JPH09288036A - Different speed side collision tester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To collide two vehicles having different masses at a collision point decided at different speeds by controlling towing motors so that the residual times to the point of the two vehicles become the same in a side collision test. SOLUTION: In circuits C1, C2 for controlling drums D, D for towing vehicles A, B by drive motors M1, M2 by using speed controllers 71 , 72 and current controllers 91 , 92 , the distances L1 , L2 from the starts of the vehicles to a collision point and the residual distances ▵L1 , ▵L2 from the pulses from pulse pickups PP1, PP2 to the collision are obtained (221 , 222 ), the residual times t1 , t2 to the collision are obtained from the ▵L1 , ▵L2 , speeds VD1 , VD2 and set speeds (231 , 232 ), the torque correction amounts TS1 , TS2 coresponding to the differences of the t1 , t2 are calculated. The correction amount of the circuit having larger residual time such as, for example, the correction amount TS2 of the circuit C2 is added to a current command to increase the torque of (122 , 82 )M, and the polarity is altered (252 ), the speed of (41 )M1 in addition to the speed command of the other circuit C1, and controlled so that the t1 , t2 become equal.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a different speed side impact device capable of controlling the timing of a collision.

[0002]

2. Description of the Related Art Conventionally, there are the following methods for a vehicle-to-vehicle collision test.

1) Head-on collision: Both vehicles collide at the same speed.

2) Oblique collision: Same as above 3) Side collision: One of the stopped vehicles collides with the other vehicle at a target speed.

4) Rear-end collision: Same as above In each of the above-mentioned collision tests, it is necessary to collide a vehicle in front of the camera for high-speed photographing. In the above 1) and 2), both cars run, but as a means to make them collide with each other at the target location, paying attention to the fact that the speeds of both cars are the same, two cars can be connected with one wire. It is driving and colliding.

Recently, social demands for ensuring safety in a side collision have increased, and there is a strong opinion that the side collision test of the above 3) should be performed in a state closer to the actual state. American Standard F
In MVSS-214, the standard is to make a test carriage collide with the side surface of a vehicle under test running at 24 Km / H at a speed of 48 Km / H. However, due to technical difficulties, this method is substituted by a method substantially similar to the conventional method, that is, a method in which the bogie collides with the side surface of the vehicle under test at a slant.

Referring to FIG. 6, in the side impact test,
It is necessary to correctly collide the test carriage B with a predetermined place a on the side surface of the vehicle under test A. In other words, vehicles A and B
Both pass through the collision point P ₁ at the same time, and both the speed and the timing have to be controlled so that the speed V at this time is a predetermined collision speed.

Therefore, as shown in FIG. 6, the vehicles A and B are normally used.
One of the drum D ₁ of the winding the pulling wire drum D _1, D ₂ directly mechanically connected to the other drum D ₂ the transmission one motor through a G M of shifting of the transmission G The ratio is set to the ratio between the target speeds V ₁ and V ₂ of the vehicles A and B, the speeds are adjusted, and the timing of the collision is adjusted by adjusting the start positions of the vehicles A and B.

In order to accurately reproduce the energy of the collision, the vehicles A and B need to be separated from the tow wire system just before the collision and collided in a coasting state, and the coasting amount also needs to be controlled. FIG. 7 shows the drum speed.

[0010]

The above-mentioned conventional system has the following problems.

1) It is necessary to prepare gear ratios of the transmission G as many as the ratios of the speeds V ₁ and V ₂ of the vehicles A and B, and the degree of freedom is low.

2) The timing of the collision is determined by the starting point of the vehicle and cannot be corrected by the control device after the start of the test.

3) It is necessary to calculate the start point according to the ratio of the speeds V ₁ and V ₂ and set the vehicles A and B.

4) It is necessary to correct the deceleration amount during coasting. The deceleration speed depends on the traveling speed and the mass of the vehicles A and B. That is, it is necessary to correct the speed control command for each of the vehicles A and B, but this is impossible because the vehicle is driven by one electric motor.

Due to such a problem, the vehicle under test is stopped instead of the conventional technique 2).

The present invention has been made in view of the above-mentioned conventional problems, and an object thereof is to drive the winding drums of the wires for respectively pulling the two vehicles to be collided by different electric motors. However, it is another object of the present invention to provide a different speed side collision device capable of causing two vehicles to collide with a predetermined point at different speeds.

[0017]

SUMMARY OF THE INVENTION The present invention provides a collision 2
In the different speed side collision test apparatus in which the electric motors for pulling the respective vehicles are respectively controlled by the first and second control circuits each having the speed controller and the current controller,
Each of the control circuits of the means for obtaining the distance from the start of the vehicle to the collision and the remaining distance from the rotation pulse of the electric motor to the collision, the remaining distance, the speed command value or the speed command value and the speed detection value to the collision. A calculation means for obtaining the remaining time,
Control means for calculating the torque correction amount from one remaining time obtained by the calculating means and the other remaining time obtained by the calculating means of the other control circuit, and control for comparing the two remaining times with the other remaining time. Means for adding the torque correction amount to the circuit so as to increase the motor speed and adding the torque correction amount to the other control circuit so as to decrease the motor speed. It is characterized by being provided.

[0018]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows the structure of a different speed side impact test device. In FIG. 1, A is a vehicle under test, B is a test carriage, W1 and W2 are wires for pulling both sides A and B, and D.
1, D2 are winding drums for the wires W1, W2, M1, M2
Is a drive motor for the drums D1 and D2 (hereinafter simply referred to as M1 and M2
, PP1 and PP2 are pulse pickups directly connected to M1 and M2 (hereinafter simply referred to as PP1 and PP2),
Since C1 (1 _{1 to} 25 ₁ ) and C2 (1 _{2 to} 25 ₂ ) are control circuits of M1 and M2, and both control circuits C1 and C2 are configured the same, the control circuit C2 will be described.

1 ₂ is a speed setting device of M2, 2 ₂ is a coasting correction setting device of the vehicle B, 3 ₂ is an adder for adding the coasting correction value from the setting device 2 ₂ to the setting speed V _S1 from the setting device 1 ₂ , 4 ₂ is adder 3
_An adder for adding a torque correction signal T _S2 to the speed command V _R2 from ₂ with the polarity shown in the drawing, 5 ₂ is a frequency / voltage (F / V) converter connected to PP ₂ , 6 ₂ is from the adder 4 _2. Of the voltage command from the F / V converter and the adder that takes the deviation from the detected speed V _D1 from the F / V converter, 7 ₂ is a speed controller that performs PI calculation of the speed deviation from the adder 6 ₁ , and 8 ₁ is the speed controller 7 ₂ From the adder 12 ₁ and an adder for adding the current command from the adder 12 ₁ , and 9 ₂ is an adder 8 ₂
A current controller which receives the signal from the terminal and outputs it to M2, 11 ₂
Is a feedback circuit that detects the M2 current and outputs a current signal, 1
2 ₂ is a current signal from the circuit 11 ₂ and a torque correction signal T described later.
_An adder for adding _S2 with the polarity shown and outputting it to the adder 8 ₂ , 20 ₂ is a timing control circuit, 21 ₂ is a distance setter for setting the distance L ₂ from the start point of the vehicle B to the collision point P1, 22 ₂ subtractor for outputting the remaining distance △ L ₂ of the pulse distance L ₂ from PP1 set by the setting unit 21 ₂ generates to the collision point after the start of the subtraction to the vehicle B, 23 ₂
Is the residual distance ΔL ₂ , the speed command value V _R2, and the detected speed V _D2, and the subsequent predicted average speed V _M2 is calculated, and the remaining time t ₂ from both the residual distance ΔL ₂ and the predicted average speed V _M2 to the collision is calculated. The remaining time calculation unit 24 ₂ for obtaining the remaining time t ₂ and the control circuit C1
Of the torque correction amount T _S from the remaining time t ₁ obtained by the calculation unit 23 ₁ of
A torque correction amount calculation unit for _obtaining R _y2 is ON when t ₂ <t ₁
Relay contact (R _y1 is a relay contact that is turned on when t ₁ > t ₂ ).

Since the above-mentioned structure is adopted, t ₂ >
At time t ₁ , R _y2 is turned on and the torque correction amount T _S2 is output to the adder 12 ₂ to increase the torque of M _{2 and} , at the same time, the adder 4 _{1 of the} control circuit C1 is added via the polarity converter 25 _2. Since the torque of M1 is reduced by adding a negative torque correction amount T _S2 to
M1 and M2 are controlled so that the remaining time t ₁ = t ₂ .

Similarly, when t ₁ > t ₂ , R _y1 is turned on to output the torque correction amount T _S1 to the adder 12 ₁ to increase the torque of M1 and, at the same time, via the polarity converter 25 _1. The negative torque correction amount T _S1 is added to the adder 4 ₂ of the control circuit C2 to obtain M2.
Since the torque of M ₁ and M ₂ is reduced, the remaining time t ₁ = t ₂
It is controlled so that Therefore, the vehicles A and B will always collide at the collision point P1.

Note that, depending on the correction method, this torque correction may act as a disturbance on the speed control. Therefore, in order to limit the influence of the torque correction, it may be preferable to make it effective after approaching the target speed. In this case, a ΔV _R2 setter (or ΔV _R1 setter) is provided, and as shown in FIG. 2, after approaching the target speed V _R2 (or V _R1 ), the relay contact R
Timing control is performed by _{turning on y1} (or R _y2 ).

An example of the arithmetic units 23 ₂ and 24 ₂ is shown in FIG.
This remaining time calculation unit 23 ₂ is an application of observer control, and is a control block simulation circuit 31 having a variable control constant.
_The speed command V _R2 is input to ₂ and the acceleration state after the start, that is, the vehicle speed corresponding to each time is calculated in advance. The constant of the control system at this time is set to a theoretically predicted value. In the test system, the vehicle and the drum have a large inertial value, and the space between them is connected by an elastic body called a wire, but this is a constant change system in which the distance between the two changes momentarily at the start. Correspond in advance.

After the test is started, the comparator 32 ₂ compares the control speed (detection speed) V _D2 as a result of the actual control with the predicted speed V _{e in the} future, and if there is a difference, this difference is reduced. to such control block future in terms of changing the constants of the simulated circuit obtains a predicted velocity V _e, integrates this predicted velocity V _e in the integrating circuit 33 _2, which remains a distance △ L ₂ and up to equal time t ₂ (Fig. 4).

Further, the torque correction amount calculation unit 24 ₂ calculates the torque correction amount from the remaining time t ₁ obtained by the calculation unit 23 ₁ of the control circuit C1 having the same structure as the remaining time t ₂ obtained by the calculation unit 23 _2. Ask. This correction amount is obtained by calculating the ratio of the two such that the correction amount by the unit difference amount increases as the remaining distance decreases, and multiplying this by an appropriate coefficient k.

According to this example, the future speed can be scheduled based on the actual control result after the start of the test, and the timing control by the torque correction amount can be started at a fairly early point during the acceleration. For reasons, the accuracy of the test can be increased.

Another example of the arithmetic units 23 ₂ and 24 ₂ is shown in FIG. The remaining time calculation unit 23 ₂ determines that the target speed (speed command value) V is reached when the acceleration of the vehicle B ends at the timing control start time.
Assuming that the vehicle is placed near _R2 , the average speed thereafter is assumed to be V _R2, and the remaining distance ΔL ₂ is divided by V _R2 to obtain the remaining time t ₂ .

The accuracy of vehicle speed control after completion of acceleration can be expected to be 0.5% or more when digital speed control is adopted.
Therefore, although the above-mentioned error is included in the calculation of t ₂ , if the last correction is performed when the remaining distance ΔL ₂ is about 10 m, the deviation of the collision position due to this error is 50 mm.
There is no problem in practical use.

Further, the torque correction amount calculation unit 24 ₂ calculates the remaining time ₂ obtained by the calculation unit 23 ₂ and the calculation unit 23 _{1 of the} control circuit C1.
Remaining distance in the remaining time t ₁ obtained sought t ₂ -t ₁ is added in the shown polarity by the adder 41 _2, this in division circuit 42 ₂ to compensate for the gain reduction due to a decrease in the remaining distance △ L Divide by ΔL ₂ and multiply by an appropriate coefficient k.

[0030]

Since the present invention is configured as described above, the following effects can be obtained.

(1) In the side collision test, each traction motor is controlled so that the remaining time to the collision point of the two vehicles is the same, so that two vehicles having different masses are operated at different speeds. It is possible to make a collision at a predetermined collision point.

(2) Therefore, it becomes possible to obtain the data of the actual side collision as compared with the side collision test which is carried out by stopping the conventional vehicle under test.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a different speed side impact device according to the present invention.

FIG. 2 is a graph illustrating a starting point of timing control.

FIG. 3 is a configuration diagram showing an example of a remaining time calculation unit and a torque correction amount calculation unit.

FIG. 4 is a graph showing an example of speed prediction in a remaining time calculation unit.

FIG. 5 is a configuration diagram showing another example of a remaining time calculation unit and a torque correction amount calculation unit.

FIG. 6 is a configuration diagram of a different speed side impact device according to a conventional example.

FIG. 7 is a graph showing drum speed.

[Explanation of symbols]

A ... the collided vehicle B ... collision carriage C1, C2 ... M1, M2 of the control circuit D1, D2 ... traction drum M1, M2 ... motor R _y1, R _y2 ... relay contacts PP1, PP2 ... pulse pickup L _1, L ₂ ... Distance ΔL ₁ , ΔL ₂ ... Remaining distance t ₁ , t ₂ ... Remaining time T _S1 , T _S2 ... Torque correction amount V ₁ , V ₂ ... Speed V _R1 , V _R2 ... Speed command V _S1 , V _S2 ... Setting Speed V _D1 , V _D2 … Control speed, detection speed 1 ₁ , 1 ₂ … Speed setter 2 ₁ , 2 ₂ … Coasting correction setter 5 ₁ , 5 ₂ … Frequency / voltage (F / V) converter 7 ₁ , 7 ₂ Speed controller 9 ₁ , 9 ₂ Current controller 21 ₁ , 21 ₂ Distance setter 22 ₁ , 22 ₂ Subtractor 23 ₁ , 23 _{2 for} calculating the remaining distance Residual time calculation unit 24 ₁ , 24 ₂ ... Torque correction amount calculator.

Claims (7)

[Claims] 1. A first and a second electric motor for respectively driving a first and a second rope winding drum for respectively pulling two vehicles to collide with each other, and a first and a second electric motor respectively having a speed controller and a current controller. In the different speed side collision test device controlled by the second control circuit, the first and second control circuits respectively obtain the distance from the start of the vehicle to the collision and the remaining distance from the rotation pulse of the electric motor to the collision. A means for calculating the remaining distance, and a remaining time until the collision from the speed command value or the speed command value and the speed detection value, and one remaining time calculated by this calculating means and a calculating means of the other control circuit. The calculating means for obtaining the torque correction amount from the other remaining time thus obtained and the control circuit for comparing the two remaining times with the one having the longer remaining time and adding the torque correction amount so as to increase the motor speed, Control Means for adding said torque correction amount as the motor speed decreases to the circuit, first, different speed side impact test apparatus characterized in that a second timing controller comprising a. 2. The means for obtaining the remaining distance according to claim 1, wherein a distance from a start of the vehicle to a collision is set,
A different speed side collision test device, which is a counter that is subtracted by a pulse from a pulse pickup directly connected to an electric motor. 3. The control block simulation circuit according to claim 1, wherein the calculating means for obtaining the remaining time inputs the remaining time, the speed command value and the detected speed value and outputs the predicted speed, and the predicted speed is detected. If there is a difference compared with the speed, a comparison circuit that changes the constant of the control block simulation circuit, and an integration circuit that integrates the predicted speed and outputs the time until the integrated value becomes equal to the remaining distance as the remaining time A different speed side impact test device comprising: 4. The different speed side collision test apparatus according to claim 1, wherein the calculating means for calculating the remaining time is a division circuit for dividing the remaining distance by a speed command value. 5. The calculation means for obtaining the torque correction amount according to claim 1, wherein the remaining time from the calculation means for obtaining the remaining time of the other control circuit and the remaining time of the control circuit are obtained. A different speed side collision test apparatus characterized in that a ratio of the remaining time from the calculating means is taken and is multiplied by an appropriate coefficient to obtain a torque correction amount. 6. The calculating means for calculating the torque correction amount according to claim 1, wherein the remaining time from the other control circuit is subtracted from the remaining time from the division circuit, and this time difference is left. A different speed side collision test device characterized by dividing by a distance and multiplying this by an appropriate coefficient to obtain a torque correction amount. 7. The method according to claim 1, wherein the torque correction amount is added to the input side of the current controller and the negative torque correction amount is added to the voltage command value of the other control circuit. Different speed side impact test equipment.