JPH04275086A - Controller for dynamic simulator - Google Patents

Abstract

PURPOSE:To maintain the inertia on the side of a prime mover at a constant level over a wide frequency band in a dynamic simulator to be employed in a simulated load of the prime mover. CONSTITUTION:An observer 502 is designed so that it estimates the driving torque of a prime mover and n-th differentiated value thereof. Based on an output from the observer 502 and an axial torque command tau* passed through a filter 503, an inertia compensation torque command tauM* is created through a feedback gain K. The torque command tauM* is then added to the axial torque command taua* to produce a torque command taua* for a generator. Consequently, inertia on the side of the prime mover is controlled at a constant value over a wide area by setting the transfer characteristics of the observer 502 and the filter 503 and regulating the feedback gain K.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a dynamic simulator used as a simulated load for a prime mover such as an electric motor or an engine.

0002

2. Description of the Related Art As shown in FIG. 6, a dynamic simulator 10 is used as a simulated load for a prime mover 101.
2 includes a generator 107, a power converter 103 that controls the generator 107, a control means 104 that controls the power converter 103, and a speed detector 105 that detects the speed of the generator 107 (prime mover 101). and a current detector 106 that detects the current of the generator 107. Here, the prime mover 101 refers to an electric motor, an engine, etc.
The generator 107 refers to a DC machine, an induction machine, a synchronous machine, or the like. This dynamic simulator 102 includes a generator 107
The characteristics of the mechanical system seen from the prime mover 101 are equivalent to those of the one-inertia system shown in FIG. 7, the two-inertia system shown in FIG. It has become. In addition, in FIGS. 7 and 8, 201 is the drive side inertia (time constant TM), 20
2 is an elastic axis (time constant TS), 203 is load side inertia (time constant TL), 204 is load resistance (constant bL), 2
05 shows the load side mechanical system model.

[0003] Here, the drive side inertia 20 to be simulated is
1 time constant TM, speed ωM of prime mover 101, prime mover 10
There is a relationship between the driving torque τd and the shaft torque τS in Equation 1 below. Note that in Equation 1, s is a Laplace operator.

0004

[Formula 1] τd−τS=sTMωM

[0005] Also, the mechanical time constant of the sum of the inertias of the prime mover 101 and the generator 107 is TMG, and the generator 107 due to the current
Letting the torque of τa be, there is a relationship shown in Equation 2 below.

[0006]

[Formula 2] τd−τa=sTMGωM

From Equations 1 and 2 above, Equation 3 can be obtained. Note that τS in Equation 3 is the load side mechanical system 205
If τd is obtained, the inertia (including the prime mover) driven by the prime mover 101 becomes TM
It can be made equivalent to the case where

[0008]

[Math 3]

A first conventional technique that uses an impact drop observer for estimating a step change in load torque as a means for estimating τd is shown in FIG. 9, which is a control block diagram of a one-inertial frame dynamic simulator. . Note that in this example, τS=0. The apparent drive-side inertia 201 seen from the prime mover 101 with a variable mechanical time constant is determined by the impact drop observer 301 that estimates τd and the feedback gain K1= for the prime mover 101 and generator 107 whose mechanical time constant is TMG. (TM-T
The torque command τa* (hereinafter, for convenience, the command value is indicated with "*") given to the current control means 302 by MG)/TM is as shown in Equation 4 below. Here, the symbol "∧" attached above τd indicates an estimated value (the same applies to each formula hereinafter).

0010

[Math 4]

The transfer characteristic of the current control system determined by the current control means 302 and the conversion gain K2 of the power converter 103 is h(S), the magnetic flux linkage of the generator 107 is φ, and τa
If the current conversion gain from * to current command is 1/φ, and the torque conversion gain from current detection value to torque is φ, then τa
can be expressed by Equation 5.

0012

[Mathematical 5] τa=φ・h(S)・τa*/φ=h(S)・
τa*

Further, if the transfer characteristic of the observer 301 with respect to τd is g(S), from the above equation 4, τ
a can be expressed as in Equation 6 below.

[0014]

[Math 6]

It has been revealed that the real part of the characteristic root of this control method is always negative and stable, but since g(S) generally does not have a zero and h(S) also has a propagation delay, , τ
If there is a periodic change in d, τa will experience amplitude attenuation and phase lag.

On the other hand, if Equation 3 is modified to form Equation 7, the inertia driven by the prime mover 101 can be similarly made equal to TM.

[0017]

[Formula 7] τa=(TM-TMG)・sωM+τS

00
[18] As an example of the above, FIG. 10 shows a control block diagram of a two-inertial frame dynamic simulator, which is the second prior art. In this example, the torque command τa* is calculated by the differentiator 4
01, feedback gain K3 and load side mechanical system simulation means 402
given by. First, regarding drive-side inertia control, it is difficult to differentiate the velocity in the first term on the right side of Equation 7 above, so we use a differentiator 401 to calculate the equivalent differential g'(S) using a first-order high-pass filter or a difference. Using this, the torque command τa* is given by the calculation shown in Equation 8. Note that (TM-TMG) in Equation 8 is the feedback gain K3.

[0019]

[Formula 8] τa*=(TM-TMG)・g'(S)ωM+
τS*

At this time, the torque τ of the generator 107
a is shown by Equation 9.

[0021]

[Formula 9] τa=h(S) {(TM-TMG)・g′(S)ωM+
τS*}

When using a first-order high-pass filter for the differentiator 401, the poles of the high-pass filter and h(
Due to the influence of S), as in the first prior art, attenuation of the amplitude of τa and phase delay occur with respect to periodic changes in τd. Furthermore, if the difference is used, the equivalent differential g'(S) becomes as shown in Equation 10 below, and since the differentiator 401 has an unstable zero point, the amplitude of τa changes with respect to periodic changes in τd. In addition to attenuation and phase changes, the stability of the control system may be impaired depending on the conditions.

[0023]

[Math. 10]

Next, the load-side mechanical system simulating means 402 that gives the shaft torque command τS* uses the shaft (time constant TS) model 40
3. It is composed of a load side inertia (time constant TL) model 404 and a load resistance (constant bL) model 405 such as viscous resistance. Now, assuming that the load side speed is ωL, Equations 11 and 12 hold regarding the shaft torque τS.

[0025]

[Formula 11] sTSτS=ωM−ωL

[0026]

[Formula 12] sTLωL=τS−bLωL

Therefore, the shaft torque command τS* is set as shown in Equations 13 and 14. Since the shaft torque τS of the mechanical system to be simulated becomes h(S)τS* due to the transfer characteristics of the current control means 302,
There will be a phase lag with respect to the ideal state.

[0028]

[Math. 13]

[0029]

[Math. 14]

[0030]

[Problems to be Solved by the Invention] According to the above-mentioned conventional technology, the first problem is that although the driving torque and speed of the prime mover vary in a complicated manner depending on the operating condition,
As shown in Figure 9, when an impact drop observer is used to calculate the drive-side inertia compensation torque, the higher the frequency of the vibration component of the shaft torque and speed, the higher the estimated torque due to the influence of the transmission characteristics of the observer and current control means. Or the amplitude and phase errors of the inertia compensation torque become large,
There was a problem that the inertia on the drive side changed with frequency.

The second problem is that when a first-order high-pass filter or a difference is used as a differentiator to calculate the drive-side inertia torque as shown in FIG. The higher the frequency of the vibration component of shaft torque and speed, the larger the error in the amplitude and phase of the estimated torque or inertia compensation torque, which not only changes the drive side inertia with frequency, but also reduces stability depending on the settings. There was a problem.

[0032] As a third problem, in the conventional control method,
Since the shaft torque calculated by the model of the load-side mechanical system was given to the current control means as a shaft torque command, there was a problem that the influence of current control delay caused changes in model parameters with respect to frequency, changes in resonance frequency, and changes in damping. .

The first to fourth inventions have been made to solve the first or second problem described above, and their purpose is to maintain the drive-side inertia at a constant value over a wide frequency band. The object of the present invention is to provide a control device for a dynamic simulator that can perform the following tasks. The fifth invention has been made to solve the third problem, and its purpose is to eliminate the delay in the current control system and to accurately simulate shaft torque.・Providing a simulator control device.

[0034]

[Means for Solving the Problems] In order to solve the first problem, the first invention calculates the drive torque of the prime mover and its n(
an observer that estimates the time differential value up to the n≧1) floor;
an inertia compensation torque calculation means for calculating an inertia compensation torque command necessary for controlling the drive side inertia based on the output of the observer and the shaft torque command output from the load side mechanical system simulation means; means for applying the result of adding the inertia compensation torque command and the inertia compensation torque command to the current control means of the power converter as a generator torque command; The present invention is characterized in that the parameters of the inertia compensation torque calculation means are optimally set.

In order to solve the first problem, the second invention calculates the torque applied to the drive side inertia and its n(n ≧1) An observer that estimates the time differential value up to the floor, an inertia compensation torque calculation means that calculates an inertia compensation torque command necessary for controlling the drive side inertia based on the output of this observer, and a load side mechanical system simulation means and means for applying the result of adding the shaft torque command outputted from the inertia compensation torque command and the inertia compensation torque command to the current control means of the power converter as a generator torque command, the influence of the transfer characteristics of the observer and the current control means The present invention is characterized in that the parameters of the observer and the inertia compensation torque calculation means are optimally set so that . In the present invention, the inertia compensation torque may be calculated by directly subtracting the shaft torque calculation value output from the load-side mechanical system simulating means from the generator torque.

In order to solve the first problem, the third invention has the same transfer characteristics as the current control means of the power converter and adjusts the inertia based on the inertia compensation torque command necessary for controlling the drive side inertia. A filter for estimating compensation torque, an observer for estimating the torque applied to the drive side inertia and its time differential value up to n (n≧1) floors from the output of this filter and the detected value of the speed of the generator, and this observer. and an inertia compensation torque calculation means for calculating the inertia compensation torque command based on the output of The present invention is characterized in that it comprises means for applying a current to the current control means, and the parameters of the observer and the inertia compensation torque calculation means are optimally set so that the influence of the transfer characteristics of the observer and the current control means is minimized.

In order to solve the second problem, the fourth invention provides a high-pass filter (the denominator and numerator polynomials are p-th order, p
≧2), an inertia compensation torque calculation means for calculating an inertia compensation torque command by combining the output of the high-pass filter and the feedback gain, and a shaft torque command output from the load-side mechanical system simulation means and the inertia compensation torque command. and means for applying the result of adding the above to the current control means of the power converter as a generator torque command, and the parameters of the high-pass filter are set so that the influence of the transfer characteristics of the high-pass filter and the current control means is minimized. It is characterized by optimal settings.

In order to solve the third problem, the fifth invention provides a means for calculating an inertia compensation torque command necessary for controlling the drive side inertia from at least a detected value of the speed of the generator, and a means for calculating an inertia compensation torque command necessary for controlling the drive side inertia, means for applying the result of adding the shaft torque command output from the load-side mechanical system simulating means for simulating a certain mechanical system and the inertia compensation torque command to the current control means of the power converter as a generator torque command; , the shaft torque command is obtained by adding the differential value of the shaft torque calculation value obtained from the speed difference between both ends of the shaft of the mechanical system model to the shaft torque calculation value via a gain for compensating for the transmission delay of the current control means. It is characterized by generating.

[0039]

[Operation] In the first invention, the drive torque τd of the prime mover
There is a relationship shown in Equation 15 below between the torque τa of the generator controlled by the torque current and the speed ωM of the generator (prime mover).

[0040]

[Math. 15]

The speed and shaft torque of each part in a combination of a prime mover and a load mechanical system can generally be expanded in a series of time t, whether it is a constant value or includes a vibration component. Now, assuming that τd is possible up to the nth (n≧1) time differential, then from τd, the nth time differential value τd(n
) (The differential order (n) should originally be written in a superscript, but for convenience, it will be written like this in the main text) by the observer. Here, τa is input u, ωM and τd(i) (i=0, 1,
2, . . . , n) as the state variable x and τd as an unknown disturbance.

[0042]

[Math. 16]

Since the output y is ωM, Equation 17 holds true. However, x(0)≠0.

[0044]

[Formula 17] y=Cx=(1,0,...,0)x

004
5] The observer (same dimension or minimum dimension) for obtaining the estimated value of x for Equation 17 above is generally given by Equation 18, Equation 19, and Equation 20 below (the design of the observer is based on Gopinath's method, etc. by).

[0046]

[Math. 18]

[0047]

[Math. 19]

[0048]

[Math. 20]

However, in Equations 18 to 20, z is the state variable of the observer, and A, B, J
, C, and D are parameter matrices, and the real parts of all characteristic roots of the estimated values of A are negative.

Solving these equations, we obtain the following equations 21 and 2.
Observer output indicated by 2 is obtained.

[0051]

[Math. 21]

[0052]

[Math. 22]

Since the influence of τa in Equation 22 does not appear on the output, the matrix xd of τd(i) (i=0, 1, 2, . . . , n) becomes as shown in Equation 23.

[0054]

[Math. 23]

The torque τM applied to the drive side inertia is expressed by the following equation 24. Note that in Equation 24, h(S) is the transfer characteristic of the current control system.

[0056]

[Formula 24] τM=τd−h(S)τS*

Therefore, the estimated value of τM and its differential value τM(n) up to the nth floor is expressed by Equation 25 from the estimated value of τd obtained from the observer and its differential value τd(n) up to the nth floor. It is obtained by subtracting τS* passed through the filter F(S).

[0058]

[Math. 25]

The estimated value of the matrix xM of τM(i) (i=0, 1, . . . , n) is given by Equation 26.

[0060]

[Math. 26]

In Equation 26, the result based on the following Equation 27 is expressed as feedback gain K (=k0, k1, ..., kn)
The inertia compensation torque command ΔτM* shown in Equation 28 is obtained by adding ΔτM* and τS* as shown in Equation 29 to obtain the torque command τa*.

[0062]

[Formula 27] F(S)=G(S)h(S)

[0063]

[Math. 28]

[0064]

[Math. 29]

At this time, the torque τa and speed ωM of the generator due to the torque current are expressed by the following equations 30 and 31.

[0066]

[Formula 30] τa=h(S) τa*=h(S) {KG(S)τM+τ
S*}

[0067]

[Math. 31]

Further, the drive side inertia TM is expressed by the following equation 32 regardless of the value of the shaft torque command.

[0069]

[Math. 32]

Here, since G(S) has a structure that derives terms up to the n-th differential of τd, KG(S) should have one or more zero points and no more than (n-1). Can be done. Therefore, if the transfer characteristics of gains K and G(S) are set optimally for h(S), and the gain change and phase delay with respect to the frequency of h(S) and KG(S) are minimized. , the driving side inertia TM is as shown in Equation 33, and can maintain a constant value over a wide frequency range.

[0071]

[Math. 33]

In the second invention, by substituting Equation 15 and Equation 26 into Equation 27, the following Equation 34 is obtained.

[0073]

[Math. 34]

As a result, instead of removing the filter F(S), the filter with the transfer characteristic h(S) equal to Equation 5 is passed through τS*, and the result of subtraction from τa is (τa−h(
S) If τS*) is input to the observer instead of τa, the observer can calculate τM and its differential value τM(n
), and the output expressed by Equation 34 above is obtained. Therefore, if we control the inertia using this, the above formula 31,
Equation 32 holds true in the same way as in the first invention, and the drive-side inertia can be stably simulated over a wide frequency band. When Equation 28 and Equation 29 are substituted into Equation 34, the output of the observer becomes Equation 35, and the same result as the first invention is obtained.

[0075]

[Math. 35]

In the third invention, by transforming the above input to the observer (τa-h(S)τS*), the following equation 36 is obtained. That is, even if the feedback gain output is passed through a filter having the same transfer characteristic h(S) as the current control means and given to the observer, the same results as in the first and second inventions can be obtained.

[0077]

[Math. 36]

In the fourth invention, by modifying the third invention, the following equation 37 is obtained from equation 35.

[0079]

[Math. 37]

The above formula represents a high-pass filter whose transfer characteristic is expressed by the following formula 38.

[0081]

[Math. 38]

[0082] Since this high-pass filter is nothing but an observer that estimates the matrix xM, when rewritten as in Equation 39, ωM and TM become as in Equation 40 and Equation 41. In addition, in Formula 39, p≧2, a0=1
, b0=1, and g'(S)s is the transfer characteristic of the high-pass filter, which has p poles and p zeros, and one of the zeros is s=0. Furthermore, Formula 39 to Formula 4
1, k' indicates the feedback gain.

[0083]

[Math. 39]

[0084]

[Math. 40]

[0085]

[Formula 41] TM={TMG+h(S)k′g′(S)}

That is, by optimally selecting the coefficients of the filter, it is possible to simulate the drive-side inertia over a wide frequency range as in the case of using an observer.

As a premise of the fourth invention, when simulating shaft torque, there is a delay in the current control means, and accurate simulation cannot be performed if the calculation result of the mechanical system model is used as the shaft torque command. It is necessary to provide a shaft torque command that cancels out the delay in current control. The load-side mechanical system simulating means includes a load-side mechanical system simulator connected to the axis of the time constant TS.
Assuming that the speed calculation value of the inertia is ωL1, the shaft torque can be obtained by integrating the speed difference between both ends of the shaft, as shown in Equation 42 below.

[0088]

[Math. 42]

Therefore, the speed difference between both ends of the shaft is proportional to the estimated value of the first derivative of the shaft torque. Therefore, the shaft torque command τS
* is given by the following equation 43.

[0090]

[Math. 43]

If h(S) is h(S=0)=1, then h(S)・(1−L・s)≒1 (when h(S) is first-order delayed, it is completely compensation gain L so that
When setting τS, it becomes as shown in Equation 44, and it is possible to match τS with its estimated value.

[0092]

[Math. 44]

[0093]

[Embodiments] Examples of each invention will be described below with reference to the drawings. FIG. 1 is a control block diagram of a dynamic simulator according to an embodiment that combines the first invention and the fifth invention. This embodiment includes an observer 502 and a filter 5.
03, the feedback gain K, the current control means 302, the current conversion gain 1/φ, the torque conversion gain φ, and the load-side mechanical system simulating means 501, the power converter and magnetic flux chain whose conversion gain is K2. The generator is configured to control a generator whose intersection number is φ.

Here, the observer 502 obtains the output xd(S) shown in Equation 23 according to Equations 18 to 20, so as to estimate the drive torque τd of the prime mover and its n-order differential value. to be designed. The filter 503 has the structure shown in Equation 27, and the shaft torque command τS*
It is provided to calculate τM of Equation 26 and its n-th derivative xM from the equation 26. This xM is the feedback gain K (=k0,
k1, ..., kn), and the inertia compensation torque command ΔτM
* is added to the shaft torque command τS*, and becomes the generator torque command τa*. The desired drive-side inertia (time constant TM) is controlled to be constant over a wide frequency band by setting the transfer characteristics of the observer 502 and filter 503 and adjusting the feedback gain K.

On the other hand, the load-side mechanical system simulating means 501 that provides the shaft torque command τS* shows the configuration of only the shaft torsion and load-side inertia portions. Here, as an embodiment of the fifth invention, after passing the differential value of the shaft torque calculation value τS obtained from the speed difference between both ends of the shaft through a compensation gain L, it is added to τS to generate τS*. Note that the compensation gain L is set to cancel the transmission characteristics for the torque command.
Independently of drive-side inertia, it achieves shaft torque equivalent to a mechanical system with an arbitrary number of inertias to be simulated.

Next, FIG. 2 is a control block diagram of a dynamic simulator according to an embodiment that combines the second invention and the fifth invention. In this embodiment, the observer 60
1, and instead of the filter 503, the transfer characteristic is h
(S), the feedback gain K, the current control means 302, the current conversion gain 1/φ, the torque conversion gain φ, and the load side mechanical system simulation means 501,
A power converter with a conversion gain of K2 and a magnetic flux linkage number of φ
The generator is configured to control a generator. Here, the observer 601 to which the result of subtracting τS* passed through the filter 602 from τa is input has the same configuration as the embodiment of FIG. 1, but the obtained output is xM. This xM is converted into an inertia compensation torque command ΔτM* via a feedback gain K in the same way as in the embodiment shown in FIG.
Generate *.

FIG. 3 is a modification of the embodiment shown in FIG. 2, in which the shaft torque calculation value τS in the load-side mechanical system simulating means 701 is directly subtracted from the generator torque τa to calculate the inertia compensation torque command ΔτM*. Therefore, in this example as well, characteristics similar to those of the embodiment shown in FIG. 2 can be obtained.

FIG. 4 is a control block diagram of a dynamic simulator according to an embodiment combining the third invention and the fifth invention. In this example, the transfer characteristic is h(S)
The filter 801 calculates the inertia compensation torque from the output of the feedback gain K, and the observer 601 estimates xM from this inertia compensation torque calculation value and the speed ωM. The observer 601 and the feedback gain K are the same as those in the embodiment shown in FIG. 2, and the effects are also the same.

FIG. 5 is a control block diagram of a dynamic simulator to which an embodiment combining the fourth invention and the fifth invention is applied. In this embodiment, the inertia compensation torque command ΔτM* is obtained by optimally setting the parameters of the high-pass filter 901 and feedback gain k', and various mechanical systems are stably simulated over a wide frequency band as in the above embodiments. I did it like that.

[0100]

As described above, according to the first to third inventions, the prime mover driving torque or the torque given to the prime mover and the generator, and its n-th order (n≧1) derivative are estimated by an observer, and the optimal By giving an inertia compensation torque command to the current control means through the feedback gain, the motor side (
(Drive side) Inertia can be stably controlled over a wide frequency band.

According to the fourth invention, the speed is p (p≧2)
By applying an inertia compensation torque command to the current control means through a high-pass filter having multiple poles and zero points and an optimal feedback gain, it is possible to stably control the prime mover side inertia over a wide band as in the above-mentioned inventions. can.

According to the fifth invention, accurate shaft torque is simulated by weighting the speed difference between both ends of the shaft and adding it to the shaft torque calculation value to obtain the shaft torque command by the load-side mechanical system simulating means. be able to.

[0103] Further, in a state in which the first to fourth inventions and the fifth invention are combined, the mechanical resonance frequency seen from the drive side is the frequency band of the prime mover side inertia control and the load side mechanical system is simulated. If the frequency is within the frequency range where it is possible, there are effects such as being able to stably obtain characteristics equal to the characteristics of a mechanical system that simulates the resonance frequency and damping factor.

[Brief explanation of the drawing]

FIG. 1 is a control block diagram showing an embodiment in which the first invention and the fifth invention are combined.

FIG. 2 is a control block diagram showing an embodiment in which the second invention and the fifth invention are combined.

FIG. 3 is a control block diagram showing a modification of the embodiment of FIG. 2;

FIG. 4 is a control block diagram showing an embodiment in which the third invention and the fifth invention are combined.

FIG. 5 is a control block diagram showing an embodiment in which the fourth invention and the fifth invention are combined.

FIG. 6 is a block diagram showing the configuration of a dynamic simulator.

FIG. 7 is an explanatory diagram of a one-inertial mechanical system model to be simulated.

FIG. 8 is an explanatory diagram of a two-inertia mechanical system model to be simulated.

[Fig. 9] One-inertia frame dynamic system, which is the first conventional technology.
It is a control block diagram of a simulator.

FIG. 10 is a control block diagram of a two-inertial frame dynamic simulator, which is a second conventional technique.

[Explanation of symbols]

101 Prime mover 102 Dynamic simulator 103 Power converter 104 Control means 105 Speed detector 106 Current detector 107 Generator 201 Drive-side inertia 202 Elastic shaft 203 Load-side inertia 204 Load resistance 205 Load-side mechanical system 302 Current control means 501 , 701 Load side mechanical system simulation means 502, 60
1 Observer 503, 602, 801 Filter 901 High-pass filter

Claims (5)

[Claims] Claim 1: A generator driven by a prime mover through a shaft, a power converter for controlling the generator, a current detector for detecting the generator current, and a speed detector for detecting the speed of the generator. and a control means for controlling the power converter based on the outputs of the current detector and the speed detector. An observer that estimates the time differential value up to the n (n≧1) floor, and the inertia necessary to control the drive-side inertia based on the output of this observer and the shaft torque command output from the load-side mechanical system simulator. The observer comprises an inertia compensation torque calculation means for calculating a compensation torque command, and means for giving a result of adding the shaft torque command and the inertia compensation torque command to the current control means of the power converter as a generator torque command. and a control device for a dynamic simulator, characterized in that parameters of the observer and the inertia compensation torque calculation means are optimally set so that the influence of the transfer characteristics of the current control means is minimized. 2. A generator driven by a prime mover through a shaft, a power converter for controlling the generator, a current detector for detecting the generator current, and a speed detector for detecting the speed of the generator. and a control means for controlling the power converter based on the outputs of the current detector and the speed detector. Torque given to drive side inertia from and its n (n≧1)
an observer for estimating the time differential value up to the floor; and an inertia compensation torque calculation means for calculating an inertia compensation torque command necessary for controlling drive-side inertia based on the output of the observer.
means for applying the result of adding the shaft torque command output from the load-side mechanical system simulating means and the inertia compensation torque command to the current control means of the power converter as a generator torque command; A control device for a dynamic simulator, characterized in that parameters of the observer and the inertia compensation torque calculation means are optimally set so that the influence of the transmission characteristics of the means is minimized. 3. A generator driven by a prime mover through a shaft, a power converter for controlling the generator, a current detector for detecting the generator current, and a speed detector for detecting the speed of the generator. and control means for controlling the power converter based on the outputs of the current detector and the speed detector, the dynamic simulator having the same transfer characteristics as the current control means of the power converter, A filter that estimates the inertia compensation torque based on the inertia compensation torque command necessary for inertia control, and the torque given to the drive side inertia from the output of this filter and the detected value of the speed of the generator, and its n (n≧1) floor. an observer for estimating the time differential value of the time difference, an inertia compensation torque calculation means for calculating the inertia compensation torque command based on the output of this observer, and a shaft torque command output from the load-side mechanical system simulating means and the inertia compensation and means for giving the result of adding the torque command to the current control means as a generator torque command, and the observer and the inertia compensation torque calculation means are configured to minimize the influence of the transfer characteristics of the observer and the current control means. A dynamic simulator control device characterized by optimally setting parameters of a dynamic simulator. 4. A generator driven by a prime mover through a shaft, a power converter for controlling the generator, a current detector for detecting the generator current, and a speed detector for detecting the speed of the generator. and a control means for controlling the power converter based on the outputs of the current detector and the speed detector, the dynamic simulator comprising: a high-pass filter (
The denominator and numerator polynomials are p-th order (p≧2), an inertia compensation torque calculation means that calculates an inertia compensation torque command by combining the output of this high-pass filter and the feedback gain, and output from the load-side mechanical system simulation means. and means for applying the result of adding the shaft torque command and the inertia compensation torque command to the current control means of the power converter as a generator torque command, so that the influence of the transfer characteristics of the high-pass filter and the current control means is minimized. A control device for a dynamic simulator, characterized in that parameters of the high-pass filter are optimally set so that 5. A generator driven by a prime mover through a shaft, a power converter for controlling the generator, a current detector for detecting the generator current, and a speed detector for detecting the speed of the generator. and control means for controlling the power converter based on the outputs of the current detector and the speed detector. The result of adding the inertia compensation torque command to the shaft torque command output from the means for calculating the inertia compensation torque command and the load-side mechanical system simulating means for simulating a mechanical system with shaft torsion is used as the generator torque command. and a means for applying the differential value of the shaft torque calculation value obtained from the speed difference between both ends of the shaft of the mechanical system model to the current control means of the power converter through a gain for compensating for the transmission delay of the current control means. A control device for a dynamic simulator, characterized in that the shaft torque command is generated by adding it to a torque calculation value.