JPS58119702A - Detecting method for slipping and sliding of electric rolling stock - Google Patents

Abstract

PURPOSE:To enable to rapidly remedy against slipping and sliding phenomena of a vehicle by using as the variationamount in the speedthe absolute value of a deviation between newly detected speed data and stored speeddata. CONSTITUTION:A digital computing unit 5 reads out periodic data which is held in a latch circuit 3 when an interruptsignal IT obtained bydividing thefrequencyof a reference clock pulseis inputted. The pulse repetition frequencyis computed by the reciprocalof the read-out periodic data, therebyobtaining speed data. The speeddata are stored sequentiallyfrom the older one in the first, second andthird memories.The absolute valueof the deviationbetween thespeed dataIandthe latest speed dataII of the first memory iscomputed as the variation amount in thespeed. This variation amount is compared withthe idling and sliding referencelevels, and when it is judged thatthe variation amount exceeds the referencelevel, idling and sliding suppressing andprotecting signals are outputted toperform a reasonableprocess.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for detecting slipping and skidding of an electric vehicle.

In order to improve #Il' and responsiveness in continuous detection and speed control methods for electric vehicles, the application of digital arithmetic devices such as microcomputers has become commonplace. Speed detection using a digital arithmetic unit involves counting the period of speed pulses obtained from a generator attached to the rotating shaft of the drive motor of the pulse electric vehicle.

There is a method of obtaining speed data by calculating the reciprocal of this count value. According to this method, the speed sampling period is the shortest, and speed control with good responsiveness can be performed.

On the other hand, the slipping/slipping detection of electric cars is carried out by t (based on the deviation between the speed data obtained in each speed nox cycle). It is difficult to accurately detect slipping/slipping using speed pulses (for example, speed), calculation error, etc. Therefore, it is difficult to detect slipping/skidding correctly using speed pulses. It is performed in a long period. Figure 7 is a Norms timing diagram to explain this operation. K / [!6
a); shows a pulse train of speed output from a pulse generator (not shown) (see FIG. 1). This interrupt pulse train is a frequency-divided reference clock pulse train (not shown). At time t1 of ta/Hb, the number of reference clock pulses in the period HE of the speed pulse train is counted. speed data calculated from the periodic data obtained by
Slipping/skidding is detected based on the deviation from the speed data calculated at time to from the periodic data obtained by counting the number of reference clock pulses in period ■ of the pulse train, and at time ta, the continuous pulse train Speed data calculated from the cycle data of period I.

This was done every JIT second, such as detecting slipping or skidding based on the deviation from the previous speed data n.

However, according to this method, slipping and skidding are not detected between times t and La;
When skidding occurs, it is forced to wait until time t2, so the suppression and maintenance operations against slipping and skidding are delayed, and in the case of 'iIk', a situation may arise where suppression is no longer possible.

An object of the present invention has been made to eliminate such drawbacks. 1. The present invention provides a method that detects slipping and skidding at the same cycle as conventional methods, and also detects slipping and skidding within the same cycle. be done.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a method for detecting slipping and skidding of an electric vehicle according to the present invention will be described in detail with reference to embodiments shown in the accompanying drawings.

FIG. 1 is a block diagram of a circuit used in the method for detecting slipping and skidding of an electric vehicle according to the present invention, and this circuit device can also be used when detecting slipping and skidding as shown in FIG. In the figure, PG is a nox generator attached to the rotation @ (not shown) of the driving electric car of the electric car, / is a reference clock, and reference tarok generation circuit 1.2 is a reset input terminal RK : /:Russ generation 5 PG A counter circuit which inputs the speed pulse train signal (Figure 3a) from the G, and inputs the clock train signal from the reference clock generation circuit/to the count input terminal C, 3 (to the input terminal T) (a latch circuit that inputs the speed pulse train from the pulse generation PG and holds the contents of the counter circuit at this time, and D is a latch circuit that divides the reference clock pulse and is shown in Figure 3) There is a frequency dividing circuit that generates a pulse train, and S is a digital arithmetic device that receives input signals from the latch circuit 3 and the frequency dividing circuit 1 and outputs slipping/skidding ++1+ control protection signals. The output cumulus train from the circuit DA is a digital arithmetic unit Ii#.
It acts as an interrupt signal IT of S.

Also, FIG. 9 is a flowchart showing the hand +1yl programmed for the digital arithmetic unit SVC.

The present invention will be explained below with reference to FIGS. 7 to 9. .

The counter circuit receives reference clock pulses from the reference clock generation circuit from its input terminal and counts them, and the speed pulse from the pulse generation GPG (Fig. 3a) 1 set is input to the terminal V (the count stops from 7),
At the same time, the count value as immediate inquiry data is held in the latch circuit. The counter circuit starts counting again with the next reference tally pulse. The digital arithmetic unit reads the period data held in the latch circuit when the interrupt signal TT obtained by dividing the reference clock signal (Fig. 3b) is input (Fig. 3). Step 10y...
From then on, as shown in Fig. 9, read the trajectory data (take the reciprocal of the data, calculate the pulse repetition, and calculate the frequency (step 102)), and obtain the speed data. /, No. 1, and No. J 1T, ! (step lθJ). Therefore, 1, for example, the 1st. In the third storage section and the third storage section.

Periodic data I, I' due to the interrupt signals at times to, to', and t〆, speed data I, I' of machine 9, and machine 0 are stored. Then, the absolute value of the deviation between the speed data I in the seventh storage section and the vertical turning speed data ■ is calculated as a speed change amount (Step/III). This, 1[
The amount of change is compared with the reference level for slipping/sliding (step tos), and if it is determined that the amount exceeds the reference level, a slip/sliding suppression/protection signal is output and corresponding processing is performed (step 106). .

In this case, the standard level is based on the riding comfort of one passenger, and is usually 23~. 2 o Km/b/a. When the suppression/hoof preservation process is performed, or when it is determined that the amount of speed change is below the reference level, the speed data in the λth storage section is transferred to the first storage section, and the speed data in the third storage section is transferred. The data is transferred to the first storage section, and the latest speed data is transferred to the third storage section and stored (step toy''). III and U are sequentially compared to determine whether the vehicle is idling or skidding. Therefore, the speed data is stored for 8KT seconds. In this way, in the present invention, the speed data detected during one second, which is the period necessary for detecting slipping and skidding, is stored, and the deviation between the newly detected speed data and the stored speed data seven seconds ago is calculated. By multiplying the absolute value of by the speed change amount, T/
Since slipping/sliding can be detected every J seconds, will it cause slipping/sliding phenomena? 1 and can be dealt with promptly.

[Brief explanation of the drawing]

Fig. 7 is a pulse timing diagram for explaining the conventional slipping/skidding detection method, Fig. 1 is a block diagram of a device used in the conventional slipping/skidding detection method according to the present invention, and Fig. 3 is a block diagram of the device used in the slipping/skidding detecting method according to the conventional method and the present invention. A pulse timing diagram for explaining the slipping/skidding detection method of an electric vehicle and a flowchart showing the processing procedure of the digital arithmetic device shown in FIG. 2 are shown in FIG. /...Reference clock generation circuit, Co...Counter circuit, 3
...Latch circuit, q...Branch circuit,! ...Digital arithmetic unit %PG...Nox generator, IT...Interrupt signal. Agent Shin Kuzuno - 1 figure, 3 figures, 3 figures, 4 figures, procedural amendment 1! F (self-motivated) ↑y Director General's Palace 1, ・1 (display fl Tokugansho Iku/1
2/Tsugi 2, Title of the invention: Method for detecting spinning and skidding of electric vehicles 3, Person making the amendment Representative Hitoshi Katayama Department 4, Agent S Subject of amendment (+1 Detailed explanation of the invention in the specification (2) Figure Menu Contents of correction (1) “Pulse” in statement box 2, No. 1A, line 1
Delete the first line and add "pulse" before "generator" in the first line.
Insert. (2) Change “Step lθ3” in the first line of page 7 to “
It is corrected as "It is done in step IOT". (3) The reference to the drawing attached to this application is amended as shown in the attached sheet.

Claims (1)

[Claims] (1) A reference clock pulse is counted and latched as periodic data for each pulse from a pulse generator attached to the rotating shaft of a drive motor of an electric vehicle. In the method for detecting slipping or skidding of an electric vehicle from the periodic data for each interrupt signal obtained by frequency-dividing the reference clock pulse, the latest periodic data before the generation of the interrupt signal is a step of calculating speed data by taking the reciprocal of the cycle data; and a step of reading the speed data sequentially from oldest to seventh. Second. and 30'
Storing in the storage means; calculating the absolute value of the deviation between the speed data stored in the first storage means and the latest speed data calculated in the calculation step after storage in the third storage means as a speed change amount; Calculating step: Comparing the speed change amount with a predetermined slipping/sliding reference level; When the speed change amount is larger than the predetermined slipping/sliding reference level, outputting a slipping/sliding suppression/protection processing signal. and after the suppression/protection processing signal is output, or when the amount of speed change is equal to or less than the predetermined slipping/sliding reference level. The data is transferred and stored, and the second storage means stores the $
3, the speed data in the storage means, and