WO2016052084A1 - ダイナモメータシステムの制御装置 - Google Patents

ダイナモメータシステムの制御装置 Download PDF

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Publication number
WO2016052084A1
WO2016052084A1 PCT/JP2015/075355 JP2015075355W WO2016052084A1 WO 2016052084 A1 WO2016052084 A1 WO 2016052084A1 JP 2015075355 W JP2015075355 W JP 2015075355W WO 2016052084 A1 WO2016052084 A1 WO 2016052084A1
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WIPO (PCT)
Prior art keywords
signal
torque
dynamometer
speed
controller
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PCT/JP2015/075355
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English (en)
French (fr)
Japanese (ja)
Inventor
利道 高橋
礼二 古賀
裕介 鬼塚
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株式会社明電舎
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Application filed by 株式会社明電舎 filed Critical 株式会社明電舎
Priority to KR1020177010594A priority Critical patent/KR101784716B1/ko
Priority to CN201580052970.9A priority patent/CN107076643B/zh
Publication of WO2016052084A1 publication Critical patent/WO2016052084A1/ja

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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
    • G01L3/16—Rotary-absorption dynamometers, e.g. of brake type
    • 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

Definitions

  • the present invention relates to a control device for a dynamometer system. More specifically, the present invention relates to a control device for a dynamometer system including an oscillating dynamometer, a load cell, and an acceleration sensor.
  • load cells are used as sensors for detecting torque related to control and measurement.
  • the load cell detects the torque acting on the dynamometer rocker through a torque arm extending from the rocker (see Patent Document 1). Due to such a structure, the output signal of the load cell is not the torque actually detected by the dynamometer, but the torque fluctuation component accompanying the natural vibration of the oscillator is superimposed. It is a component that is essentially unnecessary in the control and measurement.
  • Patent Document 1 describes a control method for suppressing natural vibration of a rocker by giving damping to a controlled object using a natural vibration suppressing circuit. Since the natural vibration of the oscillator is suppressed by using the natural vibration suppression circuit of Patent Document 1, a stable detection signal in which the natural vibration is suppressed is obtained in the load cell.
  • the detection signal of the load cell provided in the oscillating dynamometer includes various torque pulsations (variations) in addition to the natural vibration of the oscillating element as described above. Specifically, for example, torque ripple caused by an inverter can be mentioned.
  • the natural vibration suppression circuit of Patent Document 1 is used, as a result of suppressing the natural vibration of the oscillator, the load cell can detect even a very small torque ripple as compared with the natural vibration of the oscillator. .
  • An object of the present invention is to provide a control device for a dynamometer system capable of controlling the influence of both the natural vibration of the oscillator and the torque pulsation different from the natural vibration.
  • a dynamometer system (for example, a dynamometer system 1 described later) includes an oscillating dynamometer (for example, a dynamometer 2 described later) connected to a load, and an inverter that supplies power to the dynamometer (for example, an inverter 3) to be described later and a torque arm (for example, a torque arm 26 to be described later) extending from the oscillator to generate torque generated in a swinger (for example, a swinger 23 to be described later) of the dynamometer. And an acceleration sensor (for example, an acceleration sensor 30 described later) for detecting the acceleration of the torque arm along the load direction of the load cell.
  • an oscillating dynamometer for example, a dynamometer 2 described later
  • an inverter that supplies power to the dynamometer
  • a torque arm for example, a torque arm 26 to be described later
  • an acceleration sensor for example, an acceleration sensor 30 described later
  • a control device for example, control devices 4, 4A, 4B described later
  • a control signal for example, described later
  • a natural vibration suppression circuit for example, natural vibration suppression circuit 6 described later
  • a natural vibration suppression circuit 6 that generates a correction signal and a detection signal of the acceleration sensor are inverted, and the inverted signal is used to remove an AC component from the detection signal of the load cell.
  • a circuit for example, a correction circuit 7 to be described later
  • a detection signal of the load cell that has passed through the correction circuit is input to the controller, and the natural vibration suppression circuit It is characterized by inputting a detection signal of the load cell that has not undergone the correction circuit and the control signal of the controller that the correction signal is summed.
  • the dynamometer system includes a speed detection device (for example, an encoder 29 described later) that detects the speed of the dynamometer, and the controller receives a detection signal of the load cell that has passed through the correction circuit and a predetermined signal.
  • a torque controller for example, a torque controller 5 described later
  • a command generation device for example, a command described later
  • the command generating device generates a running resistance command signal based on a detection signal of the speed detecting device (for example, a running resistance setting unit 91 described later), and Electric inertia command calculation for generating an electric inertia command signal based on the detection signal of the load cell and the detection signal of the speed detection device that have passed through a correction circuit (For example, a driving force observer 92, a subtraction unit 93, and an electric inertia ratio setting unit 94, which will be described later), and a combination of the running resistance command signal and the electric inertia command signal is a torque command signal to the torque controller.
  • a summing unit for example, an adding unit 96 described later).
  • the command generation device sets the speed of the dynamometer to a predetermined target speed based on the detection signal of the speed detection device, the travel resistance command signal, and the detection signal of the load cell that has passed through the correction circuit.
  • a speed controller (for example, a speed controller 95 to be described later) that generates a torque correction signal for matching the driving resistance command signal, the electric inertia command signal, and the torque correction signal. It is preferable to use a combined torque command signal to the torque controller.
  • the dynamometer system includes a speed detection device (for example, an encoder 29 described later) that detects the speed of the dynamometer, and the controller detects a detection signal of the speed detection device and a predetermined speed command.
  • a speed controller for example, a speed controller 5B described later
  • a command generation apparatus for example, a command generation apparatus described later
  • the command generation device generates a travel resistance command signal (for example, a travel resistance setting unit 91 to be described later) that generates a travel resistance command signal based on the detection signal of the speed detection device, and the speed detection.
  • a disturbance torque signal corresponding to the driving force applied to the dynamometer is generated based on the detection signal of the device and the detection signal of the load cell that has passed through the correction circuit.
  • a driving force observer e.g., driving force observer 92 described later
  • an integrator e.g., an integration described later
  • the controller generates a control signal (for example, a torque controller 5 described later) that eliminates a deviation between the detection signal of the load cell that has passed through the correction circuit and a predetermined torque command signal. ).
  • a control signal for example, a torque controller 5 described later
  • the dynamometer system includes a speed detection device that detects the speed of the shaft of the dynamometer, and the controller generates a speed command signal generated based on the detection signal of the load cell that has passed through the correction circuit. And a speed controller (for example, a speed controller 5B described later) that generates a control signal that eliminates a deviation from the detection signal of the speed detection device.
  • a speed controller for example, a speed controller 5B described later
  • the dynamometer system includes a position detection device that detects the position of the shaft of the dynamometer, and the controller generates a position command signal generated based on the detection signal of the load cell that has passed through the correction circuit. And a position controller that generates a control signal that eliminates a deviation from the detection signal of the position detection device.
  • a natural vibration suppression circuit for suppressing the natural vibration of the oscillator and a correction circuit for removing an AC component from the detection signal of the load cell are provided.
  • the control of the dynamometer by the controller is a major loop
  • the natural vibration suppression control by the natural vibration suppression circuit is a minor loop
  • the detection signal of the load cell that has not passed through the correction circuit is used for the minor loop control.
  • the detection signal of the load cell from which the AC component is removed through the correction circuit is used.
  • the torque control by the torque controller is a major loop
  • the natural vibration suppression control by the natural vibration suppression circuit is a minor loop.
  • the detection signal of the load cell that has not passed through the correction circuit is used for the natural vibration suppression control
  • the detection signal of the load cell that has passed through the correction circuit is used for the torque control, and the detection signal of the load cell that has passed this correction circuit.
  • the calculated torque command signal is used.
  • a torque correction signal for matching the speed of the dynamometer to a predetermined target speed is generated based on the detection signal of the speed detection device, the running resistance command signal, and the detection signal of the load cell that has passed through the correction circuit. This is used to generate a torque command signal to the torque controller.
  • the torque control by the torque controller is a major loop
  • the natural vibration suppression control by the natural vibration suppression circuit is a minor loop.
  • the detection signal of the load cell that has not passed through the correction circuit is used for the natural vibration suppression control
  • the detection signal of the load cell that has passed through the correction circuit is used for the torque control.
  • an effect equivalent to that of the above invention (5) can be obtained in a system using position control by a position controller as a major loop.
  • FIG. 3 is a block diagram illustrating a configuration of a control device according to the first embodiment. It is a block diagram which shows the structure of the control apparatus of Example 2. It is a figure which shows the result of the electric inertia control by the conventional control apparatus. It is a figure which shows the result of the electric inertia control by the control apparatus of Example 2. FIG. It is a block diagram which shows the structure of the control apparatus of Example 3.
  • FIG. 1 is a diagram showing a configuration of a rocking dynamometer system 1.
  • the oscillating dynamometer system 1 includes an oscillating dynamometer 2, an inverter 3 that supplies electric power to the dynamometer 2, and a control device 4 that controls the dynamometer 2.
  • the dynamometer 2 has a cylindrical stator 21, a rotor 22 rotatably supported in the stator 21, and an oscillator 23 composed of the rotor 22 and the stator 21 fixed to an installation surface G.
  • a pedestal 25 that is swingably supported along the circumferential direction on the base 24, a roller 27 that rotates coaxially with the rotor 22, a load cell 28 as a load detector that detects torque generated in the stator 21, and a rotor And an encoder 29 that detects the number of rotations 22.
  • a specimen (not shown) to be tested is connected to the rotor 22.
  • a torque arm 26 extending outward in the radial direction is provided on a side portion of the stator 21.
  • the load cell 28 is provided between the tip end portion of the torque arm 26 and the installation surface G. The load cell 28 detects a load (output torque of the dynamometer 2) acting between the torque arm 26 and the installation surface G, and transmits a signal substantially proportional to the detected value to the control device 4.
  • an acceleration sensor 30 for detecting the acceleration of the torque arm 26 is provided at the tip of the torque arm 26.
  • the acceleration sensor 30 detects the acceleration of the torque arm 26 along the load direction of the load cell 28 and transmits a signal substantially proportional to the detected value to the control device 4.
  • Encoder 29 generates a pulse signal according to the rotation of rotor 22 and transmits it to control device 4.
  • the angular velocity (speed) and angle (position) of the rotor 22 are calculated by the control device 4 based on the pulse signal from the encoder 29.
  • a signal proportional to the angular velocity generated based on the pulse signal of the encoder 29 is referred to as a velocity detection signal, and a signal proportional to the angle is referred to as a position detection signal.
  • control device 4 applies an inertia equivalent to that of the actual vehicle to the vehicle mounted on the roller 27, and simulates the actual road running while performing an exhaust gas test and a fuel consumption test.
  • Various tests such as
  • FIG. 2 is a block diagram illustrating a configuration of the control device 4 of the dynamometer system according to the first embodiment.
  • the control target P is configured to include the inverter, dynamometer, load cell, acceleration sensor, and the like described with reference to FIG.
  • the control device 4 includes a torque controller 5 that generates a control signal for controlling the torque of the dynamometer, a natural vibration suppression circuit 6 that generates a correction signal for correcting the control signal of the torque controller 5, and detection of a load cell.
  • a correction circuit 7 that corrects a signal (hereinafter referred to as a “load cell torque signal”) and a subtraction unit 8 are provided.
  • the torque controller 5 transmits a control signal that eliminates a deviation between a load cell torque signal from which torque pulsation and noise have been removed through a correction circuit 7 described later and a torque command signal determined by a process (not shown), Generate based on a known feedback algorithm.
  • the subtraction unit 8 subtracts the correction signal generated by the natural vibration suppression circuit 6 from the control signal generated by the torque controller 5 to generate a control signal for the inverter.
  • the natural vibration suppression circuit 6 corrects the control signal of the torque controller 5 based on the control signal to the inverter and the load cell torque signal that has not passed through the correction circuit 7 described later so that the natural vibration of the oscillator is suppressed.
  • a correction signal to be generated is generated. More specifically, the natural vibration suppression circuit 6 generates an approximate signal of the load cell by using an arithmetic expression characterized by a predetermined damping coefficient and the natural frequency of the oscillator, A correction signal is generated so that the deviation between the signal delayed by the dead time and the load cell torque signal is minimized.
  • a specific configuration for generating a correction signal having such a function is described in, for example, Japanese Patent Application Laid-Open No. 2013-246152 filed by the applicant of the present application, and thus detailed description thereof is omitted here.
  • the correction circuit 7 reverses the phase of the acceleration sensor detection signal that has passed through the DC component removal unit 71 with respect to the load cell torque signal by 180 degrees from the detection signal of the acceleration sensor.
  • An addition unit 74 that removes torque pulsation components from the load cell torque signal, and a low-pass filter 75 that removes harmonic noise from the load cell torque signal that has passed through the addition unit 74 are provided.
  • a load cell torque signal that has not passed through the correction circuit 7 is input to the natural vibration suppression circuit 6 that constitutes the minor loop, and a torque controller that constitutes the major loop.
  • a load cell torque signal from which torque pulsation and harmonic noise have been removed is input to 5.
  • FIG. 3 is a block diagram illustrating a configuration of the control device 4A of the dynamometer system according to the second embodiment.
  • the control device 4A of this embodiment is different from the control device 4 of the first embodiment (see FIG. 2) in that it further includes a command generation device 9A and a feedforward controller 10A.
  • the control device 4A of the second embodiment is different from the control device 4 of the first embodiment in that the detection signal of the encoder is further used.
  • symbol is attached
  • the command generation device 9A includes a running resistance setting unit 91, a driving force observer 92, a subtraction unit 93, an electric inertia ratio setting unit 94, a speed controller 95, and an addition unit 96.
  • the command generation device 9 ⁇ / b> A includes a travel resistance command signal generated by the travel resistance setting unit 91, an electric inertia command signal generated by the electric inertia ratio setting unit 94, and a correction signal generated by the speed controller 95.
  • a torque command signal to the torque controller 5 is generated by combining the two signals by the adder 96.
  • the traveling resistance setting unit 91 generates a traveling resistance command signal corresponding to the speed detection signal from the encoder by searching a predetermined traveling resistance table.
  • This running resistance command signal is a signal corresponding to the resistance that the running vehicle receives from the road surface and the atmosphere.
  • the running resistance table a table determined by performing a test using an actual vehicle is used.
  • the driving force observer 92 generates a disturbance torque signal corresponding to the driving force applied to the dynamometer based on the load cell torque signal passed through the correction circuit 7 and the speed detection signal from the encoder. More specifically, the driving force observer 92 combines the signal obtained by multiplying the value obtained by differentiating the speed detection signal with the value of a predetermined fixed inertia mass and the load cell torque signal that has passed through the correction circuit 7 to thereby generate disturbance torque. Generate a signal.
  • the fixed inertia mass means an inertia mass inherent to the dynamometer system, and corresponds to a fixed inertia component automatically added to a vehicle traveling on a roller.
  • the subtracting unit 93 subtracts the traveling resistance command signal generated by the traveling resistance setting unit 91 from the disturbance torque signal generated by the driving force observer 92.
  • the electric inertia ratio setting unit 94 multiplies the signal generated by the subtracting unit 93 by a ratio (electric inertia mass value / set inertia mass value) of a predetermined electric inertia mass value and a predetermined set inertia mass value.
  • an electric inertia command signal is generated.
  • the set inertial mass is an inertial mass determined according to the weight of the vehicle to be tested. As shown in the following formula, the set inertia mass is defined as a combination of the fixed inertia mass and the electric inertia mass.
  • Set inertia mass Fixed inertia mass + Electric inertia mass
  • the speed controller 95 generates a correction signal for correcting the torque command signal so that the difference between the predetermined target speed and the actual speed obtained based on the speed detection signal becomes zero.
  • the target speed is calculated based on the speed detection signal from the encoder, the travel resistance command signal from the travel resistance setting unit 91, and the load cell torque signal that has passed through the correction circuit 7.
  • the feedforward controller 10A generates a feedforward signal corresponding to the torque command signal by performing a predetermined calculation.
  • the subtracting unit 8A subtracts the correction signal generated by the natural vibration suppression circuit 6 from the signal obtained by combining the control signal generated by the torque controller 5 and the feedforward signal generated by the feedforward controller 10A. Generate a control signal to the inverter.
  • FIG. 4 is a diagram showing a result of the electric inertia control by the conventional control device
  • FIG. 5 is a diagram showing a result of the electric inertia control by the control device of the present embodiment.
  • the conventional control device corresponds to the control device of FIG. 3 excluding the natural vibration suppression circuit 6.
  • 4 and 5 show changes in the vehicle speed, the load cell torque signal, and the vehicle speed deviation when the vehicle placed on the roller is accelerated under a constant acceleration.
  • the vehicle speed a signal obtained by converting the speed detection signal from the encoder into the speed of the vehicle was used.
  • the vehicle speed deviation the deviation between the speed detection signal and the target speed is converted into the vehicle speed.
  • the natural vibration of the oscillator appears in the load cell torque signal.
  • the control device of the present embodiment uses the load cell torque signal that has not passed through the correction circuit for the natural vibration suppression control by the natural vibration suppression circuit, and the load cell torque signal that has passed through the correction circuit for the torque control by the torque controller. According to the above, the natural vibration of the oscillator that appeared in the load cell torque signal was suppressed, and the response of the dynamometer at the rising of the vehicle speed was also improved.
  • FIG. 6 is a block diagram illustrating the configuration of the control device 4B of the dynamometer system according to the third embodiment.
  • the control device 4B according to the present embodiment is different from the control device 4A according to the second embodiment (see FIG. 3) in that the control signal input to the inverter is generated by the speed controller 5B.
  • symbol is attached
  • the speed controller 5B is a known control signal that eliminates the deviation between the speed command signal generated by the command generation device 9B described later based on the load cell torque signal that has passed through the correction circuit 7 and the speed detection signal from the encoder. Generate based on feedback algorithm.
  • the command generation device 9B includes a running resistance setting unit 91, a driving force observer 92, a subtraction unit 93, an electric inertia ratio setting unit 94, an addition unit 96, a set inertia division unit 97B, and an integrator 98B.
  • a running resistance setting unit 91 a driving force observer 92
  • a subtraction unit 93 an electric inertia ratio setting unit 94
  • an addition unit 96 a set inertia division unit 97B
  • integrator 98B an integrator 98B.
  • the set inertia division unit 97B generates a signal having a dimension of acceleration by dividing a value obtained by subtracting the running resistance command signal from the disturbance torque signal generated by the driving force observer 92 by the set inertia mass value.
  • the integrator 98B integrates the signal generated by the set inertia division unit 97B to generate a signal having a speed dimension, which is used as a speed command signal for the speed controller 5B.
  • control device 4B of the present embodiment similarly to the control device 4A of the second embodiment, the influence of both the natural vibration and torque pulsation of the oscillator is reduced, and highly responsive and stable electric inertia control is performed. be able to.
  • the present invention is not limited thereto.
  • the present invention can also be applied to a test system such as an engine dynamometer system or a powertrain system as long as it includes a oscillating dynamometer.
  • torque control by the torque controller (see Examples 1 and 2) or speed control by the speed controller (see Example 3) is a major loop, and natural vibration suppression control by the natural vibration suppression circuit is minor.
  • the present invention can also be applied to a control device using position control by a position controller as a major loop.
  • the load cell torque signal that has not passed through the correction circuit is input to the natural vibration suppression circuit that forms the minor loop, and the position controller that forms the major loop has a position generated based on the load cell torque signal that has passed through the correction circuit.
  • Input a command signal.
  • the position controller may generate a control signal that eliminates the deviation between the position command signal and the position detection signal from the encoder.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Testing Of Engines (AREA)
  • Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
PCT/JP2015/075355 2014-09-30 2015-09-07 ダイナモメータシステムの制御装置 WO2016052084A1 (ja)

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KR1020177010594A KR101784716B1 (ko) 2014-09-30 2015-09-07 다이나모미터 시스템의 제어 장치
CN201580052970.9A CN107076643B (zh) 2014-09-30 2015-09-07 测功机系统的控制装置

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JP2014200450A JP5935853B2 (ja) 2014-09-30 2014-09-30 ダイナモメータシステムの制御装置
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KR (1) KR101784716B1 (enrdf_load_stackoverflow)
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WO (1) WO2016052084A1 (enrdf_load_stackoverflow)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108871381A (zh) * 2017-04-27 2018-11-23 罗德施瓦兹两合股份有限公司 信号校正方法、方法的用途、校正测量信号的系统及示波器
JP7371730B1 (ja) 2022-06-15 2023-10-31 株式会社明電舎 ダイナモメータシステム

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6497408B2 (ja) 2017-04-14 2019-04-10 株式会社明電舎 電気慣性制御装置
US11150150B2 (en) 2018-09-07 2021-10-19 Meidensha Corporation Dynamometer control device

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JPS5890135A (ja) * 1981-11-26 1983-05-28 Meidensha Electric Mfg Co Ltd 動力計のトルク検出装置
JPH0339632A (ja) * 1989-07-06 1991-02-20 Hitachi Ltd シヤシダイナモメータの制御装置
JP4788656B2 (ja) * 2007-05-16 2011-10-05 株式会社明電舎 動力試験システム
JP5145830B2 (ja) * 2007-09-12 2013-02-20 株式会社明電舎 ダイナモメータの制御装置
JP2013246152A (ja) * 2012-05-29 2013-12-09 Meidensha Corp ダイナモメータシステムの制御装置

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JP3508473B2 (ja) 1997-06-23 2004-03-22 株式会社明電舎 シャシーダイナモメータの走行抵抗制御装置
JP4340299B2 (ja) * 2007-03-08 2009-10-07 株式会社日立産機システム モータ制御装置、及びモータ制御システム

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Publication number Priority date Publication date Assignee Title
JPS5825217B2 (ja) * 1977-07-28 1983-05-26 株式会社明電舎 電気動力計のトルク測定方法
JPS5890135A (ja) * 1981-11-26 1983-05-28 Meidensha Electric Mfg Co Ltd 動力計のトルク検出装置
JPH0339632A (ja) * 1989-07-06 1991-02-20 Hitachi Ltd シヤシダイナモメータの制御装置
JP4788656B2 (ja) * 2007-05-16 2011-10-05 株式会社明電舎 動力試験システム
JP5145830B2 (ja) * 2007-09-12 2013-02-20 株式会社明電舎 ダイナモメータの制御装置
JP2013246152A (ja) * 2012-05-29 2013-12-09 Meidensha Corp ダイナモメータシステムの制御装置

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108871381A (zh) * 2017-04-27 2018-11-23 罗德施瓦兹两合股份有限公司 信号校正方法、方法的用途、校正测量信号的系统及示波器
JP7371730B1 (ja) 2022-06-15 2023-10-31 株式会社明電舎 ダイナモメータシステム
WO2023243638A1 (ja) * 2022-06-15 2023-12-21 株式会社明電舎 ダイナモメータシステム
JP2023183279A (ja) * 2022-06-15 2023-12-27 株式会社明電舎 ダイナモメータシステム

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KR101784716B1 (ko) 2017-10-12
CN107076643A (zh) 2017-08-18
JP2016070786A (ja) 2016-05-09
CN107076643B (zh) 2018-12-07
KR20170046801A (ko) 2017-05-02

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