JPS6192101A - Speed detecting method of electric railcar - Google Patents

Speed detecting method of electric railcar

Info

Publication number
JPS6192101A
JPS6192101A JP59211872A JP21187284A JPS6192101A JP S6192101 A JPS6192101 A JP S6192101A JP 59211872 A JP59211872 A JP 59211872A JP 21187284 A JP21187284 A JP 21187284A JP S6192101 A JPS6192101 A JP S6192101A
Authority
JP
Japan
Prior art keywords
speed
detected
time
detecting
speed signal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP59211872A
Other languages
Japanese (ja)
Inventor
Noriaki Nakamoto
中本　記明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to JP59211872A priority Critical patent/JPS6192101A/en
Publication of JPS6192101A publication Critical patent/JPS6192101A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/26—Rail vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/10—Electrical machine types
    • B60L2220/12—Induction machines

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

PURPOSE:To improve the detecting accuracy of a speed by maintaining the detecting speed detected before the detecting time when the detecting speed exceeds the allowable varying speed at the detecting time. CONSTITUTION:A gate controller 8 compares the speed signal of an induction motor 3 detected by a speed detector 4 at the interval of the prescribed time with an allowable speed determined by the acceleration and deceleration of operating the motor 3 at the detecting time. When the detecting speed is lower than the allowable speed, the speed signal is output to an inverter 2, and when the speed exceeds the allowable speed, the speed signal detected before the detecting time is continued and output as it is. Thus, the frequency of the inverter and the abnormal variation in the torque of the motor can be suppressed.

Description

【発明の詳細な説明】 〔産業上の利用分野〕 この発明は、インバータで誘導％動機を駆動する電気車
の速度検出方法に関するものである０〔従来の技術〕 第３図は従来の電気車を示すブロック図である。[Detailed Description of the Invention] [Industrial Application Field] This invention relates to a method for detecting the speed of an electric vehicle in which an induction motor is driven by an inverter. [Prior Art] Fig. 3 shows a conventional electric vehicle. FIG.

図において、（１）は架線と接触したノくンタグラフ等
からなる電源、（２）は電源（１）から電力を受ける可
変電圧可変周波数インバータ（以下インノく一夕と略称
する）、（３）はインバータ（２）で駆動される誘導電
動機、（４）は誘導電動機（３）の速度を検出する速度
検出器、（５）は速度検出器（４）が検出した速度信号
が入力され、この速度信号に応じてインノ（−タ（２）
を制御するゲート制御装置である。In the figure, (1) is a power source consisting of a nokuntagraph etc. that is in contact with the overhead wire, (2) is a variable voltage variable frequency inverter (hereinafter abbreviated as Innoku Ichiyo) that receives power from power source (1), and (3) is an induction motor driven by an inverter (2), (4) is a speed detector that detects the speed of the induction motor (3), and (5) is a speed signal detected by the speed detector (4). Inno (-ta (2)) according to the speed signal
This is a gate control device that controls the

このような電気車の速度検出は、つぎのように行われて
いる。The speed detection of such an electric vehicle is performed as follows.

誘導電動機（３）のトルク制御は次のとおシである。Torque control of the induction motor (3) is as follows.

ｆｌｌｖ　＝＝　ｆｓ±ｆｓ　　　（＋力行、−制動）
ここで、ｆｌＮＶはインバータ周波数、ｆｌｌは速度検
出器（４）が検出した電動機周波数（速度）、ｆｌは誘
導電動機（３）へのトルク指令に相当するすベシ周波数
である。すなわち、カ行時は検出したｆｌにトルク指令
に相当するｆ６を加算した周波数をインバータ周波数と
し、これにより誘導電動機（３）の回転磁界の周波数が
決定され、指令されたトルクに等しいトルクが誘導電動
機（３ンよシ出方される。fllv == fs±fs (+power running, -braking)
Here, flNV is the inverter frequency, fl1 is the motor frequency (speed) detected by the speed detector (4), and fl is the frequency corresponding to the torque command to the induction motor (3). In other words, when driving, the inverter frequency is set to the frequency obtained by adding f6, which corresponds to the torque command, to the detected fl, and this determines the frequency of the rotating magnetic field of the induction motor (3), and a torque equal to the commanded torque is induced. Electric motor (3rd generation).

制動はすペシ周波数を負とすること以外カ行時と同様で
ある。Braking is the same as when driving except that the frequency is negative.

このとき速度検出器（４）は、トルク制御精度が高く要
求されるため、速度検出８度も高く要求される。このた
め、第４図に示すような磁気式あるいは光学式のロータ
リエンコーダを用いたパルス発生器などが一般に用いら
れる。この速度検出器（４）はロータリエンコーダ４ａ
の間に歯車形をした磁気シールド板４ｂ（光学式であれ
ば光しゃ閉板等）を配置し、磁気シールド板４ｂを誘導
電動機（３）の軸と接続している０このとき誘導電動機
（３）が回転するとシールド板４ｂも回転し、エンコー
ダ４ａ部の磁界の変化を検出しパルスを発生する。この
パルス数やパルス巾を計測することにょ夛、誘導電動機
（３）の回転数ｆ−を検出するようにしている。At this time, since the speed detector (4) is required to have high torque control accuracy, a high speed detection of 8 degrees is also required. For this reason, a pulse generator using a magnetic or optical rotary encoder as shown in FIG. 4 is generally used. This speed detector (4) is a rotary encoder 4a
A gear-shaped magnetic shielding plate 4b (for optical type, a light shielding plate, etc.) is placed between them, and the magnetic shielding plate 4b is connected to the shaft of the induction motor (3). 3) rotates, the shield plate 4b also rotates, detects changes in the magnetic field of the encoder 4a, and generates pulses. In addition to measuring the number of pulses and pulse width, the rotational speed f- of the induction motor (3) is detected.

したがって、一定時間ごとに速度を検出する場合は、理
想的には第５図に示すような検出が好ましい。すなわち
、（７）は実際の電動機速度、（６１）は速度検出器（
４）によシ検出した電動機速度であり、時刻ｔｌ、ｔ２
・・・でサンプルするたびに実速度で検出している。Therefore, when detecting the speed at regular time intervals, ideally the detection as shown in FIG. 5 is preferable. That is, (7) is the actual motor speed, and (61) is the speed detector (
4) The detected motor speed, at times tl and t2
... is detected at the actual speed every time it is sampled.

（発明が解決しようとする問題点〕 従来の電気車の速度検出は以上のように行われているの
で、例えば速度検出器（４）の磁気シールド板４ｂの工
作精度、あるいは何らかの要因にょシパルスが欠けたと
きは、第６図に（６２）で示すように速度の検出にムラ
が生じる可能性があるという問題点があった。(Problems to be Solved by the Invention) Since the speed detection of conventional electric vehicles is performed as described above, for example, the machining accuracy of the magnetic shield plate 4b of the speed detector (4) or some other factor may cause the pulse to be affected. When it is chipped, there is a problem that there is a possibility that the speed detection becomes uneven as shown by (62) in FIG.

この発明は上記問題点を愁消するためになされたもので
、検出精度を向上するようにした電気車の速度抄出方法
を得ることを目的とする。This invention was made to alleviate the above-mentioned problems, and an object of the present invention is to provide a method for determining the speed of an electric vehicle that improves detection accuracy.

Ｌ問題点を解決するための手段〕 速度検出器がトルク制御に影魯を与えない時間内で速度
を検出したとき、検出速度が検出時刻における誘導電動
機運転の加、減速度で決定される許容の変化速度を超え
た速度であると、検出時刻の前に検出された検出速度を
維持するようにしたものである。Means for solving the L problem] When the speed detector detects the speed within a time that does not affect torque control, the detected speed is determined by the acceleration and deceleration of the induction motor operation at the detection time. If the speed exceeds the change speed of , the detected speed detected before the detection time is maintained.

〔作用〕[Effect]

この発明における電気車の速度検出方法は、速度検出に
ムラが生じると直前に検出した速度を維持することによ
り、インバータ周波数や誘導電動機のトルク変化が円滑
に行われる。In the method for detecting the speed of an electric vehicle according to the present invention, when unevenness occurs in speed detection, the speed detected immediately before is maintained, thereby smoothly changing the inverter frequency and the torque of the induction motor.

〔発明の実施例〕[Embodiments of the invention]

以下、この発明の一実施例を図について説明する。第１
図において、（１）〜（４）は従来のものと同様である
。（３）はゲート制御回路で、所定時間の間隔で速度検
出器（４）が検出した誘導電動機（３）の速度信号を、
検出時刻における誘導電動機（３）運転の加速及び減速
度で決定される許容速度と比較し、検出速度が許容速度
以下であると速度信号をインバータ（２）へ出力し、検
出速度が許容速度を超えたときは、検出時刻の前に検出
した速度信号をそのまま継続して出力するようにされて
いる。An embodiment of the present invention will be described below with reference to the drawings. 1st
In the figure, (1) to (4) are the same as the conventional one. (3) is a gate control circuit that receives the speed signal of the induction motor (3) detected by the speed detector (4) at predetermined time intervals.
Compare it with the permissible speed determined by the acceleration and deceleration of the induction motor (3) operation at the detection time, and if the detected speed is less than the permissible speed, a speed signal is output to the inverter (2), and the detected speed is lower than the permissible speed. When the speed exceeds the detection time, the speed signal detected before the detection time is continued to be output.

つぎに動作について説明する。速度検出器（４）が検出
した速度信号は、トルク制御に影響が出ないような時間
間隔ｔ１　＋　ｔ２・・・でゲート制御装置（８）へ入
力され、第２図に波線で示すそれぞれの時刻に検出した
速度信号は、各時刻ごとの許容変化速度（７）と比較さ
れ、誘導電動機（３）は第２図に（６３）で示す曲線の
速度で運転される。Next, the operation will be explained. The speed signal detected by the speed detector (4) is input to the gate control device (8) at a time interval t1 + t2... that does not affect torque control, and the speed signal is inputted to the gate control device (8) at a time interval t1 + t2... that does not affect torque control. The speed signal detected at each time is compared with the permissible rate of change (7) for each time, and the induction motor (3) is operated at the speed of the curve shown at (63) in FIG.

（発明の効果〕 以上のように、この発明によれば、検出速度が検出時刻
における誘導電動機運転の加速及び減速度で決定される
許容の変化速度を超えた速度であると、検出時刻の前に
検出した検出速度を維持するので、インバータ周波数や
誘導電動機のトルクの異常変化を抑制できる効果がある
。(Effects of the Invention) As described above, according to the present invention, if the detected speed exceeds the allowable change speed determined by the acceleration and deceleration of the induction motor operation at the detection time, the Since the detected speed is maintained, it has the effect of suppressing abnormal changes in the inverter frequency and the torque of the induction motor.

【図面の簡単な説明】[Brief explanation of drawings]

第１図はこの発明の一実施例による電気車のブロック図
、第２図は第１図の速度曲線図、第３図は従来のものを
示す電気車のブロック図、第４図は第３図の部分詳細図
、第５図及び第６図はそれぞれ第３図の速度曲線図であ
る。図において、（２）はインバータ、（３）は誘導電
動機、（４）は速度検出器、（６）は検出速度、（７）
は電動機速度である○なお、各図中同一符号は同−又は
相当部分を示す０FIG. 1 is a block diagram of an electric vehicle according to an embodiment of the present invention, FIG. 2 is a speed curve diagram of FIG. 1, FIG. 3 is a block diagram of a conventional electric vehicle, and FIG. Partial details of the figure, FIGS. 5 and 6, are velocity curve diagrams of FIG. 3, respectively. In the figure, (2) is the inverter, (3) is the induction motor, (4) is the speed detector, (6) is the detected speed, (7)
is the motor speed ○In addition, the same symbols in each figure indicate the same or equivalent parts.

Claims (1)

【特許請求の範囲】[Claims] 可変電圧可変周波数インバータで誘導電動機を駆動し、
上記誘導電動機の速度を速度検出器で検出した速度信号
を所定の時間間隔で上記可変電圧可変周波数インバータ
へ入力するものにおいて、所定の時刻ｔ＿１に検出した
速度信号Ｖ＿１と上記時刻ｔ＿１と所定の間隔をあけた
時刻ｔ＿２で検出した速度信号Ｖ＿２との速度偏差｜Ｖ
＿１−Ｖ＿２｜が予め設定された最大許容偏差ΔＶｍａ
ｘを超えたとき上記時刻を２で検出した上記速度信号Ｖ
＿２を無視し、上記時刻ｔ＿１で検出した上記速度信号
Ｖ＿１を上記時刻ｔ＿２で検出した速度信号とすること
を特徴とする電気車の速度検出方法。Drive an induction motor with a variable voltage variable frequency inverter,
A speed signal obtained by detecting the speed of the induction motor with a speed detector is inputted to the variable voltage variable frequency inverter at predetermined time intervals, in which the speed signal V_1 detected at a predetermined time t_1 and the speed signal V_1 detected at a predetermined time t_1 are inputted at a predetermined interval from the time t_1. Speed deviation from speed signal V_2 detected at time t_2 |V
_1-V_2| is the preset maximum allowable deviation ΔVma
The above-mentioned speed signal V detected at the above-mentioned time when exceeding x
_2 is ignored and the speed signal V_1 detected at the time t_1 is set as the speed signal detected at the time t_2.
JP59211872A 1984-10-08 1984-10-08 Speed detecting method of electric railcar Pending JPS6192101A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP59211872A JPS6192101A (en) 1984-10-08 1984-10-08 Speed detecting method of electric railcar

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP59211872A JPS6192101A (en) 1984-10-08 1984-10-08 Speed detecting method of electric railcar

Publications (1)

Publication Number Publication Date
JPS6192101A true JPS6192101A (en) 1986-05-10

Family

ID=16613010

Family Applications (1)

Application Number Title Priority Date Filing Date
JP59211872A Pending JPS6192101A (en) 1984-10-08 1984-10-08 Speed detecting method of electric railcar

Country Status (1)

Country Link
JP (1) JPS6192101A (en)

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS54132915A (en) * 1978-04-07 1979-10-16 Hitachi Ltd Speed rationality checking circuit

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS54132915A (en) * 1978-04-07 1979-10-16 Hitachi Ltd Speed rationality checking circuit

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