WO2015136626A1 - ドライブトレインの試験システム - Google Patents
ドライブトレインの試験システム Download PDFInfo
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- WO2015136626A1 WO2015136626A1 PCT/JP2014/056361 JP2014056361W WO2015136626A1 WO 2015136626 A1 WO2015136626 A1 WO 2015136626A1 JP 2014056361 W JP2014056361 W JP 2014056361W WO 2015136626 A1 WO2015136626 A1 WO 2015136626A1
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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
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/022—Power-transmitting couplings or clutches
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
- G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
Definitions
- the present invention relates to a drive train test 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 system for performing such a drive train test a system has been proposed in which a drive torque input to a work is generated by a motor instead of an actual engine (see, for example, Patent Documents 1 and 2).
- the present invention provides a test system capable of suppressing resonance vibration inherent in a test system without affecting resonance vibration inherent in a specimen in a drive train test system having a single drive motor. With the goal.
- the drive train test system of the present invention (for example, test system 1 described later) is an input of a specimen (for example, test specimens W and W ′ described later) that is a drive train of a vehicle.
- a single motor (for example, drive motor 2 described later) connected to the shaft, and a shaft torque sensor (for example, a shaft torque sensor described later) for generating a signal corresponding to the shaft torque between the specimen and the motor. 6) and a torque current that suppresses mechanical resonance between the specimen and the motor based on a torque command signal including an AC component of a predetermined excitation frequency and an axial torque detection signal of the axial torque sensor.
- a resonance suppression control circuit (for example, a resonance suppression control circuit 5 described later) that generates a command signal and an inverter (for example, an inverter that is described later) that drives the motor in response to the torque current command signal 3), and the resonance suppression control circuit does not suppress resonance specific to the specimen among frequency response characteristics from the torque current command signal to the shaft torque detection signal, and is specific to the specimen.
- a controller (Gc1, Gc2) designed by a control system design method called H ⁇ control or ⁇ design method so as to suppress the resonance between the specimen and the motor on the higher frequency side than the resonance point is provided.
- the controller sends a response from the external input to the control amount to a generalized plant (for example, a generalized plant P described later) that outputs a control amount and an observation amount from the external input and control input.
- a generalized plant for example, a generalized plant P described later
- the external input includes a signal (w2) corresponding to a torque command signal input to the resonance suppression control circuit
- the control amount is a signal (z3) obtained by weighting a difference between the external input (w2) and a control input (u) corresponding to a torque current command signal output from the resonance suppression control circuit by a predetermined weight function (Gw1).
- the weight function is preferably a transfer function having a characteristic that the gain decreases as the input frequency increases.
- the resonance phenomenon occurring on the high frequency side is a phenomenon inherent to the connecting shaft between the specimen and the motor, which is unrelated to the test object, and is preferably suppressed.
- the resonance phenomenon occurring on the low frequency side is not preferable because it is a phenomenon unique to the specimen to be tested including various spring elements.
- these two resonance points in order not to affect the resonance phenomenon specific to the low frequency side specimen, only mechanical resonance between the high frequency side specimen and the motor is suppressed.
- a torque current command signal input to the inverter is generated by the resonance suppression control circuit based on the torque command signal including the alternating current component of the excitation frequency and the shaft torque detection signal.
- the resonance suppression control circuit having such a function is provided between the specimen and the motor without suppressing the resonance inherent in the specimen among the frequency response characteristics from the torque current command signal to the shaft torque detection signal.
- Design by H ⁇ control or ⁇ design method to suppress resonance Thereby, it is possible to suppress only the resonance unique to the connecting shaft between the specimen and the motor without affecting the resonance phenomenon inherent to the specimen.
- a single motor is connected to the specimen.
- the resonance point between the specimen and the motor to be suppressed can be made higher than when the motors are connected in series as in the test system shown in Patent Document 2. That is, the distance between the resonance point unique to the specimen and the resonance point between the specimen and the motor can be increased. Therefore, according to the present invention, the influence of the resonance suppression control on the resonance phenomenon unique to the specimen can be made smaller than that of the test system shown in Patent Document 2.
- a difference between a control input corresponding to a torque current command signal and an external input corresponding to a torque command signal is defined as a control amount.
- the weight function is a transfer function having a characteristic that the gain decreases at high frequencies.
- FIG. 1 It is a figure which shows the structure of the test system of the drive train (3-axis type) which concerns on one Embodiment of this invention. It is a figure which shows the structure of the test system of a 2-axis type drive train. It is a Bode diagram showing response characteristics from a torque current command signal to a shaft torque detection signal when there is no resonance suppression control. It is a figure for demonstrating the control system design method by Hinfinity control using a generalized plant, and micro design method. It is a figure which shows the specific structure of the generalization plant of Example 1.
- FIG. It is a figure which shows the structure of the 2 inertia system model which approximated the mechanical system of the test system.
- FIG. 3 is a diagram illustrating a specific configuration of a resonance suppression control circuit according to the first embodiment.
- FIG. 3 is a Bode diagram illustrating frequency response characteristics of a controller Gc1 according to the first embodiment. It is a Bode diagram which shows the frequency response characteristic of controller Gc2 of Example 1.
- FIG. 3 is a Bode diagram showing response characteristics from a torque current command signal to shaft torque detection in a test system using the resonance suppression control circuit of the first embodiment.
- FIG. 1 is a block diagram showing the configuration of the test system 1 of the present embodiment.
- the specimen W is a three-axis type drive train mounted on an FF drive type vehicle as shown in FIG. 1
- the present invention is not limited to this.
- the specimen W ′ may be a two-axis type drive train that is mounted on an FR drive type vehicle.
- the test system 1 includes a single drive motor 2 connected to the input shaft of the specimen W, an inverter 3 that supplies power to the drive motor 2, and a shaft that detects the shaft torque between the specimen W and the motor 2.
- a torque sensor 6 and a resonance suppression control circuit 5 that generates a torque current command signal are provided.
- the drive motor 2 and the specimen W are connected via a connecting shaft S1. Further, regenerative motors 7L and 7R for generating loads are connected to both ends of the drive shaft S2 of the specimen W, respectively.
- the shaft torque sensor 6 is provided on the connecting shaft S1 between the specimen W and the motor 2, generates a shaft torque detection signal corresponding to the shaft torque generated on the connecting shaft S1, and inputs the shaft torque detection signal to the resonance suppression control circuit 5.
- the inverter 3 drives the drive motor 2 in accordance with the torque current command signal input from the resonance suppression control circuit 5.
- the resonance suppression control circuit 5 generates a torque current command signal based on the torque command signal input from the outside and the shaft torque detection signal input from the shaft torque sensor 6 and inputs the torque current command signal to the inverter 3.
- This resonance suppression control circuit 5 is a torque current command that suppresses the resonance phenomenon that can occur in the entire test system 1 including the specimen W except for the resonance phenomenon unique to the specimen W to be tested.
- a resonance suppression control function for generating a signal is provided.
- the torque command signal input to the resonance suppression control circuit 5 corresponds to a command for the drive torque to be generated by the drive motor 2, and the engine torque pulsation is applied to a DC component having a predetermined magnitude corresponding to the base torque. It is configured by superimposing alternating current components having a predetermined excitation frequency.
- FIG. 3 is a Bode diagram showing response characteristics from the torque current command signal to the shaft torque detection signal when there is no resonance suppression control.
- the torque command signal obtained by synthesizing the DC component and the AC component is directly input to the inverter 3 as the torque current command signal without passing through the resonance suppression control circuit 5.
- FIG. 3 shows the case where the load generated by the regenerative motors 7L and 7R is changed in three stages of small, medium, and large, and the line type is changed.
- the test system 1 configured by connecting a plurality of motors 2, 7L, 7R to the specimen W has resonance generated on a relatively low frequency side (several Hz to several tens Hz). There are two types of resonance points: resonance that occurs on the relatively high frequency side (300 Hz or higher).
- the test system 1 assumes a vehicle drive train that includes various spring elements as the specimen W. That is, the rigidity of the specimen W is lower than the rigidity of the connecting shaft S1. Therefore, the resonance occurring on the low frequency side is a phenomenon specific to the specimen W that is the test object, and the resonance occurring on the high frequency side is a phenomenon inherent to the connection axis S1 between the specimen W and the motor 2 that is not the test object. It is.
- the test system 1 including the specimen W has roughly two types of resonance points.
- the resonance generated on the high frequency side is the characteristic of the specimen W to be tested. This is an unrelated resonance phenomenon unique to the test system 1.
- the apparatus since the resonance generated on the high frequency side is greatly vibrated, the apparatus may be damaged when the excitation frequency passes through the resonance point. Therefore, it is preferable to suppress the resonance generated on the high frequency side by the resonance suppression function of the resonance suppression control circuit 5.
- the resonance that occurs on the low frequency side is a phenomenon unique to the specimen W to be tested. Therefore, it is not preferable to suppress the resonance generated on the low frequency side by the resonance suppression function.
- the resonance suppression control circuit 5 having the resonance suppression control function as described above has at least one control amount z and at least one observation from at least one external input w and at least one control input u as shown in FIG.
- a robust plant design method called H ⁇ control or ⁇ design method is defined so that the generalized plant P that outputs the output y is defined as a control target and the response from the external input w to the control amount z is reduced.
- the controller K designed by the above is mounted on an electronic computer.
- Generalized plant P includes a dynamic characteristic model to be controlled and a weight function that defines control specifications.
- a controller K that achieves a desired control objective from a generalized plant P using H ⁇ control or ⁇ design method, see, for example, “Linear Robust Control” by Liu Yasushi. ”Corona, 2002, edited by Kenzo Nonami, Hidekazu Nishimura, Mitsuo Hirata,“ Control System Design with MATLAB ”, Tokyo Denki University Press, 1998, etc. Is omitted.
- Specific configurations of the generalized plant P and the resonance suppression control circuit 5 derived thereby will be described later as a first embodiment.
- a drive torque including fluctuations simulating engine torque pulsation is generated by the single drive motor 2, and this drive torque is input to the specimen W, so that The durability performance and quality of the specimen W are evaluated.
- FIG. 5 is a diagram illustrating a specific configuration of the generalized plant P of the first embodiment.
- input signals denoted by reference symbols w1, w2, and w3 indicate external inputs
- input signals denoted by reference symbol u indicate control inputs output from the controller K
- reference symbols z1, z2 , Z3 indicates an amount of control
- output signals denoted by symbols y1 and y2 indicate observation outputs input to the controller K.
- the generalized plant P includes a dynamic characteristic model 8 that identifies the characteristics of the test system 1 in FIG. 1 including a specimen, a motor, an inverter, a shaft torque sensor, and the like, and a first weight function for realizing a preferable control specification. P6 and a second weight function P7.
- the dynamic characteristic model 8 includes mechanical models P1 to P3 that identify characteristics of a two-inertia system configured by connecting a motor and a specimen, and an axial torque detection model P4 that identifies axial torque detection characteristics by an axial torque sensor. And an inverter model P5 that identifies the torque current control characteristics of the motor by the inverter.
- the mechanical system configuration of the test system 1 configured in combination with the specimen W is such that two rigid bodies having inherent moments of inertia J1 and J2 as shown in FIG. 6 are connected by spring elements having a spring constant K1. It can be approximated by a two-inertia system model constructed. 5 and 6, “J1” corresponds to the moment of inertia [kgm 2 ] of the motor, “J2” corresponds to the moment of inertia of the specimen, and “K2” represents the spring between the motor and the specimen. It corresponds to rigidity [Nm / rad].
- the first external input w1 is a signal for evaluating the influence of control error or noise in the inverter.
- the second external input w2 is a signal corresponding to a torque command signal input to the controller K.
- the third external input w3 is a signal for evaluating the influence of detection error or noise in the shaft torque sensor.
- the control input u is a signal output from the controller K and input to the inverter model P5, that is, a signal corresponding to a torque current command signal.
- the first observation output y1 is equal to a signal corresponding to the torque command signal input to the controller K, that is, the second external input w2.
- the second observation output y2 is a signal corresponding to the shaft torque detection signal input to the controller K, and a signal obtained by combining the output of the inverter model P5 and the third external input w3 is used.
- the output of the shaft torque detection model P4 is used for the first control amount z1.
- the second control amount z2 is obtained by multiplying the control input u by the second weight function Gw2.
- a transfer function having a characteristic that the gain increases as the input frequency increases is used as the second weight function Gw2.
- the third control amount z3 is obtained by multiplying the difference between the second external input w2 and the control input u by the first weight function Gw1.
- the first weight function Gw1 is a transfer function having a characteristic that the gain decreases as the input frequency increases.
- FIG. 7 is a diagram illustrating a specific configuration of the resonance suppression control circuit 5 according to the first embodiment.
- this resonance suppression control circuit 5 two controllers Gc1 and Gc2 derived from the generalized plant P shown in FIG. 5 are used.
- the controller Gc1 is derived corresponding to the first observation output y1
- the controller Gc2 is derived corresponding to the second observation output y2.
- FIGS. 8 and 9 are Bode diagrams showing the frequency response characteristics of the controllers Gc1 and Gc2 of the first embodiment, respectively. 8 and 9 show gain characteristics, and the lower stage shows phase characteristics.
- FIG. 10 is a Bode diagram showing response characteristics from the torque current command signal to the shaft torque detection signal in the test system using the resonance suppression control circuit 5 of the first embodiment.
- the response characteristics when there is no resonance suppression control are indicated by broken lines.
- the controller Gc1 (s) suppresses only the resonance point (see FIG. 3) unique between the specimen and the motor that exists between 3 and 400 Hz. The gain has decreased.
- the controller Gc2 (s) has a characteristic that the gain decreases as the frequency decreases in the region of 6 to 700 Hz or less.
- This gain reduction characteristic on the low frequency side of the controller Gc2 (s) is because a transfer function having an integral characteristic is adopted as the first weight function Gw1 (s) in the generalized plant P of FIG.
- the controller Gc2 (s) at a frequency lower than the resonance point between the specimen and the motor (3 to 400 Hz), that is, at the resonance point specific to the specimen (several Hz to several tens Hz), the shaft torque The shaft torque detection signal from the sensor is not fed back. For this reason, as shown in FIG. 10, the resonance between the specimen and the motor is almost completely suppressed, but the resonance unique to the specimen is hardly affected.
- the controller Gc2 (s) has a characteristic that the gain decreases as the frequency increases in the region of 6 to 700 Hz or more.
- the gain reduction characteristic on the high frequency side of the controller Gc2 (s) is because, in the generalized plant P of FIG. 5, a transfer function having a characteristic of high gain in the high frequency range is adopted as the second weighting function Gw2 (s). It is.
- the controller Gc2 (s) having such characteristics as a resonance suppression control circuit, an increase in noise of the shaft torque detection signal is suppressed.
- the specimen is hardly affected by the resonance phenomenon inherent to the specimen. -Only resonance specific to motors can be suppressed.
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Abstract
Description
図1は、本実施形態の試験システム1の構成を示すブロック図である。なお以下では、図1に示すように供試体WをFF駆動方式の車両に搭載される3軸タイプのドライブトレインをとした場合について説明するが、本発明はこれに限るものではない。例えば、図2に示すように、供試体W´をFR駆動方式の車両に搭載される2軸タイプのドライブトレインとしてもよい。
図3は、共振抑制制御が無い場合におけるトルク電流指令信号から軸トルク検出信号までの応答特性を示すボード線図である。ここで、共振抑制制御が無い場合とは、共振抑制制御回路5を経ずに、直流成分と交流成分とを合成して得られたトルク指令信号をそのままトルク電流指令信号としてインバータ3に入力した場合をいう。また、図3には、回生モータ7L,7Rで発生する負荷の大きさを小、中、大の3段階に分けて変化させた場合について、線種を変えて示す。
図5の一般化プラントPにおいて、符号w1,w2,w3を付した入力信号はそれぞれ外部入力を示し、符号uを付した入力信号はコントローラKから出力される制御入力を示し、符号z1,z2,z3を付した出力信号は制御量を示し、符号y1,y2を付した出力信号はコントローラKに入力される観測出力を示す。
図8及び図9は、それぞれ実施例1のコントローラGc1,Gc2の周波数応答特性を示すボード線図である。これら図8及び図9の上段はゲイン特性を示し、下段は位相特性を示す。
図10は、実施例1の共振抑制制御回路5を用いた試験システムにおけるトルク電流指令信号から軸トルク検出信号までの応答特性を示すボード線図である。この図10においても、図3と同様に負荷の大きさを小、中、大の3段階に分けて変化させた場合について、線種を変えて示す。また図10には、実施例1の効果を明確にするため、共振抑制制御が無い場合における応答特性を破線で示す。
2…駆動モータ
3…インバータ
5…共振抑制制御回路
6…軸トルクセンサ
Gc1,Gc2…コントローラ
P…一般化プラント
W,W´…供試体
Claims (2)
- 供試体の入力軸に連結される単一のモータと、
前記供試体と前記モータとの間の軸トルクに応じた信号を発生する軸トルクセンサと、
所定の加振周波数の交流成分を含むトルク指令信号と前記軸トルクセンサの軸トルク検出信号とに基づいて、前記供試体及び前記モータ間の機械共振が抑制されるようなトルク電流指令信号を生成する共振抑制制御回路と、
前記トルク電流指令信号に応じて前記モータを駆動するインバータと、を備え、前記供試体は車両のドライブトレインとするドライブトレインの試験システムであって、
前記共振抑制制御回路は、前記トルク電流指令信号から前記軸トルク検出信号までの周波数応答特性のうち前記供試体固有の共振を抑制せずに、当該供試体固有の共振点より高周波数側の前記供試体及び前記モータ間の共振を抑制するようにH∞制御又はμ設計法と呼称される制御系設計方法によって設計されたコントローラを備えることを特徴とするドライブトレインの試験システム。 - 前記コントローラは、外部入力及び制御入力から制御量及び観測量を出力する一般化プラントに対し前記外部入力から前記制御量までの応答を小さくするようにH∞制御又はμ設計法と呼称される制御系設計方法によって設計され、
前記外部入力は、前記共振抑制制御回路に入力されるトルク指令信号に相当する信号を含み、
前記制御量は、前記外部入力と前記共振抑制制御回路から出力されるトルク電流指令信号に相当する制御入力との差に所定の重み関数によって重み付けした信号を含み、
前記重み関数は、入力の周波数が高くなるほどゲインが低下する特性を有する伝達関数であることを特徴とする請求項1に記載のドライブトレインの試験システム。
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JP6197923B1 (ja) * | 2016-06-27 | 2017-09-20 | 株式会社明電舎 | 制御システム |
JP6217797B1 (ja) * | 2016-06-22 | 2017-10-25 | 株式会社明電舎 | 共振抑制制御回路及びこれを用いた試験システム並びに共振抑制制御回路の設計方法 |
WO2018164266A1 (ja) * | 2017-03-10 | 2018-09-13 | 株式会社明電舎 | 試験システムの入出力特性推定方法 |
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JP6369596B1 (ja) * | 2017-05-09 | 2018-08-08 | 株式会社明電舎 | ダイナモメータシステムの制御装置 |
JP6645525B2 (ja) | 2018-02-23 | 2020-02-14 | 株式会社明電舎 | 試験システムの制御装置 |
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JP2017228087A (ja) * | 2016-06-22 | 2017-12-28 | 株式会社明電舎 | 共振抑制制御回路及びこれを用いた試験システム並びに共振抑制制御回路の設計方法 |
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JPWO2015136626A1 (ja) | 2017-04-06 |
KR20160119260A (ko) | 2016-10-12 |
KR101716250B1 (ko) | 2017-03-15 |
JP5839154B1 (ja) | 2016-01-06 |
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