JPH0876856A - Vibration controller - Google Patents

Abstract

PURPOSE: To provide a vibration controller which can be constructed at a low cost by using able speed control inverter device that is prepared in a standard. CONSTITUTION: A speed detection part 5' has a constitution where revolving angle detectors 52 and 52' and differentiators 53 and 53' of the same specifications are connected in parallel to a single resolver 51. Then, a line of the resolver 51, the detector 52 and the differentiator 53 is fed back to a standard inverter device 24. Meanwhile, a line of the resolver 51, the detector 52' and the differentiator 53' is fed back to an excitation control part 25. As the result, the inverter 24 can be constituted.

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, for example, testing a drive system of an automobile.

[0002]

2. Description of the Related Art At the design stage of an automobile, it is necessary to evaluate the strength of the transmission against the vibration of the engine and the riding comfort of the vehicle body. In this case, for example, when evaluating the vibration characteristics of the transmission, 3000
It gives a shaft vibration of 100 rpm at 8 rpm,
Vibration is given after giving an average number of rotations, such as giving a shaft vibration of 200 rpm at 000 rpm.

The applicant has proposed a vibration control device for performing such vibration inspection in Japanese Patent Application No. 6-23133. FIG. 3 is a block diagram showing the configuration of the vibration control device. In the figure, 5 is a speed detector for detecting the rotation speed of the drive system 2, and the detected rotation speed N is supplied to the deviation detector 6 as a subtraction signal. The details of the speed detector 5 will be described later. The deviation detector 6 has
The average speed N _DC ^* which is the command value is supplied as an addition signal, and the deviation between the average speed N _DC ^* and the speed N is calculated by the amplifier 7
After being converted into a torque command T _DC ^* by means of, it is supplied to the inverter 9 via the adder 8. The inverter 9 supplies the output current corresponding to the output signal of the adder 8 to the motor 1. The speed control loop 10 is configured by the above components, and speed control is performed so that the deviation in the deviation detector 6 is minimized.

Next, F ^* is the frequency of vibration (frequency of velocity ripple) to be given to the drive system 2, and ΔN
^* Is the amplitude of vibration. Reference numeral 15 denotes a Fourier transform circuit, which detects a Fourier component of the frequency F ^* of the detected speed N, that is, an amplitude ΔN (DC signal). The Fourier transform circuit 15 may be configured by hardware (for example, the configuration shown in FIG. 2 of Japanese Patent Application No. 5-19087) or software.

Next, the amplitude ΔN output from the Fourier transform circuit 15 is supplied to the deviation detector 16, where the deviation from the amplitude ΔN ^* is detected. This deviation is amplifier 1
It is converted into a torque value ΔT ^* by 7. Reference numeral 20 denotes an inverse Fourier transform circuit, which based on the torque value ΔT ^* and the frequency F ^* , a torque command signal T _AC having an amplitude ΔT ^* and a frequency F ^*.
* (AC signal) is created and supplied to the adder 8. The adder 8 adds T _DC ^* and T _AC ^* and outputs a torque command T ^* .

The above-described Fourier transform circuit 15, deviation detector 16, amplifier 17, and Fourier inverse transform circuit 20 constitute an excitation control section 25. Further, the frequency response of the speed control loop 10 is an excitation command. The frequency F
^* Set sufficiently lower than.

Next, the operation of this vibration control device will be described. First, in the state where the frequency F ^* and the amplitude ΔN ^{* of} the vibration are not given, the circuit operates only by the speed control loop 10. That is, as shown in FIG. 4 (a), T _DC ^* is the torque command value becomes a constant value corresponding to the speed N _{D C} ^*, the motor 1 is rotated at a constant speed at a speed that matches the instructed speed N _DC ^* .

Next, when the vibration frequency F ^* and the amplitude ΔN ^* are given, the amplifier 17 outputs a command torque ΔT ^* corresponding to the amplitude ΔN ^* , which is converted into an AC signal by the inverse Fourier transformer 20. Output as torque T _AC *. Here, FIG. 4B shows a waveform of the torque T _AC ^* , which is an AC signal having an amplitude ΔT ^* and a period 1 / F ^* as shown in the figure.

Since the torque T _AC ^* is superposed on the torque T _DC ^* in the adder 8, the motor 1 rotates at the average speed N _DC ^* while producing a ripple (that is, vibration) of the speed ΔN ^*. To have. Therefore, the waveform of the speed N detected by the speed detector 5 is a waveform in which the speed ΔN which is the vibration component is superimposed on the average speed component N _DC , as shown in FIG. In this case, since the frequency response of the speed control loop 10 is sufficiently low with respect to the frequency F ^* , only the speed control based on the command average speed N _DC ^* is performed without following the vibration component.

Further, the velocity ΔN of the vibration component contained in the detected velocity N is detected by the Fourier transformer 15, and the deviation from the vibration amplitude ΔN ^* is detected by the deviation detector 16. Then, the amplifier 17 outputs the torque ΔT ^* according to the deviation of the deviation detector 16, but since the amplitude ΔN is a subtraction signal, the torque ΔT ^* minimizes the deviation at the deviation detection point 16. Therefore, the vibration applied to the drive system 2 has an amplitude matching ΔN ^* and a frequency matching F ^* . As described above, the average speed of the motor 1 and the vibration waveform are controlled independently. That is, the DC component and the AC component to be controlled are individually controlled.

Next, details of the speed detector 5 used in the above vibration control device will be described. As shown in FIG. 5, the speed detector 5 includes a resolver 51, a rotation angle detector 52, and a differentiator 53. And the resolver 51
Is composed of a two-phase excitation type stator (hereinafter referred to as a resolver stator) 51A and a resolver rotor 51B.

The rotation angle detector 52 includes a clock oscillator 521, a counter 522, a two-phase alternating current generation circuit 523,
It is composed of a waveform shaping circuit 524 and a latch circuit 525. Here, the two-phase AC generation circuit 523 has a decoder in which a switch pattern corresponding to the digital signal from the counter 522 is pre-recorded in the form of a two-phase pulse width modulation (PWM) sine wave signal, and sin θ, cos θ PWM
It is composed of a switch circuit that operates at high speed with a signal and outputs a two-phase alternating current with a 90 ° phase difference consisting of a PWM waveform. Based on the incremental data (or decremental data) of the counter output, sin θ, cos θ Generates two-phase AC output. That is, the oscillator 521, the counter 522, and the two-phase AC generator 523 have a phase difference of 90 ° with each other to excite the resolver 51.
A two-phase excitation circuit that generates a phase alternating current is configured.

Reference numeral 54 is an induced voltage detection line for detecting the phase-modulated voltage induced in the resolver rotor 51B (this resolver rotor 51B includes a rotary transformer). The induced voltage detection line 54 has a waveform. The shaping circuit 524 is connected. The waveform shaping circuit 524 shapes the phase-modulated sine wave sin (θ−θr) into a rectangular wave. The waveform shaping circuit 524 has a counter 522 of the counter 522 at each 360 ° edge of the output signal of the circuit 524. Latch circuit 5 that latches the output digital value and detects the rotation angle θr
25 are connected. Further, the differentiator 53 time-differentiates the rotation angle signal θr output from the latch circuit 525 and outputs a rotation speed signal N.

With the above-mentioned configuration, the two-phase AC generating circuit 5
When a two-phase alternating current (excitation wave) with a phase difference of 23 ° from 23 is supplied to the resolver stator 51A, the resolver rotor 5
In 1B, a signal sin (θ-
θr) is induced as a feedback signal. After that, at the zero cross point of the feedback signal of this resolver 51, the counter output θ
Is latched, whereby the phase difference θr between the excitation waves sin θ, cos θ and the feedback wave sin (θ−θr) is output from the latch circuit 525 as digital data. This phase difference θr
Is time-differentiated by the differentiator 53 to obtain the rotation speed N. Note that θ and the edge of the feedback signal for each wavelength, and θ
A time chart showing the relationship with r is shown in FIG.
It becomes like (c).

[0015]

By the way, in the above-mentioned conventional vibration control device, the part constituting the speed control loop 10 has the same structure as a general variable speed control inverter device (hereinafter referred to as a standard inverter device). Have
Therefore, when the vibration control device is manufactured, it is extremely economical if the existing standard inverter device and the separately-produced vibration control unit 25 can be connected and configured.

However, in general, the standard inverter device is
An interface circuit for outputting the detected rotation speed N is provided only for monitoring, and using the monitor signal as a feedback signal of the vibration control unit 25 has a problem in accuracy. Therefore, when the vibration control device is configured using the standard inverter device as described above, it is necessary to add an interface circuit for feeding back the rotation speed N to the vibration control unit 25.

In the standard inverter device, a part of the speed detector 5 shown in FIG. 1 (that is, differentiator 53),
Deviation detector 6, amplifier 7, adder 8 and inverter 9
A portion corresponding to a part of the above is configured by software, and it is necessary to change the program in order to supply the rotation speed N to the vibration control unit 25 in real time.

After all, when the vibration control device is constructed by using the standard inverter device, there is a problem that the manufacturing cost is rather increased because the hardware and the software are changed.

On the other hand, if a speed detector 5 is added in addition to the one provided in the standard inverter device and the output thereof is fed back to the vibration control unit 25, a structure using the standard inverter device can be realized. However, the resolver 51 that constitutes the speed detecting device 5 is generally expensive as compared with other electronic circuits, and the manufacturing cost remains high.

The present invention has been made in view of the above circumstances, and an object thereof is to provide a vibration control device which can be constructed at a low cost by using a variable speed control inverter device prepared as a standard. .

[0021]

In order to solve the above problems, the present invention detects the rotation speed of a control target connected to a motor, and deviates the detection result of the rotation speed from a predetermined speed command value. A speed control loop for supplying a drive current to the motor so as to minimize, and a means for giving vibrations corresponding to a predetermined amplitude command value and frequency command value to the control target. Detects the amplitude in the frequency command value, generates an amplitude control signal according to the deviation between the amplitude detection result and the amplitude command value, and according to the amplitude indicated by the amplitude control signal and the frequency command value. In a vibration control device comprising an AC control signal and a vibration control means for supplying a drive current according to the AC control signal to the motor, a means for detecting the rotational speed of the controlled object, First and second speed detecting means for detecting a rotation angle based on an induced voltage generated in the resolver and outputting a rotation speed obtained by differentiating the rotation angle to one resolver attached to the controlled object. Are connected in parallel, and the output of the first speed detecting means is the feedback signal of the speed control loop, while the output of the second speed detecting means is the feedback signal of the vibration control means. It is characterized by that.

[0022]

According to the present invention, the first and second speed detecting means detect the rotation angle based on the induced voltage generated in the common resolver and output the rotation speed obtained by differentiating the rotation angle with respect to time. To do. Then, the output of the first speed detecting means becomes a feedback signal of the speed control loop, and the output of the second speed detecting means becomes a feedback signal of the vibration control means. As a result, the speed control loop and the vibration control means can independently configure the part that detects the rotational speed and returns it, and as a result, the speed control loop part is configured by the variable speed control inverter device prepared as standard. can do. Further, the rotational speed can be detected simultaneously from one resolver at two different locations without adding a relatively expensive resolver.

[0023]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of a vibration control device according to an embodiment of the present invention. In this figure, portions common to those of the conventional example shown in FIG. The embodiment shown in FIG. 1 is different from the conventional example shown in FIG. 3 in that a variable speed control inverter device (hereinafter, standard inverter device) 2 provided as standard is provided.
The vibration control device is configured by using No. 4. Along with this, the speed detection unit 5 ′ has a structure in which two resolver 51 of the conventional speed detector 5 are connected in parallel with two rotation angle detectors 52 and 52 ′ and two differentiators 53 and 53 ′ having the same specifications. Has become. The lines of the resolver 51, the rotation angle detector 52 'and the differentiator 53' are returned to the vibration control unit 25.

FIG. 2 is a block diagram showing details of the structure of the speed detecting section 5 '. In the figure, a clock oscillator 52
1 ', a counter 522', a waveform shaping circuit 524 ', a latch circuit 525' and a differentiator 53 'are newly added parts to the speed detector 5 shown in FIG. 5, and these are a clock oscillator 521, The counter 522, the waveform shaping circuit 524, the latch circuit 525, and the differentiator 53 have the same specifications.

In such a configuration, the waveform shaping circuit 5
24 and 524 ′ are feedback signals si of the resolver 51.
n (θ−θr) is compared with the zero level, and the binary signal c is “1” if the former is large and “0” if the latter is large,
Output c '.

In the standard inverter device 24, the latch circuit 525 waveform-shapes the feedback signal sin (θ-θr) of the resolver 51 and the output θ of the counter 522 at the rising edge of the signal c.
Is latched and the rotation angle θr is detected. Here, the following expression (1) is established at the rising timing of the signal c. θ-θr = 0 ………………………………………………………… (1)

Therefore, the following expression (2) is established, and the rotation angle θr becomes the counter output θ at the rising timing of the signal c. θr = θ ……………………………………………………………… (2)

On the other hand, in the vibration control unit 25, the latch circuit 5
25 'latches the output .theta.' Of the counter 522 'at the rising edge of the signal c', which is the waveform of the feedback signal sin (.theta .-. Theta.r) of the resolver 51, and detects the rotation angle .theta.r '.

Here, the signal c and the signal c'have the same waveform because the waveform shaping circuits 524 and 524 'having the same specifications are used. However, the counters 522, 52
2 ′ outputs θ and θ ′ are clock oscillators 52 of the same specification.
1, 521 'and counters 522, 522' are used, but they have an offset of Δθ due to the difference in the start timing of each counter. Therefore, the following expression (3) is established. θ ′ = θ + Δθ ……………………………………………… (3)

Further, the detected rotation angle θr ′ is the counter output θ ′ at the rising timing of the signal c ′.
Therefore, the error of Δθ is included, and the following expression (4) is established. θr ′ = θ + Δθ …………………………………………………… (4)

Since Δθ is a fixed value, the rotation speed N obtained by differentiating the equation (2) and the rotation speed N ′ obtained by differentiating the equation (4) are equal to each other, and the following equation ( 5)
Is established. N = N '……………………………………………………………… (5)

Therefore, the rotation speed signals N and N'which are completely equivalent to each other are fed back to the standard inverter device 24 and the vibration control unit 25. As a result, in the vibration control device shown in FIG. 1, the average speed of the motor 1 and the vibration waveform are independently controlled, as in the conventional vibration control device shown in FIG.

As described above, according to this embodiment, the following effects can be obtained. (1) Since the vibration control device is configured using the standard inverter device 24, the manufacturing cost can be reduced. (2) According to the speed detection unit 5 ', the rotational speed can be detected simultaneously at two positions distant from the one resolver 51 without adding a new resolver. (3) Since the rotation angle detectors 52 and 52 'can be manufactured in the form of ASIC, the cost increase in the speed detection unit 5'is neglected compared with the cost reduction effect by using the standard inverter device 24. It can be suppressed to the extent possible. (4) Since the rotation speed N is detected discretely, conventionally, an error due to the transfer timing was included in the process of returning from the speed detector 5 to the vibration control unit 25.
The speed detection means (rotation angle detector 52 'and differentiator 5)
By providing 3 '), the above error can be eliminated.

[0034]

As described above, according to the present invention, the portion of the speed control loop can be constituted by the variable speed control inverter device prepared as standard, and
Since the rotation speed can be simultaneously detected at two different locations from one resolver without adding a relatively expensive resolver, the vibration control device can be constructed at low cost.

[Brief description of drawings]

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of a speed detection unit of the same embodiment.

FIG. 3 is a block diagram showing a configuration of a conventional device.

FIG. 4 is a waveform diagram showing waveforms at various parts of the circuit of the device.

FIG. 5 is a block diagram showing a configuration of a speed detector provided in the device.

FIG. 6 is a timing chart showing a relationship between output signals of respective parts of the speed detector.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 motor 2 drive system (control object) 5'speed detection unit (resolver, first and second speed detection means) 9 inverter 15 Fourier transform circuit 20 Fourier inverse transform circuit 24 standard inverter device (speed control loop) 25 excitation Control unit (vibration control means) 51 Resolver 52, 52 'Rotation angle detector (first and second speed detection means) 53, 53' Differentiator (first and second speed detection means)

Claims (1)

[Claims] 1. A speed control for detecting a rotation speed of a control target connected to a motor and supplying a drive current to the motor so that a deviation between a detection result of the rotation speed and a predetermined speed command value is minimized. A loop and a means for giving vibrations corresponding to a predetermined amplitude command value and a frequency command value to the control target, detecting the amplitude at the frequency command value of the detection result of the rotation speed, and detecting the amplitude. An amplitude control signal is generated according to the deviation from the amplitude command value, an AC control signal is generated according to the amplitude indicated by the amplitude control signal and the frequency command value, and a drive current corresponding to the AC control signal. In a vibration control device for supplying the motor to the motor, the means for detecting the rotation speed of the controlled object is provided in one resolver attached to the controlled object. The first and second speed detecting means for detecting the rotation angle based on the induced voltage generated in the rotor and outputting the rotation speed obtained by differentiating the rotation angle with respect to time. The vibration control device is characterized in that the output of the speed detection means is used as a feedback signal of the speed control loop, while the output of the second speed detection means is used as a feedback signal of the vibration control means.