JPH0883127A - Vibration controller - Google Patents

Abstract

PURPOSE: To apply both rotation and vibration to a load with a motor and to deal with a rapid acceleration/deceleration or an impact drop of speed. CONSTITUTION: When a frequency F* and an amplitude ΔN* of the vibration are applied, an amplifier 17 outputs a command torque 6 ' corresponding to the amplitude ΔN* and this is transformed into an AC signal by an inverse Fourier transformer 20 and outputted as a torque TAAC*. Then, since the torque TAC* is superimposed on a torque TDC* at an adder 8, a motor 1 gets the ripple (namely vibration) of the speed ΔN* while being rotated at the average speed NDC* under the control of a speed control loop 10. In this case, since the component of the frequency F* is sufficiently attenuated by a notch filter 40, the speed control loop 10 does not follow up the vibration component but performs only the speed control based on the commanded average speed NCD*.

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.

As shown in FIG. 5, a conventional method for conducting such a vibration inspection is to interpose a hydraulic vibrating device 3 between an output shaft of a motor 1 and a load (for example, transmission) 2. After the motor 1 has given an average rotation, the vibration by the hydraulic vibrating device 3 is superimposed.

However, when the hydraulic vibration device 3 is used, the installation space becomes large, the number of facilities for hydraulic control increases, and maintenance of the hydraulic section becomes necessary.
There was a problem of loud noise.

Therefore, the inventor of the present application has devised a vibration control device capable of applying both rotation and vibration to a load by a motor and individually controlling these. FIG.
FIG. 3 is a block diagram showing the configuration of this vibration control device.
In the figure, 5 is a speed detector for detecting the speed of the load 2, and the detected speed N (control amount: AC signal) is supplied to the deviation detector 6 as a subtraction signal. The deviation detector 5 is supplied with an average speed N _DC ^* which is a command value as an addition signal, and the deviation between the average speed N _DC ^* and the speed N is converted into a torque command T _DC ^* by the amplifier 7. After that, it is supplied to the inverter 9 via the adder 8. Inverter 9
Outputs the output current corresponding to the output signal of the adder 8 to the motor 1
Supply to.

The speed control loop 1 is constituted by the above components.
0 is configured, and speed control is performed so that the deviation in the deviation detector 6 is minimized. The speed control loop 10 has the same structure as a general inverter drive system.

Next, F ^* is the frequency of vibration (frequency of velocity ripple) to be applied to the load 2, and ΔN ^*
Is the amplitude of vibration. 15 is a Fourier transform circuit,
The Fourier component of the frequency F ^* of the detected speed N, that is, the amplitude ΔN (DC signal) is detected. The amplitude ΔN output from the Fourier transform circuit 15 is supplied to the deviation edit device 16, where the deviation from the amplitude ΔN ^* is detected. This deviation is determined by the torque value ΔT by the amplifier 17.
Converted to ^* . 20 is the Fourier inverse transform circuit, based on the torque value [Delta] T and the frequency F ^*, amplitude creates a frequency F ^* of the torque command signal T _AC ^* (AC signal) in [Delta] T,
It is supplied to the adder 8. The adder 8 adds T _DC ^* and T _AC ^* and outputs a torque command T ^* .

The Fourier transform circuit 15, the deviation detector 16, the amplifier 17, and the inverse Fourier transform circuit 20 described above 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.

According to the above structure, the circuit operates only by the speed control loop 10 when the vibration frequency F ^* and the amplitude ΔN ^* are not applied. That is, FIG.
As shown in (a), the torque command value T _DC ^* is the speed N _DC ^*
The motor 1 rotates at a constant speed at a speed corresponding to the command speed N _CD ^* .

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, The torque is output as T _AC ^* . Here, FIG. 4B shows a waveform of the torque T _AC ^* , which is an AC signal having an amplitude ΔN ^* 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, in the waveform of the speed N detected by the speed detector 5, as shown in FIG. 4C, the speed ΔN which is the vibration component is superimposed on the average speed component N _{DC. In} this case, the frequency response of the speed control loop 10 is increased. Is
Since the frequency is sufficiently low with respect to the frequency F ^* , only the speed control based on the command average speed N _CD ^* is performed without following the vibration component.

The velocity ΔN of the vibration component included 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 load 2 has an amplitude matching ΔN ^* and a frequency matching F ^* .

[0013]

By the way, in the device shown in FIG. 3, both rotation and vibration can be applied to the load by the motor, but the frequency response of the speed control loop 10 is set slower than F ^*. Therefore, there is a problem that it cannot respond to sudden acceleration / deceleration or impact drop.

The present invention has been made in view of the above-mentioned circumstances, and provides a vibration control device capable of both rotation and vibration by a motor and capable of handling sudden acceleration / deceleration and impact drop. It is an object.

[0015]

In order to solve the above problems, according to the invention of claim 1, an AC control signal corresponding to an amplitude command value indicating the amplitude of vibration and a frequency command value indicating the frequency. In the vibration control device for supplying a drive current according to the AC control signal to the motor, a control amount detecting means for detecting a control amount from a control target connected to the motor, and the frequency command of the control amount. Amplitude detection means for detecting the amplitude in the value, amplitude control signal generation means for generating an amplitude control signal according to the deviation between the amplitude detected by the amplitude detection means and the amplitude command value, and the amplitude control signal AC control signal generating means for generating the AC control signal according to the amplitude and the frequency command value, and to the motor so as to minimize the deviation between the control amount and its average command value. A control loop for supplying the dynamic current,
And a filter means for attenuating the frequency component indicated by the frequency command value from the deviation in this control loop, and controlling so that the deviation in the deviation detecting means is minimized.

Further, in the invention described in claim 2,
In a vibration control device that generates an AC control signal corresponding to an amplitude command value indicating the amplitude of vibration and a frequency command value indicating the frequency and supplies a drive current according to the AC control signal to the motor, the vibration control device is connected to the motor. A first control amount detecting means for detecting a first control amount from a control target, and a second control amount detecting means for detecting a second control amount from a control target connected to the motor.
Control amount detecting means, an amplitude detecting means for detecting an amplitude of the second control amount at the frequency command value, and an amplitude control signal according to a deviation between the amplitude detected by the amplitude detecting means and the amplitude command value. An amplitude control signal generating means for generating
An AC control signal generating means for generating the AC control signal according to the amplitude indicated by the amplitude control signal and the frequency command value, and a deviation between the first control amount and its average command value are minimized. A control loop for supplying a drive current to the motor, and a filter means for attenuating the frequency component indicated by the frequency command value from the deviation in the control loop, so that the deviation in the deviation detecting means is minimized. It is characterized by controlling.

[0017]

Since the frequency component of the vibration is attenuated by the filter means provided in the control loop, the vibration control operation for minimizing the deviation of the deviation detecting means and the control operation by the control loop are independently performed. Done. Further, in the invention according to claim 2, since the control amount in the vibration control and the control amount in the control loop can be separately set, for example, the torque vibration is generated in a state where the rotation speed is constant. Control such as giving can be performed.

[0018]

【Example】

A: First Embodiment Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing the configuration of the first embodiment of the present invention. In the figure, parts corresponding to the parts in FIG. 3 described above are designated by the same reference numerals, and description thereof will be omitted.

This embodiment is different from the device shown in FIG. 3 in that the response speed of the speed control loop 10 is set to be high enough to respond to sudden acceleration / deceleration and impact drop, and the notch filter 40. Is provided. The notch filter 40 is a filter having a characteristic of attenuating the frequency F ^* component, and includes the amplifier 7 and the adder 8
It is provided between and.

In the above-described structure, the deviation signal detected by the deviation detector 6 has the waveform N _DC and the command average speed N _DC ^* shown in FIG. 4C, as in the circuit shown in FIG. In addition to the difference (DC component), ΔN (AC component) is included. However, since the notch filter 40 is connected to the output end of the amplifier 7, the torque T _DC ^* supplied to the adder 8 does not include ΔN which is a component of the frequency F ^* . As a result, the torque T _DC ^* becomes a DC signal corresponding to the command speed N _DC ^* as in the circuit shown in FIG. 3 (see FIG. 4).
(See (a)). Therefore, the speed control loop 10 only performs speed control based on the command average speed N _DC ^* without following the vibration component.

In this case, even if the value of N _DC ^* is suddenly changed according to sudden acceleration / deceleration or impact drop,
Since this abrupt change component is not related to the frequency F ^* , the command average speed N _DC ^* is changed by the notch filter 4 before and after the change.
Pass 0 as it is. Therefore, the average speed of the motor 1 changes following the command average speed N _DC ^* .

Since the operation of the vibration control unit 25 is similar to that of the circuit shown in FIG. 3, the vibration applied to the load 2 is
The amplitude matches ΔN ^* and the frequency matches 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 separately controlled.

The control amount in the above embodiment is set to the speed N.
Can also be replaced with the shaft torque T.

B: Second Embodiment FIG. 2 is a block diagram showing the configuration of the second embodiment of the present invention. This embodiment differs from the first embodiment in that
The point is that a torque detector 30 is added between the motor 1 and the load 2, and the detection signal T thereof is supplied to the Fourier transform circuit 15.

According to this structure, the Fourier transform circuit 15 outputs the amplitude ΔT of the detected torque signal T at the frequency F ^* , and the deviation detector 16 detects the deviation from the command torque value ΔT ^*. . And the amplifier 17
Generates a command torque value ΔT ^** that minimizes this deviation, and the inverse Fourier transform circuit 20 produces an amplitude value of torque ΔT ^**.
In ^**, frequency to generate a F ^* of the signal T _AC ^*. Therefore, the vibration control unit 25 can control only the torque vibration separately from the speed control loop 10.

As described above, since the vibration control unit 25 in this embodiment vibrates only the torque, the desired torque vibration can be performed at any speed. For example, in a state where the motor is rotated at a constant speed of 2000 rpm, it is possible to perform control such that vibration is applied at 200 rpm only for the torque.

The control amounts may be exchanged, the torque may be controlled by the speed control loop 10, and the speed may be controlled by the vibration control unit 25. In this case, the rotational speed can be excited while controlling the torque to be constant. Further, instead of the Fourier transform circuit 15 in each of the above embodiments, another circuit capable of detecting the amplitude of the control amount may be used. The point is that the circuit can output the amplitude of the AC input, for example, the frequency F ^*.
It may be configured by a combination of a filter that passes only the component of (4) and a circuit that outputs a signal according to the amplitude from the output signal of this filter. Similarly, the inverse Fourier transform circuit 20 may be any circuit as long as it has an amplitude corresponding to the input signal (direct current) and can generate alternating current of the frequency F ^* .
For example, a circuit that generates a cosine wave (or a sine wave) and a circuit that controls the amplitude thereof may be used.

[0028]

As described above, according to the present invention, both rotation and vibration can be applied to the load by the motor, and these can be individually controlled. It can also handle sudden acceleration / deceleration and impact drops.

[Brief description of drawings]

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

FIG. 2 is a block diagram showing the configuration of a second embodiment of the present invention.

FIG. 3 is a block diagram showing a configuration of an apparatus previously devised by the inventor of the present application.

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

FIG. 5 is a block diagram showing a configuration of a conventional device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 motor 5 speed detector (control amount detecting means: first control amount detecting means) 10 speed control loop (control loop) 15 Fourier transform circuit (amplitude detecting means) 17 amplifier (amplitude control signal generating means) 20 inverse Fourier transform Circuit (AC control signal generation means) 30 Torque detector (second control amount detection means) 40 Notch filter (filter means)

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI technical display location H02P 5/00 K // G01M 17/007

Claims (2)

[Claims] 1. A vibration control device for generating an AC control signal corresponding to an amplitude command value indicating a vibration amplitude and a frequency command value indicating a frequency and supplying a drive current according to the AC control signal to a motor. Control amount detecting means for detecting a control amount from a control target connected to a motor, amplitude detecting means for detecting an amplitude of the control amount at the frequency command value, and amplitude detected by the amplitude detecting means and the amplitude command value Amplitude control signal generating means for generating an amplitude control signal according to the deviation between, and AC control signal generating means for generating the AC control signal according to the amplitude and the frequency command value indicated by the amplitude control signal, A control loop that supplies a drive current to the motor so that the deviation between the control amount and its average command value is minimized; A vibration control device comprising: filter means for attenuating a frequency component indicated by a number command value, and controlling so that the deviation in the deviation detecting means is minimized. 2. A vibration control device for generating an AC control signal corresponding to an amplitude command value indicating a vibration amplitude and a frequency command value indicating a frequency, and supplying a drive current according to the AC control signal to a motor. First controlled variable detecting means for detecting a first controlled variable from a controlled object connected to the motor; and second controlled variable detecting means for detecting a second controlled variable from the controlled object connected to the motor. An amplitude detecting means for detecting an amplitude of the second control amount at the frequency command value, and an amplitude control signal for generating an amplitude control signal according to a deviation between the amplitude detected by the amplitude detecting means and the amplitude command value. Generating means, alternating-current control signal generating means for generating the alternating-current control signal in accordance with the amplitude indicated by the amplitude control signal and the frequency command value; the first control amount and its average command value; The deviation in the deviation detecting means includes a control loop for supplying a drive current to the motor so that the deviation is minimized, and a filter means for attenuating the frequency component indicated by the frequency command value from the deviation in the control loop. The vibration control device is characterized in that the vibration is controlled to be minimum.