KR101784716B1 - Dynamometer system control device - Google Patents

Abstract

Provided is a control device of a dynamometer system capable of controlling the influence of both the natural oscillation of the oscillator and the torque pulsation independent of the natural oscillation. The dynamometer system is a rocking dynamometer; A load cell for detecting a torque generated in the swinging member; And an acceleration sensor for detecting the acceleration along the load direction of the load cell. The control device 4 includes a torque controller 5 for generating a control signal for controlling the torque of the dynamometer; A natural vibration suppression circuit (6) for generating a correction signal for correcting the control signal so that natural oscillation of a rocking member is suppressed based on a predetermined input signal; And a correction circuit (7) for inverting the detection signal of the acceleration sensor and removing the AC component from the loadcell torque signal using the inverted signal. The load cell torque signal that has passed through the correction circuit 7 is input to the torque controller 5 and the load cell torque signal that has not passed through the correction circuit 7 is input to the natural vibration suppression circuit 6. [

Description

[0001] DYNAMOMETER SYSTEM CONTROL DEVICE [0002]

The present invention relates to a control device of a dynamometer system. More particularly, the present invention relates to a control apparatus for a dynamometer system including a swinging dynamometer, a load cell, and an acceleration sensor.

In a test system such as an engine dynamometer system, a chassis dynamometer system, and a power train system equipped with a swinging dynamometer, a load cell is used as a sensor for detecting a torque related to the control and measurement. The load cell detects the torque acting on the rocking element of the dynamometer through a torque arm extending from the rocking element (see Patent Document 1). With this structure, the output signal of the load cell is superimposed on the torque fluctuation component accompanying the natural oscillation of the oscillator in addition to the torque actually detected by the dynamometer. This fluctuation component is inherently unnecessary components in the control and measurement of the system.

Patent Literature 1 discloses a control method of suppressing natural oscillation of a swinging member by applying damping to a controlled object using a natural vibration suppressing circuit. By using the natural vibration suppression circuit of Patent Document 1, the inherent vibration of the oscillator is suppressed, so that a stable detection signal in which natural oscillation is suppressed is obtained in the load cell.

Japanese Patent Laid-Open Publication No. 2013-246152

Incidentally, the detection signal of the load cell provided on the oscillating dynamometer includes various torque pulsations (fluctuations) in addition to the natural oscillation of the oscillator as described above. Specifically, for example, a torque ripple due to an inverter can be mentioned. As a result of using the natural vibration suppressing circuit of Patent Document 1 as a result of suppressing the natural oscillation of the oscillator, a very small torque ripple can be detected in the load cell as compared with the natural oscillation of the oscillator.

Therefore, as shown in Patent Document 1, when the detection signal of the load cell is used as the feedback signal of the torque control device of the major loop in the control device having the natural vibration suppression circuit, when torque pulsation occurs in the control band of the torque control device Amplifying it, and as a result, the measurement accuracy of the dynamometer system may be adversely affected.

An object of the present invention is to provide a control device of a dynamometer system capable of controlling the influence of both the natural oscillation of the oscillator and the torque pulsation independent of the inherent oscillation.

(1) A dynamometer system (e.g., a dynamometer system 1 described below) may include a swinging dynamometer (e.g., a dynamometer 2 described below) connected to a load; An inverter (for example, an inverter 3 described later) for supplying power to the dynamometer; (For example, a torque arm 26 to be described later) extending from the swinging member, the torque generated in the swinging member of the dynamometer (for example, a swinging member 23 described later) A load cell (e.g., a load cell 28 described below); And an acceleration sensor (for example, an acceleration sensor 30 to be described later) for detecting the acceleration of the torque arm along the load direction of the load cell. A control device (for example, control devices 4, 4A, 4B described later) of the dynamometer system according to the present invention includes a controller (for example, A torque controller 5, a command generating device 9A, a speed controller 5B, a command generating device 9B, and the like, which will be described later); A natural vibration suppression circuit (for example, a natural vibration suppression circuit 6 described later) for generating a correction signal for correcting the control signal so that natural oscillation of the oscillator is suppressed based on a predetermined input signal; And a correction circuit (for example, a correction circuit (7) described later) for inverting the detection signal of the acceleration sensor and removing the AC component from the detection signal of the load cell using the inverted signal, The controller receives a detection signal of the load cell that has passed through the correction circuit and inputs the detection signal of the load cell that has not passed through the correction circuit and the control signal of the controller in which the correction signal is added to the natural vibration suppression circuit .

(2) In this case, the dynamometer system includes a speed detecting device (for example, an encoder 29 described later) that detects the speed of the dynamometer, and the controller detects the load cell A torque controller (for example, a torque controller 5 described later) that generates a control signal for eliminating a deviation between a signal and a predetermined command signal; And a command generating device (for example, a command generating device (9A) described later) for generating a torque command signal for the torque controller, wherein the command generating device is configured to execute, based on the detection signal of the speed detecting device, A running resistance setting section (for example, a running resistance setting section 91 described later) for generating a resistance command signal; (For example, a driving force observer 92 to be described later, a subtracting section 93, and a subtractor 93) for generating an electric inertia command signal based on the detection signal of the load cell and the detection signal of the speed detecting device, , And an electric inertia ratio setting section 94); And a summation unit (for example, an adder 96 described later) that uses the sum of the running resistance command signal and the electric inertia command signal as a torque command signal to the torque controller.

(3) In this case, the command generation device sets the speed of the dynamometer to a predetermined target speed based on the detection signal of the speed detection device, the running resistance command signal, and the detection signal of the load cell through the correction circuit (For example, a speed controller 95 described later) that generates a torque correction signal for matching the running resistance command signal, the electric inertia command signal, and the torque correction signal The torque command signal to the torque controller.

(4) In this case, the dynamometer system includes a speed detecting device (for example, an encoder 29 described later) for detecting the speed of the dynamometer, A speed controller (for example, a speed controller 5B described later) that generates a control signal for eliminating the deviation of the speed command signal of the speed command signal; And a command generation device (for example, a command generation device (9B) described later) for generating a speed command signal for the speed controller, wherein the command generation device is configured to execute, based on the detection signal of the speed detection device, A running resistance setting section (for example, a running resistance setting section 91 described later) for generating a resistance command signal; A drive force observer (for example, a drive force observer 92 described later) for generating a disturbance torque signal corresponding to a drive force applied to the dynamometer based on a detection signal of the speed detection device and a detection signal of the load cell via the correction circuit )); And an integrator (for example, an integrator 98B described later) that generates the speed command signal by integrating the driving resistance command signal obtained by subtracting the driving resistance command signal from the disturbance torque signal.

(5) In this case, the controller includes a torque controller (for example, a torque controller 5 described later) for generating a control signal for eliminating a deviation between the detection signal of the load cell and the predetermined torque command signal, ).

(6) In this case, the dynamometer system may further include a speed detection device for detecting the speed of the axis of the dynamometer, wherein the controller is configured to detect the speed command signal generated based on the detection signal of the load cell that has passed through the correction circuit, It is preferable to provide a speed controller (for example, a speed controller 5B described later) that generates a control signal for eliminating the deviation of the detection signal of the speed detecting device.

(7) In this case, the dynamometer system may include a position detection device for detecting the position of the axis of the dynamometer, and the controller may include a position command signal generated based on a detection signal of the load cell that has passed through the correction circuit, And a position controller for generating a control signal for eliminating the deviation of the detection signal of the position detecting device.

(1) In the present invention, in the system including the oscillation dynamometer, a proper vibration suppressing circuit for suppressing natural oscillation of the oscillator and a correcting circuit for removing the AC component from the detection signal of the load cell are provided. In the present invention, the control of the dynamometer by the controller is set as a major loop, the inherent vibration suppression control by the inherent vibration suppressing circuit is set as a minor loop, and the control signal of the load cell And the detection signal of the load cell from which the AC component is removed through the correction circuit is used for the control of the major loop. As a result, it is possible to realize a control in which the influence of both the natural oscillation of the oscillator and the torque pulsation independent of the natural oscillation is reduced, and thus the measurement accuracy of the test by the dynamometer system can be improved.

(2) In the present invention, the torque control by the torque controller is made a major loop, and the natural vibration suppression control by the natural vibration suppression circuit is made a minor loop. As described above, the detection signal of the load cell that has not undergone the correction circuit is used for the natural vibration suppression control, the torque control is calculated by using the detection signal of the load cell that has undergone the correction circuit and the detection signal of the load cell that has passed through the correction circuit The torque command signal is used. Thereby, the effects of both the natural oscillation and the torque pulsation of the oscillator can be reduced, and high response and stable electric inertia control can be achieved.

(3) In the present invention, a torque correction signal for matching the speed of the dynamometer to a predetermined target speed is generated based on the detection signal of the speed detecting device, the running resistance command signal, and the detection signal of the load cell through the correction circuit , And generates a torque command signal to the torque controller using the torque command signal. Thereby, the effects of both the natural oscillation of the oscillator and the torque pulsation different from the natural oscillation are reduced, and a high response and a stable electric inertia control become possible.

(4) According to the present invention, as in the case of (2), the effects of both the natural oscillation and the torque pulsation of the oscillator can be reduced, and high response and stable electric inertia control become possible.

(5) In the present invention, the torque control by the torque controller is made a major loop and the inherent vibration suppression control by the inherent vibration suppressing circuit is made a minor loop. The detection signal of the load cell that has not undergone the correction circuit is used for the natural vibration suppression control, and the detection signal of the load cell that has undergone the correction circuit is used for the torque control. This makes it possible to control the influence of both the natural oscillation and the torque pulsation of the oscillator.

(6) According to the present invention, the same effect as the invention of (5) is achieved in a system in which the speed control by the speed controller is made into a major loop.

(7) According to the present invention, the same effect as the invention of (5) can be achieved in a system in which the position control by the position controller is made into a major loop.

1 is a view showing the configuration of a swinging dynamometer system according to an embodiment of the present invention.
2 is a block diagram showing a configuration of a control apparatus according to the first embodiment.
3 is a block diagram showing the configuration of the control apparatus of the second embodiment.
4 is a diagram showing a result of electric inertia control by a conventional control device.
5 is a diagram showing the results of the electric inertia control by the control apparatus of the second embodiment.
6 is a block diagram showing the configuration of the control apparatus of the third embodiment.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

Fig. 1 is a diagram showing a configuration of a swinging dynamometer system 1. Fig.

The oscillating dynamometer system 1 comprises a oscillating dynamometer 2, an inverter 3 for supplying power to the dynamometer 2, and a control device 4 for controlling the dynamometer 2.

The dynamometer 2 includes a cylindrical stator 21, a rotor 22 rotatably supported in the stator 21, and a rocker 23 constituted by a stator 21, A pedestal 25 for supporting the base 24 so as to be swingable in the circumferential direction on the base 24, a roller 27 rotating on the same axis as the rotor 22, and a load cell 28 and an encoder 29 for detecting the number of revolutions of the rotor 22.

A specimen (not shown) to be tested is connected to the rotor 22. At the side of the stator 21, a torque arm 26 extending outward along the radial direction is provided. The load cell 28 is provided between the tip end of the torque arm 26 and the mounting surface G. [ The load cell 28 detects a load (output torque of the dynamometer 2) acting between the torque arm 26 and the mounting surface G and transmits a signal substantially proportional to the detected value to the control device 4 do.

An acceleration sensor 30 for detecting the acceleration of the torque arm 26 is provided at the distal end of the torque arm 26. [ The acceleration sensor 30 detects the acceleration of the torque arm 26 along the load direction of the load cell 28 and transmits a signal approximately proportional to the detected value to the control device 4. [

The encoder 29 generates a pulse signal according to the rotation of the rotor 22 and transmits it to the control device 4. [ The angular velocity (speed) and angle (position) of the rotor 22 are calculated by the control device 4 based on the pulse signal from the encoder 29. In the following, a signal proportional to the angular velocity generated based on the pulse signal of the encoder 29 is referred to as a velocity detection signal, and a signal proportional to the angle is referred to as a position detection signal.

The roller 27 is provided with a drive wheel (not shown) of the vehicle to be tested by the dynamometer system 1. The control device 4 uses the control circuit as described below to load the vehicle placed on the roller 27 with the inertia equivalent to the actual vehicle and simulate the actual road running so that the exhaust gas test and the fuel consumption test And so on.

Hereinafter, the configuration of the control device 4 of the above-described oscillation type dynamometer system 1 will be described by examples.

Example  One

2 is a block diagram showing the configuration of the control device 4 of the dynamometer system according to the first embodiment. 2, the control target P includes the inverter, the dynamometer, the load cell, and the acceleration sensor described with reference to Fig. The control device 4 includes a torque controller 5 for generating a control signal for controlling the torque of the dynamometer, a characteristic vibration suppression circuit 6 for generating a correction signal for correcting the control signal of the torque controller 5, A correction circuit 7 for correcting a detection signal of a load cell torque signal (hereinafter referred to as a load cell torque signal), and a subtractor 8.

The torque controller 5 receives a control signal for eliminating the deviation of the load cell torque signal from which the torque pulsation or noise has been removed by the correction circuit 7, which will be described later, and the torque command signal determined by the unillustrated processing, Based on the algorithm. The subtractor 8 subtracts the correction signal generated by the natural vibration suppression circuit 6 from the control signal generated by the torque controller 5 to generate a control signal to the inverter.

The inherent vibration suppression circuit 6 corrects the control signal of the torque controller 5 so as to suppress the natural oscillation of the oscillator based on the control signal to the inverter and the load cell torque signal not passing through the correction circuit 7 Signal. More specifically, the natural vibration suppression circuit 6 generates an approximate signal of the load cell by using an arithmetic expression that is characterized by a predetermined damping coefficient and natural frequency of the oscillator, and outputs the approximate signal as a signal delayed by a predetermined waste time And generates a correction signal so that the deviation of the load cell torque signal becomes minimum. A specific configuration for generating a correction signal having such a function is described in, for example, Japanese Patent Application Laid-Open No. 2013-246152 filed by the applicant of the present application, and a detailed description thereof will be omitted here.

The correction circuit 7 includes a DC component removing unit 71 for removing a DC component less than or equal to a predetermined frequency from the detection signal of the acceleration sensor and a DC component removing unit 71 for removing the DC component from the load cell torque signal of the detection signal of the acceleration sensor A torque converter 73 for multiplying a signal having passed through the phase inverter 72 by a predetermined coefficient to convert the signal into a torque signal, a torque converter 72 for adding a load cell torque signal to the torque converter 72, An adder 74 that removes the torque ripple component from the load cell torque signal by adding the signal passed through the adder 74 and a low pass filter 75 that removes harmonic noise from the load cell torque signal through the adder 74 .

The control device 4 of the present embodiment exhibits the following effects.

In the control device 4 of the present embodiment, as shown in Fig. 2, the load cell torque signal not passing through the correction circuit 7 is inputted to the natural vibration suppressing circuit 6 constituting the minor loop, A load cell torque signal from which torque pulsation and harmonic noise are removed is input to the torque controller 5 through the correction circuit 7. [ As a result, it is possible to realize the control in which the influence of both the natural oscillation of the oscillator and the torque pulsation different from the natural oscillation is reduced, so that the measurement accuracy of the test by the dynamometer system can be improved.

Example  2

3 is a block diagram showing the configuration of the control device 4A of the dynamometer system according to the second embodiment. The control device 4A of the present embodiment differs from the control device 4 (see Fig. 2) of the first embodiment in that it further includes a command generation device 9A and a feedforward controller 10A. The control device 4A of the second embodiment is different from the control device 4 of the first embodiment in that the detection signal of the encoder is further used. Hereinafter, the same components as those of the control device 4 of the first embodiment are denoted by the same reference numerals, and a description thereof will be omitted.

The command generating device 9A includes a running resistance setting section 91, a driving force observer 92, a subtracting section 93, an electric inertia ratio setting section 94, a speed controller 95, and an adding section 96 do. The command generating device 9A includes a running resistance command signal generated by the running resistance setting section 91, an electric inertia command signal generated by the electric inertia ratio setting section 94, and an electric inertia command signal generated by the speed controller 95 And the three signals of the correction signal are added by the adder 96 to generate a torque command signal to the torque controller 5. [

The running resistance setting unit 91 generates a running resistance command signal in accordance with the speed detection signal by the encoder by searching the predetermined running resistance table. The running resistance command signal is a signal corresponding to the resistance of the vehicle under running from the road surface and the atmosphere. This running resistance table is used by what is determined by carrying out a test by an actual vehicle.

The driving force observer 92 generates a disturbance torque signal corresponding to the driving force applied to the dynamometer based on the load cell torque signal passed through the correction circuit 7 and the velocity detection signal from the encoder. More specifically, the driving force observer 92 generates the disturbance torque signal by summing the signal obtained by multiplying the differential value of the speed detection signal by the value of the predetermined fixed inertia mass, and the load cell torque signal passed through the correction circuit 7. Here, the fixed inertia mass means an inertial mass inherent to the dynamometer system, and corresponds to a fixed tube component automatically added to a vehicle running on the roller.

The subtraction section 93 subtracts the running resistance command signal generated by the running resistance setting section 91 from the disturbance torque signal generated by the driving force observer 92. [ The electric inertia ratio setting unit 94 sets a ratio (a value of the electric inertia mass value / the set inertia mass value) of a predetermined value of the electric inertia mass and a predetermined set inertia mass to the signal generated by the subtraction unit 93 Thereby generating an electric inertia command signal. Here, the set inertia mass is an inertia mass determined according to the weight of the vehicle to be tested. As shown in the following equation, the set inertia mass is defined as the sum of the fixed inertia mass and the electric inertia mass.

Set inertia mass = fixed inertia mass + electric inertia mass

The speed controller 95 generates a correction signal for correcting the torque command signal so that the difference between the predetermined target speed and the actual speed obtained based on the speed detection signal becomes zero. Here, the target speed is calculated on the basis of the speed detection signal from the encoder, the running resistance command signal by the running resistance setting section 91, and the load cell torque signal passed through the correction circuit 7.

The feedforward controller 10A generates a feedforward signal in accordance with the torque command signal by performing a predetermined operation. The subtraction section 8A subtracts the correction signal generated by the inherent vibration suppression circuit 6 from the signal obtained by adding the control signal generated by the torque controller 5 and the feedforward signal generated by the feed forward controller 10A Thereby generating a control signal to the inverter.

The effects of the control device 4A of the present embodiment will be described with reference to Figs. 4 and 5. Fig.

Fig. 4 is a diagram showing the results of the electric inertia control by the conventional control device, and Fig. 5 is a diagram showing the results of the electric inertia control by the control device of the present embodiment. Here, the conventional control device corresponds to the control device of Fig. 3 in which the natural vibration suppression circuit 6 is removed. 4 and 5 show changes in vehicle speed, load cell torque signal, and vehicle speed deviation when the vehicle put on the roller is accelerated under a constant acceleration. In this case, the speed detected by the encoder was converted into the speed of the vehicle. The vehicle speed deviation was obtained by converting the deviation between the speed detection signal and the target speed into the speed of the vehicle.

As apparent from comparison between Fig. 4 and Fig. 5, in the conventional control device not accompanied by the natural vibration suppression control, the natural vibrations of the rocking member appear in the load cell torque signal. Further, in the conventional control device, the time taken until the vehicle speed deviation starts to converge after the vehicle starts to accelerate is also long. On the other hand, according to the control apparatus of this embodiment using the load cell torque signal that is not subjected to the correction circuit for the natural vibration suppression control by the natural vibration suppression circuit and the load cell torque signal that has been subjected to the correction circuit for the torque control by the torque controller, The natural oscillation of the oscillator shown in the load cell torque signal is suppressed and the response of the dynamometer at the start of the vehicle is also improved.

Example  3

6 is a block diagram showing the configuration of the control device 4B of the dynamometer system according to the third embodiment. The control device 4B of the present embodiment differs from the control device 4A of the second embodiment (see Fig. 3) in that the speed controller 5B generates a control signal to be input to the inverter. Hereinafter, the same components as those of the control device 4A of the second embodiment are denoted by the same reference numerals, and a description thereof will be omitted.

The speed controller 5B outputs a control signal for eliminating the deviation between the speed command signal generated by the command generator 9B described later and the speed detection signal by the encoder based on the load cell torque signal passed through the correction circuit 7 Based on an existing feedback algorithm.

The command generation device 9B includes a running resistance setting section 91, a driving force observer 92, a subtraction section 93, an electric inertial ratio setting section 94, an adding section 96, a setting inertia dividing section 97B, And an integrator 98B. The configuration of the running resistance setting section 91, the driving force observer 92, the subtraction section 93, the electric inertia ratio setting section 94 and the addition section 96 in the command generating device 9B is the same as that of the embodiment 2 is the same as the control device 4A of FIG.

The setting inertia dividing section 97B generates a signal having a dimension of acceleration by dividing the value obtained by subtracting the running resistance command signal from the disturbance torque signal generated by the driving force observer 92 by the value of the set inertia mass. The integrator 98B integrates the signal generated by the set inertia dividing section 97B to generate a signal having a velocity dimension, which is used as a velocity command signal for the velocity controller 5B.

According to the control device 4B of the present embodiment, similarly to the control device 4A of the second embodiment, the effects of both the natural oscillation and the torque pulsation of the oscillator can be reduced, and a high response and stable electric inertia control can be performed.

Although the embodiment of the present invention has been described above, the present invention is not limited thereto. The detailed configuration can be appropriately changed within the scope of the object of the present invention.

For example, in the above embodiment, the present invention is applied to a so-called chassis dynamometer system having rollers among the test systems provided with the oscillating dynamometer, but the present invention is not limited thereto. The present invention is also applicable to a test system such as an engine dynamometer system or a power train system as long as it is equipped with a swinging dynamometer.

For example, in the above embodiment, the torque control by the torque controller (see Embodiments 1 and 2) or the speed control by the speed controller (see Embodiment 3) becomes a major loop and the inherent vibration suppression circuit Control has been described as a minor loop, the present invention is not limited to these. For example, the present invention can be applied to a control apparatus in which the position control by the position controller is a major loop. In this case, the load cell torque signal that has not undergone the correction circuit is input to the inherent vibration suppressing circuit constituting the minor loop, and the position command signal generated based on the load cell torque signal that has undergone the correction circuit is inputted to the position controller constituting the major loop do. The position controller may generate a control signal for eliminating a deviation between the position command signal and the position detection signal by the encoder.

1: Dynamometer system
2: Dynamometer
23: Shaker
26: Torque arm
28: Load cell
29: Encoder (speed detection device, position detection device)
3: Inverter
30: Accelerometer
4, 4A, 4B: Control device
5: Torque controller (controller)
5B: Speed controller (controller)
6: Natural vibration suppression circuit
7: Calibration circuit
9A, 9B: Command generation device (controller)
91: Running resistance setting section
92: driving force observer (electric inertia command calculation unit)
93: subtraction unit (electric inertia command calculation unit)
94: Electric inertia ratio setting unit (electric inertia command calculation unit)
96: Addition section (summing section)
98B: integrator

Claims (7)

Oscillating dynamometer connected to the load;
A load cell for detecting a torque generated at a rocking element of the dynamometer through a torque arm extending from the rocking element; And
And an acceleration sensor for detecting an acceleration of the torque arm along a load direction of the load cell,
A controller for generating a control signal for controlling the dynamometer based on a predetermined input signal;
A natural vibration suppression circuit for generating a correction signal for correcting the control signal so that natural oscillation of the oscillator is suppressed based on a predetermined input signal;
A correction circuit for inverting a detection signal of the acceleration sensor and removing the AC component from the detection signal of the load cell using the inverted signal; And
And a speed detecting device for detecting the speed of the dynamometer,
Wherein the detection signal of the load cell that has passed through the correction circuit is input to the controller, and the control signal of the controller, to which the correction signal is added, and the detection signal of the load cell,
Wherein the controller generates a control signal for eliminating a deviation between a detection signal of the load cell that has passed through the correction circuit and a predetermined torque command signal; And a command generation device for generating the torque command signal by using a detection signal of the speed detection device and a detection signal of the load cell that has passed through the correction circuit,
Wherein the correction circuit includes a DC component removing unit for removing a DC component less than a predetermined frequency from a detection signal of the acceleration sensor; A phase inverting unit for inverting a phase of the output signal of the DC component removing unit; A torque converter for multiplying an output signal of the phase inverting unit by a predetermined coefficient to convert the output signal into a torque signal; An adder for adding an output signal of the torque converter to a detection signal of the load cell; And a filter for removing harmonic noise from the output signal of the adder. The method according to claim 1,
The command generation device comprising: a running resistance setting unit that generates a running resistance command signal based on a detection signal of the speed detection device; An electric inertia command calculation unit for generating an electric inertia command signal based on the detection signal of the load cell and the detection signal of the speed detection device through the correction circuit; And a summing unit configured to add the running resistance command signal and the electric inertia command signal to a torque command signal to the torque controller. 3. The method of claim 2,
The command generation device generates a torque correction signal for matching the speed of the dynamometer to a predetermined target speed based on a detection signal of the speed detection device, the running resistance command signal, and a detection signal of the load cell through the correction circuit, And a speed controller for generating a speed control signal,
Wherein the summing unit uses the sum of the running resistance command signal, the electric inertia command signal and the torque correction signal as a torque command signal to the torque controller. Oscillating dynamometer connected to the load;
A load cell for detecting a torque generated at a rocking element of the dynamometer through a torque arm extending from the rocking element; And
And an acceleration sensor for detecting an acceleration of the torque arm along a load direction of the load cell,
A controller for generating a control signal for controlling the dynamometer based on a predetermined input signal;
A natural vibration suppression circuit for generating a correction signal for correcting the control signal so that natural oscillation of the oscillator is suppressed based on a predetermined input signal;
A correction circuit for inverting a detection signal of the acceleration sensor and removing the AC component from the detection signal of the load cell using the inverted signal; And
And a speed detecting device for detecting the speed of the dynamometer,
Wherein the detection signal of the load cell that has passed through the correction circuit is input to the controller, and the control signal of the controller, to which the correction signal is added, and the detection signal of the load cell,
A speed controller for generating a control signal for eliminating a deviation between a detection signal of the speed detection device and a predetermined speed command signal; And a command generation device for generating the speed command signal by using a detection signal of the speed detection device and a detection signal of the load cell that has passed through the correction circuit,
Wherein the correction circuit includes a DC component removing unit for removing a DC component less than a predetermined frequency from a detection signal of the acceleration sensor; A phase inverting unit for inverting a phase of the output signal of the DC component removing unit; A torque converter for multiplying an output signal of the phase inverting unit by a predetermined coefficient to convert the output signal into a torque signal; An adder for adding an output signal of the torque converter to a detection signal of the load cell; And a filter for removing harmonic noise from the output signal of the adder. 5. The method of claim 4,
The command generation device comprising: a running resistance setting unit that generates a running resistance command signal based on a detection signal of the speed detection device; A driving force observer for generating a disturbance torque signal corresponding to a driving force applied to the dynamometer based on a detection signal of the speed detection device and a detection signal of the load cell through the correction circuit; And an integrator for generating the speed command signal by integrating the disturbance torque signal obtained by subtracting the running resistance command signal from the disturbance torque signal. Oscillating dynamometer connected to the load;
A load cell for detecting a torque generated at a rocking element of the dynamometer through a torque arm extending from the rocking element; And
And an acceleration sensor for detecting an acceleration of the torque arm along a load direction of the load cell,
A controller for generating a control signal for controlling the dynamometer based on a predetermined input signal;
A natural vibration suppression circuit for generating a correction signal for correcting the control signal so that natural oscillation of the oscillator is suppressed based on a predetermined input signal;
A correction circuit for inverting a detection signal of the acceleration sensor and removing the AC component from the detection signal of the load cell using the inverted signal; And
And a position detecting device for detecting a position of an axis of the dynamometer,
Wherein the detection signal of the load cell that has passed through the correction circuit is input to the controller, and the control signal of the controller, to which the correction signal is added, and the detection signal of the load cell,
The controller includes a position controller that generates a control signal for eliminating a deviation between a position command signal generated based on a detection signal of the load cell that has passed through the correction circuit and a detection signal of the position detection device,
Wherein the correction circuit includes a DC component removing unit for removing a DC component less than a predetermined frequency from a detection signal of the acceleration sensor; A phase inverting unit for inverting a phase of the output signal of the DC component removing unit; A torque converter for multiplying an output signal of the phase inverting unit by a predetermined coefficient to convert the output signal into a torque signal; An adder for adding an output signal of the torque converter to a detection signal of the load cell; And a filter for removing harmonic noise from the output signal of the adder. Oscillating dynamometer connected to the load;
A load cell for detecting a torque generated at a rocking element of the dynamometer through a torque arm extending from the rocking element; And
And an acceleration sensor for detecting an acceleration of the torque arm along a load direction of the load cell,
A controller for generating a control signal for controlling the dynamometer based on a predetermined input signal;
A natural vibration suppression circuit for generating a correction signal for correcting the control signal so that natural oscillation of the oscillator is suppressed based on a predetermined input signal;
A correction circuit for inverting a detection signal of the acceleration sensor and removing the AC component from the detection signal of the load cell using the inverted signal; And
And a speed detecting device for detecting the speed of the dynamometer,
Wherein the detection signal of the load cell that has passed through the correction circuit is input to the controller, and the control signal of the controller, to which the correction signal is added, and the detection signal of the load cell,
Wherein the controller generates a control signal for eliminating a deviation between a detection signal of the load cell that has passed through the correction circuit and a predetermined command signal; And a command generating device for generating a torque command signal for the torque controller,
The command generation device comprising: a running resistance setting unit that generates a running resistance command signal based on a detection signal of the speed detection device; An electric inertia command calculation unit for generating an electric inertia command signal based on the detection signal of the load cell and the detection signal of the speed detection device through the correction circuit; A summation unit that uses the sum of the running resistance command signal and the electric inertia command signal as a torque command signal to the torque controller; And a speed generating unit that generates a torque correction signal for matching a speed of the dynamometer to a predetermined target speed based on a detection signal of the speed detecting device, the running resistance command signal, and a detection signal of the load cell through the correction circuit, And a controller,
Wherein the summing unit uses the sum of the running resistance command signal, the electric inertia command signal and the torque correction signal as a torque command signal to the torque controller.

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