US3870939A - Method for controlling acceleration and deceleration of a traction motor - Google Patents
Method for controlling acceleration and deceleration of a traction motor Download PDFInfo
- 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
- Authority
- US
- United States
- Prior art keywords
- signal
- speed
- gamma
- epsilon
- setting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Classifications
-
- 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.
Landscapes
- 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)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR7123761A FR2144061A5 (it) | 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 (it) |
JP (1) | JPS5520441B1 (it) |
BE (1) | BE785044A (it) |
CH (1) | CH566227A5 (it) |
DE (1) | DE2231948C2 (it) |
FR (1) | FR2144061A5 (it) |
GB (1) | GB1389084A (it) |
IT (1) | IT956768B (it) |
Cited By (9)
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)
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)
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)
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 |
-
1971
- 1971-06-29 FR FR7123761A patent/FR2144061A5/fr not_active Expired
-
1972
- 1972-06-16 BE BE785044A patent/BE785044A/xx not_active IP Right Cessation
- 1972-06-22 US US265161A patent/US3870939A/en not_active Expired - Lifetime
- 1972-06-22 IT IT26035/72A patent/IT956768B/it active
- 1972-06-28 CH CH969672A patent/CH566227A5/xx not_active IP Right Cessation
- 1972-06-28 GB GB3031172A patent/GB1389084A/en not_active Expired
- 1972-06-29 JP JP6538072A patent/JPS5520441B1/ja active Pending
- 1972-06-29 DE DE2231948A patent/DE2231948C2/de not_active Expired
Patent Citations (2)
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)
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 |
---|---|
GB1389084A (en) | 1975-04-03 |
IT956768B (it) | 1973-10-10 |
CH566227A5 (it) | 1975-09-15 |
BE785044A (fr) | 1972-10-16 |
FR2144061A5 (it) | 1973-02-09 |
JPS5520441B1 (it) | 1980-06-03 |
DE2231948C2 (de) | 1983-02-03 |
DE2231948A1 (de) | 1973-01-18 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US3870939A (en) | Method for controlling acceleration and deceleration of a traction motor | |
GB1187709A (en) | Improvements in or relating to Slip Frequency Control of an Asynchronous Electrical Machine | |
US3934125A (en) | Automatic vehicle operation system | |
JPS63198585A (ja) | 速度制御サ−ボモ−タ | |
GB1212764A (en) | Vehicle with braking system employing apparatus for indicating changes in angular velocity | |
US4005837A (en) | Circuit arrangement for controlling the propulsion, braking and station stopping function for a rapid transit train | |
GB1111322A (en) | Elevator control system | |
JPS641803B2 (it) | ||
GB1137189A (en) | Control system for vehicles | |
US4225813A (en) | Transit vehicle dynamic brake control apparatus | |
JPS6467470A (en) | Circuit device for car drive | |
US3706020A (en) | Capstan motor control system | |
JPS582917B2 (ja) | トロリウンテンセイギヨソウチ | |
JPS60190200A (ja) | ステツプモータ制御装置及び制御方法 | |
US3636422A (en) | Traction motor control system | |
GB1529688A (en) | Circuit arrangement for phase-alignment of a servo-drive for a rotary system | |
US3516518A (en) | Elevator control system | |
JPS55120388A (en) | Drive circuit for feedback control type dc motor | |
JPS6474004A (en) | Acceleration or deceleration controlling method for electric automobile | |
RU1781393C (ru) | Способ ограничени динамических нагрузок механизма поворота экскаватора и устройство дл его реализации | |
JPS6057285B2 (ja) | 電気車制御装置 | |
JPH0488404A (ja) | 数値制御装置の位置設定方式 | |
JPS6015718A (ja) | 速度サ−ボ制御方法 | |
JPH02193505A (ja) | 移動体の走行制御方法及び装置 | |
JP2540752B2 (ja) | スタッカクレ―ンの走行制御装置 |