WO2008066069A1

WO2008066069A1 - Apparatus test device

Info

Publication number: WO2008066069A1
Application number: PCT/JP2007/072936
Authority: WO
Inventors: Ryuta Matsutani; Kenji Yoshida; Shigeru Sakurai
Original assignee: Kabushiki Kaisha Yaskawa Denki
Priority date: 2006-11-30
Filing date: 2007-11-28
Publication date: 2008-06-05
Also published as: JPWO2008066069A1; JP4873013B2

Abstract

Provided is a small-size and highly-effective apparatus test device by using a plurality of inverters and a common converter. The test device is used for testing an apparatus having N input shafts and M output shafts. The apparatus test device includes: a first motor (2) to an N-th motor (4) connected to the N input shafts; an N+1-th motor (5) to an N+M-th motor (7) connected to the M output shafts; a first inverter (8) to an N+M inverter (13) for converting DC power into AC power and controlling rpm or torque of the first motor to the N+M motor; and an apparatus control unit (14) which gives a torque instruction or a velocity instruction to the first inverter to the N+M inverter. The apparatus test device further includes a common converter (1) for converting the AC power into DC power for supply to the first inverter to the N+M inverter.

Description

Specification

Mechanical testing equipment

Technical field

The present invention relates to a test apparatus for a machine having N input shafts and M output shafts.

Background art

FIG. 13 is an example of a conventional mechanical test apparatus disclosed in Patent Document 1. In FIG. 13, 110 is an engine, 120 is a motor generator, 130 is a power distribution mechanism, 140 is a drive shaft, 150a and 150b are load absorption motors, 160 is a running simulator, 170a and 170b are sensors, and 180 is a terminal. The device, 190 is an ECU. Under the control of the ECU 190, the drive output output from the engine 110 and the motor / generator 120 is transmitted to the drive shaft 140 via the power distribution mechanism 130, and loaded at both ends of the drive shaft 140 as a load device. Absorption motors 150a and 150b are connected. The load absorbing motors 150a and 150b virtually generate braking torque and running resistance torque for the drive shaft 140 in order to simulate the vehicle running state. The load absorption motors 150a and 150b can be used to virtually generate a braking torque or running resistance torque, making it possible to run the vehicle in a simulated manner and not to install a brake system that is installed in an actual vehicle. The vehicle running condition can be created and various performance tests of the vehicle can be performed.

FIG. 14 is an example of a transmission test apparatus disclosed in Patent Document 2. In FIG. 14, 201 is a low inertia drive motor, 202 is a transmission, 203 is an absorption motor, 204 is a harness, 205 is an ECU, and 206 is an electronic throttle. Instead of the engine, a low-inertia drive motor 1 that simulates rotation output is used, and the rotation output shaft is connected to the transmission 2 so that the rotation output can be transmitted to the transmission 2 with good frequency response. ing. An absorption motor 3 is connected to the output shaft of the transmission 2 in order to give resistance during running in a pseudo manner. The transmission 202 includes a torque converter, a transmission main body, and a hydraulic controller, and an ECU (electronic control unit) 205 that controls the engine and the transmission is connected to the bench harness 4. The transmission itself has multiple sets of planetary gears, as well as hydraulic friction such as hydraulic clutches and hydraulic brakes. The engagement element is built in, and the hydraulic controller houses a plurality of solenoid valves that are duty-driven by the ECU 205 in addition to the integrally formed hydraulic circuit. The ECU 5 is mounted on the vehicle and integrated with the actual engine and the transmission 202, and is connected to the electronic throttle 206.

FIG. 15 shows an example of the inverter test apparatus disclosed in Patent Document 3. In Figure 15,

310 is an inverter test device, 311 is a DC power supply (DC power supply), 312 is a first motor, 312a is a stator of the first motor, and 312b is a rotor of the first motor. 313 is a second motor, 313a is a stator of the second motor, 313b is a rotor of the second motor, 314 is a first rotating shaft, 315 is a second rotating shaft, and 316 is a power distribution mechanism. 317 is the rotational driving force transmission mechanism, 317a and 317b are the gears of the rotational driving force transmission mechanism, 317c is the rotational shaft of the rotational driving force transmission mechanism, 317d is the differential gear of the rotational driving force transmission mechanism, and 317e and 317f are the rotational driving force This is the output shaft of the transmission mechanism. 318 is a third rotating shaft, 319 is a rotating shaft fixing device, 322 is a transaxle device, and 321 is a load device. The inverter test apparatus 310 performs testing by setting two units, a first inverter INV1 and a second inverter INV2, and includes a DC power source 311, a three-phase first motor 312 and a second motor 313. Further, the rotation shafts 314 and 315 of the two motors are coupled by a power distribution mechanism 316, and the third rotation shaft 318 of the power distribution mechanism 316 is fixed by a rotation shaft fixing device 319. A rotation driving force transmission mechanism 317 is connected to the second rotation shaft 315, and an output shaft 317e of the load device 321 is connected to the rotation driving force transmission mechanism 317. The first and second inverters INV1 and INV2 can also convert DC power into three-phase AC power and convert the three-phase AC power into DC power. The first and second inverters INV1 and INV2 are used as a pair. When this inverter test device 310 is used, of the AC power output from the first inverter IN VI, the loss of the first and second motors 312 and 313 and the second inverter INV 2 and the rotational driving force transmitted from the rotating shaft 315 are transmitted. The second inverter INV2 force can also be regenerated to the DC power supply 31 1 side by removing the energy consumed by the load device 321 through the mechanism 317 and the output shaft 317e. Compared to the case where all the AC output power output from the first inverter INV1 is consumed by resistors, etc., the power consumed during the output test of the first inverter INV1 can be suppressed. is there.

[0005] Patent Document 1: JP 2005-274323 A Patent Document 2: Japanese Patent Laid-Open No. 2006-170681

Patent Document 3: Japanese Patent Laid-Open No. 2005-245133

Disclosure of the invention

Problems to be solved by the invention

[0006] However, the conventional mechanical testing devices disclosed in Patent Documents 1 and 2 disclose the processing of absorbed power even though there is a description that the load absorption motor absorbs the power generated by the motor generator. It has not been. In addition, the example of Patent Document 3 uses a common power source for the two inverters. However, the example of Patent Document 3 is an inverter test apparatus, and it is not disclosed that the machine test apparatus is involved in pass / fail judgment.

The present invention has been made in view of such problems, and an object thereof is to provide a small and efficient mechanical test apparatus by using a common converter with a plurality of inverters.

Means for solving the problem

[0007] In order to solve the above problems, the present invention is configured as follows.

The invention according to claim 1 is a test apparatus for a machine having N input shafts and M output shafts, the first motor to the Nth motor coupled to the N input shafts, and M pieces. N + 1 motor to N + M motor coupled to the output shaft of the first motor, and a first motor that controls the rotational speed or torque of the first motor to the N + M motor by converting DC power into AC power. AC power is converted to direct current power in a mechanical testing device including an inverter to an N + M inverter and a machine control unit that provides a torque command or a speed command to the first inverter to the N + M inverter. And a common converter that supplies the DC power to the first inverter to the N + M inverter.

The invention according to claim 2 is the mechanical test apparatus according to claim 1, wherein the N is 1 and the M is 2.

The invention according to claim 3 is the mechanical test apparatus according to claim 1, wherein the N is 1 and the M is 4.

The invention according to claim 4 is the mechanical test apparatus according to claim 1, wherein the N is 2. And M is 1.

The invention according to claim 5 is the mechanical test apparatus according to claim 1, wherein the machine control unit receives a command from the host system and transmits a response, and a speed command and torque from the command. A command generation unit for generating a command and control mode signal, a pass / fail determination condition for the command, a speed, torque command, a converter current force, a pass / fail determination unit for determining whether the machine is OK, and the speed command, torque command, control And a second communication unit that transmits a mode signal to the inverter and the converter and receives a response.

A sixth aspect of the present invention is the mechanical test apparatus according to the first aspect, wherein the inverter receives a speed command, a torque command, and a control mode signal from the machine control unit, and transmits the torque command and the speed. (3) a communication unit, a speed control unit that generates a torque command from the speed command and the speed, a torque addition unit that adds the torque command and an external torque command of the machine control unit to obtain a new torque command, and the torque A current command generating unit that generates a current command from the command, a current control unit that generates a voltage command from the current command and the current, a PWM unit that generates a PWM signal from the voltage command, and power amplifying the PWM signal And a power conversion unit.

According to a seventh aspect of the present invention, in the mechanical test apparatus according to the fifth aspect, the inverter operates by selecting a speed control mode or a torque control mode according to the control mode signal. The torque command is set to zero, and in the torque command mode, the torque command generated by the speed control unit is set to zero. The invention according to claim 8 is the mechanical test apparatus according to claim 4, wherein the inverter generates PWM signals synchronized with each other based on a synchronization signal generated by the machine control unit. It is.

The invention according to claim 9 is the mechanical test apparatus according to claim 1, wherein the comparator rectifies a three-phase AC power source to generate a DC power source, and a DC voltage of the DC power source. A smoothing capacitor for smoothing; a utility pole detector for detecting a converter current output to the inverter; and a fourth communication unit for receiving a command from the machine control unit and transmitting the converter current as a response. To do. The invention according to claim 10 is the mechanical test apparatus according to claim 8, wherein the converter includes the diode rectification unit and a power converter for power regeneration. .

The invention described in claim 11 is the mechanical test apparatus according to claim 9, wherein the comparator controls the DC voltage of the DC power supply to an arbitrary voltage that can be set.

According to a twelfth aspect of the present invention, in the mechanical test equipment according to the first aspect, the machine control unit provides a torque command to the input shaft inverter and a speed command to the output shaft inverter, and a speed of the input shaft inverter. And the pass / fail of the machine is determined from the torque command response of the output shaft inverter.

A thirteenth aspect of the present invention is the mechanical test apparatus according to the twelfth aspect, wherein the mechanical control unit controls the speed command so that the torque command of the output shaft becomes constant.

According to a fourteenth aspect of the present invention, in the mechanical control device according to the first aspect, the mechanical control unit provides a speed command to the input shaft inverter and a torque command to the output shaft inverter, and a torque of the input shaft inverter. The pass / fail of the machine is determined from a command and a response to the speed of the output shaft inverter.

The invention according to claim 15 is the mechanical test apparatus according to claim 14, wherein the machine control unit controls the speed command so that the torque command of the input shaft becomes constant.

According to a sixteenth aspect of the present invention, in the mechanical test apparatus according to the first aspect, the mechanical control unit determines whether or not the machine is acceptable based on the torque command, the speed command, and a converter current response of the converter. It is characterized by determining.

The invention's effect

[0008] According to the present invention, by using a common converter for a plurality of inverters, the number of parts can be reduced, and a small and efficient mechanical testing apparatus can be provided.

Brief Description of Drawings

[0009] FIG. 1 is a block diagram showing a configuration of a mechanical test apparatus of the present invention. FIG. 2 is a block diagram showing a configuration of a machine control unit of the machine test apparatus of the present invention.

FIG. 3 is a block diagram showing the configuration of the inverter of the mechanical test apparatus of the present invention.

4] Block diagram showing the configuration of the converter of the mechanical testing device of the present invention

5] Block diagram showing the configuration of the converter of the mechanical testing device of the present invention

6] Block diagram simulating the operation of the mechanical testing device of the present invention

7] Simulation time chart showing the operation of the first embodiment of the mechanical testing device of the present invention

[Fig. 8] Simulation time chart when the output is proportional to the 1.8th power of the speed in the mechanical test device of the present invention.

9] Simulation time chart when there is backlash of the mechanical testing device of the present invention

10] Simulation time chart when there is mechanical vibration of the mechanical testing device of the present invention

11] Simulation time chart showing the operation of the second embodiment of the mechanical testing device of the present invention.

[Fig.12] Simulation time chart when PWM of the mechanical testing device of the present invention is synchronized

13] A block diagram showing the configuration of the conventional example disclosed in Patent Document 1

14] A block diagram showing the configuration of the conventional example disclosed in Patent Document 2

15] Block diagram showing the configuration of the conventional example disclosed in Patent Document 3

Explanation of symbols

1 Contour

2-7 inverter

8 ~; 13 Motor

14 Machine control unit

15 machine

21 Command generator

22 Pass / fail judgment part 24 Communication Department

Speed control unit

Torque adder

Current command generator Current controller

PWM section

Power converter

motor

Speed detector

Communication department

Diode rectifier unit

Regenerative processing section

Voltage detector

Communication department

Power converter

Regenerative component -ta engine

Motor 'generator Power distribution mechanism a, 150b Load absorption motor Travel simulator a, 170b Sensor

Operation terminal

ECU

1 Low inertia drive motor

卜 Lance mission 203 Absorption motor

204 Knowness

205 ECU

206 Electronic throttle

207 Panel PC

208 medium i box

210 Control means

211 Condition input screen

310 Inverter test equipment

311 DC power supply (DC power supply)

312 1st motor

312a Stator of first motor

312b 1st motor rotor

313 Second motor

313a Second motor stator

313b Second motor rotor

314 1st rotation axis

315 Second rotation axis

316 Power distribution mechanism

317 Rotational driving force transmission mechanism

317a, 317b Rotational drive force transmission gear

317c Rotation shaft of rotational drive force transmission mechanism

317d Rotational drive force transmission differential gear

317e, 317f Rotary drive force transmission mechanism output shaft

318 3rd rotation axis

319 Rotating shaft fixing device

321 load device

322 Transaxle device BEST MODE FOR CARRYING OUT THE INVENTION

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

Example 1

FIG. 1 is a block diagram showing a configuration of a mechanical test apparatus according to a first embodiment of the present invention, FIG. 2 is a block diagram showing a configuration of a machine control unit, and FIG. 3 is a block diagram showing a configuration of an inverter. 4 and 5 are block diagrams showing the configuration of the converter. In FIG. 1, 1 is a converter, 2 to 7 are inverters, 8 to; 13 is a motor, and 14 is a machine control unit.

In FIG. 2, 21 is a command generation unit, 22 is a pass / fail determination unit, 23 is a communication unit with a host system, and 24 is a communication unit with an inverter.

In FIG. 3, 31 is a speed control unit, 32 is a torque addition unit, 33 is a current command generation unit, 34 is a current control unit, 35 is a PWM unit, 36 is a power conversion unit, 37 is a motor, 38 is a speed detection unit, 39 is a communication unit with the machine control unit.

In FIG. 4, 41 is a diode rectifier, 42 is a smoothing capacitor, 43 is a current detector, 44 is a regenerative processor, 45 is a voltage detector, and 46 is a communication unit.

In FIG. 5, 47 is a power converter, and 48 is a regenerative converter.

Next, the operation of the machine control unit 14 will be described. The communication unit 23 receives test items, test details, and pass / fail judgment conditions from a host system such as a personal computer. The command generation unit 21 generates a control mode signal, a speed command, and a torque command for specifying whether the inverter is in a speed control mode or a torque control mode from the test items and test contents of the host system, and delivers them to the communication unit 24. The communication unit 24 transmits a control mode signal, a speed command, and a torque command to the inverter, and receives a speed and torque command from the inverter. The pass / fail determination unit 22 determines pass / fail from the speed command, the torque command, and the speed and torque command that are responses of the inverter.

Next, the operation of the inverter will be described. The communication unit 39 receives the control mode signal, speed command, and torque command transmitted from the machine control unit 14 and transmits them to each control unit. The speed control unit 31 operates only when the speed control mode is designated, and generates a torque command by performing PID control processing on the difference between the speed command and the speed. The torque command adding unit 32 adds the torque command and the external torque command transmitted from the machine control unit 14 to generate a new torque command. Except in certain cases where torque feedforward is used, an external torque is The torque command is zero, and in the torque control mode, the torque command generated by the speed control unit is zero. The current command generator 33 generates a current command from the torque command and the motor constant. The current control unit 34 generates a voltage command by performing a PID control process on the difference between the current command and the motor current. The PWM unit 35 generates a PWM signal based on the voltage command and the synchronization command. The power converter 36 insulates and amplifies the PWM signal to drive a power element that constitutes the power converter and supplies power to the motor.

Next, the operation of the converter will be described. In FIG. 4, the diode rectifier 41 is composed of a 6-bridge diode, and rectifies a three-phase AC power source to generate a DC power source. The smoothing capacitor 42 smoothes the DC voltage of the DC power supply and supplies the smoothed DC power to the inverter. The current detector 43 detects the current supplied to the inverter and generates a converter current signal. When the smoothing capacitor voltage rises and reaches a predetermined level due to the regenerative power of the inverter, the regenerative processing unit 44 turns on the power element, connects the resistor in parallel with the smoothing capacitor, and discharges, thereby reducing the capacitor voltage. The voltage detector detects the voltage of the smoothing capacitor and generates a converter voltage signal. The communication unit 46 transmits the converter current signal and the voltage signal to the machine control unit. In Fig. 5, the power converter 47 regenerates the regenerative power of the inverter to the power source.

Next, the waveforms when the input / output shaft inverter is driven will be described based on a simulation time chart.

Figure 6 shows the control system and machine model used in the simulation. The rotor of the input shaft motor and the rotor of the input shaft of the machine are rigidly coupled. is there. Similarly for the output shaft, J2 = Jr2 + Jm2. Torque is transmitted from the input shaft to the output shaft using a spring system with a spring constant of ks, and a backlash BL is added.

FIG. 7 is a simulation time chart when a speed command is given to one input shaft and a torque command is given to one output shaft. The simulation conditions are the moment of inertia J1 = J2 = 0. Ikgm2, motor resistance R1 = R2 = 0.001 Ω, speed control gain kvl = 0.05 Nms / rad The braking coefficient kdl = Kd2 = 0. OlNms / rad, the spring constant ks = 100000Nm / rad. Acceleration time tva = lsec, load torque acceleration time tt a = lsec, maximum speed co max = 300rad s, maximum tonrec speed Trqmax = 200Nm, knocklash BL = 0. Input shaft power Pin and output shaft power Pout total input / output difference Difference Pdf is large when the speed is accelerated, and when the torque is increased at a constant speed, the power is lost to the motor, inverter and machine. And consumes little power from the power supply. The speed control shaft motor views the torque control shaft motor torque as the outer tongue L torque and generates a torque command to counter it. If the torque control shaft motor operates as a generator, the speed control shaft motor operates as a motor, and if the torque control shaft motor operates as a motor, the speed control shaft motor operates as a generator. . However, immediately, the moment of inertia of the entire mechanical system including the motor rotor must be accelerated, which requires a large amount of force. However, if the acceleration time is increased from Ta = l sec to 10 sec, the instantaneous performance becomes 1/10, which can be almost ignored. The pass / fail judgment of the machine is based on the sum of the input shaft power and the output shaft power as the input / output power difference Pdf, and the input / output power difference Pdf as a function of speed and torque. It can be. It is also possible to control the speed command so that the torque command of the speed control axis at a constant speed is constant, and add the speed command at this time to the pass / fail judgment condition!

Figure 8 shows the simulation time chart when the output of the output shaft is proportional to the speed 1.8. The power output of the converter almost cancels out the input power Pin of the input shaft and the output power Pout of the output shaft at a constant speed. By analyzing the input / output power difference, torque command, and speed, you can make a pass / fail judgment for the machine.

Fig. 9 is a simulation time chart when the machine has a backlash BL = 0. lrad. The conditions are the same as in Fig. 4. Since vibration occurs when the torque changes, the vibration at the start of acceleration, at the end of acceleration, at the start of deceleration, at the end of deceleration, and the position when the torque direction of the input / output shaft is reversed as the pass / fail judgment. An error or the like can be used.

FIG. 10 is a simulation time chart when vibration occurs in the machine. The torque command waveform is a force that pulsates at a frequency proportional to the machine speed, and the vibration level increases at the resonance frequency point of the mechanical system. Torque command pulsation also appears in the power input / output power difference. By analyzing these waveforms, it is possible to detect defects in specific parts of the transmission system that can not only determine the pass / fail of the machine. Example 2

FIG. 11 is a simulation time chart when a torque command is given to one input shaft and a speed command is given to one output shaft in the second embodiment of the present invention. The simulation conditions are the same as in the first example. The only difference is that during start-up, a ramp speed command is given to the input shaft and a zero torque command is given to the output shaft. A ramp-shaped torque command has been given to the shaft. Similar to the first embodiment, the speed control shaft regards the torque control shaft torque command as a disturbance and generates a torque command to counter it. The distinction between regeneration and force line is determined by the force to regenerate the torque control axis and the force line. Further, as in the first embodiment, the speed command may be controlled so that the torque command of the speed control shaft at a constant speed becomes constant, and the speed command at this time may be added to the pass / fail judgment condition.

FIG. 12 shows a simulation result when the PWM of the input shaft and the output shaft of the mechanical test apparatus of the present invention are synchronized. Not only can the noise caused by beats generated when the PWM frequency is different be reduced, but also the ripple current of the capacitor can be reduced.

Example 3

[0015] Examples of N = l, M = 2, or M = 4 in the mechanical test apparatus of the present invention include an electric vehicle and a hybrid car. Examples of N = 2 and M = l include twin drives for various machines.

As described above, the total input / output power difference, torque command for each axis, and speed are compared with the reference values for pass / fail judgment, and although not explained, waveform analysis is performed using FFT, etc.ヮ-By analyzing the spectrum, it is possible to determine the pass / fail of the machine, and to provide a machine test device with reduced power consumption.

Industrial applicability

[0016] According to the mechanical test apparatus of the present invention, a failure of a specific transmission system can be determined from the loss and vibration of a machine that can not only efficiently test a machine having N input shafts and M output shafts. It can be expected to be used as a test device for stationary machines and mobile machines.

Claims

The scope of the claims

[1] Machine test equipment with N input shafts and M output shafts, 1st motor to Nth motor coupled to N input shafts, and M output shafts N + 1-th motor to N + M motor, and first inverter to N + th to control the rotational speed or torque of the first motor to N + M motor by converting DC power into AC power. In a mechanical test apparatus comprising: an M inverter; and a machine control unit that provides a torque command or a speed command to the first inverter to the N + M inverter,

A mechanical test apparatus comprising: a common converter that converts AC power into DC power and supplies the DC power to the first inverter to the N + M inverter.

[2] The machine test apparatus according to claim 1, wherein the N is 1 and the M is 2.

[3] The machine test device according to claim 1, wherein the N is 1 and the M is 4.

4. The machine test apparatus according to claim 1, wherein the N is 2 and the M is 1.

[5] The machine control unit receives a command from the host system and transmits a response, a command generation unit that generates a speed command, a torque command, and a control mode signal from the command, and the command Machine pass / fail judgment conditions and a pass / fail judgment unit for judging machine pass / fail from the speed, torque command, and converter current, and the speed command, torque command, and control mode signal are transmitted to the inverter and the converter, and a response is received. The mechanical testing device according to claim 1, further comprising: 2 communication units.

[6] The inverter receives a speed command, a torque command, and a control mode signal from the machine control unit, and generates a torque command from the speed command and the speed, and a third communication unit that transmits the torque command and the speed. A speed control unit, a torque addition unit that adds the torque command and an external torque command of the machine control unit to obtain a new torque command, a current command generation unit that generates a current command from the torque command, and the current command 2. The current control unit that generates a voltage command from the current, a PWM unit that generates a PWM signal from the voltage command, and a power conversion unit that amplifies the PWM signal. Mechanical test equipment.

[7] The inverter operates by selecting a speed control mode or a torque control mode according to the control mode signal. In the speed control mode, the external torque command is set to zero, and in the torque command mode, the speed control unit 7. The mechanical test apparatus according to claim 6, wherein the torque command generated by is set to zero.

8. The machine test apparatus according to claim 6, wherein the inverter generates PWM signals synchronized with each other based on a synchronization signal generated by the machine control unit.

[9] The converter includes a diode rectifier that rectifies a three-phase AC power supply to generate a DC power supply, a smoothing capacitor that smoothes a DC voltage of the DC power supply, and a utility pole detection that detects a converter current output to the inverter. The machine test device according to claim 1, further comprising: a tester; and a fourth communication unit that receives a command from the machine control unit and transmits a converter current as a response.

10. The mechanical test apparatus according to claim 9, wherein the converter includes the diode rectifier and a power converter for power regeneration.

11. The mechanical test apparatus according to claim 9, wherein the converter controls the DC voltage of the DC power supply to an arbitrary voltage that can be set.

[12] The machine control unit gives a torque command to the input shaft inverter and a speed command to the output shaft inverter, and determines pass / fail of the machine from the response of the speed of the input shaft inverter and the torque command of the output shaft inverter. The mechanical test apparatus according to claim 1, wherein

13. The machine test apparatus according to claim 12, wherein the machine control unit controls a speed command so that a torque command of the output shaft becomes constant.

[14] The machine control unit gives a speed command to the input shaft inverter and a torque command to the output shaft inverter, and determines whether the machine passes or fails based on the torque command of the input shaft inverter and the response of the speed of the output shaft inverter. 2. The machine control device according to claim 1, wherein the determination is made.

15. The machine test device according to claim 14, wherein the machine control unit controls a speed command so that a torque command of the input shaft becomes constant.

[16] The machine control unit includes the torque command, the speed command, and a converter of the converter. The machine test apparatus according to claim 1, wherein the pass / fail of the machine is determined based on a current response.