JPH06229883A - Car speed controller of chassis dynamometer - Google Patents

Car speed controller of chassis dynamometer

Info

Publication number
JPH06229883A
JPH06229883A JP5013035A JP1303593A JPH06229883A JP H06229883 A JPH06229883 A JP H06229883A JP 5013035 A JP5013035 A JP 5013035A JP 1303593 A JP1303593 A JP 1303593A JP H06229883 A JPH06229883 A JP H06229883A
Authority
JP
Japan
Prior art keywords
control system
stroke
speed control
engine
speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP5013035A
Other languages
Japanese (ja)
Inventor
Toshimitsu Maruki
利光 丸木
Masahiko Suzuki
雅彦 鈴木
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Meidensha Corp
Meidensha Electric Manufacturing Co Ltd
Original Assignee
Meidensha Corp
Meidensha Electric Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Meidensha Corp, Meidensha Electric Manufacturing Co Ltd filed Critical Meidensha Corp
Priority to JP5013035A priority Critical patent/JPH06229883A/en
Priority to KR1019940001535A priority patent/KR0138948B1/en
Publication of JPH06229883A publication Critical patent/JPH06229883A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0058—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator responsive to externally generated signalling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K2031/0091—Speed limiters or speed cutters

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)
  • Testing Of Engines (AREA)
  • Feedback Control In General (AREA)

Abstract

PURPOSE:To suppress the occurrence of hunting due to the hysteresis characteristic of an engine control system. CONSTITUTION:At the time of controlling the car speed of an automobile to be tested by using the output of a speed control system 3A as a stroke command and controlling the throttle aperture of the engine by means of a stroke control system 3B based on the stroke command, the intake pressure Pb which is one of the engine characteristics 10 of the automobile is detected and the detected pressure value is differentiated by a differentiating element 12. Then the occurrence of hunting phenomena is suppressed by negatively feeding back the differentiated output to the speed control system and lowering the gain of the frequency component of vibrations caused by the existence of hysteresis.

Description

【発明の詳細な説明】Detailed Description of the Invention

【０００１】[0001]

【産業上の利用分野】本発明は、シャシダイナモメータ
における自動車の車速制御装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle speed control device for a vehicle in a chassis dynamometer.

【０００２】[0002]

【従来の技術】シャシダイナモメータは、例えば、図３
に示すシステム構成にされる。供試自動車１は、その駆
動輪がローラ２上に乗せられ、ドライブロボット３によ
りアクセルペダルのストローク制御や変速機の変速位置
制御、クラッチ制御がなされることで模擬運転がなされ
る。2. Description of the Related Art A chassis dynamometer is shown in FIG.
The system configuration is shown in. The test vehicle 1 is driven by its driving wheels placed on the rollers 2, and the drive robot 3 controls the stroke of the accelerator pedal, the shift position of the transmission, and the clutch to perform a simulated operation.

【０００３】一方、ローラ２には電動機になるダイナモ
メータ４及び速度検出手段になるパルスピックアップ５
やトルク検出器になるトルクメータが結合される。ダイ
ナモメータ６は、電力変換器６によって電流、電圧制御
され、この制御にはトルク制御系７によるトルク制御や
図示しない速度制御系による速度制御がなされて供試自
動車１の動力吸収がなされる。On the other hand, the roller 2 has a dynamometer 4 which serves as an electric motor and a pulse pickup 5 which serves as speed detecting means.
A torque meter, which becomes a torque detector, is connected. The dynamometer 6 is current and voltage controlled by the power converter 6, and torque control by the torque control system 7 and speed control by a speed control system (not shown) are performed for this control to absorb the power of the test vehicle 1.

【０００４】プログラマブルコントローラ８は、走行パ
ターン等に従ってトルク制御系７へのトルク制御指令や
ドライブロボット３への速度指令等を与える。The programmable controller 8 gives a torque control command to the torque control system 7 and a speed command to the drive robot 3 according to the traveling pattern and the like.

【０００５】図示のドライブロボット３は、速度制御系
３Ａと、この速度系３Ａの出力をアクチェータのストロ
ーク指令とするマイナループのストローク制御系３Ｂ
と、このストローク制御系３Ｂの出力に従ってアクセル
又はスロットルを操作するアクチェータ３Ｃとを備え、
速度指令に従ったスロットルの開度操作によって速度制
御を行う。The illustrated drive robot 3 includes a speed control system 3A and a stroke control system 3B of a minor loop which uses the output of the speed system 3A as a stroke command of an actuator.
And an actuator 3C for operating the accelerator or throttle according to the output of the stroke control system 3B,
The speed is controlled by operating the throttle opening according to the speed command.

【０００６】[0006]

【発明が解決しようとする課題】従来のシャシダイナモ
メータによる車速制御において、速度制御系の等価ブロ
ックは図４に示す構成になる。エンジン特性ブロック１
０は、アクチェータ３Ｃや変速機、クラッチ、ディファ
レンシャルギヤ等を含み、スロットル開度入力に応じた
トルク出力を得る。このトルク出力に対して、ダイナモ
メータ４側が吸収する負荷トルクとの偏差は供試自動車
１の慣性分として設定するフライホイール等のシステム
慣性ブロック１１によって速度Ｖとして得られる。In the conventional vehicle speed control by the chassis dynamometer, the equivalent block of the speed control system has the structure shown in FIG. Engine characteristic block 1
Reference numeral 0 includes an actuator 3C, a transmission, a clutch, a differential gear, and the like, and obtains a torque output according to a throttle opening input. The deviation from the load torque absorbed by the dynamometer 4 side with respect to this torque output is obtained as the speed V by the system inertia block 11 such as a flywheel set as the inertia of the vehicle under test 1.

【０００７】同図において、エンジン等価ブロック１０
は、図５に示すブロックに展開される。同図中、ブロッ
ク１０Ａは、アクチェータストローク（又はアクセルス
トローク）θAに対するスロットル開度θVのストローク
・開度特性を示す。ブロック１０Ｂはスロットル開度θ
Vに対するエンジンンレスポンスの遅れ分になるエンジ
ンンレスポンス特性を示す。In the figure, the engine equivalent block 10
Is expanded into the blocks shown in FIG. In the figure, a block 10A shows the stroke / opening characteristic of the throttle opening θ V with respect to the actuator stroke (or accelerator stroke) θ A. Block 10B is throttle opening θ
The engine response characteristic, which is the delay of the engine response to V, is shown.

【０００８】ブロック１０Ｃは、スロットル開度θVに
対するエンジン吸気圧Ｐbの開度・吸気圧特性を示す。
ブロック１０Ｄは、エンジン吸気圧Ｐbに対する自動車
の出力トルクＴeの吸気圧・トルク特性を示す。A block 10C shows the opening / intake pressure characteristic of the engine intake pressure P b with respect to the throttle opening θ V.
Block 10D shows the intake pressure-torque characteristic of the output torque T e of the motor vehicle to the engine intake pressure P b.

【０００９】ここで、ストローク・開度特性１０Ａは、
ヒステリシス特性を有する。このヒステリシス特性は、
自動車のアクセルペダルからエンジンのスロットルバル
ブまでの機械的な結合部分で生じるものが殆どである。
実際の自動車のストローク・開度特性は、図６に示すよ
うにヒステリシス特性を持ち、吸気圧Ｐbが点Ａ、Ｂの
値を取り得る。Here, the stroke / opening characteristic 10A is
Has hysteresis characteristics. This hysteresis characteristic is
Most of the mechanical connections occur from the accelerator pedal of an automobile to the throttle valve of an engine.
The actual stroke / opening characteristic of an automobile has a hysteresis characteristic as shown in FIG. 6, and the intake pressure P b can take the values of points A and B.

【００１０】このようなヒステリシス特性の存在は、速
度制御に自励振動を引き起こすことが多い。これは、例
えば、１つの吸気圧Ｐbに対して２つのアクチェータス
トロークθAの解を持つためであり、従来の車速制御装
置ではヒステリシスによる振動を防ぐことができず、車
速制御にハンチング現象を起こすことがあった。The presence of such hysteresis characteristics often causes self-excited vibration in speed control. This is because, for example, there are two solutions of the actuator stroke θ A with respect to one intake pressure P b , and the conventional vehicle speed control device cannot prevent the vibration due to the hysteresis, and the hunting phenomenon occurs in the vehicle speed control. I had to wake up.

【００１１】本発明の目的は、エンジン制御系のヒステ
リシス特性の存在によるハンチング現象を抑制する車速
制御装置を提供することにある。An object of the present invention is to provide a vehicle speed control device that suppresses a hunting phenomenon due to the existence of hysteresis characteristics of an engine control system.

【００１２】[0012]

【課題を解決するための手段】本発明は、前記課題の解
決を図るため、供試自動車１に動力吸収手段としてのダ
イナモメータを結合し、該供試自動車の速度指令と速度
検出値からアクチェータストローク指令を得る速度制御
系（３Ａ）と、該アクチェータストローク指令に従って
供試自動車のストローク指令を得るスロットル開度制御
系（３Ｂ）と、該ストローク指令に従って供試自動車の
スロットル開度を操作するアクチェータ（３Ｃ）とを備
えた車速制御装置において、前記供試自動車のエンジン
の吸気圧検出値を入力としこの検出値の微分値を求めて
前記速度制御系又はストローク制御系に負帰還する微分
要素（１２）を備えたことを特徴とする。In order to solve the above-mentioned problems, the present invention connects a test vehicle 1 with a dynamometer as power absorption means, and uses an actuator based on the speed command and speed detection value of the test vehicle. A speed control system (3A) for obtaining a stroke command, a throttle opening control system (3B) for obtaining a stroke command of the test vehicle according to the actuator stroke command, and an actuator for operating the throttle opening of the test vehicle according to the stroke command (3C) in the vehicle speed control device, wherein a differential value of the intake pressure detection value of the engine of the vehicle under test is input and a differential value of the detected value is obtained and negatively fed back to the speed control system or the stroke control system ( 12) is provided.

【００１３】[0013]

【作用】アクチェータストローク・スロットル開度特性
のヒステリシスによる振動発生が起きようとするのを微
分要素により該振動周波成分を負帰還することにより、
該周波数成分のループ利得を下げ、振動を抑制する。[Function] By virtue of the fact that the vibration frequency is about to occur due to the hysteresis of the actuator stroke / throttle opening characteristic, the vibration frequency component is negatively fed back by the differential element.
The loop gain of the frequency component is reduced to suppress vibration.

【００１４】[0014]

【実施例】図１は、本発明の一実施例を示す等価ブロッ
ク図である。同図が図４と異なる部分は、エンジンの吸
気圧Ｐbを検出し、この検出出力を微分ブロック１２に
よって微分し、この微分信号を速度制御系３Ａの比例積
分要素３Ａ1に負帰還（ネガティブフィードバック）す
る構成にある。FIG. 1 is an equivalent block diagram showing an embodiment of the present invention. 4 is different from FIG. 4 in that the intake pressure P b of the engine is detected, the detected output is differentiated by a differentiation block 12, and this differential signal is negatively fed back to the proportional integral element 3A 1 of the speed control system 3A. Feedback).

【００１５】本実施例において、微分ブロック１２によ
るフィードバックは、該フィーバックループの閉ループ
特性に振動周波数成分を含む高い周波数成分の利得を下
げる要素になる。アクチェータストロークθAに対して
スロットル開度θAが２つの値を取り、エンジンの吸気
圧Ｐbが振動を起こそうとする周波数成分の利得を小さ
くする微分ブロック１２を通したフィードバックによ
り、該振動を抑制する方向に作用し、ハンチング現象を
抑制する。In the present embodiment, the feedback by the differentiation block 12 is an element for reducing the gain of high frequency components including the oscillation frequency component in the closed loop characteristic of the feedback loop. The throttle opening θ A has two values with respect to the actuator stroke θ A , and the intake pressure P b of the engine is vibrated by feedback through a differentiation block 12 that reduces the gain of the frequency component that tends to cause the vibration. To suppress the hunting phenomenon.

【００１６】図２は、アクチェータストロークθAのス
テップ入力に対する制御特性を示す。同図（ａ）には従
来のアクチェータストロークθAと吸気圧Ｐbのステップ
応答を示し、初期にオーバーシュートを発生し、これに
伴い振動が続くというハンチング現象を起こす。これに
対して、本実施例の場合のステップ応答を（ｂ）に示す
ように、該ハンチングの周波数成分を抑制することで振
動が抑制される。この振動抑制は、ヒステリシス特性の
バンド幅が供試自動車によって変わる場合にも効果が損
なわれることは無い。FIG. 2 shows the control characteristic of the actuator stroke θ A with respect to the step input. FIG. 3A shows a conventional step response of the actuator stroke θ A and the intake pressure P b , which causes an overshoot in the initial stage and causes a hunting phenomenon in which vibration continues. On the other hand, vibration is suppressed by suppressing the frequency component of the hunting as shown in (b) of the step response in the case of the present embodiment. This vibration suppression does not impair the effect even when the bandwidth of the hysteresis characteristic changes depending on the vehicle under test.

【００１７】なお、実施例において、微分ブロック１２
からのフィードバックは、ストローク制御系３Ｂに与え
る構成にして同等の作用効果を得ることができる。In the embodiment, the differentiation block 12
The feedback from can be configured to be given to the stroke control system 3B, and an equivalent effect can be obtained.

【００１８】[0018]

【発明の効果】以上のとおり、本発明によれば、供試自
動車の速度制御に、エンジン吸気圧の検出値を微分して
速度制御系又はストローク制御系に負帰還する微分要素
を設けたため、エンジンのストローク・スロットル開度
特性に持つヒステリシスによるハンチング現象を抑制で
きる効果がある。As described above, according to the present invention, the speed control of the vehicle under test is provided with the differential element for differentiating the detected value of the engine intake pressure and negatively feeding back to the speed control system or the stroke control system. This has the effect of suppressing the hunting phenomenon due to the hysteresis of the stroke / throttle opening characteristic of the engine.

【図面の簡単な説明】[Brief description of drawings]

【図１】本発明の一実施例を示す等価ブロック図。FIG. 1 is an equivalent block diagram showing an embodiment of the present invention.

【図２】従来と本発明におけるステップ応答特性図。FIG. 2 is a step response characteristic diagram in the related art and the present invention.

【図３】シャシダイナモメータのシステム構成図。FIG. 3 is a system configuration diagram of a chassis dynamometer.

【図４】従来の車速制御の等価ブロック図。FIG. 4 is an equivalent block diagram of conventional vehicle speed control.

【図５】エンジン特性ブロック図。FIG. 5 is an engine characteristic block diagram.

【図６】実車のストローク・開度特性図。FIG. 6 is a stroke / opening characteristic diagram of an actual vehicle.

【符号の説明】[Explanation of symbols]

１…供試自動車 ３…ドライブロボット ３Ａ…速度制御系 ３Ｂ…ストローク制御系 ３Ｃ…アクチェータ ４…ダイナモメータ ７…トルク制御系 ８…プログラマブルコントローラ １０…エンジン特性ブロック １２…微分要素 1 ... Test vehicle 3 ... Drive robot 3A ... Speed control system 3B ... Stroke control system 3C ... Actuator 4 ... Dynamometer 7 ... Torque control system 8 ... Programmable controller 10 ... Engine characteristic block 12 ... Differential element

Claims (1)

【特許請求の範囲】[Claims] 【請求項１】 供試自動車（１）に動力吸収手段として
のダイナモメータを結合し、該供試自動車の速度指令と
速度検出値からアクチェータストローク指令を得る速度
制御系（３Ａ）と、該アクチェータストローク指令に従
って供試自動車のストローク指令を得るスロットル開度
制御系（３Ｂ）と、該ストローク指令に従って供試自動
車のスロットル開度を操作するアクチェータ（３Ｃ）と
を備えた車速制御装置において、 前記供試自動車のエンジンの吸気圧検出値を入力としこ
の検出値の微分値を求めて前記速度制御系又はストロー
ク制御系に負帰還する微分要素（１２）を備えたことを
特徴とするシャシダイナモメータの車速制御装置。1. A speed control system (3A) for connecting a dynamometer as power absorbing means to a test vehicle (1) to obtain an actuator stroke command from a speed command and a speed detection value of the test vehicle, and the actuator. A vehicle speed control device comprising a throttle opening control system (3B) for obtaining a stroke command of a test vehicle according to a stroke command and an actuator (3C) for operating a throttle opening of the test vehicle according to the stroke command. A chassis dynamometer comprising a differential element (12) for inputting a detected value of an intake pressure of an engine of a test vehicle, obtaining a differential value of the detected value, and performing negative feedback to the speed control system or the stroke control system. Vehicle speed control device.
JP5013035A 1993-01-29 1993-01-29 Car speed controller of chassis dynamometer Pending JPH06229883A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP5013035A JPH06229883A (en) 1993-01-29 1993-01-29 Car speed controller of chassis dynamometer
KR1019940001535A KR0138948B1 (en) 1993-01-29 1994-01-28 Apparatus for controlling a vehicle speed of chassis dynamometer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP5013035A JPH06229883A (en) 1993-01-29 1993-01-29 Car speed controller of chassis dynamometer

Publications (1)

Publication Number Publication Date
JPH06229883A true JPH06229883A (en) 1994-08-19

Family

ID=11821872

Family Applications (1)

Application Number Title Priority Date Filing Date
JP5013035A Pending JPH06229883A (en) 1993-01-29 1993-01-29 Car speed controller of chassis dynamometer

Country Status (2)

Country Link
JP (1) JPH06229883A (en)
KR (1) KR0138948B1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7693641B2 (en) * 2004-04-15 2010-04-06 Kabushiki Kaisha Meidensha Vehicle speed control system
JP2016156687A (en) * 2015-02-24 2016-09-01 株式会社明電舎 Vehicle speed control device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7693641B2 (en) * 2004-04-15 2010-04-06 Kabushiki Kaisha Meidensha Vehicle speed control system
JP2016156687A (en) * 2015-02-24 2016-09-01 株式会社明電舎 Vehicle speed control device

Also Published As

Publication number Publication date
KR0138948B1 (en) 1998-05-15
KR940018657A (en) 1994-08-18

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