a predetermined speed difference or torque difference because there is a difference in characteristics or a difference in drift between the two control sections. Therefore, even if actual driving data of a car is given as the predetermined target value,
It is difficult to faithfully reproduce it, and in the end it is not suitable for high precision testing.

To improve this, for example, JP-A-56-
No. 150317 “Control device for dynamometer system”, JP-A-Sho
No. 57-88337 ``Control method for automobile testing machine'' discloses a torque control system for two dynamometers. This configures a torque control loop for one dynamometer using the output of the torque sensor as a feedback signal, and for the other dynamometer, inputs the speed sensor outputs of both dynamometers and synchronizes them or controls the speed by a predetermined speed difference. A speed control loop is configured to control the speed.

Problems to be Solved by the Invention By the way, it is inevitable that there will be some difference in characteristics and drift between the two speed sensors, but in the above control device, the difference is controlled as is. Therefore, there is a problem in that there is an error in the target synchronization or constant difference control.
Further, since the two speed sensors are independent, synchronization with each other is not guaranteed, and there is a problem of delays and instability in transient state control. An object of the present invention is to solve the difficulty of controlling the control units of a plurality of dynamometers to a constant velocity or a predetermined speed difference or torque difference based on their characteristics or drift differences.

Means for Solving the Problems In order to solve the above problems, the present invention selects one of a plurality of dynamometers as a main dynamometer, and
In contrast to that dynamometer, other dynamometers are used as slave dynamometers, and the aim is to provide a device in which the slave dynamometers are synchronously controlled to follow the main dynamometer. The control loops for each are left as they are, and a new one is supplied with the same carrier,
In other words, a synchronized resolver is provided for each dynamometer, and the phase difference between the two outputs is determined either directly or after one has a phase change corresponding to the speed difference or torque difference. This is the control target value of the control loop (that is, in the slave dynamometer, the original control loop is made the minor loop).

That is, the present invention includes a main control section that controls the speed or torque of the main dynamometer based on a set target value thereof, and a slave control section that controls the slave dynamometer to the target value or a predetermined difference therefrom. For a control device with A deviation detection section is provided, and one input terminal of the phase deviation detection section receives the phase shift signal from the main resolver directly or via a phase shifter that changes the phase according to a predetermined difference from the target value. A phase shift signal from a slave resolver is input to the other input terminal, and the phase difference output of both inputs sent from the phase deviation detection unit is introduced into the slave control unit as a control target value. This is how it was done.

Function In the above system, when a set target value of speed or torque is given to the main control section, the main control section absorbs or drives the dynamometer so that the speed or torque of the main dynamometer matches it. (Thus, the control operation of this main dynamometer is similar to the prior art). During this time, phase shift signals whose phases change in accordance with the rotation angles of the main and slave dynamometers are sent out from each of the main and slave resolvers, and the phase deviation detection section detects the deviation between the two phase shift signals. That is, an output corresponding to the difference in the rotation angles of the two dynamometers is formed, and is applied to the slave control section as a control target value. Therefore, the slave control section controls the absorption or driving force of the slave dynamometer so that the phase deviations of both phase shift signals match, that is, the rotation angles of both dynamometers match. As a result, the slave dynamometer is made to follow the master dynamometer in a synchronous state. In addition, when giving a speed difference or a torque difference between the main and slave dynamometers, the phase shifter changes the phase of the phase shift signal from the main resolver according to a predetermined difference from the main set target value. After that, it is added to the phase deviation detection section, and the slave dynamometer is controlled to follow the main dynamometer by shifting it by the changed phase.

However, in this case as well, the phase signal whose phase has been changed via the phase shifter and the phase signal from the resolver are synchronized only by changing the phase, and therefore, the above predetermined difference can be maintained. Even in the follow-up control that is generated, the synchronization state for both dynamometers is not lost.

Embodiment FIG. 1 shows an embodiment in which the set target value for a differential gear device is speed. In the figure, 1
4 and 24 are main and slave dynamometers, each shaft of which is connected to a test object (not shown), that is, each output shaft of a differential gear device. Reference numeral 10 denotes a control section of the main dynamometer 14, which is an element forming a speed control loop corresponding to the type of set target value, that is, a speed sensor 1 attached to the shaft of the dynamometer 14.
3. Deviation calculation unit 1 between its output and set target value N
1. The dynamometer 1 according to the output of the deviation calculation section 11
The speed control circuit 12 controls the absorption or driving force of 4. Further, 20 is a slave control unit that controls the slave dynamometer 24, and includes the same elements as the main control unit 10, that is, a speed sensor 23 attached to the shaft of the dynamometer 24, and its output and a phase deviation described below. It consists of a deviation calculation section 21 with respect to the output of the detection section 30, and a speed control circuit 22 that controls the absorption or driving force of the dynamometer 24 according to the output of the deviation calculation section 21.
Next, 31 and 32 are the main and slave dynamometers 14 and 24.
These are main and slave resolvers connected to the shaft system of
90 degree phase carriers sinωt and cosωt are supplied,
From each resolver 31, 32, a dynamometer 1
Phase signals sin (ωt+θ ₁ ) and sin (ωt+θ ₂ ) whose phases change corresponding to the rotation angles θ ₁ and θ ₂ of the axes 4 and 24 are pulsed and sent out. The phase shift signal from the resolver 31 is transmitted to the phase shifter 40.
Further, the phase shift signal from the resolver 32 is directly introduced into each input terminal of the phase comparator 34 in the phase detection section 30, and the output of the phase comparator 34 is passed through the low-pass filter 35 and It is introduced into one input terminal of the deviation calculation section 21 of the slave control section 20.

FIG. 2 shows an example of the phase shifter 40, and the outputs a to d of each element are indicated by the same symbols a to d in FIG. 3. This phase shifter 40
A pulsed phase shift signal from resolver 31 and a speed difference signal ΔN corresponding to the speed difference to be produced between dynamometers 14 and 24 are introduced into . The former is introduced into a multiplier circuit 41, converted into a multiplied pulse as shown in a, and sent to an AND gate 43 and a timing circuit 42. The latter speed signal ΔN is introduced into its timing circuit 42, and output b is selectively output when it is negative depending on the polarity of the speed signal ΔN.
When , is positive, output c is generated. That is, b
is synchronized with the multiplied pulse a, and the resolver operates at a position where the pulse is thinned out by the frequency corresponding to the speed difference.
C is asynchronous with the multiplied pulse a, and the output becomes H" at the position where the pulse is added by the frequency corresponding to the speed difference (the speed difference is shown on the left side of Figure 3). indicates a negative state and the right side indicates a positive state), b is applied to the other input terminal of the AND gate, and c is applied to the OR circuit 44 together with the output of the AND gate 43. Therefore, when the polarity of the speed difference signal ΔN is negative, the opening and closing of the AND gate 43 is controlled by the output b of the timing circuit 42, and the multiplied pulse a is thinned out by the frequency corresponding to the speed difference. After reducing the frequency of the pulse a, it passes through the OR circuit 44 (see the left side of Figure 3), and conversely, when the polarity of the speed difference signal is positive, the output b is always 〓H'' and is multiplied. While the pulse a is passed through as is, a pulse output b corresponding to the frequency corresponding to the speed difference is added to it via the OR circuit 44, thereby increasing the frequency of the multiplied pulse a, resulting in an output d (see the right side of Fig. 3). ).Then, this output d is sent to the frequency divider circuit 45, where the frequency is divided by the multiplication coefficient of the multiplier circuit 41, and then introduced into the phase comparator 34.As a result of the above, the frequency divider circuit 45 The angular velocity of the output pulse of is increased or decreased by the angular velocity of the input pulse by an amount proportional to the velocity difference.
The phase of sin(ωt+θ ₁ ) will change. In other words, the phase change is φ (=
KΔNt, K: proportionality coefficient, t: time), and the output pulse of the phase shifter 40 is sin(ωt+θ ₁ +
φ). The above is the phase shifter 40.

Next, the operation of the above embodiment will be explained.

In the main control section 10, a control signal is sent from the speed control circuit 12 to the dynamometer 14 according to the deviation between the set target value N and the speed sensor 13.
The above deviation can be reduced to 0 by changing the absorption force or driving force of
Control is performed to During this time, the main resolver 31 outputs a phase-shifted signal sin (ωt+θ ₁ ) whose phase changes in accordance with the rotation angle θ ₁ of the dynamometer 14, and furthermore, the phase corresponds to the speed difference via the phase shifter 40. After being changed by the phase φ, the signal is sent to the phase comparator 30. Phase comparator 34
Then, the phase deviation between the input sin (ωt+θ ₁ +φ) and the sin (ωt+θ ₂ ) input from the slave resolver 32 is calculated, and after smoothing it through the low-pass filter 35, the slave controller 20 is added as a control target value. As a result, the speed control circuit 12 of the slave control unit 20 operates as a minor loop so that the phase θ ₂ of the resolver 32 matches the sum of the phase θ ₁ of the main resolver 31 and the phase φ corresponding to the speed difference. Follow-up control is performed to control the absorption force or driving force of the dynamometer 24 so that the total speed of the motors 14 and 24 becomes a speed difference ΔN. However, the control system 20
Since the control is performed using the phase deviation formed based on the outputs of the main and slave resolvers 31 and 32 supplied by the same carrier as the control target value, both the dynamometers 14 and 24 are in a synchronous relationship. The speed difference will be controlled to a predetermined value without causing any damage.

In the above embodiment, the main control section 10 is the speed control loop (ASR), but the same applies to any other loop such as the torque control loop (ATR).
Further, the slave control section 20 may also be configured with only current and voltage control loops (ACR, AVR).

Further, in the above embodiment, a case where a digital phase shifter is used is illustrated, but the same applies to an analog phase shifter, and in that case, the resolver 3
The outputs 1 and 32 may be output as sine waves. Further, in the above embodiment, a case where a speed difference ΔN is provided is exemplified, but if constant speed control is to be performed at all times, ΔN may be set to 0, or the phase shifter 40 itself may be omitted.

Further, although the above embodiment is a case in which a speed difference is given, a predetermined rotation distance difference is given between both dynamometers by setting a value proportional to the speed of the dynamometer 14 instead.

Further, in the above embodiment, the predetermined target value and the setting difference are respectively the speed, but the same applies to the torque. However, in that case, the main control section 10' naturally becomes a torque control loop, and the phase shifter 40 controls the main resolver 31 according to the difference between the torque difference between the two dynamometers 14 and 24 and the set torque difference.
This will change the phase of the phase-shifted signal from.
That is, as shown in FIG.
0' is a torque control loop consisting of the elements of the torque sensor 13, the deviation calculation section 11, and the torque control circuit 12'. A signal calculated by a calculation unit 51 and a difference between the torque setting difference and the torque setting difference calculated by a deviation calculation unit 52 is added, and the phase of the phase shift signal is changed accordingly.

As a result, each dynamometer 14, 24 causes a rotational deviation that causes a torque difference in the test object connected directly or indirectly to it.

Further, the above embodiment relates to control of two master and slave dynamometers, but when controlling each of the four wheels in a four-wheel drive system, the number of slave dynamometers may be increased by two more.

Effects of the Invention The present invention causes the main control section to perform control corresponding to the set target value of speed or torque, and the sub-control section detects the main and slave resolvers based on the synchronized main and slave resolvers. Since follow-up control is performed with the value corresponding to the rotation angle deviation of the dynamometer as the control target value, the synchronization between both dynamometers will not be disrupted even if drift occurs, and stable control can be performed. can.

Further, even in control in a transient state, since a synchronization relationship is maintained, stable control can be performed.

[Brief explanation of drawings]

1 and 4 are block diagrams showing embodiments of the present invention, FIG. 2 is a block diagram showing an example of a phase shifter, and FIG. 3 is an output waveform diagram of FIG. 2. 10, 10': main control section, 20, 20': slave control section, 31, 32: resolver, 33: carrier oscillator, 30: phase deviation detection section, 40: phase shifter.

Claims (1)

[Claims] 1. A control device having a main control section that controls the speed or torque of one main dynamometer based on a set target value, and a sub-control section that controls a sub-dynamometer to the target value or a predetermined difference therefrom. In contrast, the same carrier is supplied to the shaft systems of the main and slave dynamometers, and main and slave resolvers are provided to convert the respective rotation angles into phase shift signals, and a phase deviation detection section is provided. and inputting the phase shift signal from the main resolver directly or via a phase shifter that changes the phase according to a predetermined difference from the target value to one input end of the phase deviation detection section, The other input terminal receives the phase shift signal from the slave resolver, and the phase deviation output of both inputs sent from the phase deviation detection unit is introduced into the slave control unit as a control target value. dynamometer control device.