KR100721607B1 - Electrical slip skid simulation device - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an electric idler simulator, and in particular, an adhesive controller for generating a torque command by calculating how to control torque of a traction motor based on a rotational speed of a traction motor, a virtual train speed, and a speed of a simulation motor. Wow; A traction motor drive power supply for controlling a power supply voltage supplied to the traction motor based on the torque command output from the adhesion controller; An adhesive simulation motor having a shaft connected to the traction motor; An adhesive characteristic simulation controller for generating a torque command by calculating the speed of the virtual train by receiving the rotational speed of the adhesive characteristic simulation motor and outputting it to the adhesion controller and calculating a torque of the adhesion characteristic simulation motor; ; It characterized in that it comprises a; adhesive characteristic simulation motor drive power supply for controlling the power supply voltage supplied to the adhesive characteristic simulation motor based on the torque command output from the adhesive characteristic simulation controller.

Therefore, the wear and noise of the device due to friction can be avoided, and the risk of the device that can be caused by the increase of the inertia force due to the increase in speed can be reduced. It is possible to convert instantaneously between various adhesive properties between each other, and to test considering driving resistance, variation of train weight, gradient condition, etc. The test and application are possible in all cases driven by the cohesion, and can be applied to multiple motors driven in parallel.

Adhesion control, Adhesion characteristic simulation control, Static, Slide, Adhesive force

Description

Electric slip skid simulation device

1 is a block diagram of a conventional mechanical friction type idle slide simulator.

2 is a block diagram of an apparatus of the present invention.

3 is a detailed view of some blocks of the inventive device.

Figure 4 is a detailed block diagram of the adhesion characteristics simulation controller of the present invention device.

5 is a detailed block diagram of an adhesive coefficient calculator in FIG. 4.

Explanation of symbols on the main parts of the drawings

1: traction motor 2: adhesive characteristics simulation motor

3: adhesion controller 4: traction motor drive power supply

5: adhesion characteristics simulation controller

6: adhesion characteristics simulation motor drive power supply

7, 8: rotational speed detection sensor 51: linear speed calculation unit

52, 55: first and second summer 53: adhesion coefficient calculation unit

54: multiplier 56: vehicle mass inversion unit

57: integrator 58: torque command calculation unit

59: speed conversion unit 60: running resistance calculation unit

61: rotation speed conversion unit 62: gradient constant setting unit

531: Switch

532 ₁ -532n: Coefficient of adhesion calculation unit for each operating condition

The present invention relates to an electric idler slide simulation device in more detail because it does not use a physical friction force to simulate the adhesive force, it is possible to avoid the wear and noise of the device due to friction, and to increase the speed by not using the wheel Due to the increased inertial force, the risk of equipment can be reduced, and the characteristics of the adhesive motor can be controlled by program, so any rail condition (rail humidity, freezing condition, drying condition, oil adhesion, etc.) can be reduced. It is possible to simulate any adhesion characteristics, such as adhesion of foreign matters, and it is possible to instantaneously convert between various adhesion characteristics by processing adhesion conditions with a program, and to change the running resistance and train weight to consider the operating conditions of trains. , Considering the gradient conditions, etc., and by the adhesive force of general cars, electric cars, trains, etc. It is invented to be applicable to multiple motors that are driven in parallel as well as to be tested and applied in all cases.

In general, a vehicle (car, railroad, etc.) propelled by using a wheel drive device inevitably generates idle and sliding phenomena during propulsion and braking.

This phenomenon occurs when excessive driving force is applied above the maximum adhesion between the friction surface (wheel and road surface), and excessive sliding occurs when braking force below the maximum adhesion force.

This excessive idle or sliding phenomenon destabilizes the control characteristics of the drive system and results in abnormal wear of the contacts.

This phenomenon also causes the vehicle to overturn or rotate, providing a direct cause of a car accident, and greatly affects the safety and economics of the system.

In railcars, excessive damage to rails and wheels not only increases maintenance costs, but also prevents the full performance of each system.

In order to analyze these physical characteristics and to overcome the disadvantageous characteristics, a device capable of simulating idle and sliding characteristics has been developed and utilized.

Existing simulation devices consist of a circular rotor to simulate the adhesion characteristics of the road surface, tires or rails and train wheels, and a rotating wheel that simulates the wheels.

That is, conventional idle slide simulators use frictional force between the wheels to create physical adhesion characteristics of the rails and wheels, as shown in FIG. 1, wheels simulating train wheels and wheels simulating rails. 14 are respectively manufactured and mounted on the shafts of the traction motor 11 and the load motor 12 whose driving is controlled by the driving power supply units 15 and 16, respectively, and the adhesive force is brought into contact with each other. .

In the air slide simulator using the mechanical contact method, the adhesion characteristics of the vehicle's weight fluctuation or various environmental and condition conditions (rail humidity, freezing condition, dry state, oil adhesion, and adhesion of foreign matter) on the rail or road surface can be measured. It is not possible to take into account simulated or actual operating conditions or to test the instantaneous conversion of adhesive properties.

In addition, in the conventional mechanical friction type idle slide simulator, in order to simulate wet road conditions, water spray is applied to the contact portions of the two wheels 13 and 14, and in this type, the actual humidity distribution phenomenon. Can not be similarly simulated, and it is impossible to instantaneously convert the adhesion characteristics of each other.

In addition, freezing conditions that can occur in winter cannot be simulated unless the test is performed in winter.

In addition, since the simulation device simulates adhesive force through physical contact, wear and noise between wheels occur, and as the rotational speed increases, the inertia force of the wheel increases, thereby increasing the risk of the device and increasing maintenance costs.

The present invention has been made to solve such a conventional problem, and combined with a virtual train and an electric motor that is actually driven without using physical contact, unlike the conventional method, the virtual train is configured as a program wheel It is possible to avoid the wear and noise of the device due to friction first, and to avoid the risk of the device that might be caused by the increase of inertia force due to the speed increase without using the wheel. Third, the adhesive property can be reduced by the program control of the load of the motor by the program, and any adhesive property such as any rail condition can be simulated, and the fourth one can be instantaneously converted between various adhesive properties by processing the adhesive condition with the program. Running resistance to consider the operating conditions of the fifth train, It is possible to take into consideration the change in the weight of train and the condition of the gradient, and it is possible to test and apply to all cases driven by adhesive force such as the sixth general car, electric car, train, etc. The purpose is to provide an electric idler simulator.

The electric idle run simulation apparatus of the present invention for achieving the above object, calculates how to control the torque of the traction motor based on the rotational speed of the traction motor, the virtual train speed and the speed of the simulation motor to receive a torque command. An adhesion controller that occurs; A traction motor drive power supply for controlling a power supply voltage supplied to the traction motor based on the torque command output from the adhesion controller; An adhesive simulation motor having a shaft connected to the traction motor; An adhesive characteristic simulation controller for generating a torque command by calculating the speed of the virtual train by receiving the rotational speed of the adhesive characteristic simulation motor and outputting it to the adhesion controller and calculating a torque of the adhesion characteristic simulation motor; ; It characterized in that it comprises a; adhesive characteristic simulation motor drive power supply for controlling the power supply voltage supplied to the adhesive characteristic simulation motor on the basis of the torque command output from the adhesive characteristic simulation controller.

At this time, the adhesive characteristic simulation controller receives the speed of the adhesive characteristic simulation motor detected through the rotational speed detection sensor and calculates the linear speed of the motor by converting the revolutions per minute [rpm] into the movement distance per second [m / s]. A linear velocity calculation unit; A first adder configured to calculate a slip (idle or slide) speed by using the adhesive characteristic simulation motor linear speed output from the linear speed calculating unit and the speed difference of the vehicle input from the integrator; An adhesion coefficient calculation unit for calculating adhesion coefficients according to various driving conditions of the track with respect to the slip speed output from the first summer; A multiplier for converting the adhesive coefficient output from the adhesive coefficient calculating unit into the adhesive force by multiplying the weight of the vehicle; A second adder configured to calculate the dynamics of the vehicle by converting the adhesive force output from the multiplier, the gradient constant output from the gradient constant setting unit, and the driving resistance difference output of the vehicle output from the driving resistance calculation unit; A vehicle mass inversion unit for calculating a reciprocal of the vehicle mass by dividing the dynamic arithmetic value of the vehicle output from the second summer by the vehicle mass that one electric motor bears; An integrator for integrating the output signal of the vehicle mass inversion unit to calculate the acceleration of the vehicle as the speed of the vehicle; A torque command calculation unit for calculating an adhesive force of the vehicle wheel output from the multiplier as a driving torque; A speed conversion unit for calculating a speed per second [m / s] of the vehicle output from the integrator as an hourly speed [km / h]; A driving resistance calculation unit for calculating a driving resistance force by air resistance using the hourly speed output from the speed conversion unit; And a rotation speed conversion unit for converting the moving distance per second [m / s] of the vehicle output from the integrator into the revolutions per minute [rpm].

)에 대한 선로의 다양한 운행조건(건조상태

, 젖은상태

, 결빙상태

등)에 따른 점착계수를 산출해 내는 수개의 운행 조건별 점착계수 산출부;로 구성한 것을 특징으로 한다.The adhesion coefficient calculation unit may include: a switch for sequentially switching by manual or time table in a simulation test condition and converting an adhesion state according to a good running condition of the vehicle; Slip speed input through the switch (

Various operating conditions of track for

, Wet

, Frozen

It is characterized in that the configuration; consisting of ;;

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Figure 2 shows a block diagram of the device of the present invention, Figure 3 shows a detailed view of some blocks of the device of the present invention, Figure 4 shows a detailed block diagram of a stickyness simulation controller of the device of the present invention, FIG. 5 shows a detailed block diagram of the adhesion coefficient calculator of FIG. 4.

) 및 점착특성 모의 전동기(2)의 회전속도(

)에 의거하여 견인 전동기(1)의 토크를 어떻게 제어할 것인지를 산출하여 토크 지령(

)을 발생하는 점착 제어기(3)와;According to this, the electric running slide simulation apparatus of the present invention, the rotational speed of the traction motor 1 and the virtual train speed (

And Rotational Speed of Adhesive Characteristics Simulation Motor (2)

Calculates how to control the torque of the traction motor 1 based on

A sticky controller 3 for generating;

)에 의거하여 견인 전동기(1)에 공급되는 전원전압을 제어하는 견인 전동기 구동 전원공급부(4)와;Torque command output from the adhesion controller 3 (

A traction motor drive power supply unit 4 for controlling a power supply voltage supplied to the traction motor 1 based on a);

An adhesive simulation motor 2 having a shaft connected to the traction motor 1;

)를 입력받아 가상 열차의 속도(

)를 산출하여 점착 제어기(3)로 출력시켜 줌과 동시에 점착특성 모의 전동기(2)의 토크를 어떻게 제어할 것인지를 산출하여 토크 지령(

)을 발생하는 점착특성 모의 제어기(5)와;Rotational speed of the adhesive characteristic simulation motor 2

) And the speed of the virtual train (

) Is calculated and output to the adhesion controller 3, and at the same time, it is calculated how the torque of the adhesion characteristic simulation motor 2 is controlled.

An adhesive characteristic simulation controller 5 for generating a);

)에 의거하여 점착특성 모의 전동기(2)에 공급되는 전원전압을 제어하는 점착특성 모의 전동기 구동 전원공급부(6);로 구성한 것을 특징으로 한다.Torque command output from the adhesion characteristic simulation controller 5 (

It characterized in that it comprises a; adhesive characteristic simulation motor drive power supply (6) for controlling the power supply voltage supplied to the adhesive characteristic simulation motor (2) based on.

)를 입력받아 1분당 회전수[rpm]를 초당 이동거리[m/s]로 환산하여 전동기의 선속도(

)를 산출하는 선속도 산출부(51)와;At this time, the adhesion characteristic simulation controller 5 is a rotational speed of the adhesion characteristic simulation motor 2 detected through the rotation speed detection sensor 8 (

) And converts revolutions per minute [rpm] into travel distance per second [m / s]

A linear velocity calculation unit 51 for calculating);

)와 적분기(57)에서 입력되는 차량의 속도(

) 차를 이용하여 슬립(공전 또는 활주) 속도(

)를 계산하는 제 1 합산기(52)와;The linear velocity of the adhesive characteristic simulation motor 2 output from the linear velocity calculator 51

) And the speed of the vehicle input from the integrator 57

) Using the car to slip (idle or slide) speed (

A first summer (52) for calculating < RTI ID = 0.0 >

)에 대한 선로의 다양한 운행 조건에 따른 점착계수(

)들을 산출하는 점착계수 산출부(53)와;Slip speed output from the first summer 52

Coefficient of Adhesion According to Various Operating Conditions of Track

Adhesion coefficient calculation unit 53 for calculating the coefficients;

)에 차량의 무게(

)를 곱하여 점착력(

)으로 환산하는 곱셈기(54)와;Adhesion coefficient output from the adhesion coefficient calculation unit 53 (

) The weight of the vehicle (

Multiply by)

A multiplier 54 in terms of);

)과 구배상수 설정부(62)에서 출력되는 구배상수(

) 및 주행 저항력 산출부(60)에서 출력되는 차량의 주행 저항력(

) 차를 환산하여 차량의 동력학을 산출해 내는 제 2 합산기(55)와; Adhesion force output from the multiplier 54

) And the gradient constant (outputted from the gradient constant setting unit 62)

) And the driving resistance force of the vehicle output from the driving resistance calculator 60

A second summer 55 for converting the car to calculate the dynamics of the vehicle;

)으로 나누어 차량 질량의 역수(1/

)를 산출해 내는 차량질량 역산부(56)와; Vehicle mass that one motor can handle the dynamic arithmetic value of the vehicle output from the second summer 55 (

Inverse of the vehicle mass (1 /

A vehicle mass inversion unit 56 for calculating);

)로 산출해 내는 적분기(57)와; The acceleration of the vehicle is integrated by integrating the output signal of the vehicle mass inversion unit 56.

An integrator 57 calculated as;

)을 구동 토크(

)로 산출해 내는 토크 지령 산출부(58)와;Adhesion force of the vehicle wheel output from the multiplier 54

) Drive torque (

A torque command calculation unit 58 calculated by the reference);

A speed conversion unit 59 for calculating a speed per second [m / s] of the vehicle output from the integrator 57 as an hourly speed [km / h];

) 을 산출해 내는 주행 저항력 산출부(60)와;By using the hourly speed [km / h] output from the speed conversion unit 59 running resistance by air resistance (

A driving resistance calculation unit 60 for calculating);

)해 내는 회전속도 환산부(61);로 구성한 것을 특징으로 한다.The moving distance per second [m / s] of the vehicle output from the integrator 57 is converted into revolutions per minute [rpm] (

Rotational speed conversion unit 61 to pull out; characterized in that consisting of.

In addition, the adhesion coefficient calculation unit 53 is a switch for sequentially switching by a manual or time table in the simulated test conditions and converts the adhesion state according to the good running conditions of the vehicle input through the first summer 52 ( 531);

)에 대한 선로의 다양한 운행조건(건조상태 ;

, 젖은상태 ;

, 결빙상태 ;

)에 따른 점착계수(

)를 산출해 내는 수개의 운행 조건별 점착계수 산출부(532₁)-(532n);로 구성한 것을 특징으로 한다.The slip speed input through the switch 531 (

Various operating conditions of track (dry condition;

, Wet;

, Frozen state;

Coefficient of adhesion according to)

It is characterized in that the configuration consisting of; coefficient coefficient calculation unit (532 ₁ )-(532n) for each of several operating conditions for calculating the).

의 공식에 의해 전동기의 선속도(

)를 산출하고, 상기 회전속도 환산부(61)에서는

의 공식에 의해 차량의 초당 이동거리[m/s]를 1분당 회전수[rpm]로 환산(

)해 내는 것을 특징으로 한다.In the above, the linear velocity calculating section 51

The linear speed of the motor is

) Is calculated, and the rotation speed conversion unit 61

By converting the vehicle's travel distance per second [m / s] to revolutions per minute [rpm]

It is characterized by doing.

: 바퀴의 반경 [m],

: 변속기어비이다.Where

: Radius of the wheel [m],

: Transmission gear ratio.

Referring to the operation and effect of the device of the present invention configured as described above are as follows.

First, the electric idle run simulation apparatus of the present invention is largely, as shown in Figs. 2 and 3, the traction motor 1, the adhesion controller 3, the traction motor drive power supply 4, the adhesion characteristics simulation motor ( 2), the adhesive characteristic simulation controller 5 and the adhesive characteristic simulation electric motor drive power supply part 6 are comprised.

At this time, the traction motor (1) and the adhesive characteristic simulation motor (2) can be composed of any type of rotary motor including a direct current type or an alternating current type, the traction motor (1) and the adhesive characteristic simulation motor (2) ) Is connected directly by clutch or clamp or by using gear or other connecting device.

In addition, the traction motor and the adhesive characteristic simulation motor drive power supply (4) (6) is designed accordingly according to the type of the traction motor 1 and the adhesive characteristic simulation motor (2).

) 및 모의 전동기(2)의 회전속도(

)에 의거하여 견인 전동기(1)의 토크를 어떻게 제어할 것인지를 산출하는 점착 제어기(3)의 토크 지령(

)에 의해 결정되어진다.The voltage output from the traction motor drive power supply unit 4 is a virtual train speed provided by the rotational speed and adhesion characteristic simulation controller 5 of the traction motor 1 detected through the rotation speed detection sensor 7 (

) And the rotational speed of the simulation motor (2)

Torque command of the adhesion controller 3 for calculating how to control the torque of the traction motor 1 on the basis of

Is determined by

)를 입력받아 가상 열차의 속도(

)를 산출하여 점착 제어기(3)로 출력시켜 줌과 동시에 점착특성 모의 전동기(2)의 토크를 어떻게 제어할 것인지를 산출하는 점착특성 모의 제어기(5)의 토 크 지령(

)에 의해 결정되어진다.In addition, the voltage output from the adhesive characteristic simulation motor drive power supply 6 is the rotational speed of the adhesive characteristic simulation motor 2 (

) And the speed of the virtual train (

Torque command of the adhesion characteristic simulation controller 5 which calculates and outputs to the adhesion controller 3 and calculates how to control the torque of the adhesion characteristics simulation motor 2.

Is determined by

At this time, the adhesion characteristics simulation controller 5 performs the role of load of the vehicle to simulate the adhesion between the road surface (rail) and the wheels (wheels of the train) in consideration of the operating characteristics and environmental conditions of the train, the load Is the torque of the adhesion characteristic simulation motor 2.

)를 입력받아 차량의 운동 방정식에 근거하여 요구되는 토크지령(

)을 발생시킨다.The generation of this torque occurs in the adhesion characteristic simulation controller 5 as described above, and the speed of the actual adhesion characteristic simulation electric motor 2 (

Torque command required based on the equation of motion of the vehicle

).

은 견인 전동기의 토크지령,

는 점착력 모의 토크지령,

는 가상의 열차속도를 회전속도로 환산한 값이다.here

Is the torque command of the traction motor,

Is the cohesive force torque command,

Is the virtual train speed in terms of rotation speed.

In the above, the wheel adhesion and torque motion equations are as follows.

Their mathematical relationship may be changed and omitted depending on the vehicle movement state.

-------- (1)

-------- (One)

The torque equation of the traction motor 1 is as follows.

---------- (2)

---------- (2)

Where M is the mass of the vehicle for one motor [kg],

: 중력가속도 [

],

: 차량의 무게

Gravity Acceleration [

],

Weight of vehicle

: 바퀴와 레일 사이의 점착력 [

]

: Adhesion between wheel and rail [

]

: 차량속도 [

],

: 전동기 선속도 [

],

Vehicle speed [

],

Electric motor linear speed [

],

: 공기저항 등에 의한 주행 저항력 [

]

: Running resistance by air resistance [

]

: 전동기 토크 [

], θ: inclination of the rail,

Motor torque [

],

: 전동기 기계적인 회전각속도 [

],

: Electric motor mechanical angular velocity [

],

: 축으로 환산한 등가관성 [

],

: Equivalent inertia in terms of axis [

],

: 회전 마찰계수 [

],

Rotational coefficient of friction [

],

: 시간에 따른 변화율,

: Rate of change over time,

: 바퀴의 반경 [

],

: Radius of the wheel [

],

: 변속기어비 이다.

: Transmission gear ratio.

In addition, the adhesion between the wheel and the rail is proportional to the product of the coefficient of adhesion and the weight.

,

,

: 점착계수로, here,

: Coefficient of adhesion,

의 함수로 전동기의 선속도와 차량의 속도차Slip speed

Motor speed and vehicle speed difference as a function of

Driving resistance is closely related to vehicle speed. In general, it is related to the following, and it may be possible to change coefficients or functions depending on the driving route.

는 [㎞/h] 단위를 취한다. Vehicle speed

Takes units of [km / h].

)를 입력받아

의 공식을 이용하여 1분당 회전수[rpm]를 초당 이동거리[m/s]로 환산하여 전동기의 선속도(

[m/s])를 산출하게 된다.On the other hand, the adhesion characteristic simulation controller 5 has the configuration as shown in Figure 4, the linear velocity calculation unit 51 in the adhesion characteristic simulation controller 5 through the rotational speed detection sensor 8 in the adhesion characteristic simulation motor (2) speed of rotation (

) Input

Using the formula, convert the revolutions per minute [rpm] into the travel distance per second [m / s]

[m / s]).

)를 산출하게 되면 제 1 합산기(52)에서는 상기 점착특성 모의 전동기(2)의 선속도(

)와 적분기(57)에서 입력되는 차량의 속도() 차를 이용하여 슬립(공전 또는 활주) 속도(

)를 계산하게 된다.As described above, the linear velocity of the adhesive characteristic simulation motor 2 in the linear velocity calculator 51

In the first summer 52, the linear velocity of the adhesive characteristic simulation motor 2 is calculated.

) And the speed of the vehicle input from the integrator 57 ) Using the car to slip (idle or slide) speed (

) Is calculated.

[m/s])를 입력받는 점착계수 산출부(53)에서는 슬립속도(

)에 대한 선로의 다양한 운행 조건에 따른 점착계수(

)들을 산출(

(

))하게 된다.In addition, the slip speed (output from the first summer 52)

In the adhesion coefficient calculation unit 53 which receives [m / s]), the slip speed (

Coefficient of Adhesion According to Various Operating Conditions of Track

Calculate the

(

))

At this time, the adhesion coefficient calculation unit 53 is a switch 531 sequentially switched by a manual or time table in the simulation test conditions as shown in Figure 5 and the adhesion coefficient calculation unit 532 _1- (532n) for several operating conditions It consists of).

)를 수개의 운행 조건별 점착계수 산출부(532₁)-(532n)로 전달하게 된다.Therefore, in the switch 531, the slip speed (sequentially switched by manual or time table under simulated test conditions and input through the first summer 52)

) Is transmitted to the adhesion coefficient calculator 532 ₁ ) -532n for each of several driving conditions.

)에 대한 선로의 다양한 운행조건(건조상태 ;

, 젖은 상태 ;

, 결빙상태 ;

)에 따른 각각의 점착계수(

)를 순차적으로 산출해 낼 수 있게 되는 것이다.Therefore, the slip coefficients inputted through the switch 531 in the adhesion coefficient calculation units 532 _{1 to} 532n for the several driving conditions (

Various operating conditions of track (dry condition;

, Wet state;

, Frozen state;

Coefficient of adhesion according to)

) Can be calculated sequentially.

로 a, b, c, d 는 상수로 노면 조건에 따른 상수 값을 변경할 수 있다.(예, 건조상태에서 a=0.54, b=1.2, c=1, d=1) here

A, b, c, and d are constants and can be changed to constant values according to road conditions (eg a = 0.54, b = 1.2, c = 1, d = 1 in dry conditions).

This equation can be implemented in several different forms as an example of the adhesion coefficient function.

)의 함수로는 전술한 바와 같이 건조상태, 습도상태 및 결빙상태를 포함하여 기름의 점착, 기타 이물질의 노면 상태 등 기존에 함수를 이용하여 다양하게 구성할 수 있고, 상태 조건의 변경은 이들 함수를 선택적으로 임의 시간에 프로그램을 변경하여 적용할 수 있다.At this time, the slip speed (

As a function of), as described above, it can be variously configured by using a function, such as the adhesion of oil, the road surface state of other foreign matter, including the dry state, humidity state and freezing state, and the change of state condition You can optionally change the program at any time.

)는 곱셈기(54)로 전달되어 차량의 무게(

)와 곱해지는 방식을 통해 점착력(

)으로 환산되는데, 이때 상기 차량의 무게(

)의 무게는 점착계수를 점착력으로 계산하는데 필요한 상수로써 차량의 중량(즉, 질량과 중력 가속도의 곱)을 나타낸다.Meanwhile, the adhesion coefficient calculated by the adhesion coefficient calculation unit 53 (

) Is passed to multiplier 54 to determine the weight of the vehicle (

Multiply by)

), Where the weight of the vehicle (

) Is the constant needed to calculate the cohesion coefficient as the cohesion and represents the weight of the vehicle (ie, the product of mass and acceleration of gravity).

)은 제 2 합산기(55)와 토크 지령 산출부(58)로 전달되어진다.Thus, the adhesive force converted by the multiplier 54 (

) Is transmitted to the second summer 55 and the torque command calculation unit 58.

)과 구배상수 설정부(62)에서 차량의 운행 조건에 따라 주어지는 차량의 운행 구배상태 표현 함수는 구배상수(

) 및 주행 저항력 산출부(60)에서 출력되는 차량의 주행 저항력(

)의 차를 환산하여 차량의 동력학을 산출하게 된다.Therefore, the adhesive force output from the multiplier 54 in the second summer 55

) And the gradient function expression function of the vehicle, which is given according to the driving conditions of the vehicle, by the gradient constant setting unit 62.

) And the driving resistance force of the vehicle output from the driving resistance calculator 60

) To calculate the vehicle dynamics.

)을 입력받아 바퀴의 반경(

)을 변속기어비(

)로 나누는 방식을 통해 구동 토크 즉, 점착력 모의 토크(

)를 산출하여 점착특성 모의 전동기 구동 전원공급부(6)로 출력시켜 주게 된다.In addition, the torque command calculation unit 58 in the adhesive force of the vehicle wheel output from the multiplier 54 (

) And the radius of the wheel (

Gear ratio

By dividing by) into the driving torque,

) Is outputted to the adhesive characteristic simulation motor drive power supply (6).

)으로 나누어 차량 질량의 역수(1/

)를 산출하여 적분기(57)로 전달하게 된다.On the other hand, the vehicle mass inversion unit 56 which receives the dynamic arithmetic value of the vehicle output from the second summer 55 receives the arithmetic mass of one vehicle by one electric motor (

Inverse of the vehicle mass (1 /

) Is passed to the integrator 57.

[m/s])로 환산한 다음 제 1 합산기(52)와 속도 환산부(59) 및 회전속도 환산부(61)로 전달하게 된다.In addition, the integrator 57 integrates the inverse of the vehicle mass to determine the acceleration of the vehicle.

[m / s]) is then transferred to the first summer 52, the speed conversion unit 59 and the rotation speed conversion unit 61.

)을 산출한 후 이를 제 2 합산기(55)로 전달 할 수 있게 된다.Therefore, the speed conversion unit 59 converts the speed per second [m / s] of the vehicle converted by the integrator 57 to the speed per hour [km / h] and transfers the driving resistance calculation unit 60 to the above. The driving resistance calculation unit 60 uses the hourly speed [km / h] output from the speed conversion unit 59 to calculate the driving resistance of the vehicle due to air resistance or the like.

) Can be transferred to the second summer 55.

의 공식을 이용하여 1분당 회전수[rpm]로 가상 열차의 회전속도로 환산(

)해낸 후 상기 점착 제어기(3)로 전달하게 된다.In addition, the rotational speed conversion unit 61 receives a moving distance per second [m / s] of the vehicle output from the integrator 57

Using the formula, convert the speed of the virtual train into revolutions per minute [rpm]

After it is removed, it is delivered to the adhesive controller 3.

Although the above-described embodiments are described with respect to the most preferred embodiment of the present invention, it is not limited to the above embodiments, it will be apparent to those skilled in the art that various modifications are possible without departing from the technical spirit of the present invention.

As described above, according to the electric idle running simulation apparatus of the present invention, unlike the conventional method, it is combined with an electric motor and a virtual train which are actually driven without using physical contact, but the virtual train is configured as a vehicle. By determining the cohesion and torque of the wheels through the prescribed equations of motion, first, the wear and noise of the device due to friction can be avoided, and the second, the risk of the device that can be caused by the increase of inertia force due to the speed increase without using the wheel Third, the adhesive property can be controlled by the program control of the load of the motor, so any adhesive property such as any rail condition can be simulated, and the fourth one can be instantaneously converted between various adhesive properties by processing the adhesive condition with the program. Running resistance, heat to consider the operating conditions of the fifth train. It is possible to test in consideration of weight fluctuation, gradient condition, etc. Sixth, it can be tested and applied in all cases driven by adhesive force such as general cars, electric cars, trains, etc., and can be applied to multiple motors driven in parallel. It is a very useful invention.

Claims (9)

Rotational speed of traction motor and virtual train speed (

And Rotational Speed of Adhesive Characteristics Simulation Motor (2)

Torque command according to torque control of traction motor based on

A sticky controller for generating a); Torque command output from the adhesion controller

A traction motor drive power supply for controlling a power supply voltage supplied to the traction motor based on; An adhesive simulation motor having a shaft connected to the traction motor; Rotational speed of the adhesive simulation motor

) And the speed of the virtual train (

) And output it to the adhesion controller, and at the same time, torque command according to torque control of adhesion characteristics simulation motor (

An adhesive simulation controller for generating a); Torque command output from the adhesion characteristic simulation controller

The electric idle run simulation device comprising a; adhesive property simulation motor drive power supply for controlling the power supply voltage supplied to the adhesive property simulation motor based on the). The method according to claim 1, The adhesion characteristic simulation controller is a rotational speed of the adhesion characteristic simulation motor detected by the rotation speed detection sensor (

) And converts revolutions per minute [rpm] into travel distance per second [m / s]

A linear velocity calculating unit for calculating); Linear velocity of the adhesive simulation motor

) And the speed of the vehicle entering the integrator (

) Using the car to slip (idle or slide) speed (

A first summer for calculating c); The slip speed (

Coefficient of Adhesion According to Various Operating Conditions of Track

Adhesive coefficient calculation unit for calculating the coefficients; The adhesion coefficient (

) The weight of the vehicle (

Multiply by)

A multiplier that converts to; The adhesive force (

) And the gradient constant (outputted from the gradient constant setting unit)

) And the driving resistance of the vehicle output from the driving resistance calculating unit (

A second summer for calculating a car to calculate the dynamics of the vehicle; The mass of a vehicle that one motor covers the dynamic arithmetic value of the vehicle (

Inverse of the vehicle mass (1 /

A vehicle mass inversion unit for calculating); By integrating the output signal of the vehicle mass inversion unit, the acceleration of the vehicle is determined by the velocity of the vehicle (

An integrator yielding; Adhesion of vehicle wheels

) Drive torque (

Torque command calculation unit to calculate); A speed conversion unit for calculating a speed per second [m / s] of the vehicle output from the integrator as an hourly speed [km / h]; By using the vehicle's hourly speed [km / h]

A traveling resistance force calculating unit for calculating); Convert the vehicle's moving distance per second [m / s] to revolutions per minute [rpm]

Electric revolution slide simulation device consisting of; consisting of; The method according to claim 2, The adhesion coefficient calculation unit and the switch for converting the adhesion state according to the good running conditions of the vehicle input through the first summer; Slip speed input through the switch (

Various operating conditions of track (dry condition;

, Wet;

, Frozen state;

Coefficient of adhesion according to)

Electrical idle run simulator, characterized in that consisting of ;; The method according to claim 3, The switch is an electric idle run simulator, characterized in that the sequential conversion by manual or time table under the simulated test conditions. The method according to claim 2, The linear velocity calculation unit

The linear speed of the motor can be

Electrical idle run simulator, characterized in that to calculate). (here,

: Radius of the wheel [

],

: Transmission gear ratio.) The method according to claim 2, The rotation speed conversion unit

Using the formula, convert the vehicle's distance per second [m / s] to revolutions per minute [rpm]

Electric idle run simulator, characterized in that. (here,

: Radius of the wheel [

],

: Transmission gear ratio.) The method according to claim 1, The traction motor and the adhesive characteristic simulation motor is an electric idler slide simulator, characterized in that it can be configured as any type of rotary motor, including a direct current or alternating current motor. The method according to claim 1, The traction motor and the adhesive simulation simulation motor is an electric idle run simulation device, characterized in that connected directly by using a clutch or a clamp, or by using a gear. The method according to claim 2, The equation for calculating the dynamics of the vehicle in the second summer,

Made up of Torque equation of the traction motor carried out in the adhesion controller,

Electrical idle run simulator, characterized in that consisting of. (Where M is the mass of a vehicle that weighs one kilogram [kg],

Gravity Acceleration [

],

Weight of vehicle

: Adhesion between wheel and rail [

]

Vehicle speed [

],

Electric motor linear speed [

],

: Running resistance by air resistance [

] θ: inclination of the rail,

Motor torque [

],

: Electric motor mechanical angular velocity [

],

: Equivalent inertia in terms of axis [

],

Rotational coefficient of friction [

],

: Rate of change over time,

: Radius of the wheel [

],

: Transmission gear ratio.)

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