JPH0658844A - Electric inertia compensation control system for drive test machine - Google Patents

Abstract

PURPOSE:To enhance response of inertia compensation rotational angular speed by setting torque corresponding to running resistance depending on the rotational angular speed of a suction side motor, determining an inertia compensation rotational angular speed based on the torque thus set and driving torque of a drive side prime mover, and controlling the inertia compensation rotational angular speed to match with the rotational angular speed of suction side motor. CONSTITUTION:A rotational angular speed pickup 8 detects rotational angular speed omegam of a suction side motor 6 and an operating unit 16 for setting torque corresponding to running resistance operates torque R corresponding to running resistance depending on the rotational angular speed omegam. An operational amplifier 101 determines difference DELTATe between the torque R and driving torque Te of an engine 1 fed from a torque pickup 5. An inertia amount setter 19 sets an inertia amount IT and a divider 12 divides the difference DELTATe by the inertia amount IT to calculate rotational angular acceleration dtheta/dtm of the motor 6. An integrator 103 integrates the dtheta/dtm to determine an inertia compensation rotational angular speed omegam(t). An operational amplifier 104 determines the difference between the rotational angular speed omegam(t) and the omegam and a speed control operational amplifier 13 produces a control value for matching the rotational angular speed omegam with the omegam(t). A current control operational amplifier 12 operates a current value corresponding to the difference between a control value from an operational amplifier 106 and a current value thus controlling a power supply.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric inertia compensation control method and device for a drive tester for carrying out an actual vehicle equivalence test of a drive system of an automobile or the like, and particularly to a high response compensation and a wide range inertia compensation. And an electric inertia compensation control device for implementing this method.

[0002]

2. Description of the Related Art As a prior art relating to this type of inertia compensation control, there is known an inertia compensation control device for a drive tester described in Japanese Patent Laid-Open No. 56-151332.

FIG. 6 is a system diagram showing the above conventional technique.

In the prior art shown in FIG. 6, an engine 1 which is a drive side prime mover, a transmission 2 connected to the engine 1, and a torque pickup 5 connected to the transmission 2 via an output shaft 3 and a coupling 4. An absorption side electric motor 6 connected thereto via the output shaft 3 and the coupling 4, a rotational angular velocity detecting pulse pickup 8 connected thereto, and a pulse frequency / voltage converter 15 connected thereto. , The absorption side electric motor 6
A thyristor power supply device 10 which is a power supply device connected to the thyristor through a current detector 9, a constant current control operational amplifier 12 which is a current control operation means connected to the thyristor power supply device 10, and a torque. Control operational amplifier 14
, Running resistance equivalent torque setting calculator 16, and differentiator 17
, A multiplier 18, an inertial amount setting device 19, and a differentiator 20
, Multiplier 21, compensation amount calculator 22, and adder 2
3 and 24 are provided.

In this prior art, the drive torque T generated in the engine 1 is generated by the torque pickup 5.
e is detected and its value is sent to the adder 23.

On the other hand, the rotational angular velocity detecting pulse pickup 8 detects the rotational angular velocity ωm of the absorption side electric motor 6 and sends the detected value to the pulse frequency / voltage converter 15. The pulse frequency / voltage converter 15 converts the pulse frequency, which is the rotational angular velocity ωm detected by the rotational angular velocity detection pulse pickup 8, into a voltage, and a running resistance equivalent torque setting calculator 16, a differentiator 17, and others. Differentiator 2
Send to 0.

[0007] The running resistance equivalent torque setting calculator 16
Is the running resistance equivalent torque R according to the rotational angular velocity ωm.
And sends the value to the adder 23.

On the other hand, the differentiator 17 has the rotational angular velocity ωm.
Is differentiated to calculate the rotational angular acceleration dθ / dtm, and the value is sent to the multiplier 18.

The other differentiator 20 is provided with the rotational angular velocity ωm.
Is differentiated to calculate the rotational angular acceleration dθ / dtm, and the value is sent to the multiplier 21.

The inertia amount setting device 19 sets an inertia amount IT corresponding to the total inertia amount of the vehicle in which the engine 1 is mounted, that is, the drive system under test, and sends the value to the multiplier 18.

In the compensation amount calculator 22, reference numerals 25 and 2 are used.
Three types of compensation amounts shown by 6 and 27 are calculated, and the compensation amount 25 is sent to the multiplier 21, the compensation amount 26 is sent to the differentiator 20, and the compensation amount 27 is sent to the constant current control operational amplifier 12. The compensation amount 25 is a forcing current calculation coefficient calculated from the relationship between the torque and current of the absorption side electric motor 6 based on the difference (IT-Ia) in the inertial amount between the drive system under test and the tester, and the speed signal. And the compensation amount 26 is the differentiator 20.
The delay time constant T ₅ of the incomplete differentiator is defined as the ratio of the inertial amount IT of the drive system under test to the total inertial amount Ia of the tester (that is, the ratio indicating the inertia compensation range, hereinafter referred to as Ia / IT). The correction amount 27 is also for correcting the response time constant Tc of the constant current control operational amplifier 12 by Ia / IT.

On the other hand, the multiplier 18 multiplies the rotational angular acceleration dθ / dtm calculated by the differentiator 17 and the inertia amount IT set by the inertia amount setting device 19 to obtain the absorption torque Tm of the absorption side electric motor 6. And add that value to adder 2
Send to 3.

The other multiplier 21 multiplies the rotational angular acceleration dθ / dtm calculated by the differentiator 20 and the compensation amount 25 of the forcing current calculation coefficient calculated by the compensation amount calculator 22 to obtain the absorption side. A current value corresponding to the inertia compensation torque of the electric motor 6 is obtained and the value is sent to the adder 24.

In one adder 23, the driving torque Te detected by the torque pickup 5, the absorption torque Tm obtained by the one multiplier 18, and the travel calculated by the running resistance equivalent torque setting calculator 16 The resistance equivalent torque R is added to calculate the steady absorption torque command value VTP, and the calculated value is sent to the torque control operational amplifier 14.

The torque control calculator 14 calculates a current value corresponding to the torque control value based on the steady absorption torque command value VTP calculated by one adder 23 and sends it to the other adder 24.

In the other adder 24, the current value detected by the current detector 9, the current value corresponding to the torque control value calculated by the torque control calculator 14, and the inertia compensation calculated by the multiplier 21. Match the torque equivalent current value,
These difference values are sent to the constant current control operational amplifier 12.

In the constant current control operational amplifier 12, the current control value corresponding to the electrical compensation torque is calculated based on the value sent from the adder 24, and the calculated value is sent to the thyristor pulse generator 11, and this thyristor is generated. Pulse generator 1
1, the thyristor power supply device 10 is controlled, the current of the absorption side electric motor 6 is controlled, and the inertia torque corresponding to the equivalent inertia moment of the driven test machine is generated. In addition,
FIG. 7 is a block diagram of an equivalent conversion control in the prior art shown in FIG. 6, in which 5b is a torque pickup 5.
To the adder 23, the transfer function of the feedback control block of the torque generated by the absorption-side electric motor 6 in the signal system, 12b is the rotational angular velocity detection pulse pickup 8, the pulse frequency / voltage converter 15, the differentiator 20, and the multiplier Vessel 21
A transfer function from the generation of the driving torque Te through the constant current control operational amplifier 12 to the generation of the inertia compensation torque of the absorption side electric motor 6 through a constant current control operational amplifier 12 by a signal system including an adder 24 and giving a torque equivalent to the inertia compensation as a current forcing command value. 1
2c is a forward transfer function of a closed loop control block of a current control system including an adder 24, a constant current control operational amplifier 12, a thyristor gate pulse generator 11, a thyristor power supply device 10, and a current detector 9. Transfer function of the torque control operational amplifier 14, 5a is the torque pickup 5
Is a transfer function of the feedback control block with respect to the drive torque Te of the engine 1 in the signal system from the to the adder 23. Ia is the total inertial amount of the tester, IT is the total inertial amount of the drive system under test, Ic is the response time constant of the constant current control system, Td
Is the drive torque for the tester, Te is the drive torque of the engine, Tm is the torque generated by the absorption side electric motor, S is the Laplace variable, ωm is the rotational angular velocity of the absorption side electric motor, and Tc is the response time constant of the constant current control system. , KT is the torque detection gain, and T ₃ is the torque detection delay time constant.

[0018]

In the electric inertia compensation, the inertia torque corresponding to the equivalent inertia moment of the drive tester is electrically generated by the absorption side electric motor and used in place of the mechanical flywheel. However, there are various control delays in the electric inertia compensation, and it has been a problem from the past how to reduce the delay so as to approach the mechanical flywheel.

In the prior art, the torque pickup 5 is used.
In order to eliminate the effect of the detection delay of, as a forcing current command to the current control system, a means for giving inertia compensation is adopted,
This is intended to improve the response.

However, although the detection delay of the torque pickup 5 was solved, there were the following problems.

(A) Problem of Differentiator for Calculation of Rotational Angular Acceleration The differentiators 17 and 20 shown in FIG. 6 of the prior art calculate the angular angular acceleration by differentiating the rotational angular velocity, and ideally, It goes without saying that a perfect differentiator without delay is good. However, it is well known that the perfect differentiator is not established in principle from the viewpoint of noise resistance and the safety of the amplifier forming the differentiator.

Therefore, an incomplete differentiator having a delay that prevents oscillation of the amplifier and has a practical S / N ratio is used.

12b in the equivalent control block diagram shown in FIG.
Is a transfer function and gives a current value equivalent to the inertia compensation torque (1 + Ia / IT {(T of denominator of transfer function 12b
c + T ₅ ) S + TcT ₅ S ² }, where S and S ² are large or small, and T ₅ corresponds to the delay of the differentiator.

Therefore, a large T ₅ in the equivalent control block diagram 12b in the prior art means that the response becomes poor, and there is a problem that the degradation of the response cannot be avoided by using the differentiator. there were.

(B) Problem of causing limit in inertia compensation range As shown in the transfer function 12c of the equivalent control block diagram of FIG. 7, the response of the current control system of the absorption side electric motor 6 (1 + Ia / IT of the denominator of 12c). {(Tc + T ₅ ) S + TcT ₅ S ² }, S and S ² terms have different values) depending on the Ia / IT ratio. Therefore, there is a problem that the safety of the entire control system of the absorption side electric motor 6 is limited due to the change of the ratio Ia / IT. Therefore, even in the conventional technique, the response amount to the above is responded.
By changing the Tc in compensation quantity 27 T ₅ has been to hold the response constant by IT ratio.

However, in recent years, in combination with the low inertia simulation test and the adoption of an AC motor having a low inertia in the absorption side electric motor, a high range inertia compensation of Ia / IT ratio of 0.1 to 10 times or more is performed. Requests are coming out.

Although the above-mentioned measures are taken in the prior art, it is not possible to reduce Tc and T _{5 to} the necessary minimum. Therefore, making the change constant by the Ia / IT ratio has the opposite effect of worsening the response. Therefore, in the prior art, the Ia / IT ratio is 0.3.
There is a problem that the above requirement cannot be met because the limit is ˜3 times or less.

By the way, in the conventional electric inertia compensation,
An inertia compensation torque is generated in the absorption side electric motor 6 according to the following equation.

[0029]

## EQU1 ## Tm = d.theta. / Dtm.times.IT where Tm: Absorption torque of the absorption side electric motor 6 d.theta./dtm: Rotational angular acceleration of the absorption side electric motor 6. IT: Inertia amount corresponding to the total inertia amount of the vehicle.

That is, the rotational angular acceleration dθ / dtm of the absorption side electric motor 6 generated by the driving torque of the engine 1 is
Obtained by differentiating from the rotational angular acceleration dθ / dtm of the absorption side electric motor 6

Then,

The absorption torque Tm of the absorption side electric motor 6 is calculated by the following equation, and the absorption torque is used as an inertia torque for resisting the driving torque of the engine 1 to the absorption side electric motor 6 in a torque control system using the absorption torque Tm as a command value. Tm was generated.
Therefore, a differentiator is required, and if a differentiator is used, (a)
There was a problem. Further, since it is a torque control system, it has the problem of (b) above.

A first object of the present invention is to provide an electric inertia compensation control method for a drive tester which can improve the response of the inertia compensation rotational angular velocity and can greatly expand the range of inertia compensation.

A second object of the present invention is to provide an electric inertia compensation control device for a drive tester which can accurately implement the above method.

A third object of the present invention is to provide an electric inertia compensation control device for a drive tester which can simplify the control system of the absorption side electric motor.

[0035]

The first object is to detect the drive torque of the drive-side prime mover and the rotational angular velocity of the absorption-side electric motor, and set the running resistance equivalent torque according to the rotational angular velocity. Obtain the difference between the drive torque and the torque equivalent to the running resistance, divide this difference by the set value of the inertial amount to obtain the rotational angular acceleration of the absorption side motor, and integrate this rotational angular acceleration to obtain the inertia compensation rotational angular velocity value. It is achieved by controlling the rotation angular velocity of the absorption side electric motor so as to match the inertia compensation rotation angular velocity value.

A second object of the present invention is to provide means for giving inertia-compensated rotation to the absorption-side electric motor, by calculating the difference between the driving torque detected by the torque pickup and the running resistance equivalent torque calculated by the running resistance equivalent torque setting calculator. An adder to be obtained, an inertial amount setter that outputs a set value of the inertial amount, and a difference value between the driving torque and the running resistance equivalent torque obtained by the adder is divided by the set value of the inertial amount to obtain the rotational angular acceleration. And a configuration that includes an integrator that integrates the rotational angular acceleration obtained by this divider and outputs an inertia compensation rotational angular velocity value as a command value, and between the integrator and the current control computing means. Further, it is achieved by providing speed control calculation means for controlling the rotational angular velocity of the absorption side electric motor so as to be the inertia compensation rotational angular velocity value calculated by the integrator.

Further, the third purpose is to add a drive tester in which a torque command device, a torque control device and an operating actuator are connected in series to a drive side prime mover to obtain a difference between the running resistance equivalent torque and the drive torque. This is achieved by the configuration in which the torque command value output from the torque command device is sent to the container instead of the drive torque detected by the torque pickup.

Further, the third object is a drive tester in which a drive torque simulating device for simulating the drive torque from the throttle opening and the intake pipe pressure is connected to the drive-side prime mover. This can also be achieved by configuring the adder for obtaining the difference so as to send the simulated value of the drive torque output from the drive torque simulation device instead of the drive torque detected by the torque pickup.

[0039]

According to the first aspect of the present invention, the drive torque of the drive side prime mover and the rotational angular velocity of the absorption side electric motor are detected. Next, a running resistance equivalent torque is calculated according to the rotational angular velocity. Then, the difference between the drive torque and the running resistance equivalent torque is obtained.

[0040]

## EQU00002 ## .DELTA.Te = Te-R where Te is the driving torque of the driving side prime mover and R is the running resistance equivalent torque. The difference value ΔTe between the drive torque Te and the running resistance equivalent torque R is the acceleration / deceleration component torque.

Next, the difference value ΔTe is set to the set value of the inertia amount,
That is, it is divided by the total inertial amount of the vehicle to obtain the rotational angular acceleration of the absorption side electric motor.

[0042]

[Mathematical formula-see original document] where d [theta] / dtm = [Delta] Te / IT where IT: inertia amount of the drive system under test d [theta] / dtm: rotational angular acceleration of the absorption side electric motor.

Next, the obtained rotational angular acceleration dθ / d
The rotational angular velocity ωm (t) is obtained by integrating tm. The rotational angular velocity ωm (t) obtained by this integration is an inertia compensation rotational angular velocity value having a change rate corresponding to the rotational angular acceleration at that time with respect to the time axis.

Then, using the inertia compensation rotational angular velocity value obtained by integrating the rotational angular acceleration dθ / dtm as a command value, the rotational angular velocity of the absorption side electric motor is controlled so as to become the inertia compensation rotational angular velocity value.

Therefore, in the invention according to the first aspect, since it is not necessary to use the differentiator, the response delay of the differentiator is not affected, so that the response of the inertia compensation rotational angular velocity can be improved.

Further, according to the first aspect of the present invention, since the inertia motor can be compensated for not by the torque control system but by the speed control system, the stability of the control system of the absorption motor is within the inertia compensation range ( (Ia / IT ratio),
The inertia compensation range can be greatly expanded.

According to the second aspect of the present invention, the rotational angular velocity detected by the rotational angular velocity detecting means of the absorption side electric motor is fed back through the running resistance equivalent torque setting calculator, and inertia compensation rotation is performed on the absorption side electric motor. Means of giving
The configuration includes an adder, an inertial amount setting device, a divider, and an integrator, and a speed control calculation means.

The running resistance equivalent torque setting calculator calculates the running resistance equivalent torque R according to the rotational angular velocity ωm detected by the rotational angular velocity detecting means of the absorption side electric motor, and sends the value to the adder.

The adder has the drive torque Te sent from the torque pickup of the drive side prime mover and the travel resistance equivalent torque sent from the travel resistance equivalent torque setting calculator.

Luku and R are added to obtain the difference value ΔTe. That is, the above

Drive torque Te and running resistance equivalent torque R
Then, the difference value ΔTe between and is obtained, and the difference value ΔTe is sent to the divider.

The inertia amount setting device sets the inertia amount IT, that is, the total inertia amount of the vehicle, and sends the set value to the divider.

In the divider, the difference value ΔTe sent from the adder is set to the inertial amount setting value.

Divide by the inertial amount IT sent from the meter, that is,

Absorption side determined by [Equation 3]

Divide by the inertial amount IT sent from the vessel, that is,

The rotational angular acceleration ωm of the absorption side electric motor is calculated by the following equation (3), and the calculated value is sent to the integrator.

The integrator integrates the rotational angular acceleration dθ / dtm of the absorption side electric motor fed from the divider, and the rotational angular velocity ωm (t) which is the inertia compensation rotational angular velocity value.
Is calculated, and this inertia compensation rotational angular velocity value is sent to the velocity control calculation means as a command value.

The speed control calculation means controls the rotational angular speed ωm of the absorption side electric motor through the current control calculation means and the power supply device so that the rotational angular speed ωm matches the inertia compensation rotational angular speed value sent from the integrator.

As a result, in the invention described in claim 2, inertia compensation can be performed by the speed control system, so that the method described in claim 1 can be properly implemented.

According to the third aspect of the present invention, the torque command value is sent from the torque command device to the adder of the drive tester in which the torque command device, the torque control device and the operation actuator are connected in series. I am trying.

When the drive-side prime mover constitutes a torque control device which feeds back the drive torque detected by the torque pickup, the drive torque generated by the drive prime mover is equal to the torque command value output from the torque command device. . Therefore, the torque command device of the drive side prime mover may be used as the means for obtaining the drive torque, and the torque command value output from this torque command device may be used.

In the adder, the torque command value sent from the torque command device and the set value of the running resistance equivalent torque sent from the running resistance equivalent torque setter are added to obtain the difference value ΔTe, Send this value to the divider.

According to the fourth aspect of the present invention, in the drive tester to which the drive torque simulator for simulating the drive torque from the throttle opening and the intake pipe pressure is connected, the drive torque from the drive torque simulator to the adder is increased. I am trying to send a simulated value of.

When the driving-side prime mover is an engine, for example, it is known that the driving torque value has a certain relationship with the throttle opening of the engine or the intake pipe pressure (boost pressure). Therefore, the drive torque generated by the engine can be simulated from the throttle opening or the intake pipe pressure. Therefore, a drive torque simulation device may be used as a means for obtaining the drive torque, and a simulation value output from this drive torque simulation device may be used.

In the adder, the simulated value of the driving torque sent from the driving torque simulating device and the running resistance equivalent torque sent from the running resistance equivalent torque setting device are added to obtain the difference value ΔTe, Send this value to the divider.

As described above, according to the third and fourth aspects of the invention, since the drive torque is detected independently from the control system of the absorption side electric motor, the control system of the absorption side electric motor can be simplified. it can.

[0065]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a system diagram showing a first embodiment of the present invention, FIG. 2 is an explanatory diagram showing the relationship between rotational angular velocity and running resistance equivalent torque, and FIG. 3 is an equivalent control block diagram of the first embodiment. is there.

In the first embodiment shown in FIG. 1, an engine 1 which is a driving side prime mover, a transmission 2 connected to the engine 1, and an output shaft 3 of the transmission 2.
And a torque pickup 5 connected via the coupling 4, an absorption side electric motor 6 connected to the torque pickup 5 via the output shaft 3 and the coupling 4, and a rotational angular velocity detection pulse pickup 8 connected to the absorption side electric motor 6. A pulse frequency / voltage converter 15 connected thereto, a thyristor power supply device 10 which is a power supply device connected to the absorption side electric motor 6 via a current detector 9, and a thyristor gate pulse generator 11 connected thereto. The constant current control operational amplifier 12, which is the current control arithmetic means, connected together, the running resistance equivalent torque setting device 16, and the inertia amount setting device 19 are provided as in the prior art.

In the first embodiment, in addition to the above equipment,
Adder operational amplifier 101, which is an adder, and divider 102
An integrator 103, another adder 104, a speed control operational amplifier 105 which is a speed control operation means, and another adder 106.

The torque pickup 5 is the engine 1
Drive torque Te is detected and sent to the addition operational amplifier 101.

On the other hand, the rotational angular velocity detecting pulse pickup 8 detects the rotational angular velocity ωm of the absorption side electric motor 6,
It is sent to the running resistance equivalent torque setting calculator 16 and the addition operational amplifier 104 via the pulse frequency / voltage amplifier 15.

In the running resistance equivalent torque setting calculator 16, the absorption side electric motor 6 detected by the rotational angular velocity detecting pulse pickup 8 and the pulse frequency / voltage converter 15 is detected.
The running resistance-equivalent torque R is calculated according to the rotational angular velocity ωm and is sent to the addition operational amplifier 101. The running resistance equivalent torque R from the rotational angular velocity ωm of the absorption side electric motor 6 is calculated and set by the running resistance curve shown in FIG.

In the addition operational amplifier 101, the driving torque Te of the engine 1 sent from the torque pickup 5 and the running resistance equivalent torque R sent from the running resistance equivalent torque setting calculator 16 are added, and the difference therebetween. Find the value ΔTe. That is,

The above

The difference value ΔTe is calculated using the following equation. Since the running resistance equivalent torque R is the steady state resistance of the vehicle, that is, the running resistance in each constant speed state, the difference value ΔTe between the drive torque Te and the running resistance equivalent torque R is the acceleration / deceleration torque. Then, the difference value ΔTe is sent to the divider 102.

The inertia amount setting device 19 sets the inertia amount IT and sends the inertia amount IT to the divider 102. This inertial amount IT corresponds to the total inertial amount of the vehicle.

In the divider 102, the difference value ΔTe between the driving torque Te sent from the addition operational amplifier 101 and the running resistance equivalent torque R is sent from the inertia amount setter 19.

The divided inertial amount IT is divided. That is,
The above

Using the following equation, the rotational angular acceleration dθ /
The dtm is calculated and the value is sent to the integrator 103.

The integrator 103 integrates the rotational angular acceleration dθ / dtm sent from the divider 102 to obtain the rotational angular velocity ωm (t). This rotational angular velocity ωm
(T) is an inertia compensation rotational angular velocity value, and this rotational angular velocity ωm (t) is sent to the next addition operational amplifier 104.

In the addition operational amplifier 104, the integrator 1
03 from the rotational angular velocity ωm (t) and the rotational angular velocity ωm of the absorption-side electric motor 6 fed from the rotation angle detection pulse pickup 8 and the pulse frequency / voltage converter 15, and obtains the difference. Control operational amplifier 1
Send to 05.

In the speed control operational amplifier 105, based on the value sent from the addition operational amplifier 104, the rotational angular speed ωm of the absorption side electric motor 6 and the rotational angular speed ωm (t) calculated by the integrator 103, that is, A control value is calculated and output so as to match the inertia compensation rotational angular velocity value.

In the addition arithmetic unit 106, the control value is fetched from the speed control operational amplifier 105 and is supplied to the absorption side electric motor 6 from the current detector 9 provided between the thyristor power supply unit 10 and the absorption side electric motor 6. The current value is fetched, the control value is compared with the current value, and the difference is sent to the constant current control operational amplifier 12.

The constant current control operational amplifier 12 calculates a current value corresponding to the difference between the control value sent from the addition operational amplifier 106 and the current value, and the thyristor gate pulse generator 11 is used to calculate the current value. To control.

Next, an example of the electric inertia compensation control method of the present invention will be described with reference to the operation of the electric inertia compensation control device of the first embodiment.

When the engine 1, which is the drive side prime mover, is operated, a drive torque Te is generated, and the drive side electric motor 6 drives the absorption side electric motor 6 to rotate. The driving torque Te of the engine 1 is detected by the torque pickup 5 and sent to the addition operational amplifier 101. The rotational angular velocity ωm of the absorption side electric motor 6 is determined by the pulse angular velocity detecting pulse pickup 8 and the pulse frequency / voltage converter 15
Is detected by the running resistance equivalent torque setting calculator 16
And to the addition operational amplifier 104.

The running resistance equivalent torque setting calculator 16 calculates the running resistance equivalent torque R using the running resistance curve shown in FIG. 2 according to the rotational angular velocity ωm of the absorption side electric motor 6, and the addition operational amplifier 101 outputs the calculated value. send.

In the electric inertia compensation, the rotational angular acceleration dθ / dtm having a change rate is generated with respect to the drive torque Te of the engine 1 which is the drive side prime mover and the time axis corresponding to the set inertia amount IT. Just do it.

However, the rotation angle is calculated only from the contribution to the acceleration / deceleration of the driving torque Te of the engine 1.

It is necessary to calculate the acceleration dθ / dtm. Therefore, the above

The torque for acceleration / deceleration is calculated using the following equation. FIG. 2 shows the relationship.

In FIG. 2, the torque ΔTe of the portion (a) at which the drive torque of the engine 1 changes from 0 to Te at the zero rotational angular velocity acts as the acceleration torque. Then, the vehicle is accelerated to the rotational angular velocity ωm _{1 at} which the running resistance equivalent torque R and the drive torque Te match. The rotational angular acceleration dθ / dt
Calculate m as follows.

That is, by the addition operational amplifier 103,
Drive torque Te sent from the torque pickup 5
And the difference value ΔTe between the running resistance equivalent torque R sent from the running resistance equivalent torque setting calculator 16 and the difference value ΔTe is sent to the divider 102. On the other hand, the inertia amount setting device 19 sets the inertia amount IT as the total inertia amount of the vehicle, and also sends the inertia amount IT to the divider 102.

Then, in the divider 102,

By the following equation, the difference value ΔTe is divided by the inertia amount IT to calculate the rotational angular acceleration dθ / dtm, and the value is sent to the integrator 103.

Subsequently, the rotational angular acceleration dθ / dtm is integrated by the integrator 103 to obtain the rotational angular velocity ωm (t). This rotational angular velocity ωm (t) is the inertia compensation rotational angular velocity value,
It is a value having a change rate corresponding to the rotational angular acceleration dθ / dtm at each time with respect to the time axis, and this value is sent to the addition operational amplifier 104 as a command value of the absorption side electric motor 6.

Next, the rotational angular velocity ωm (t) is compared with the rotational angular velocity ωm sent from the rotational angular velocity detection pulse pickup 8 and the pulse frequency / voltage converter 15 by the addition operational amplifier 104, and the deviation thereof is speed controlled. It is sent to the operational amplifier 105, and the absorption side electric motor 6 is rotated through the speed control operational amplifier 105.
Accelerate at (t). At the point where the running resistance equivalent torque R and the driving torque Te are R = Te, the difference value ΔTe =
Since it becomes 0, the input to the integrator 103 also becomes 0, and the absorption side electric motor 6 is held at the rotational angular velocity ωm ₁ in FIG.

Further, in FIG. 2, when the drive torque of the engine 1 is Te 'and the drive torque is Te' → Te from the state of the rotational angular velocity ωm ₂ , the torque Δ of the (b) part is shown.
Te acts as a deceleration torque, and thereafter acts in the same manner as in the case of acceleration.

As described above, the electric inertia compensation is performed on the absorption side electric motor 6.

The equivalent control block of the first embodiment is shown in FIG.

In the figure, 12b 'is a block corresponding to the transfer function showing the response of the electric inertia compensation of the block 12b of the prior art shown in FIG.
, Adder 101, divider 102, integrator 103
And the adder 104 provide a signal system that gives a torque equivalent to inertia compensation as an inertia compensation rotational angular velocity command value, and transmits from the generation of the driving torque Te through the velocity control operational amplifier 105 to the generation of the inertia compensation torque of the absorption side electric motor 6. A function 12c 'is a block corresponding to the forward transfer function of the closed loop control block of the current control system of FIG. 7, and includes a rotation angular velocity detecting pulse pickup 8, a pulse frequency / voltage converter 15, a speed control operational amplifier 105, and Adder 1
06, the constant current control operational amplifier 12, the thyristor gate pulse generator 11, the thyristor power supply device 10, and the current detector 9, the forward transfer function 5b 'of the closed loop control block for speed control is the feedback of FIG. In the block corresponding to the transfer function 5b of the control block, the transfer function 5a 'of the feedback control block for the torque Tm generated by the absorption side electric motor 6 in the signal system from the torque pickup 5 to the adder 101 is the feedback control block of FIG. Transfer function 5a
Is a transfer function of the feedback control block with respect to the driving torque Te of the engine 1 in the signal system from the torque pickup 5 to the adder 101 in the block corresponding to.

Further, the equivalent control block diagram shown in FIG.
In the equivalent control block diagram shown in FIG. 7 in the prior art, the blocks 12b 'and 12c' in the embodiment of the present invention corresponding to the blocks 12b and 12c in the prior art include Ia / IT which is a problem in the prior art. Does not appear. Therefore, it can be seen that the problem (b) of the above-mentioned conventional technique is solved in the first embodiment of the present invention.

Also, in the first embodiment, no differentiator is used. Therefore, the value of T ₅ in the blocks 12b and 12c of FIG. 7 in the equivalent control block of the prior art is the same as that in the equivalent control block of the first embodiment.
Block 12b ', 12c' of FIG. Therefore, according to the first embodiment, the problem (a) of the conventional technique is solved.

Next, FIG. 4 is a system diagram showing a second embodiment of the present invention.

In the second embodiment, the torque command device 2 is used.
01, the addition operational amplifier 202, and the torque control device 20.
3 and the operation actuator 204.

The torque command device 201 adds the torque command value to the addition operational amplifier 101 and another addition operational amplifier 20.
It is supposed to be sent to 2.

A torque pickup 5 is connected to the addition operational amplifier 202. Then, the addition operational amplifier 202 obtains a deviation between the torque command value sent from the torque command device 201 and the driving torque Te of the engine 1 sent from the torque pickup 5, and sends the deviation to the torque control device 203. Has become.

The torque control device 203 is adapted to send a control value to the operation actuator 204 in accordance with the deviation obtained by the addition operational amplifier 202.

The operation actuator 204 operates the throttle 2 of the engine 1 via the push-pull wire 205.
06, and the throttle 206 is remotely operated by the control value sent from the torque control device 203.

On the other hand, in the addition operational amplifier 101, the torque command value sent from the torque command device 201,
A difference value with the running resistance equivalent torque R sent from the running resistance equivalent torque setting calculator 16 is obtained, and the difference value is sent to the next divider 102.

The torque command value output from the torque command device 201 is equal to the drive torque Te detected by the torque pickup 5. As a result, the summing operational amplifier 1

In 01, substantially the above

The same difference value ΔTe as in (Equation 2) is obtained.

Therefore, the torque command value obtained by the addition operational amplifier 101 and the running resistance equivalent torque

The difference value from Luk R is calculated by the divider 105 as described above.

The rotational angular acceleration dθ / dtm is calculated by dividing by the inertia amount IT using the following equation, and this is integrated by the integrator 103 to obtain the rotational angular velocity ωm (t). Even if 6 is controlled, it functions similarly to the first embodiment.

Further, FIG. 5 is a system diagram showing a third embodiment of the present invention.

In the third embodiment, the drive torque simulation device 301 is connected to the engine 1.

The drive torque simulation device 301 is connected to the adding operational amplifier 101.

The drive torque Te in the drive torque simulation device 301 is simulated as follows.

First, the drive torque Te generated by the engine 1 is simulated by the throttle opening signal.
Is proportional to the amount of fuel inhaled. The intake amount of fuel is proportional to the throttle opening. Therefore, the drive torque Te can be simulated by the throttle opening signal. As a simulation procedure, the drive torque Te when the throttle opening is changed from 0 to 100% is read in advance by the torque pickup 5 and stored in the drive torque simulation device 301. Throttle opening 0 from drive torque simulator 301
The simulated value of the drive torque corresponding to the opening signal of ˜100% is output and sent to the addition operational amplifier 101. The reading of the drive torque of the engine 1 can be realized by performing a test operation (teaching operation) of the engine 1 at a throttle opening of 0 to 100% before the operation of the drive tester is started.

The drive torque Te from the intake pipe pressure (boost pressure) is simulated by utilizing the fact that the intake pipe pressure is proportional to the throttle opening. The simulation of the driving torque of the engine 1 from the throttle opening signal is as described above. Then, the drive torque simulation device 301 outputs a simulation value of the drive torque corresponding to the intake pipe pressure and sends the value to the addition operational amplifier 101.

In the addition operational amplifier 101, the simulation value of the driving torque sent from the driving torque simulation device 301 and the running value sent from the running resistance equivalent torque setting calculator 16 are set.

A difference value from the row resistance equivalent torque R is obtained, and the difference value is calculated by the divider 102.

The rotational angular acceleration dθ / dtm is calculated by dividing by the inertia amount IT using the following equation, and this is integrated by the integrator 103 to obtain the rotational angular velocity ωm (t). Even if 6 is controlled, it functions similarly to the first embodiment.

In both the second and third embodiments, the detection of the driving torque Te of the engine 1 is performed independently of the control system of the absorption side electric motor 6 in both cases. As a result, the blocks 5b 'and 5a' of the equivalent control block shown in FIG.
There will be no shape. As for the control system, the less the feedback system is, the easier it is to obtain stability.

Moreover, in the second and third embodiments which do not depend on the method of detecting the driving torque Te by the torque pickup 5 and feeding it back to the control system of the absorption side electric motor 6,
Since the torque feedback system is eliminated from the control system of the absorption side electric motor 6, the difficulty of adjustment due to the causality of feedback is reduced, and the adjustment is greatly facilitated.

The other structures, operations and effects of the second and third embodiments are the same as those of the first embodiment.

Further, in the first, second and third embodiments,
This is an example of driving an engine, but the first embodiment can be directly applied to the case of driving an electric motor. Furthermore, if the driven electric motor has a torque command device and a torque control device and is driven with a torque according to the torque command value output from the torque command device, the second The embodiment of can be applied. Furthermore, since the driving torque generated from the driven electric motor is proportional to the electric current supplied to the electric motor, if the driving torque is simulated from the electric current, the third embodiment can be realized even in the case of driving the electric motor. Can be applied.

[0122]

According to the invention described in claim 1 of the present invention described above, the drive torque of the drive side prime mover and the rotational angular velocity of the absorption side electric motor are detected, and the running resistance equivalent torque is detected according to the rotational angular velocity. Then, the difference between the drive torque and the torque equivalent to the running resistance is obtained, and the difference value is divided by the set value of the inertial amount to obtain the rotational angular acceleration of the absorption side electric motor, and the rotational angular acceleration is integrated to perform inertia compensation. The rotational angular velocity value is obtained, and the rotational angular velocity of the absorption side electric motor is made to match the inertia compensation rotational angular velocity value, and since the rotational angular acceleration can be obtained without using a differentiator, the response delay of the differentiator Since it is not affected, the response of inertia compensation rotational angular velocity can be greatly improved, and since the absorption side motor can perform inertia compensation by the speed control system, its stability is determined by the range of the inertia compensation amount (Ia / IT ratio) Because it is not affected, the effect that can greatly expand the scope of inertia compensation.

According to the second aspect of the present invention, the means for giving the inertia-side compensation rotation to the absorption side electric motor is provided with the driving resistance detected by the torque pickup and the running resistance calculated by the running resistance equivalent torque setting calculator. An adder for obtaining the difference from the equivalent torque, an inertial amount setter for outputting the set value of the inertial amount, and a difference value between the driving torque obtained by the adder and the running resistance equivalent torque as an inertial amount set value. The integrator includes a divider that divides to obtain the rotational angular acceleration, and an integrator that integrates the rotational angular acceleration obtained by the divider and outputs an inertia compensation rotational angular velocity value as a command value. And a current control calculation means, a speed control calculation means for controlling the rotation angular speed of the absorption side electric motor to be the inertia compensation rotation angular speed value calculated by the integrator is provided. The effect of the linkage operation of the device may be performed accurately method of claim 1, wherein.

Further, the invention according to claim 3 is the torque command device and the torque control device on the drive side prime mover, and the invention according to claim 3 is that the torque command device, the torque control device and the operation actuator are connected in series on the drive side prime mover. In the connected drive tester, the torque command value output from the torque command device is sent to the adder that calculates the difference between the running resistance equivalent torque and the drive torque, instead of the drive torque detected by the torque pickup. According to a fourth aspect of the present invention, in the drive test machine in which a drive torque simulating device that simulates a drive torque from the throttle opening and the intake pipe pressure is connected to the drive side prime mover, the running resistance equivalent torque is provided. To the adder for determining the difference between the drive torque and the drive torque, in place of the drive torque detected by the torque pickup, Since the simulated value of the driving torque output from the device is sent in, there is an effect that the method according to claim 1 can be properly implemented by the inventions according to claim 3 and claim 4. Outside, since the detection of the drive torque is performed independently from the control system of the absorption side electric motor, the control system of the absorption side electric motor can be simplified and therefore the stability of the control system of the absorption side electric motor can be improved, and There is an effect that adjustment can be easily performed.

[Brief description of drawings]

FIG. 1 is a system diagram showing a first embodiment of the present invention.

FIG. 2 is an explanatory diagram showing a relationship between a rotational angular velocity and a torque equivalent to running resistance.

FIG. 3 is an equivalent control block diagram of the first embodiment.

FIG. 4 is a system diagram showing a second embodiment of the present invention.

FIG. 5 is a system diagram showing a third embodiment of the present invention.

FIG. 6 is a system diagram showing a conventional technique.

FIG. 7 is an equivalent control block diagram of FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Engine which is a drive side prime mover, 2 ... Transmission, 3 ... Output shaft, 4 ... Coupling, 5 ... Torque pickup, 6 ... Absorption side electric motor, 8 ... Rotational angular velocity detection pulse which comprises rotational angular velocity detection means pick up,
15 ... Same pulse frequency / voltage converter, 10 ... Thyristor power supply device which is a power supply device, 12 ... Constant current control operational amplifier which is current control operation means, 16 ... Running resistance equivalent torque setting operation device, 19 ... Inertia amount setting device , 101 ... Addition operational amplifier which is an adder for obtaining the difference between the driving torque and the running resistance equivalent torque, 102 ... Divider, 103 ... Integrator, 104
... addition operational amplifier, 105 ... speed control operational amplifier which is speed control operation means, 201 ... torque command device, 202 ...
Addition operational amplifier, 203 ... Torque control device, 204 ... Operation actuator, 206 ... Throttle, 301 ... Driving torque simulation device.

Claims (4)

[Claims] 1. A drive torque of a drive-side motor and a rotational angular velocity of an absorption-side electric motor are detected, a running resistance equivalent torque is set according to the rotational angular speed, and a difference between the drive torque and the running resistance equivalent torque is obtained. , The difference value is divided by the set value of the inertial amount to obtain the rotational angular acceleration of the absorption side electric motor, the rotational angular acceleration is integrated to obtain the inertia compensation rotational angular velocity value, and the rotational angular velocity of the absorption side electric motor is the inertia compensation An electric inertia compensation control method for a drive tester, which is controlled so as to match the rotational angular velocity value. 2. An absorption side electric motor is connected to a driving side prime mover via an output shaft equipped with a torque pickup, and a power supply device and a current control calculation means are connected in series to the absorption side electric motor, while the absorption side electric motor is connected. A rotational angular velocity detecting means is connected to the electric motor, and a traveling resistance equivalent torque setting arithmetic unit for calculating and outputting a traveling resistance equivalent torque in accordance with the rotational angular velocity detected by the rotational angular velocity detecting means is installed. In the electric inertia compensation control device provided with means for feeding back the rotational angular velocity detected by the driving resistance equivalent torque setting calculator to give inertia compensation rotation to the absorption side electric motor, inertia compensation rotation is applied to the absorption side electric motor. The means for giving the drive torque detected by the torque pickup and the travel calculated by the travel resistance equivalent torque setting calculator An adder for obtaining a difference from the resistance equivalent torque, an inertial amount setter for outputting a set value of the inertial amount, and a difference value between the driving torque obtained by the adder and the running resistance equivalent torque for the inertial amount set value. It is configured by including a divider for dividing the rotational angular acceleration obtained by dividing by, and an integrator that integrates the rotational angular acceleration obtained by this divider and outputs an inertia-compensated rotational angular velocity value as a command value. Drive tester, characterized in that speed control calculation means for controlling the rotational angular speed of the absorption-side electric motor to be equal to the inertia compensation rotational angular speed value calculated by the integrator is provided between the voltage controller and the current control calculation means. Electric inertia compensation control device. 3. A drive tester in which a torque command device, a torque control device, and an operation actuator are connected in series to the drive-side prime mover, and an adder for determining a difference between the running resistance equivalent torque and the drive torque is provided with a torque. The electric inertia compensation control device for a drive tester according to claim 2, wherein a torque command value output from the torque command device is sent in place of the drive torque detected by the pickup. 4. A drive tester in which a drive torque simulator for simulating a drive torque from a throttle opening or intake pipe pressure is connected to the drive-side prime mover, and an addition for obtaining a difference between the running resistance equivalent torque and the drive torque is performed. 3. The drive tester according to claim 2, wherein a simulated value of the drive torque output from the drive torque simulation device is sent to the container instead of the drive torque detected by the torque pickup. Electric inertia compensation control device.