WO2013187453A1 - 動力計システム - Google Patents
動力計システム Download PDFInfo
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- WO2013187453A1 WO2013187453A1 PCT/JP2013/066276 JP2013066276W WO2013187453A1 WO 2013187453 A1 WO2013187453 A1 WO 2013187453A1 JP 2013066276 W JP2013066276 W JP 2013066276W WO 2013187453 A1 WO2013187453 A1 WO 2013187453A1
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- value
- torque
- excitation
- amplitude
- command value
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/24—Devices for determining the value of power, e.g. by measuring and simultaneously multiplying the values of torque and revolutions per unit of time, by multiplying the values of tractive or propulsive force and velocity
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/025—Test-benches with rotational drive means and loading means; Load or drive simulation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Definitions
- the present invention relates to a dynamometer system.
- the drive train is a general term for a plurality of devices for transmitting the energy generated in the engine to the drive wheels, and includes an engine, a clutch, a transmission, a drive shaft, a propeller shaft, a differential gear, and a drive wheel.
- durability and quality are evaluated by continuously driving the transmission with the engine.
- a dynamometer system has been proposed in which drive torque input to a specimen is generated by a dynamometer instead of an actual engine.
- the torque of the dynamometer is controlled by a torque controller based on the output of a torque detector such as a load cell or a shaft torque sensor.
- a torque controller for example, those designed by various feedback algorithms such as PID control and ⁇ design method are used (see Patent Document 1).
- a torque command is a combination of a DC base torque component for generating a constant drive torque and an AC excitation torque component characterized by a predetermined excitation frequency and excitation amplitude, It inputs into the said torque controller (refer patent document 2).
- JP 2009-133714 A Japanese Patent No. 4016582
- the frequency of torque fluctuation generated in the actual engine can vary from 0 Hz to several hundred Hz.
- the upper limit of the control band of a general torque controller as shown in Patent Document 1 is at most several tens of Hz in the vicinity of the first resonance frequency of the mechanical system including the dynamometer and the specimen. Therefore, even if an excitation frequency larger than the resonance frequency of the mechanical system is input to the dynamometer system equipped with the conventional torque controller, the responsiveness of the torque controller is not sufficient, and the dynamometer has the commanded amplitude. The torque cannot be varied.
- the present invention provides a dynamometer (for example, an input side dynamometer 2 described later) connected to an input side of a specimen (for example, a specimen W described later), and the dynamometer.
- a torque detector for example, described later for detecting torque (for example, shaft torque described later) as a control amount of an inverter that supplies electric power (for example, inverter 3 described later) and the specimen and the dynamometer.
- an excitation torque command calculation unit for example, an excitation torque command calculation unit described later
- a torque command calculation unit for example, a shaft torque command calculation unit 62 described later
- Torque detector A feedback controller (for example, a shaft torque controller 63 described later) that determines a first control input value so that a detected value becomes the torque command value, and a component obtained by removing a component having a predetermined frequency or less from the torque command value
- a feedforward input calculation unit for example, a feedforward input calculation unit 64 described later
- a dynamometer system for example, a test system 1 described later
- the sum of the excitation torque command value calculated from the excitation frequency and the excitation amplitude and the base torque command value is used as the torque command value, and the feedback controller and the feedforward input calculation unit input.
- the feedback controller determines the first control input value so that the torque detection value becomes the torque command value
- the feedforward input calculation unit obtains the second control input value by removing the steady component having a predetermined frequency or less from the torque command value. decide.
- the control input value of the dynamometer inverter is determined by superimposing the second control input value, which is an AC component, on the first control input value.
- the torque of the dynamometer can be controlled. Further, there is a case where the torque cannot be varied with the excitation amplitude as instructed only by superimposing such an AC component feedforward input. Therefore, in the present invention, the excitation torque command value is calculated so that there is no deviation between the amplitude value calculated based on the detection value of the torque detector and the excitation amplitude command value. Therefore, when the torque does not vary with the vibration amplitude as commanded, the vibration torque command value input to the feedback controller and the feedforward input calculation unit is raised from the reference value. As described above, according to the present invention, even when the excitation frequency is changed beyond the control band of the feedback controller, the excitation amplitude control of the torque stable at the excitation frequency and the excitation amplitude as commanded can be performed. It becomes possible.
- the excitation torque command calculation unit generates a reference wave generation unit (for example, a reference wave generation unit 611 described later) that generates a sine wave corresponding to the command value of the excitation frequency.
- a torque amplitude detector for example, a shaft torque amplitude detector 612 described later
- An excitation amplitude controller for example, an excitation amplitude controller 613 described later
- An adder for example, an adder 614 described later
- a multiplier that multiplies the sine wave by the command value of the corrected excitation amplitude as an excitation torque command value.
- Rukoto is preferable.
- the total wave height value for each excitation cycle of the detection value of the torque detector is detected, and the amplitude correction value is calculated so that the deviation between the total wave height value and the excitation amplitude command value is eliminated. Further, the excitation torque command value is calculated by multiplying the sine wave by the excitation amplitude command value corrected by the amplitude correction value. As a result, the excitation torque command value input to the feedback controller and the feedforward input calculation unit is raised so that the full peak value of the detection value of the torque detector reaches the excitation amplitude. Torque excitation amplitude control that is stable at the excitation frequency and the excitation amplitude is possible.
- the excitation torque command calculation unit generates a reference wave generation unit (for example, a reference wave generation unit 611 described later) that generates a sine wave corresponding to a command value of the excitation frequency. ), A torque amplitude detector that detects the amplitude value of the excitation frequency component of the detection value of the torque detector, and an amplitude correction value so that there is no deviation between the amplitude value and the command value of the excitation amplitude An excitation amplitude controller to be calculated (for example, an excitation amplitude controller 613 to be described later) and an adder (for example, to be described later) that corrects the command value by adding the amplitude correction value to the command value of the excitation amplitude. And a multiplication unit (for example, a later-described multiplication unit 615) that uses an excitation torque command value obtained by multiplying the sine wave by the corrected excitation amplitude command value. preferable.
- a reference wave generation unit for example, a reference wave generation unit 611 described later
- the amplitude value of the excitation frequency component is detected from the detection value of the torque detector, and the amplitude correction value is calculated so that the deviation between the amplitude value and the excitation amplitude command value is eliminated. Further, the excitation torque command value is calculated by multiplying the sine wave by the excitation amplitude command value corrected by the amplitude correction value. Therefore, according to the present invention, when the detected value of the torque detector includes other frequency components, the amplitude of the excitation frequency command component of the detected value of the torque detector is added as commanded. It can be controlled stably with vibration amplitude.
- the dynamometer system detects the amplitude value of the excitation frequency component of the control input value, and reduces the amplitude correction value so that the amplitude value is limited to a predetermined upper limit or less. It is preferable to further include a control input limiter (for example, a torque current amplitude limiter 68B described later) that corrects the value.
- a control input limiter for example, a torque current amplitude limiter 68B described later
- the amplitude value of the excitation frequency component of the control input value is limited to be equal to or lower than the upper limit determined according to the command value of the excitation frequency.
- FIG. 1 It is a block diagram which shows the structure of the test system of the drive train as a dynamometer system which concerns on one Embodiment of this invention. It is a block diagram which shows the structure of the torque control apparatus of Example 1.
- FIG. It is a figure which shows the result of the torque control by the conventional torque control apparatus. It is a figure which shows the result of the torque control by the torque control apparatus of Example 1.
- FIG. It is a block diagram which shows the structure of the torque control apparatus of Example 3.
- FIG. 1 is a block diagram showing a configuration of a drive train test system 1 of the present embodiment.
- FIG. 1 shows an example of a test system 1 in which a FF drive type vehicle transmission is a specimen W, but the present invention is not limited to this.
- the specimen W may be an FR drive type vehicle transmission.
- the test system 1 detects an input side dynamometer 2 coaxially connected to the input shaft S1 of the specimen W, an inverter 3 for supplying power to the input side dynamometer 2, and an angular velocity of the input side dynamometer 2.
- a torque control device 6 for controlling the torque 2 and output dynamometers 7 and 8 respectively connected to both ends of the output shaft S2 of the specimen W.
- the rotation detector 4 detects the angular velocity of the input side dynamometer 2 and transmits a signal substantially proportional to the detected value to the torque control device 6.
- the shaft torque meter 5 detects the shaft torque acting on the shaft S1 between the input side dynamometer 2 and the specimen W, for example, from the amount of distortion in the torsional direction of the shaft, and outputs a signal substantially proportional to the detected value to the torque control device 6. Send to.
- the inverter 3 converts DC power supplied from a DC power source (not shown) into AC power and supplies it to the input-side dynamometer 2.
- the torque control device 6 outputs the torque current command value of the inverter 3 using the detected value of the shaft torque meter 5 as feedback. The detailed configuration of the torque control device 6 will be described later in each embodiment.
- the input side dynamometer 2 generates a driving torque imitating an actual engine and inputs the driving torque to the input shaft S ⁇ b> 1 of the specimen W, and outputs the shift output of the specimen W to the output side dynamometer 7. , 8, the durability performance and quality of the specimen W are evaluated.
- FIG. 2 is a block diagram showing the configuration of the torque control device 6 of this embodiment.
- the torque control device 6 receives the control input of the inverter. Torque current command value is output.
- the base torque corresponds to a component excluding the torque pulsation component (AC component) of the engine out of the torque generated by the dynamometer simulating an actual engine
- the excitation frequency and the excitation amplitude are: This corresponds to the frequency and amplitude of the torque pulsation component.
- the torque control device 6 includes an excitation torque command calculation unit 61 that calculates an excitation torque command value, and an axis torque command calculation unit that uses the sum of the excitation torque command value and the base torque command value as an axis torque command value. 62, a shaft torque controller 63 that determines the first control input value, a feedforward input calculation unit 64 that determines the second control input value, and a sum of these first and second control input values is the torque current. And an adder 65 serving as a command value.
- the shaft torque controller 63 determines the first control input value so that the detected shaft torque value from the shaft torque meter becomes the shaft torque command value.
- the upper limit of the control band of the detected shaft torque value relative to the shaft torque command value of the shaft torque controller 63 is about the first resonance frequency of the mechanical system composed of the input side dynamometer 2 and the specimen W (for example, in FIG. As shown, it is about 20 [Hz]. Therefore, as will be described later with reference to FIG. 3, the shaft torque controller 63 alone does not provide sufficient responsiveness for shaft torque command values having frequencies exceeding the first resonance frequency of the mechanical system. .
- the shaft torque controller 63 is designed by a known feedback algorithm such as PID control or ⁇ design method.
- the feedforward input calculation unit 64 is a high-pass filter, and uses a value obtained by removing a component equal to or lower than a predetermined cutoff frequency from the shaft torque command value as a second control input value.
- the cut-off frequency of the feedforward input calculation unit 64 is set to a frequency near the upper limit of the control band, for example, according to the control band of the shaft torque controller 63.
- the excitation torque command calculation unit 61 includes a reference wave generation unit 611, an axial torque amplitude detection unit 612, an excitation amplitude controller 613, an addition unit 614, and a multiplication unit 615.
- the reference wave generation unit 611 generates a sine wave having the frequency of the excitation frequency command value as a reference wave.
- the amplitude of this reference wave is set to 1, for example.
- the shaft torque amplitude detector 612 detects a difference (full wave peak value) between the maximum value and the minimum value of the detected shaft torque value during one cycle of the reference wave.
- the vibration amplitude controller 613 calculates an amplitude correction value so that there is no deviation between the vibration amplitude command value and the full wave height value detected by the shaft torque amplitude detector 612. More specifically, the excitation amplitude controller 613 multiplies the deviation obtained by subtracting the total peak value from the excitation amplitude command value by the amplitude control gain K and performs an integration operation as an amplitude correction value. To do.
- the adding unit 614 adds the amplitude correction value calculated by the excitation amplitude controller 613 to the excitation amplitude command value as a correction value for the excitation amplitude command value.
- the multiplication unit 615 multiplies the reference wave generated by the reference wave generation unit 611 by the correction value of the excitation amplitude command value as the excitation torque command value.
- the speed of the operation for correcting the vibration torque command value from the reference value determined only from the vibration frequency command value and the vibration amplitude command value is the amplitude control. It is adjusted by the gain K.
- the conventional torque control device is different from the torque control device 6 of the above embodiment, and performs feedback control only by the shaft torque controller without adding feedforward input.
- the shaft torque command value input to the shaft torque controller is detected by the open loop control, more specifically, the shaft torque amplitude is detected from the excitation torque command calculation unit 61 in this embodiment. It is determined by the unit excluding the unit 612 and the excitation amplitude controller 613.
- FIG. 3 is a diagram showing a result of torque control by a conventional torque control device.
- FIG. 4 is a diagram illustrating a result of torque control by the torque control device of the present embodiment. More specifically, the upper part of FIGS. 3 and 4 is a graph showing the time change of the detected shaft torque value, and the lower part shows the time change of the excitation frequency command value.
- the control results in FIGS. 3 and 4 indicate that the base torque command value and the excitation value are such that the maximum value and the minimum value of the detected shaft torque values reach the broken lines (400 [Nm] and ⁇ 200 [Nm]), respectively.
- the case where the vibration frequency command value is continuously changed over time from 20 [Hz], which is almost the upper limit of the control band of the shaft torque controller, to 200 [Hz] while making the amplitude command value constant is shown. .
- the detected shaft torque value does not reach the maximum value and the minimum value indicated by the broken line. This means that the conventional torque control device cannot perform the excitation control following the excitation amplitude command in a frequency region exceeding the control band of the shaft torque controller.
- the maximum value and the minimum value of the detected shaft torque value reach the broken line regardless of the excitation frequency command value, and almost according to the command. Excitation control can be performed with the frequency and amplitude.
- the torque current command value input to the inverter 3 is set to the first control input value determined by the shaft torque controller 63, and the second value determined by the feedforward input calculation unit 64. It is determined by superimposing the control input value.
- the torque current command value can include a component that varies with the excitation frequency.
- the torque of the input-side dynamometer 2 can be controlled at various excitation frequencies.
- the excitation input to the shaft torque controller 63 and the feedforward input calculation unit 64 is performed so that there is no deviation between the amplitude value calculated based on the detected shaft torque value and the excitation amplitude command value. Raise the torque command value from its reference value.
- the excitation amplitude control of the torque of the input-side dynamometer 2 can be stably performed with the excitation frequency and the excitation amplitude as commanded.
- the full wave height value of the detected shaft torque value is detected, and the amplitude correction value is calculated by the vibration amplitude controller 613 so that the deviation between the full wave height value and the vibration amplitude command value is eliminated. The vibration torque command value is corrected.
- the excitation torque command value input to the shaft torque controller 63 and the feedforward input calculation unit 64 is raised from the reference value so that the full peak value of the detected shaft torque value reaches the excitation amplitude.
- Example 2 of the above embodiment will be described.
- the torque control device according to the present embodiment is different from the torque control device according to the first embodiment described with reference to FIG. 2 only in the configuration of the torque amplitude detection unit 612.
- the torque amplitude detector of the present embodiment detects the amplitude value of the vibration frequency component of the detected shaft torque value.
- the excitation amplitude controller 613 calculates an amplitude correction value so that there is no deviation between the excitation amplitude command value and the amplitude value of the excitation frequency component detected by the torque amplitude detector.
- the following effects can be obtained.
- the amplitude of the vibration frequency command component of the shaft torque detection value is determined according to the command. It can be controlled stably with amplitude.
- FIG. 5 is a block diagram showing the configuration of the torque control device 6B of the present embodiment.
- the torque control device 6B of the present embodiment includes a torque current amplitude limiter 68B that limits the amplitude of the torque current command value to the torque control device 6 of the first embodiment described with reference to FIG. 2 and the excitation amplitude controller 613B. Are different in that they are connected.
- the torque current amplitude limiter 68B includes a torque current amplitude detection unit 681B, an amplitude limit value calculation unit 682B, and a limit input calculation unit 683B.
- the torque current amplitude detector 681B detects the amplitude value of the vibration frequency component of the torque current command value.
- the amplitude limit value calculation unit 682B calculates a torque amplitude limit value based on the excitation frequency command value and the amplitude value detected by the torque current amplitude detection unit 618B.
- This torque amplitude limit value corresponds to the upper limit set for the amplitude value of the vibration frequency component of the torque current command value in order to prevent the permanent magnet of the dynamometer from demagnetizing.
- the torque amplitude limit value is set so as to decrease as the excitation frequency command value increases.
- the limit input calculation unit 683B multiplies the torque current amplitude control gain Ki by a value obtained by subtracting the torque amplitude limit value calculated by the amplitude limit value calculation unit 682B from the torque current amplitude detection unit 618B. Is calculated.
- the vibration amplitude controller 613B performs an integral operation on the value obtained by subtracting the limit input from the deviation between the vibration amplitude command value and the amplitude value detected by the shaft torque amplitude detector 612, thereby correcting the amplitude. Is calculated.
- the amplitude correction value is corrected to a smaller value so that the amplitude value of the excitation frequency component of the torque current command value is limited to a predetermined upper limit or less via a limit input from the torque current amplitude limiter 68B. Is done.
- the operation speed at which the torque current command value is limited to a predetermined upper limit or less is adjusted by the torque current amplitude control gain Ki.
- the torque current amplitude limiter 68B limits the amplitude value of the excitation frequency component of the torque current command value to be equal to or less than a predetermined upper limit determined according to the excitation frequency command value. .
- the torque of the input side dynamometer 2 can be prevented from fluctuating at a high frequency and with a large amplitude, and consequently the permanent magnet of the dynamometer can be prevented from demagnetizing.
- the present invention is not limited to this.
- the tip of the torque arm of the rocker provided on the dynamometer and the base are connected by a load cell, and torque is detected from the strain detected by this load cell. Is done. Therefore, the present invention may use the control amount of the torque control device as the load cell detection value.
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Abstract
Description
図1は、本実施形態のドライブトレインの試験システム1の構成を示すブロック図である。なお図1には、FF駆動方式の車両の変速機を供試体Wとした試験システム1の例を示すが、本発明はこれに限るものではない。供試体WはFR駆動方式の車両の変速機でもよい。
図2は、本実施例のトルク制御装置6の構成を示すブロック図である。トルク制御装置6は、図示しない外部の演算装置から入力されるベーストルク指令値、加振周波数指令値及び加振振幅指令値、並びに軸トルクメータの検出値が入力されると、インバータの制御入力となるトルク電流指令値を出力する。ここで、ベーストルクとは、実エンジンを模して動力計で発生させるトルクのうち、エンジンのトルク脈動成分(交流成分)を除いた成分に相当し、加振周波数及び加振振幅とは、上記トルク脈動成分の周波数及び振幅に相当する。
フィードフォワード入力演算部64は、ハイパスフィルタであり、軸トルク指令値から所定のカットオフ周波数以下の成分を除いたものを第2制御入力値とする。このフィードフォワード入力演算部64のカットオフ周波数は、上記軸トルク制御器63の制御帯域に応じて、より具体的には例えば制御帯域の上限近傍の周波数に設定される。
軸トルク振幅検出部612は、基準波の一周期の間の軸トルク検出値の最大値と最小値との差(全波高値)を検出する。
乗算部615は、基準波生成部611によって生成された基準波に上記加振振幅指令値の補正値を乗算したものを加振トルク指令値とする。
以上のように構成された加振トルク指令演算部61において、加振トルク指令値を加振周波数指令値及び加振振幅指令値のみから定められる基準値から補正する動作の速さは、振幅制御ゲインKによって調整される。
(A)本実施例によれば、インバータ3に入力されるトルク電流指令値は、軸トルク制御器63によって定められた第1制御入力値に、フィードフォワード入力演算部64によって定められた第2制御入力値を重畳することによって決定される。これにより、軸トルク制御器63の制御帯域を超えて加振周波数の指令値を変化させた場合であっても、トルク電流指令値に加振周波数で変動する成分を含めることができるので、指令通りの加振周波数で入力側動力計2のトルクを制御できる。また本実施例では、軸トルク検出値に基づいて算出される振幅値と加振振幅指令値との偏差がなくなるように、軸トルク制御器63及びフィードフォワード入力演算部64に入力される加振トルク指令値をその基準値からかさ上げする。これにより、図4に示すように、指令通りの加振周波数及び加振振幅で安定して入力側動力計2のトルクの加振振幅制御が可能となる。
(B)本実施例では、軸トルク検出値の全波高値を検出し、この全波高値と加振振幅指令値との偏差がなくなるように加振振幅制御器613によって振幅補正値を算出し、加振トルク指令値を補正する。これにより、軸トルク検出値の全波高値が加振振幅に達するように、軸トルク制御器63及びフィードフォワード入力演算部64へ入力される加振トルク指令値が基準値からかさ上げされるので、指令通りの加振周波数及び加振振幅で安定したトルクの加振振幅制御が可能となる。
本実施例のトルク制御装置は、図2を参照して説明した実施例1のトルク制御装置と、トルク振幅検出部612の構成のみ異なる。本実施例のトルク振幅検出部は、軸トルク検出値の加振周波数成分の振幅値を検出する。そして、加振振幅制御器613では、加振振幅指令値とトルク振幅検出部によって検出された加振周波数成分の振幅値との偏差がなくなるように、振幅補正値を算出する。
(C)本実施例によれば、軸トルク検出値に加振周波数成分の他の周波数成分が含まれている場合に、軸トルク検出値の加振周波数指令成分の振幅を指令通りの加振振幅で安定して制御できる。
図5は、本実施例のトルク制御装置6Bの構成を示すブロック図である。本実施例のトルク制御装置6Bは、図2を参照して説明した実施例1のトルク制御装置6と、加振振幅制御器613Bに、トルク電流指令値の振幅を制限するトルク電流振幅リミッタ68Bが接続されている点で異なる。
振幅制限値算出部682Bは、加振周波数指令値及びトルク電流振幅検出部618Bによって検出された振幅値に基づいて、トルク振幅制限値を算出する。このトルク振幅制限値は、動力計の永久磁石が減磁するのを防止するためにトルク電流指令値の加振周波数成分の振幅値に対して設定される上限に相当する。トルク振幅制限値は、加振周波数指令値が大きくなるほど小さくなるように設定される。
制限入力演算部683Bは、トルク電流振幅検出部618Bから振幅制限値算出部682Bにより算出されたトルク振幅制限値を減算して得られる値にトルク電流振幅制御ゲインKiを乗算することにより、制限入力を算出する。
(D)本実施例では、トルク電流振幅リミッタ68Bにより、トルク電流指令値の加振周波数成分の振幅値は、加振周波数指令値に応じて定められる所定の上限以下になるように制限される。これにより、入力側動力計2のトルクを高周波数かつ大振幅で変動させないようにし、ひいては動力計の永久磁石が減磁するのを防止できる。
W…供試体
S1…入力軸
2…入力側動力計
3…インバータ
5…軸トルクメータ(トルク検出器)
6…トルク制御装置
61…加振トルク指令演算部
611…基準波生成部
612…軸トルク振幅検出部(トルク振幅検出部)
613…加振振幅制御器
614…加算部
615…乗算部
62…軸トルク指令演算部(トルク指令演算部)
63…軸トルク制御器(フィードバック制御器)
64…フィードフォワード入力演算部
65…加算部
68B…トルク電流振幅リミッタ(制御入力リミッタ)
Claims (4)
- 供試体の入力側に接続された動力計と、
前記動力計に電力を供給するインバータと、
前記供試体及び前記動力計から成る系の制御量としてのトルクを検出するトルク検出器と、を備えた動力計システムであって、
外部から入力される加振周波数及び加振振幅の指令値に基づいて加振トルク指令値を算出する加振トルク指令演算部と、
外部から入力されるベーストルク指令値と前記加振トルク指令値とを合算したものをトルク指令値とするトルク指令演算部と、
前記トルク検出器の検出値が前記トルク指令値になるように第1制御入力値を決定するフィードバック制御器と、
前記トルク指令値から所定周波数以下の成分を除いたものを第2制御入力値とするフィードフォワード入力演算部と、
前記第1及び第2制御入力値を合算したものを前記インバータに対する制御入力値とする加算部と、を備え、
前記加振トルク指令演算部は、前記トルク検出器の検出値に基づいて算出される振幅値と前記加振振幅の指令値との偏差がなくなるように前記加振トルク指令値を算出することを特徴とする動力計システム。 - 前記加振トルク指令演算部は、
前記加振周波数の指令値に応じた正弦波を生成する基準波生成部と、
前記正弦波の一周期の前記トルク検出値の全波高値を検出するトルク振幅検出部と、
当該全波高値と前記加振振幅の指令値との偏差がなくなるように振幅補正値を算出する加振振幅制御器と、
前記加振振幅の指令値に前記振幅補正値を合算することにより当該指令値を補正する加算部と、
前記正弦波に前記補正された加振振幅の指令値を乗算したものを加振トルク指令値とする乗算部と、を備えることを特徴とする請求項1に記載の動力計システム。 - 前記加振トルク指令演算部は、
前記加振周波数の指令値に応じた正弦波を生成する基準波生成部と、
前記トルク検出値の前記加振周波数成分の振幅値を検出するトルク振幅検出部と、
当該振幅値と前記加振振幅の指令値との偏差がなくなるように振幅補正値を算出する加振振幅制御器と、
前記加振振幅の指令値に前記振幅補正値を合算することにより当該指令値を補正する加算部と、
前記正弦波に前記補正された加振振幅の指令値を乗算したものを加振トルク指令値とする乗算部と、を備えることを特徴とする請求項1に記載の動力計システム。 - 前記制御入力値の前記加振周波数成分の振幅値を検出し、当該振幅値が前記加振周波数の指令値に応じて定められる上限以下に制限されるように、前記振幅補正値を小さな値に補正する制御入力リミッタをさらに備えることを特徴とする請求項2又は3に記載の動力計システム。
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US9116062B2 (en) | 2015-08-25 |
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US20150142341A1 (en) | 2015-05-21 |
KR20150023524A (ko) | 2015-03-05 |
KR101521487B1 (ko) | 2015-05-19 |
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