JP4066766B2 - Electric inertia loop measurement method and apparatus in dynamometer system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an electric inertia compensation device in a dynamometer system, and more particularly to a method and apparatus for measuring a step response of a dynamometer system alone of an electric inertia loop.
[0002]
[Prior art]
FIG. 4 shows a system configuration diagram of the dynamometer, in which the engine 1, the clutch 2 and the transmission 3 are integrally assembled, and the dynamometer 4 is connected to the engine 1 through a connecting body. The speed of the engine 1 is controlled by the speed controller 5, and the dynamometer 4 is subjected to running resistance control by the torque controller 6, so that the transmission 3 is loaded with inertia equivalent to that of the actual vehicle, and a transmission test simulating actual vehicle travel is performed. Is called. The clutch 2 is automatically operated by the clutch controller 7 from the clutch disengagement at the time of shifting and starting, and the transmission 3 is operated by the controller 8 to change the gear ratio at the time of shifting.
[0003]
The speed control of the engine 1 is performed by instructing a throttle opening signal θ to the throttle controller 10 by comparing the detection signal from the speed detector 9 and the speed setting signal Ns, and the throttle control is performed via the controller 10 and the actuator 11. .
[0004]
By the way, in the dynamometer system configured as described above, an electric inertia compensation method for controlling as an absorption torque of the dynamometer 4 instead of a flywheel set to an inertia equivalent to an actual vehicle as an inertial resistance of the running resistance. Is adopted.
[0005]
FIG. 3 shows a block diagram for electrical inertia compensation known from, for example, Patent Document 1. In FIG. In the figure, A is a proportional integral element of the speed controller 5, B is an opening control delay element of the throttle opening control system (10, 11), C is an output torque characteristic of the engine 1 with respect to the throttle opening θ, D Is the inertial element of the test apparatus that combines the inertia of the engine, the transmission, the dynamometer, etc., and E is the first-order lag element of the speed detector 9, and these speeds A to E constitute the engine speed control system.
[0006]
F is the proportional integral element of the torque control system, G is the current control delay element of the current control system that becomes the minor loop of the torque control system, H is the current / torque conversion element of the dynamometer, and I is the torque detector of the dynamometer The first-order lag element possessed by these F to I constitutes a dynamometer torque control system.
[0007]
M is a first-order lag element of the speed detector with respect to the speed n from the element D, N is a machine inertia that obtains a torque component due to the machine inertia by differentiating the speed signal from the element M and multiplying it by the machine inertia Jo. / Torque conversion element, O is a first-order lag element that causes the first-order lag of the speed detector to act on the output of element H, P is a sum of elements N and O, τee, multiplied by an electric inertia gain, and a torque Tc for inertia An electric inertia setting element to be obtained, and an observer is constituted by these M to P.
[0008]
Symbols in each of these elements are as follows.
Ke: Speed controller gain Te: Speed controller time constant Ks: Opening control system gain Ts: Opening control system time constant Jo: Mechanical inertia of the test apparatus Kv: Speed detector gain Tv: Speed detector Time constant Kd: Torque control system gain Td: Torque control system time constant Kc: Current control system gain Tc: Current control system delay time constant Kt: Current / torque conversion coefficient Kl: Torque detector gain Tl: Torque FIG. 3 shows a delay time constant of the detector in the dynamometer system obtained as the sum of the inertial resistance of the vehicle coupled to the power transmission system of the vehicle, the mechanical inertia of the dynamometer system, and the electric inertia of the output torque of the dynamometer. The estimated output torque τee of the power source of G = Jd / J
Is multiplied by τee to obtain a torque command Tc for the electrical inertia compensation of the dynamometer.
However, J is a mechanical inertia setting value and Jd is an electric inertia compensation setting value.
[0009]
[Patent Document 1]
Japanese Patent No. 3158461 (FIG. 1)
[0010]
[Problems to be solved by the invention]
The advantage of the invention shown in FIG. 3 is that the gain G is 1> G from the equation. Therefore, no matter how large the electric inertia set value is, there is almost no influence on the electric inertia loop gain. It has the advantage that the system is stable regardless of the increase or decrease of Jd.
[0011]
However, the “step response of the electric inertia loop dynamometer system alone” (the step response of the electric inertia loop when connected to a power transmission system with no response delay) is not considered. For this reason, it is considered that it is impossible to estimate the step response of the electric inertia loop as seen from the power transmission system.
The reason will be described below.
[0012]
The step response of the electric inertia loop means that immediately after stepping the torque τe output from the element C shown in FIG. 3, the dynamometer that is the output of the element H is added to the torque Tc for the electric inertia compensation that is the output of the element P. This is the time until the output torque detections coincide with each other. However, in reality, it is very difficult to step-input the output τe of the element C.
[0013]
An object of the present invention is to provide a measurement method and apparatus capable of estimating and simulating an actual model response of an electric inertia loop.
[0014]
[Means for Solving the Problems]
The first aspect of the present invention is to test a single dynamometer that has a power transmission system, a dynamometer torque control system, and an observer , and calculates the electric inertia compensation torque by the observer and outputs it to the torque control system. In
A response measurement start element is connected to the output side of the electric inertia setting element for obtaining the electric inertia torque by the observer, the response measurement start element is opened, and the power transmission system is disengaged from the electric inertia loop to generate the torque. After applying the step torque drive torque command to the control system , measurement is started when the electric inertia compensation torque output from the observer rises in a step shape, and the output torque detection of the dynamometer detects the torque It is characterized in that the electric inertia loop is evaluated using the time until the value obtained by subtracting the electric inertia compensation torque from the drive torque command applied to the control system substantially coincides with the step response of the electric inertia loop of the dynamometer alone. Is.
[0015]
According to a second aspect of the present invention, the electric inertia loop measurement is obtained as a sum of an electric inertia coupled to a power transmission system of a vehicle and converting a vehicle inertia resistance to a mechanical inertia of the dynamometer system and an output torque of the dynamometer. The dynamometer system is characterized in that the power transmission system is dissociated from the dynamometer.
[0016]
The third aspect of the present invention is to test a single dynamometer that has a power transmission system, a dynamometer torque control system, and an observer , and calculates the electric inertia compensation torque by the observer and outputs it to the torque control system. In
A drive torque command output element that applies a step-like drive torque command to the torque control system during step response measurement of the electric inertia loop, and is connected to the output side of the observer, and when the drive torque command is output, the power transmission system In addition, a response measurement start element is provided for starting up the electric inertia compensation torque stepwise at the response measurement start time and outputting it to the addition element at the start of response measurement. The present invention is characterized in that a difference with the drive torque command is executed and output to the torque control system .
[0017]
A fourth aspect of the present invention is a dynamometer system that is coupled to a power transmission system of a vehicle and obtains the inertial resistance of the vehicle as the sum of the mechanical inertia of the dynamometer system and the electric inertia that makes the output torque of the dynamometer, The dynamometer has a torque control system and an observer that calculates torque for electric inertia compensation and outputs it to the torque control system.
The electric inertia is measured using a dynamometer in which the power transmission system of the vehicle is dissociated from the dynamometer system.
[0018]
According to a fifth aspect of the present invention, the observer obtains a torque of the mechanical inertia by multiplying the detected differential value of the detected speed of the dynamometer by the mechanical inertia, and has the same delay as the detected speed of the dynamometer. The output torque of the dynamometer is obtained, and this output torque is added to the torque of the mechanical inertia to obtain the estimated output torque τee of the power source of the vehicle, and G = 1− (J / Jd) (where J is The output torque estimated value τee is multiplied by a gain G set by a mechanical inertia set value, Jd is an electric inertia compensation set value), and an electric inertia compensation amount Tc is obtained.
[0019]
FIG. 1 is a block diagram showing an embodiment of the present invention. The same or corresponding parts as those in FIG.
That is, according to the present invention, the addition element T is provided on the input side of the element O in the observer, and the difference signal between the output of the element H and the torque command from the drive torque command output element R is input to the element O. In addition, a response measurement start element S is provided on the output side of the element P , so that the measuring apparatus does not originally have a power transmission system, or the power transmission system (the engine speed control system A shown in FIG. ~ C, E) are removed and the test is performed.
[0020]
Prior to the description of the present invention, in order to evaluate the step response of the electric inertia loop of the dynamometer alone, the case where the power transmission system is dissociated from the system and the response measurement start element S is not added will be described. .
In other words, the step response of the dynamometer system alone of the electric inertia loop is obtained, and the element S in FIG. 1 is simply removed in order to evaluate it. In that case,
(1) In order to step-input a constant torque to the dynamometer, the speed control system is disconnected from the apparatus, and a constant drive torque is applied to the dynamometer from the element R via the torque control system (F to I). To output a step signal. A differential value of the speed generated based on this step signal is detected by an element N, and a torque command Tc for electric inertia compensation is calculated by an element P.
[0021]
(2) Immediately after the step command is input from the element R to the dynamometer, the time from when the output torque detection of the dynamometer, which is the output of the element I, coincides with the torque command Tc is determined as the electric power of the dynamometer alone in the electric inertia loop. Evaluate as step response of inertia loop.
Such a method is inappropriate for evaluating the response of the electric inertia loop for the following reason.
[0022]
FIG. 5 shows changes in the torque command Tc and output torque detection according to the above method. The vertical axis represents output and the horizontal axis represents time.
(A). Immediately after the drive torque command is input from the element R, the torque command Tc, which is the output of the element P, is 0. Therefore, the torque command of the dynamometer ((R output) −Tc) is a step waveform from the element R. (Time a in FIG. 5).
(B). The dynamometer first starts to drive in response to the command at the time point a. At that time, acceleration occurs, the output of the element N is not zero, and the output of the element H is not zero. Therefore, the torque command to the dynamometer is lower than the time point a by Tc as shown at the time point b in FIG.
(C). At the time point c, the output torque detection of the dynamometer, which is the output of the element I, is not fully increased to the torque command value at the time point a in the state at the time point b.
(D). Since the driving torque is constant, Tc also converges to a constant value at time point d, and the output torque detection of the dynamometer, which is the output of element I, also converges to the value of ((driving torque) −Tc).
[0023]
The waveform shown in FIG. 5 is a torque detection waveform output in the process of (a) to (d), but when actually receiving τe, which is the output of the element C of the power transmission system (speed control system). Since the torque command to the dynamometer is only the torque command Tc for the electrical inertia compensation, the processes (a) to (d) do not exist. Therefore, it is considered that the step response of the electric inertia loop viewed from the power transmission system cannot be estimated from the step response obtained by this evaluation method.
[0024]
Therefore, in the present invention, the response measurement start element S shown in FIG. 1 is provided on the output side of the element P. This element S maintains an open circuit state before the start of measurement. When the driving torque command from the element R and the output torque detection of the dynamometer from the element I coincide with each other, the signal does not change. Is configured to be closed.
[0025]
First, also in the present invention, the power drive system is disconnected from the dynamometer in order to make the input of the addition element Q zero.
In this state, a constant input step-like driving torque command is output from the element R to the element Q via the torque control system of the dynamometer. The dynamometer starts to drive in response to the drive torque command, and acceleration is generated and an output is generated from the element N so that the torque Tc is calculated by the element P. However, the element S is in an open circuit state. Therefore, the output of Tc is 0.
[0026]
When a predetermined time has passed and the output torque of the dynamometer, which is the output of element I, coincides with or substantially coincides with the drive torque command from element R, the element S is switched to close the circuit. And
As a result, the torque Tc for the electric inertia compensation changes from 0 to a step.
[0027]
In the present invention, immediately after the torque Tc changes stepwise, the time until the output torque detection of the dynamometer is equal to the value of (drive torque command) − (torque Tc) is expressed as “electric inertia of dynamometer alone. “Electric inertial loop response” shall be evaluated by defining “step response of loop”.
[0028]
FIG. 2 shows (drive torque command) − (torque Tc) when the evaluation method is executed, and changes in the output torque of the dynamometer. In the figure, time points a ′ and b ′ are the time points when a driving torque command is given from the element R and the element S is in the open circuit state.
At time c ′, when the output of the dynamometer, which is the output of the element I, coincides with the drive torque command from the element R and then the element S is turned on, the torque command to the dynamometer changes from 5000N to 2500N. ing.
[0029]
As apparent from FIG. 2, the output torque of the dynamometer follows only the change of the torque Tc, and the conventional problem shown in FIG. 5 is improved, and from the power transmission system, the element C shown in FIG. It is possible to accurately estimate the case of receiving τe. Further, since the response of the electric inertia loop is constant regardless of the value of the electric inertia compensation setting Jd, it is not necessary to evaluate the response by changing the gain G of the element P.
[0030]
【The invention's effect】
As described above, according to the present invention, from the time when the torque Tc from the electric inertia setting element P rises in a step shape from 0, the output torque detection of the dynamometer becomes the value of (drive torque command) − (torque Tc). The time to match is defined as “the step response of the electric inertia loop in a single dynamometer”, and the “electric inertia loop response” is evaluated. In order to enable the evaluation method, A drive torque command output element for outputting a constant input drive torque command to the torque control system, and a response measurement start element S for outputting the torque Tc in steps from the observer's electric inertia setting element P at the measurement start time. It is provided.
[0031]
As a result, the present invention makes it possible to estimate and simulate the response of the actual model of the electric inertia loop, and to evaluate how close the mechanical inertia response of the electric inertia loop is from this simulation. is there.
[Brief description of the drawings]
FIG. 1 is a configuration diagram showing an embodiment of the present invention.
FIG. 2 is a change diagram of torque command and output torque detection in the present invention.
FIG. 3 is a configuration diagram of an electric inertia loop of the dynamometer system.
FIG. 4 is a configuration diagram of a dynamometer system.
FIG. 5 is a change diagram of torque command and output torque detection for explanation.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Engine 2 ... Clutch 3 ... Transmission 4 ... Dynamometer 5 ... Speed controller 6 ... Torque controller FI ... Torque control system MP of dynamometer ... Observer R ... Drive torque command output element S ... Response measurement start element

Claims (5)

In testing a dynamometer alone that has a power transmission system, a dynamometer torque control system, and an observer , calculates the electric inertia compensation torque by the observer and outputs it to the torque control system,
A response measurement start element is connected to the output side of the electric inertia setting element for obtaining the electric inertia torque by the observer, the response measurement start element is opened, and the power transmission system is disengaged from the electric inertia loop to generate the torque. After applying the step torque drive torque command to the control system , measurement is started when the electric inertia compensation torque output from the observer rises in a step shape, and the output torque detection of the dynamometer detects the torque It is characterized in that the electric inertia loop is evaluated using the time until the value obtained by subtracting the electric inertia compensation torque from the drive torque command applied to the control system substantially coincides with the step response of the electric inertia loop of the dynamometer alone. Electric inertia loop measurement method in a dynamometer system.   The electric inertia loop measurement is coupled to a power transmission system of a vehicle, and the dynamometer system obtains the inertial resistance of the vehicle as the sum of the mechanical inertia of the dynamometer system and the electric inertia of the dynamometer output torque. 2. The method for measuring an electric inertia loop in a dynamometer system according to claim 1, wherein the dynamometer is configured to dissociate the transmission system. In testing a dynamometer alone that has a power transmission system, a dynamometer torque control system, and an observer , calculates the electric inertia compensation torque by the observer and outputs it to the torque control system,
A drive torque command output element that applies a step-like drive torque command to the torque control system during step response measurement of the electric inertia loop, and is connected to the output side of the observer, and when the drive torque command is output, the power transmission system In addition, a response measurement start element is provided for starting up the electric inertia compensation torque stepwise at the response measurement start time and outputting it to the addition element at the start of response measurement. An electric inertial loop measuring device in a dynamometer system configured to execute a difference with a driving torque command and output the difference to a torque control system . A dynamometer system that is coupled to a power transmission system of a vehicle and obtains the inertial resistance of the vehicle as the sum of the mechanical inertia of the dynamometer system and the electric inertia that is the output torque of the dynamometer, the dynamometer being a torque control system And having an observer that calculates the torque for electric inertia compensation and outputs it to the torque control system,
4. The electric inertia loop measuring device in a dynamometer system according to claim 3, wherein the electric inertia is measured by a dynamometer in which a power transmission system of the vehicle is dissociated from the dynamometer system. The observer multiplies the differential value of the detected speed of the dynamometer by the mechanical inertia to determine the torque of the mechanical inertia, and gives the output torque of the dynamometer with the same delay as the detected speed of the dynamometer. This output torque is added to the mechanical inertia torque to obtain an estimated output torque τee of the power source of the vehicle, and G = 1− (J / Jd) (where J is the mechanical inertia set value and Jd is 5. The electric power in the dynamometer system according to claim 3 , wherein the output torque estimated value τee is multiplied by a gain G set by an electric inertia compensation setting value) to obtain an electric inertia compensation Tc. Inertial loop measuring device .

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