JPH06273259A - Vibration controller - Google Patents

Abstract

PURPOSE:To provide a vibration controller which can improve the response characteristic of a control system independently of the frequency of the instruction value. CONSTITUTION:An instantaneous instruction value formation part 13 form an instruction value (a*) from an amplitude A* and a frequency F, and a difference detector 14 detects the difference between the instruction value (a*) and the detection signal (a), and the operation value b0** corresponding to the difference quantity is outputted from a difference amplifier 15. Simultaneously with this output, a Fourier transformation device 6 calculates the amplitude value A of the detection signal (a) corresponding to the frequency F. Then, in a difference calculator 7, the difference quantity between the amplitude value A and the amplitude A* is calculated, an a Fourier reverse transformation device 9 calculates the operation value b1* according to the difference value. An operation value synthesizer 16 addition-calculates the operation values b0* and b1*, and inputs the operation value b* into a vector controlling inverter 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibration control device suitable for use in testing a drive system of an automobile such as a transmission.

[0002]

2. Description of the Related Art In order to carry out a simulation test of the performance of a drive system such as a transmission without using an actual engine as a drive source in the design and trial production stage of an automobile, the inventor of the present application has previously described FIG. A method using a vibration control device having the configuration shown in is proposed. This vibration control device performs a simulation test of the performance of the drive system based on the supplied command value (torque value) a ^* .

The command value a ^* varies in a sine wave shape as shown by the following equations (1) and (2). Here, A ^* and F ^* represent the amplitude and frequency of the command value a ^* , respectively.

[Equation 1]

[Equation 2]

In FIG. 4, 1 is the amplitude A ^{* of the} command value a ^{* .}
And a control device that generates an operation value b ^* according to a frequency F ^* and a detection signal a (described later). Further, 2 is a vector control inverter that generates an AC voltage according to a torque command (operation value b ^* ) supplied from the control device 1, 3
Is an induction motor that rotates its rotating shaft by an AC voltage supplied from the vector control inverter 2.

Reference numeral 4 denotes a drive system of an automobile which is connected to the rotary shaft of the induction motor 3 and is operated by the power transmitted from the rotary shaft. Reference numeral 5 denotes a detector arranged at or near the rotary shaft of the induction motor 3. Yes, the detection signal a corresponding to the operation of the rotary shaft is fed back to the control device 1. Control device 1
Is composed of a Fourier transformer 6, a deviation calculator 7, a deviation amplifier 8 and a Fourier inverse transformer 9, and each constituent element will be described below.

First, the Fourier transformer 6 calculates the amplitude A of the component of the frequency F ^* for the detection signal a.
The calculation formulas (the following formulas (3) to (5)) are general Fourier transform formulas, and the amplitude A is calculated by the integration operation for one cycle (t = 0 to 1 / F ^* ).

[Equation 3]

[Equation 4]

[Equation 5]

Next, the deviation calculator 7 uses the above-mentioned command value a.
^* The amplitude A ^* and the (3) of calculating the difference between the amplitude A calculated by - (5) below. This deviation amount is calculated by the deviation amplifier 8
Is amplified and output as a command amplitude B ^* . Then, the Fourier inverse transformer 9 is supplied with the command amplitude B ^* and the frequency F ^*, and the operation value b ^* is calculated based on the following equations (6) and (7). The operation value b ^* thus calculated is supplied to the vector control inverter 2.

[Equation 6]

[Equation 7]

In the vibration control device having the above structure, when the amplitude A ^* and the frequency F ^* relating to the command value (torque value) a ^* are supplied to the control device 1, a detection signal which is a control amount is supplied via the detector 5. (Feedback torque value) a is fed back. As a result, the Fourier transformer 6 calculates the amplitude A corresponding to the component of the frequency F ^* .

Then, in the deviation calculator 7, the command value a
^After the deviation between the amplitude A ^{* of *} and the amplitude A of the detection signal a is calculated and this deviation amount is amplified to be the command amplitude B ^* ,
The operation value b ^* is calculated in the Fourier inverse transformer 9.
Then, this operation value b ^* is supplied to the vector control inverter 2, and the induction motor 3 is controlled based on the operation value b ^* . As described above, the operation value b ^* is obtained only by the amplitudes of the control amount and the command value. Therefore, direct current control becomes possible, and feedback control that does not depend on the frequency F ^* of the command value a ^* is performed.

As a result, the drive system (transmission) is drive-controlled so that the deviation between the command value a ^* amplitude A ^* and the amplitude A of the detection signal a is minimized. In this way, by setting the frequency of the command value a ^* variously,
Various tests such as measuring the mechanical resonance point of the drive system 4 are possible. In the vibration control device, the command value a ^*
Although the case where the torque value is used has been described above, the present invention is not limited to this, and it is also possible to use a characteristic value other than the torque value, such as the number of revolutions, as the command value.

[0011]

In the conventional vibration control device described above, the Fourier transformer 6 calculates the amplitude A corresponding to the component of the frequency F ^* , and the deviation calculator 7 calculates the amplitude A as the amplitude A. The deviation of the command value a ^{* from} the amplitude A ^* is calculated. That is, the cycle of the command value a ^* (1 / F
Amplitude A is calculated for each ^* ), and the following tracking operation is performed. Therefore, the amplitude A of the command value a ^{*
When *} is changed, it takes at least the period (1 / F ^* ) of the command value a ^* until the amplitude A matches the amplitude A ^* .

[0012] The above characteristics, when the frequency F ^* of the character is large, since the command value a ^* of the period (1 / F ^*) becomes sufficiently short, detection signal a is sufficiently relative command value a ^* Follow, but if the frequency F ^* is small (eg 1 Hz),
The cycle (1 / F ^* ) of the command value a ^* becomes long (for example, 1 second), and the above-mentioned follow-up operation becomes insufficient. That, as the command value a ^* of the frequency F ^* is small, so that the response characteristic of the control system is impaired. The present invention has been made in view of the above circumstances, and an object thereof is to provide a vibration control device that can improve the response characteristics of a control system without depending on the frequency of a command value.

[0013]

In order to solve the above problems, according to the present invention, an instantaneous command value generating means for generating a command value which is a trigonometric function wave corresponding to a command amplitude and a command frequency, A first deviation output means for detecting a first deviation between the control amount fed back from the controlled object and the command value, and outputting a first operation value corresponding to the first deviation; Fourier transform means for calculating a control amount amplitude relating to the command frequency component, and a second deviation for detecting a second deviation between the command amplitude and the control amount amplitude and outputting an amount corresponding to the second deviation. Output means, Fourier inverse transform means for inverse Fourier transforming an amount corresponding to the second deviation to calculate a second operation value, and the first operation value and the second operation value are added. And an addition means for supplying an operation value to the controlled object. And butterflies.

[0014]

According to the above construction, the instantaneous command value generating means generates the command value from the given amplitude component and frequency component, and the first deviation output means controls the generated command value and the control amount. And a first operation value corresponding to the first deviation is output. On the other hand, the Fourier transform means calculates the amplitude component of the control amount corresponding to the frequency component of the command value, and the second deviation output means generates the second deviation between the amplitude component of the command value and the amplitude component of the control amount. . The inverse Fourier transform means generates a second manipulated value according to the second deviation. Then, the adding means is provided with the first and second
Is added to the operation value of and is supplied to the controlled object. As a result, when the frequency component of the command value is in the high region, the second
The control target is controlled by the operation value of, and on the other hand, when the frequency component shifts to a low region, the control is performed by the first operation value. As a result, the response characteristic of the control system can be improved without depending on the frequency of the command value.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

A: Overall Configuration of Embodiment FIG. 1 is a configuration diagram of a vibration control device according to an embodiment of the present invention. The vibration control device having the configuration shown in this figure vibrates the controlled object according to the supplied command value (torque value), and parts common to FIG.
The description is omitted.

[0017] In FIG. 1, 10 denotes a control unit, the command value a ^* of the amplitude A ^* and the frequency F ^* and the detector 5 in response to the detection signal a (control amount) detected by the operation value b ^* To occur. The control device 10 is roughly classified into a high frequency control unit 11 that outputs an operation value b ₁ ^* and an operation value b ₀ ^*.
And a low frequency controller 12 that outputs Since the high frequency control unit 11 has the same configuration as the control device 1 shown in FIG. 4, its description will be omitted. Hereinafter, a configuration of the low frequency control unit 12 that prevents the response characteristic of the control system from being deteriorated as in the conventional case even when the frequency F ^* of the designated value a ^* becomes small will be described.

Structure of Low Frequency Control Unit 12 The low frequency control unit 12 is composed of an instantaneous command value generator 13, a deviation detector 14 and a deviation amplifier 15. here,
The configuration of the instantaneous command value generator 13 will be described with reference to FIG. In FIG. 2, reference numeral 17 denotes a phase detector, which calculates the phase value θ at the current time t from the frequency F ^* based on the calculation shown in the equation (7). Next, 18 is a cosine unit component detector, which extracts and outputs the cosine unit component cos θ of the phase value θ supplied from the phase detector 17. Also, 19 is the cosine unit component cosθ multiplies the command value a ^* of the amplitude A ^*, is a multiplier to reproduce and output an operation value a ^* represented by the formula (1).

The above-mentioned instantaneous command value generator 13 is used for command value a ^*
When the amplitude value A ^* and the frequency F ^* are supplied, the command value a ^* is created from them. The deviation between the created command value a ^* and the detection signal a is detected by the deviation detector 14,
The same deviation amount is amplified by the deviation amplifier 15, and the operation value b
It is supplied to the operation value synthesizer 16 as ₀ ^* .

B: Operation of Embodiment Next, the operation of the embodiment having the above configuration will be described. When the amplitude A ^* and the frequency F ^* are supplied to the basic operation control device 10 and the detection signal a is fed back from the detector 5, the operation value synthesizer 16 outputs the operation value output from the high frequency controller 11. b ₁ ^* and the operation value b ₀ ^* output from the low frequency control unit 12 are added to calculate the operation value b ^* .
Based on this operation value b ^* , the vector control inverter 2
At, the waveform of the voltage applied to the induction motor 3 is controlled, and the output of the induction motor 3 is transmitted to the drive system 4 (transmission) as power in place of the engine. At this time, as described above, the detection signal a is fed back to the control device 10 via the detector 5. Next, the operations of the high frequency control unit 11 and the low frequency control unit 12 will be described separately for cases where the frequency F ^* is high and cases where the frequency F ^* is low.

Operation when Frequency F ^* is High In the high frequency control section 11, the detection signal a is supplied to the Fourier transformer 6, where the amplitude A with respect to the frequency F ^* .
Is calculated. The amplitude A is supplied to the deviation calculator 7, where the deviation between the amplitude A ^* and the amplitude A is calculated.
This deviation amount is amplified by the deviation amplifier 8 and the command amplitude B
After being set to ^* , the manipulated value b ₁ ^* in the Fourier inverse transformer 9
Is calculated.

On the other hand, in the low frequency controller 12, the command value a ^* recreated by the instantaneous command value creator 13 and
The detection signal a and the detection signal a are supplied to the deviation detector 14, where the deviation between them is detected. By the way, the high-frequency control unit 11 described above has the same frequency F ^* as the control device 1 shown in FIG.
When is high, the detection signal a can sufficiently follow the command value a ^* . Therefore, almost no deviation appears in the deviation detector 14. For this purpose, the deviation amplifier 15
The operation value b ₀ ^* output from is close to 0. That is, when the frequency F ^* is high, the high frequency control unit 1
1 operates predominantly.

[0023] When the frequency F ^* operating frequency F ^* is low when low, the period shown in FIG. 3 (1 / F
^* ) Becomes longer. In such a case, since the phase delay in the feedback control system can be ignored, the low frequency control unit 12
Can be controlled so that the deviation Δa shown in FIG. Here, the operation of the low frequency control unit 12 will be described with reference to FIG.
Will be described below. The command value a ^* created by the instantaneous command value creator 13 and the detection signal a are supplied to the deviation detector 14, where the deviation between them is detected.
The detected deviation is amplified by the deviation amplifier 15 and output as the operation value b ₀ ^* .

On the other hand, in the high frequency control section 11, the detection signal a is supplied to the Fourier transformer 6, where the amplitude A for the frequency F ^* is calculated. The amplitude A is supplied to the deviation calculator 7, where the deviation between the amplitude A ^* and the amplitude A is calculated. However, since the detection signal a supplied to the Fourier transformer 6 sufficiently follows the command value a ^* by the operation of the low frequency control unit 12,
The deviation amount calculated by the deviation calculator 7 is a value close to zero. Therefore, the operation value b ₁ ^* calculated by the inverse Fourier transformer 9 becomes a value close to 0. That is, when the frequency F ^* is low, the low frequency controller 12 operates predominantly.

As described above, when the frequency F ^* is high, the high frequency controller 11 operates predominantly. That is, the relationship is (operation value b ₀ ^* ) <(operation value b ₁ ^* ). Here, when the frequency F ^* is shifted from the high region to the low region, the high frequency control unit 11 is correspondingly moved.
With only the control, the detection signal a does not sufficiently follow the command value a ^* . Therefore, the deviation between the command value a ^* detected by the deviation detector 14 of the low frequency control unit 12 and the detection signal a gradually increases, the operation value b ₀ ^* increases, and (operation value b ₀ ^* )> The relationship of (operation value b ₁ ^* ) is established.
That is, the low frequency control unit 12 operates predominantly.

[0026] As described above, the RF control unit 11 in the frequency F ^* high regions, to the frequency F ^* is to operate dominant low frequency control unit 12 in the lower region, in the band of frequencies F ^* It is possible to make the detection signal a sufficiently follow the command value a ^* without depending on it. In the above-described embodiment, the torque value at the rotating shaft of the induction motor 3 is used as the control amount, but a characteristic amount other than the torque value, such as the number of revolutions, may be used as the control amount. Further, the control amount can be a torque, a rotation speed, a rotation angle, or the like on the rotation shaft of the drive system 4. further,
The control target is the vector control inverter 2, the induction motor 3
It is also possible to use other than the drive system 4.

[0027]

As described above, according to the present invention,
The instantaneous command value generating means generates the command value from the given amplitude and frequency, and the first deviation output means detects the first deviation between the generated command value and the control amount, In order to output the first operation value according to the first deviation, the controlled object can be controlled by the first operation value when the frequency is in a low region. On the other hand, the Fourier transform means calculates the amplitude of the control amount corresponding to the frequency component of the command value, and the second deviation output means generates the second deviation between the amplitude of the command value and the amplitude of the control amount. Then, when the inverse Fourier transform means generates the second operation value according to the second deviation, if the frequency of the command value is in a high region,
The controlled object can be controlled by the second operation value.
Then, the adding means adds the first and second operation values and supplies them to the controlled object, so that the response characteristic of the control system can be improved without depending on the frequency of the command value. it can.

[Brief description of drawings]

FIG. 1 is a block diagram showing a schematic configuration of a vibration control device according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a schematic configuration of an instantaneous command value generator 13.

FIG. 3 is a diagram showing a general relationship found between a command value a ^* and a detection signal a.

FIG. 4 is a block diagram showing a schematic configuration of a conventional vibration control device.

[Explanation of symbols]

 2 ... Vector control inverter (controlled object), 3 ... Induction motor (controlled object), 6 ... Fourier transformer (Fourier transform means), 7 ... Deviation calculator (second deviation output means), 8 ... ... deviation amplifier (second deviation output means), 9 ... Fourier inverse transformer (Fourier inverse transformation means), 11 ... high frequency control section, 12 ... low frequency control section, 16 ... manipulated value synthesizer (addition) Means), 13 ... Instantaneous command value generator (instantaneous command value generating means), 14 ... Deviation detector (first deviation output means), 15 ... Deviation amplifier (first deviation output means).

Claims (1)

[Claims] 1. An instantaneous command value generating means for generating a command value which is a trigonometric function wave corresponding to a command amplitude and a command frequency, and a first deviation between a control amount fed back from a control target and the command value. First deviation output means for detecting and outputting a first operation value corresponding to the first deviation; Fourier transform means for calculating a control amount amplitude relating to the command frequency component of the control amount; and the command amplitude. And a second deviation between the control amount amplitude and a second deviation output means for outputting a quantity corresponding to the second deviation, and an inverse Fourier transform of the quantity corresponding to the second deviation. Second
Fourier transforming means for calculating the operation value of the above, and addition means for supplying an operation value obtained by adding the first operation value and the second operation value to the controlled object. Control device.