SU1411175A1 - Apparatus for controlling multimotor electric drive of vehicle - Google Patents

Abstract

The invention relates to transport, in particular to devices for automatically controlling the speed of vehicles, and provides increased stability. The device contains 1t regulator 1 of the voltage of the traction electric motors 2 with sensors of 3 currents connected to the inputs of the maximum signal extraction unit 4, and speed sensor 5. They are also connected to the inputs of the extreme signal extraction unit 6. The output of block 4 and the output of block 6 are connected respectively to the input of current regulator 7 and speed regulator 8. The device also contains a speed setting device 13, an AND 14 element, an NOT 15 element, a block 16 for setting the movement mode, including map map 17, null-organs 18 and 19, elements 20 and 21 EQUALITY and UNEQUAL-MEANS, FESTION, HE element 22 and elements And 23, 24, the unit 25 intensity of change of movement. Instant value (O (L iU ate

Description

Equipping speeds with increasing or decreasing vaggichina zadagg setter 13 speeds foperpitc unit 25 intensity of change of motion and unit 16 setting the motion mode in the form of a linearly increasing or s. falling in time signal. In terms of the magnitude and peripherality of the error signals on the codes of the current regulators 7 and the speed controller 8, the block 16 forges the driving mode (th, coasting, braking) depending on the change of the driving resistance conditions and the given speed. 2 z.p, f-ly, 1 ill.

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j The invention relates to transport | that, in particular, to devices for; automatic control of vehicle speed.

The purpose of the invention is to increase the stability of the device.

The drawing shows the block diagram: .ma of the proposed device.

The device contains a regulator 1 for traction motor motors 2 with current sensors 3, connected to the outputs of the maximum signal extraction unit 4, and with speed sensors 5, connected to the inputs of the extreme signal extraction unit 6. The outputs of blocks 4 and 6 are connected to one of the inputs of current regulator 7 and speed regulator 8, respectively, with blocks 9 and 10 of comparison and amplifiers 11 and 12. The device also contains a speed setpoint 13, the first element 14 and the first element NOT 15, block 16 of the two-mode setting, including a comparator 17, the first 18 and second 19 null organs, the EQUALITY element 20, the UNEQUALITY element 21, the second element NOT 22, the second 23 and the third 24 elements And, the unit 25 of the intensity of change in motion, performed on the integrator 26, the first threshold element 27 and eadat ike 28 acceleration unit 29 eliminate excessive sliding included chayuischy dial 30 voltage porogovyy- second member 31, the key member 32 elem ent memory 33 and the first 34 and second comparing units 35, the control unit 36 and the motion mode. The output of the accelerator adjuster 28 is connected to one of the inputs of the first threshold element 27, which is connected to the input of the integrator 26.

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A tegrator, which is the input of the speed variation intensity adjuster 25, is connected to the second input of the speed controller 8 and to one of the inputs of the comparator 17, to the other input of which the speed reference 13 is connected. The speed controller-8 is connected by the output to the input of current regulator 7. The input of the second zero-organ 19 is connected directly to the output of the block 10 comparing the speed control device 8. The output of current regulator 7 is connected to one of the inputs of the first comparison unit 34 and to the input of the first null organ. The output of the first null organ 18 is connected to the inputs of the first 14 and second 23 elements AND, the second element NOT 22, the UNIMINITY 20 block, the second threshold element 31-and the extreme signal extraction unit 6.

The output of the second zero-body 19 is connected to the inputs of the UNEMNATABILITY block 21 and the second element AND 23. The output of the comparator 17 is connected to the inputs of the first threshold element 27, the elements

 EQUITY 20 and UNEQUALITY

21 and the second element And 23, the output of which is through the first element. NOT 15 is connected to the input of the first element AND 14, which is connected by an output to one of the inputs of the motion control unit, the other input of which is connected to the output of the second element. NO 22, and the third to the output of the first comparison unit 34. The outputs of elements 20 and 21 are connected to the inputs of the third element AND 24 connected by an output to the inputs of a second threshold element 31 and a memory element 33, the output of which is connected to one of the inputs of the second comparison unit 35, the other input of which is connected to another Sign In31411173

the house of the memory element 33 and the output of the engine block lie are fed and electric

4, the maximum signal is in the coasting mode, and the output is with the setpoint output of 30 na-If during the movement of the electric locomotive in

pry, Bypass the last connected, run, g, act-flax speed

To another input of the second threshold, the relatively long time of the pump element 31 connected by the output converges a predetermined speed (compiled by another input of the comparison unit 34. The weight on the slope exceeds the device; the device works as opposed to motion), the difference of the output currents

The instantaneous value of the setpoint of the current regulator 7 changes its porosities with decreasing or increasing the brightness, which leads to a change in

the values set by the setting device 13 of the zero-state 18 state and the disappearance velocity are formed by the setting device 25 to the detection of the signal at its output. After

Intensity of change of movement and block of this element is NOT 22 switches the electrician 16 to set the driving mode. The cigar drive through control unit 36

rolls from the setpoint 13 and from the integrator braking mode. When reconstructed, 26 are compared in comparator 17, the positive mismatch

Torso depending on the sign of the mismatch-CKopocTeii, and then the positive

soovanie compared signals of the signal-20 signal at the output of the current regulator 7

fViT from one steady state the drive mode sets the thrust mode, the other, and its output signal is possible during acceleration and deceleration. The electrode acts on the element 27, which actuator operates, as a rule, with the polarity of the signal with the specified drive. load which

Chika 28 speed up. 25can exceed the moment limit by

Thus, in the transition regimes, the conditions for the release of the wheels and the wheels. movement (acceleration, deceleration) After that, we develop one by one or not until stopping, passing from the set of electric motors to the moment of setting) as a signal more than the moment, actually, the instantly set speed of use of the transmitted wheel pairs is linearly increasing or linearly the composition, and there is a place for the excess, but a time-falling signal from you — the moment of the Electrodrive is expended on the integrator's stroke 26. The message of the wheels to the first pair of extras After the mismatch, it will throw energy at the side between the specified and the effective 35s) or for jamming, the wheel speeds in the 8-speed controller of the pair (when used). In both cases of excess and mismatch of currents in the regulating slip, the signal from the last one-side signal is characterized by a mismatch from 7 currents to the null organ 18, the signal is clear, which is specified by the polarity 40 and the setpoint The setting device 13, and through the element AND 14 or through the element with another - by changing the sign of misalignment - NOT 22 translates the electric drive of the blocking between the set and the control in the draw bar or in the mode speed, braking. After reaching the output levels. At normal acceleration, which by the signal of the integrator 26, the set-45 signal is realized in thrust mode, the speed signals from the setting unit 13, the speeds from the outputs of the comparator 17, the zero-transition movement mode is completed, the organs 19 and 18 are equal and the electric drive goes into staging mode. In blocking, the signal from the bilization of a given speed of movement of the output of the element 10 becomes 5Q negative, therefore, the signal of the electric locomotive for the output of the null organ 19 is stanolone, when the actual speed is equal to the spindle zero. After

exceeds the setpoint of the speedy-this at the outputs of the EQUALITY element, the null-orga 19 switches to null-20, and the UNEMINABLE element

left state and presence control signal logical signals

traction mode through the element And 23, units that through the element And 24

the element NOT 15. and the element AND 14 in the blocking by means of the element 31 chain

36 management does not arrive. In this, the voltage adjuster 30 and the bloc voltage across the traction unit 34 compare in which the output from the voltage regulator 30 is output from the output signal of the current regulator 7. Similarly, the effect of the block 16 setting the mode, the movement on the element

32, in the case of a floristic pair, when the locomotive brakes, however, in this case, the states of the comparator 17 and 1 of the zero-organs 19 and 18 are changed to | opposite. Since in the modes t 1 and deceleration, the polarity of the output signal from the current regulator 7 changes em-C:, to match the signs of the signals of the setting device 30 and from the regulator 7, the element 31 reverses the vaults of the output signal depending on the state and zero -organ 18.

I Since in transient modes of motion, traction electric motors can be differently loaded due to the inadmissibility of mechanical characteristics, fl also due to the variation of axial loads on the wheelset of an electric locomotive, in order to prevent excessive slip, unit 4 is exhausted into the device - Leni is the maximum current signal from all the measured currents of the Korean motor in a multi-motor drive, and in Appearance of the most slippery or mobile vehicle (block wheel pair), block 6 was introduced to determine the maximum speed signal during acceleration and min. nogo velocity signal when braking, wherein from one mode switching unit 6 in. the other is performed on a signal from zero-vyKoda body 18.

In order to prevent possible auto-oscillations in the control system When the control changes stepwise, the electric drive is affected by over-slip of the wheels, pa pa devices and devices (either in the device with parameters control of one electric motor or in the device with parameters control of all electric motors) It proposes that the change of the signal from the current controller current code 7 be performed as a function of the difference in the current value measured at the moment of occurrence of the current slip and the current value Dp this signal from the output of AND gate is supplied to .upravl yuschy input element 33 of memory, which stores the current of Great lichinz mment occurrence locomotive wheelslip OR Hughes. Next, the current value of the current is compared with this value, and in proportion to the difference this voltage value changes with

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sensor 30, t, e. the magnitude of the reduction in the control action of the traction motors varies. With the disappearance of the signal from the element 24, i.e. when the normal coupling of the wheels to the rails is restored, the memory element 33 (e.g., the reverse edge of the control signal) is restored to its original bullet state.

Claims (3)

1. A device for controlling a multi-motor electric vehicle containing a voltage regulator for traction motors, a current regulator, one of the inputs of which is connected to the output of one of the maximum signal extractor units connected by the inputs to the current sensors of the electric motors and the other input , - to one of the outputs of the speed controller connected by one input to the motor speed sensor, speed master, speed change intensity sensor, unit for the elimination of excess speed lzheni unit zadagsh travel mode, block mode upravlen1-1, characterized in that, in order to increase stability, it snab-. It is the first elements AND and NOT, the unit for changing the speed includes an integrator, the first threshold element and the accelerator unit, the setting unit Relma includes the elements UNIVERSAL and UNEQUALITY, the second and third elements And, the second element NOT, the compressor and the zero organs and the excess slip elimination block is the voltage master, the second threshold element is the key element, the first comparison block, one of the inputs of which is connected to the output of the current regulator and the input of the key element, and the output with one of strokes of the mode control unit connected by the output to the input of the voltage regulator of a motor, the second input to the output of the second element NOT, the third input to the output of the first element AND, one input through which the first element is NOT connected to the output of the second element AND the other input is to the output of the first null organ, to the input of the second element NOT, to one of the inputs of the second element AND, the OPERATIONAL DETAIL element and to the control input of the second, threshold element connected to the output of the voltage setting device, and the output to one of key moves element, the other input of which is connected to the output of the third element I, while the acceleration adjuster is connected to one of the inputs of the second threshold element connected by the output to the input of the integrator, the input of which is connected to the other input of the speed regulator and to the inputs of the comparator connected by another input unit of speed, and output - with another input of the UNIFORM element, another input of the second element AND, another input of the second threshold element and with one of the inputs of the element UNIMAL DIFFERENCE, the other input of which is three the second input element And connected to the output of the second null-organ connected to the input . k. another speed control output. 0 2. A device according to 1, characterized in that it is equipped with additional speed sensors of electric motors and an extremal signal extraction unit, the information input of which is connected to speed sensors of traction engines, the control input is connected to the output of the first zero-body, and the output With one of the outputs of the speed controller, 3. The device according to claim 1, characterized in that the redundant slip prevention unit is equipped with a memory element and a second comparative unit, one of the inputs of which is connected to the output of the maximum signal block associated with one of the inputs of the memory element and the other input - to the output of the element of the mate, the other input of which is connected with the output of the third element I, while the output of the second comparison unit is connected to the input of the voltage setting device.