US3870939A - Method for controlling acceleration and deceleration of a traction motor - Google Patents

Method for controlling acceleration and deceleration of a traction motor Download PDF

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Publication number
US3870939A
US3870939A US265161A US26516172A US3870939A US 3870939 A US3870939 A US 3870939A US 265161 A US265161 A US 265161A US 26516172 A US26516172 A US 26516172A US 3870939 A US3870939 A US 3870939A
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United States
Prior art keywords
signal
speed
gamma
epsilon
setting
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Expired - Lifetime
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US265161A
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English (en)
Inventor
Michel Robert
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Engins Matra SA
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Engins Matra SA
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/26—Rail vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • FIG. 1 is a diagram showing the units of a first mode of construction of a control system
  • FIG. 2 represents the acceleration diagram obtained as a result of constraints imposed on the derivative of the acceleration
  • FIGS. 3A, 3B, 3C represent the geometric shapes of the servo response of the control system as a function of time
  • FIG. 6A represents a control system for a discontinuous setting speed
  • FIG. 68 represents a control system for an all or nothing speed setting control signal.
  • the derivative of the acceleration can assume only three values: +a, 0 a; a is the maximum permitted value for the comfort of the passengers. This is one example of the utilization of the controlled vehicle. These constraints could be different in the case where a vehicle is transporting fragile or other objects.
  • K l0 is chosen so that the actual acceleration ys is close to the acceleration ye.
  • the control system receives the setting speed signal V It also receives the actual speed signal V obtained on the vehicle. A comparison of these two speeds in the comparator 4 results in a certain signal V V As this signal does not take into account the phase advance, the signal V is used and modified in the device 5 and multiplied by K, in the multiplier 6 for transmission to the comparator 7.
  • This comparator 7 provides an output signal P is the LAPLACE, operator. 7
  • the diagram illustrates in particular the slowing down of the vehicle which, starting from the station A at zero speed, accelerates to reach a speed corresponding to the setting V The vehicle moves at that speed and then gradually slows down after receiving, at points a, b, c, the settings V V V,- to come finally to a stop at the station B. It is seen from this diagram that a continuous speed is obtained as a result of a discontinuous speed setting.
  • step G additively combining the control speed signal V with the actual speed signal V and the positive part of the resulting signal constitutes the actual acceleration signal employed in step G.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Electric Motors In General (AREA)
US265161A 1971-06-29 1972-06-22 Method for controlling acceleration and deceleration of a traction motor Expired - Lifetime US3870939A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR7123761A FR2144061A5 (de) 1971-06-29 1971-06-29

Publications (1)

Publication Number Publication Date
US3870939A true US3870939A (en) 1975-03-11

Family

ID=9079538

Family Applications (1)

Application Number Title Priority Date Filing Date
US265161A Expired - Lifetime US3870939A (en) 1971-06-29 1972-06-22 Method for controlling acceleration and deceleration of a traction motor

Country Status (8)

Country Link
US (1) US3870939A (de)
JP (1) JPS5520441B1 (de)
BE (1) BE785044A (de)
CH (1) CH566227A5 (de)
DE (1) DE2231948C2 (de)
FR (1) FR2144061A5 (de)
GB (1) GB1389084A (de)
IT (1) IT956768B (de)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4109190A (en) * 1976-12-30 1978-08-22 General Electric Company Circuit for increasing the operating speed range of a velocity servo system
US4792737A (en) * 1987-06-15 1988-12-20 Performance Controls, Inc. Circuit for controlling the motion of a moving object
WO1989011028A1 (en) * 1988-05-05 1989-11-16 Robert Bosch Gmbh An arrangement and method for speed control
US5070287A (en) * 1989-09-27 1991-12-03 Siemens Aktiengesellschaft Method for a numerical positioning control system
US5107770A (en) * 1990-05-11 1992-04-28 Yamaha Hatsudoki Kabushiki Kaisha Conveyor drive system
US5142207A (en) * 1989-05-19 1992-08-25 Samsung Electronics Co., Ltd. Acceleration and deceleration method for transferring device
US5159250A (en) * 1991-01-26 1992-10-27 Samsung Electronics Co., Ltd. Robot control method
US5211115A (en) * 1990-05-08 1993-05-18 Robert Bosch Gmbh Transporting device
USRE39011E1 (en) 1994-03-31 2006-03-14 Cattron Intellectual Property Corporation Remote control system for a locomotive

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2517751A1 (fr) * 1981-12-04 1983-06-10 Neyrpic Procede et dispositif pour minimiser l'ecart dynamique de la vitesse dans un systeme de regulation de vitesse d'une turbine hydraulique
US5161634A (en) * 1990-03-27 1992-11-10 Kubota Corporation Electric vehicle
DE4337356A1 (de) * 1993-11-02 1995-05-04 Siemens Ag Regelungsverfahren und Schaltung zur Regelung eines Elektrofahrzeuges

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3350612A (en) * 1964-02-19 1967-10-31 Imp Electric Company Jerkless pattern signal for motor acceleration
US3523232A (en) * 1964-07-06 1970-08-04 Reliance Electric & Eng Co Jerk,acceleration,and velocity limited position pattern generator for an elevator system

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1438816C3 (de) * 1965-06-22 1974-07-11 Siemens Ag, 1000 Berlin Und 8000 Muenchen Geschwindigkeitsregeleinrichtung für elektrische Triebfahrzeuge

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3350612A (en) * 1964-02-19 1967-10-31 Imp Electric Company Jerkless pattern signal for motor acceleration
US3523232A (en) * 1964-07-06 1970-08-04 Reliance Electric & Eng Co Jerk,acceleration,and velocity limited position pattern generator for an elevator system

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4109190A (en) * 1976-12-30 1978-08-22 General Electric Company Circuit for increasing the operating speed range of a velocity servo system
US4792737A (en) * 1987-06-15 1988-12-20 Performance Controls, Inc. Circuit for controlling the motion of a moving object
WO1989011028A1 (en) * 1988-05-05 1989-11-16 Robert Bosch Gmbh An arrangement and method for speed control
US5043647A (en) * 1988-05-05 1991-08-27 Robert Bosch Gmbh System and method for controlling the speed of a vehicle having an internal combustion engine
US5142207A (en) * 1989-05-19 1992-08-25 Samsung Electronics Co., Ltd. Acceleration and deceleration method for transferring device
US5070287A (en) * 1989-09-27 1991-12-03 Siemens Aktiengesellschaft Method for a numerical positioning control system
US5211115A (en) * 1990-05-08 1993-05-18 Robert Bosch Gmbh Transporting device
US5107770A (en) * 1990-05-11 1992-04-28 Yamaha Hatsudoki Kabushiki Kaisha Conveyor drive system
US5159250A (en) * 1991-01-26 1992-10-27 Samsung Electronics Co., Ltd. Robot control method
USRE39011E1 (en) 1994-03-31 2006-03-14 Cattron Intellectual Property Corporation Remote control system for a locomotive
USRE39210E1 (en) 1994-03-31 2006-08-01 Cattron Intellectual Property Corporation Remote control system for a locomotive
USRE39758E1 (en) 1994-03-31 2007-08-07 Cattron Intellectual Property Corporation Remote control system for a locomotive

Also Published As

Publication number Publication date
CH566227A5 (de) 1975-09-15
IT956768B (it) 1973-10-10
JPS5520441B1 (de) 1980-06-03
FR2144061A5 (de) 1973-02-09
BE785044A (fr) 1972-10-16
DE2231948C2 (de) 1983-02-03
DE2231948A1 (de) 1973-01-18
GB1389084A (en) 1975-04-03

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