SU1289711A1 - Device for automatic control of electric drives in independent vehicle - Google Patents

Abstract

FIELD: transport. Pel invention - increased reliability. The device consists of sensors 1 of the generator voltage, the currents of the core 2 and the excitation of the engine connected to the inputs a of functional converters 4-6, inputs b of which are respectively connected to the outputs of the generator 7 pulses and the integrator 8, blocks 11 and 12 of the control of traction and braking the modes with which the multiplication unit 10 and the adders 26 and 27 are respectively connected. The load controller 16 and the stabilized voltage source 13 are connected to one of the integrator 8 inputs via the switch 18 of the vehicle operation modes. The position sensors 15 of the brake pedal and the frequency 19 of the engine rotation are associated with block 12. The device provides the most economical operation modes of the electric drive. 2 hp f-ly, 1 ill. to (L with: th 00 with

Description

1J

The invention relates to the transport, in particular to the automatic regulation of the traction of electric drives. The purpose of the invention is

The drawing shows a block diagram of a device for automatically controlling an autonomous vehicle's electric drive.

The device consists of voltage sensors 1 of the generator, currents of the core 2 and excitation of 3 motors connected to the inputs of 4-6 functional converters, respectively, inputs b and from which are connected respectively to the outputs of the generator 7 pulses and the integrator 8 connected by inputs a to the output of the functional converter 4 adder 9, blocks 10 multiplication, control of traction 11 and brake 12 modes, the inputs b, c, d, e of the last of which are connected respectively to the outputs of the stabilized voltage source 13, 14 frequency, the sensor 15 position of the brake pedal and functional converter 6, the load controller 16, to the input of which the sensor 17 of the rotational speed of the heat engine is connected, and the output of the input is about. the switch 18 of the vehicle operation modes, with the input b of which is connected to the output of the stabilized voltage source 13, and to the output of the integrator 8 and the engine speed sensor 19. The inputs b of the adder 9 and the control mode-control unit 11 are connected to the output of the functional converter 5. The input b of the multiplication unit 10 is connected to the output of the adder 9, and the output of the multiplication unit 10 is connected to the input d of the unit 11,

Each of the functional converters 4-6 is made on a serially connected comparator 20, a short pulse shaper 21, and an optocoupler 22 connected by one of the inputs to the output of the optocoupler 22 of the 23 rd unit, the integrator 24 and the optocoupler 25 connected to its input and the output of the integrator 24 is connected to one of the inputs of the comparator 20, the other input of which, the input of the optocoupler 25, the other input and output of the memory unit 23 are the corresponding inputs a, b, c and the output of the function converter

12

The brake mode control unit 12 is made on adders 26 and 27, comparison elements 28-30 and maximum signal extraction 31, the inputs of the latter of which are connected to the outputs of comparison elements 28-30. One of the inputs of the comparison elements 28 and 29 is connected to the outputs of the adders 26 and 27. One of the inputs of the comparison element 30 is combined with the input a of the adder 27, the input b of which is combined with the input b of the adder 26. Other inputs of the comparison elements 28-30, the third input of the element 30 comparisons, input b of adder 27, input l. adder 26 and in and. the sum of the ora 27 is respectively the inputs b, c, d, e, o. block 12 control braking mode. The traction control unit 11 is provided on comparison elements 32-34 and a maximum signal extraction element 35 connected to their outputs. One interconnected and other inputs of the comparison elements 32-34 are respectively the inputs b, d, a, e of the mode control unit 11.

The device works as follows.

Since functional transducers 4-6 work identically, let us consider their operation using the example of converter 4. Pulse generator 7 generates narrow pulses with a period of T and synchronizes the operation of integrators 8 and 24 with a reset, which form a linearly increasing voltage. The zeroing of the integrators occurs at the moment of the appearance of a positive impulse at the output of the generator 7. The output voltage U of sensor 2 at comparator 20 is compared with the current value of the signal of integrator 24. A pulse sequence appears at the output of comparator 20, and the state of comparator 20 changes at the moment when the voltage at the output of integrator 24 becomes equal to at the output of sensor 2. Due to the linearity of the voltage variation with time at the integrator output, the time interval Tg between two adjacent pulses at the output of comparator 20 is proportional to the value of the measured voltage and. Shaper 21 on the leading edge of the pulses of the comparator 20

3-1

It generates narrow pulses that are transmitted through the optocoupler 22 and control the switching on of the memory block 23, in which the voltage value available at the output of the integrator 8 is recorded at this moment.

Thus, the functional converter 4 is a converter of the input voltage of the sensor 2 using optocoupler, both according to the synchronization signal of the integrators 24 and 8, the optocoupler 25, and the information transmission signal through the optocoupler 22, while the optocoupler 22 and 25 operate in pulse mode.

The device in the traction mode works as follows.

A switch 18 connects the output of the load controller 16 to the analog input of the integrator 8. The load controller 16 converts the rotational speed period of the heat engine to

stitching The voltage signal, proportional to the frequency period, is algebraically summed with a constant voltage, which registers the dependence of the power of the electromotor P on the frequency f ,,.

The magnitude of the current value of the output voltage of the integrator 8 is proportional to the magnitude of the input voltage — the actual Unp. In this case, the signal at the output of memory block 23 is proportional to the voltage Unp and the input voltage - 35 (UY 0). Total signals

sensori then the voltages at the outputs of the functional converters 4 and 5 are equal.

arrive at the inputs of elements 28 and 29 of the comparison, where they are compared with a CONSTANT voltage E of source 13. By analogy with the traction mode, the following conditions of regulation in the braking mode are formed

-TO

TO

li.

f tg ..

- so on

TO

. and

coefficient of proportionality} motor current, generator voltage. By entering adder 9, for example, these are summed. At the same time, at the outgoing 10 times the voltage-50

..

 t.E.V.

45

and

.

K. K,

T. E & K

2

K5 to;

55

Kg - adjustable ratio

taking into account the contribution of joule losses.

O

five

Signals and. Up, go to the inputs of the elements 32-34 comparison. At the same time, a difference signal with a constant voltage E coming from source 13 is formed at their outputs. Considering that the gain of elements 32-34 is large enough, and if the parameter setting the setpoint K ,, is replaced with some function (tfg, ) received in re-. As a result of the correction in load controller 16, the limiting and partial external characteristics of the generator remain similar, and only the distances between the characteristics corresponding to different

f values

.

0

The maximum of the output signals of the comparison elements 32-34 is highlighted by the maximum signal selection element 35.

 In the brake mode, the switch 18 connects the analog input of the integrator 8 to the source 13 of the stabilized voltage. The outputs of the functional converters 4-6 form signals proportional to the values of the input signals of the sensors 2,1,3 - I ,, and ,, 1.

0 The signal and the output of the sensor 15 is fed to the inputs of adders 26 and 27, where it is summed with signals proportional to the values of currents 1, and I, (. On the limiting characteristic

arrive at the inputs of elements 28 and 29 of the comparison, where they are compared with a CONSTANT voltage E of source 13. By analogy with the traction mode, the following conditions of adjustment in the braking mode are formed

K and + K -i E: K „and + K and E,

b ya.ch 7 f 8 sb;

where K, K

7

TO,

the fractional coefficients of the corresponding terms in the summation in the adders 26 and 27. The frequency converter 14 inversely proportional converts the rotational frequency of the motor into a voltage

U,

36

where K is the transfer coefficient of the converter 14.

The voltage and is supplied to one of the inputs of the comparison element 30, to the other input of which the signal is received and. j This regulation will be carried out in accordance with the equation

t f 9

 -to

The maximum error signal, which is controlled in the braking mode, is removed from the output of the maximum signal extraction element 31.

Thus, in braking mode, three-zone characteristics are formed with limitations of the limiting values of excitation currents 1 and 1 and also the reactive emf of an electric motor, the latter limitation being implemented by stabilizing the output of the fjgKoceeHHbiM

In the practical implementation of the device

The feedback signals are fed to the inputs of the comparison elements through adjustable voltage dividers, by means of which these independent limits are separately and independently controlled for the limiting parameters of the applied electrical equipment. This applies to both traction and brake mode.

The proposed device provides automatic regulation of the electric drive in the traction and braking modes, with the realization of the most economical characteristics, the possibility of their correction in the traction mode and an increase in the braking efficiency in the high frequency range of rotation of the electric motor. The use of an opto-coupler increases the reliability of the device, and the use of period-voltage converters instead of frequency-voltage simplifies the structure of functional converters.

Claims (2)

Invention Formula A device for automatic control of an autonomous vehicle by an electric drive, comprising an engine rotational speed sensor connected to the input of the load controller, sensors for generator voltage, core currents and motor excitation connected to the first inputs of the first, second and third function converters, respectively outputs which respectively five g five 0 five 45 d connected to the first and second inputs of the control unit by the traction mode and the first input of the brake control unit, the second, third and fourth inputs of which are respectively connected to the outputs of the brake pedal position sensor, the second functional converter and the frequency converter, to the input of which the frequency sensor is connected rotation of the motor, and the multiplication unit, one of the inputs of which is connected to the output of the second functional converter, and the output to the third input of the control unit of the traction mode, distinguishes Moreover, in order to increase reliability, it is equipped with pulse generators connected to the second and third inputs of functional converters and an integrator connected to the outputs of the first and second functional converters, the first adder, a stabilized voltage source and connected to the output of one of the inputs operating modes of the vehicle, with another input of which is connected to the output of the load controller, and with the output is one of the inputs of the integrator, the other input of which is connected The output of the first generator is connected to another input of the multiplication unit, and the output of the stabilized voltage source is connected to the fifth and fourth inputs, respectively, of the brake control modes. 2. The device according to claim 1, wherein the functional converter is made on connected-sequentially comparator, a short pulse shaper and the first optocoupler connected by one of the inputs to the output of the first optron of the memory unit, the second integrator and a second optocoupler connected to its input, and the output of the second integrator is connected to one of the comparator inputs, the other input of which, the input of the second optocoupler, the other input and output of the memory unit are the first, second and third inputs and output of the function lny transducer. 3, The device according to claim 1, with the fact that the braking mode control unit is made on 712897118 the second and third adders, the element-other input of which, as well as other max-and max-inputs of one of the comparison elements, signal, the inputs of which connect one and the other inputs of the second and are not available with the outputs of the comparison elements, the third adders and the output of one single element of which are just one of the inputs below the maximum of the maximum signal The keys to the outputs of the second and third are the fourth, fifth, third, go adders, one of the inputs of the second-first and second inputs and output This adder is combined with one of the control units for braking the re inputs of another reference element, a press.