JP5935853B2 - Control device for dynamometer system - Google Patents

Description

  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.

  In test systems such as an engine dynamometer system, a chassis dynamometer system, and a powertrain system equipped with an oscillating dynamometer, a load cell is used as a sensor for detecting torque related to the 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 the natural vibration of the oscillator 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.

JP 2013-246152 A

  By the way, 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. When 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. .

  For this reason, as shown in Patent Document 1, when a load cell detection signal is used as a feedback signal of a major loop torque control device in a control device having a natural vibration suppression circuit, torque pulsation is generated in the control band of the torque control device. If this occurs, it may be amplified, resulting in an adverse effect on the measurement accuracy of the dynamometer system.

  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.

  (1) 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. A control device (for example, control devices 4, 4A, 4B described later) of the dynamometer system according to the present invention generates a control signal (for example, described later) for controlling the dynamometer based on a predetermined input signal. Torque controller 5, command generator 9A, speed controller 5B, command generator 9B, etc.) and the control signal is corrected so that the natural vibration of the oscillator is suppressed based on a predetermined input signal. A natural vibration suppression circuit (for example, natural vibration suppression circuit 6 described later) 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), and 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.

  (2) In this case, 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) that generates a control signal that eliminates a deviation from the command signal of the motor, and a command generation device (for example, a command described later) that generates a torque command signal for the torque controller. Generating device 9A), and 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 An electric inertia command calculation unit that generates an electric inertia command signal based on the detection signal of the load cell that has passed through the correction circuit and the detection signal of the speed detection device 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 are used as a torque command signal to the torque controller. And a summing unit (for example, an adding unit 96 described later).

  (3) In this case, 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.

  (4) In this case, 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) that generates a control signal that eliminates a deviation from the signal, and a command generation apparatus (for example, a command generation apparatus described later) that generates a speed command signal for the speed controller. 9B), and 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 (for example, driving force observer 92 to be described later) and an integrator (for example, an integrator to be described later) that integrates a value obtained by subtracting the running resistance command signal from the disturbance torque signal. 98B).

  (5) In this case, 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. ).

  (6) In this case, 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.

  (7) In this case, 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.

  (1) In the present invention, in a system including an oscillating dynamometer, 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. . In the present invention, 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, and the detection signal of the load cell that has not passed through the correction circuit is used for the minor loop control. For this control, the detection signal of the load cell from which the AC component is removed through the correction circuit is used. As a result, it is possible to realize control in which the influence of both the natural vibration of the oscillator and the torque pulsation different from the natural vibration is reduced, so that the measurement accuracy of the test by the dynamometer system can be improved.

  (2) In the present invention, the torque control by the torque controller is a major loop, and the natural vibration suppression control by the natural vibration suppression circuit is a minor loop. As described above, the detection signal of the load cell that has not passed through the correction circuit is used for the natural vibration suppression control, and 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. As a result, the influence of both the natural vibration and torque pulsation of the oscillator is reduced, and highly responsive and stable electric inertia control is possible.

  (3) In the present invention, 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. As a result, the influence of both the natural vibration of the oscillator and the torque pulsation different from the natural vibration is reduced, and highly responsive and stable electric inertia control is possible.

  (4) According to the present invention, as in (2), the influence of both the natural vibration and torque pulsation of the oscillator is reduced, and highly responsive and stable electric inertia control is possible.

  (5) In the present invention, the torque control by the torque controller is a major loop, and 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, and the detection signal of the load cell that has passed through the correction circuit is used for the torque control. As a result, it is possible to perform control while suppressing the influence of both the natural vibration and torque pulsation of the oscillator.

  (6) According to the present invention, in the system in which the speed control by the speed controller is a major loop, the same effect as the invention of the above (5) can be obtained.

  (7) According to the present invention, in the system using the position control by the position controller as a major loop, the same effect as the invention of the above (5) is obtained.

It is a figure which shows the structure of the rocking | swiveling dynamometer system which concerns on one Embodiment of this invention. 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.

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

Dynamometer 2 includes a cylindrical stator 21, a rotor 22 that is rotatably supported by the stator 21, the oscillator 23 consists of scan stator 21, fixed base to the installation surface G 24 The pedestal 25 that is supported so as to be swingable along the circumferential direction, the roller 27 that rotates coaxially with the rotor 22, the load cell 28 that detects a torque generated in the stator 21, and the rotation of the rotor 22 And an encoder 29 for detecting the number.

  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 that detects 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.

  The encoder 29 generates a pulse signal according to the rotation of the rotor 22 and transmits it to the 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. In the following, 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.

  On the roller 27, driving wheels (not shown) of a vehicle as a test object by the dynamometer system 1 are placed. By using a control circuit as described below, the 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

  Hereinafter, the configuration of the control device 4 of the oscillating dynamometer system 1 as described above will be described for each embodiment.

  FIG. 2 is a block diagram illustrating a configuration of the control device 4 of the dynamometer system according to the first embodiment. In FIG. 2, 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 a detailed description thereof will be 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. A phase inversion unit 72 to be applied, a torque conversion unit 73 that multiplies a signal that has passed through the phase inversion unit 72 by a predetermined coefficient to convert the signal into a torque signal, and a signal that has passed through the torque conversion unit 73 to the load cell torque signal 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.

According to the control device 4 of the present embodiment, the following effects can be obtained.
In the control device 4 of the present embodiment, as shown in FIG. 2, 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. As a result, it is possible to realize control in which the influence of both the natural vibration of the oscillator and the torque pulsation different from the natural vibration is reduced, so that the measurement accuracy of the test by the dynamometer system can be improved.

  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. Below, the same code | symbol is attached | subjected about the same structure as the control apparatus 4 of Example 1, and the description is abbreviate | omitted.

  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. As 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. Here, 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. Thus, an electric inertia command signal is generated. Here, 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. Here, 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.

The effect which 4A of control apparatuses of a present Example show | play is demonstrated with reference to FIG.4 and FIG.5.
FIG. 4 is a diagram showing a result of the electric inertia control by the conventional control device, and FIG. 5 is a diagram showing a result of the electric inertia control by the control device of the present embodiment. Here, 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. Here, as the vehicle speed, a signal obtained by converting the speed detection signal from the encoder into the speed of the vehicle was used. As the vehicle speed deviation, the deviation between the speed detection signal and the target speed is converted into the vehicle speed.

  As apparent from comparison between FIG. 4 and FIG. 5, in the conventional control device that does not involve the natural vibration suppression control, the natural vibration of the oscillator appears in the load cell torque signal. In the conventional control device, it takes a long time until the vehicle speed deviation converges after the acceleration of the vehicle is started. On the other hand, 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 a configuration of a 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. Below, the same code | symbol is attached | subjected about the same structure as 4 A of control apparatuses of Example 2, and the description is abbreviate | omitted.

  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. Prepare. In this command generation device 9B, the configuration of the running resistance setting unit 91, the driving force observer 92, the subtraction unit 93, the electric inertia ratio setting unit 94, and the addition unit 96 is the same as that of the control device 4A of the second embodiment. Description is omitted.

  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 value of the set inertia mass. 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.

  According to the 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.

  Although one embodiment of the present invention has been described above, the present invention is not limited to this. Within the scope of the gist of the present invention, the detailed configuration may be changed as appropriate.

  For example, in the above-described embodiment, the case where the present invention is applied to a so-called chassis dynamometer system including a roller among test systems including a swinging dynamometer has been described. However, 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.

  For example, in the above embodiment, 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. Although the case of using a loop has been described, the present invention is not limited thereto. For example, the present invention can also be applied to a control device using position control by a position controller as a major loop. In this case, 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.

  DESCRIPTION OF SYMBOLS 1 ... Dynamometer system, 2 ... Dynamometer, 23 ... Oscillator, 26 ... Torque arm, 28 ... Load cell, 29 ... Encoder (speed detector, position detector), 3 ... Inverter, 30 ... Accelerometer, 4, 4A, 4B ... control device, 5 ... torque controller (controller), 5B ... speed controller (controller), 6 ... natural vibration suppression circuit, 7 ... correction circuit, 9A, 9B ... command generation device (controller), 91 ... Traveling resistance setting unit, 92 ... Driving force observer (electric inertia command calculation unit), 93 ... Subtraction unit (electric inertia command calculation unit), 94 ... Electric inertia ratio setting unit (electric inertia command calculation unit), 96 ... Addition unit ( Summing unit), 98B ... Integrator

Claims (7)

An oscillating dynamometer connected to a load;
A load cell that detects a torque generated in the oscillator of the dynamometer via a torque arm extending from the oscillator;
An acceleration sensor that detects an acceleration of the torque arm along a load direction of the load cell, and a controller for a dynamometer system comprising:
A controller that generates a control signal for controlling the dynamometer based on a predetermined input signal;
A natural vibration suppression circuit that generates a correction signal for correcting the control signal so that the natural vibration of the oscillator is suppressed based on a predetermined input signal;
A correction circuit that inverts the detection signal of the acceleration sensor and removes an AC component from the detection signal of the load cell using the inverted signal;
A speed detecting device for detecting the speed of the dynamometer ,
The controller receives the load cell detection signal passed through the correction circuit, and the natural vibration suppression circuit adds the correction signal to the controller control signal and the load cell detection signal not passed through the correction circuit. enter,
The controller has passed through a torque controller that generates a control signal 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, and the detection signal of the speed detection device and the correction circuit. A command generation device that generates the torque command signal using a detection signal of the load cell, and
The correction circuit includes a DC component removing unit that removes a DC component having a predetermined frequency or less from the detection signal of the acceleration sensor, a phase inverting unit that inverts the phase of the output signal of the DC component removing unit, and a phase inverting unit A torque converter that multiplies the output signal by a predetermined coefficient to convert it to a torque signal, an adder that adds the output signal of the torque converter to the detection signal of the load cell, and harmonic noise from the output signal of the adder And a filter for removing the dynamometer system. Before SL command generating device includes a running resistance setting section for generating a running resistance command signal based on a detection signal of the speed detection device, the detection signal of the detection signal of the load cell through the correction circuit and the speed detecting device An electric inertia command calculation unit that generates an electric inertia command signal based on the electric inertia command signal, and a summation unit that uses a combination of the running resistance command signal and the electric inertia command signal as a torque command signal to the torque controller. The control apparatus of the dynamometer system of Claim 1 characterized by the above-mentioned. The command generator generates torque for matching the speed of the dynamometer to a predetermined target speed 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. A speed controller for generating a correction signal;
3. The dynamometer according to claim 2, wherein the summing unit uses a sum of the running resistance command signal, the electric inertia command signal, and the torque correction signal as a torque command signal to the torque controller. 4. System control unit. An oscillating dynamometer connected to a load;
A load cell that detects a torque generated in the oscillator of the dynamometer via a torque arm extending from the oscillator;
An acceleration sensor that detects an acceleration of the torque arm along a load direction of the load cell, and a controller for a dynamometer system comprising:
A controller that generates a control signal for controlling the dynamometer based on a predetermined input signal;
A natural vibration suppression circuit that generates a correction signal for correcting the control signal so that the natural vibration of the oscillator is suppressed based on a predetermined input signal;
A correction circuit that inverts the detection signal of the acceleration sensor and removes an AC component from the detection signal of the load cell using the inverted signal;
A speed detecting device for detecting the speed of the dynamometer,
The controller receives the load cell detection signal passed through the correction circuit, and the natural vibration suppression circuit adds the correction signal to the controller control signal and the load cell detection signal not passed through the correction circuit. type in,
The controller includes a speed controller that generates a control signal that eliminates a deviation between a detection signal of the speed detection device and a predetermined speed command signal, a detection signal of the speed detection device, and the load cell that has passed through the correction circuit. A command generation device that generates the speed command signal using a detection signal, and
The correction circuit includes a DC component removing unit that removes a DC component having a predetermined frequency or less from the detection signal of the acceleration sensor, a phase inverting unit that inverts the phase of the output signal of the DC component removing unit, and a phase inverting unit A torque converter that multiplies the output signal by a predetermined coefficient to convert it to a torque signal, an adder that adds the output signal of the torque converter to the detection signal of the load cell, and harmonic noise from the output signal of the adder And a filter for removing the dynamometer system. Before SL command generating device includes a running resistance setting section for generating a running resistance command signal based on a detection signal of the speed detecting device, based on a detection signal of the load cell through the detection signal and the correction circuit of the speed detection device A driving force observer that generates a disturbance torque signal corresponding to the driving force applied to the dynamometer, and an integrator that generates the speed command signal by integrating a value obtained by subtracting the running resistance command signal from the disturbance torque signal; The control apparatus of the dynamometer system of Claim 4 characterized by the above-mentioned. An oscillating dynamometer connected to a load;
A load cell that detects a torque generated in the oscillator of the dynamometer via a torque arm extending from the oscillator;
An acceleration sensor that detects an acceleration of the torque arm along a load direction of the load cell, and a controller for a dynamometer system comprising:
A controller that generates a control signal for controlling the dynamometer based on a predetermined input signal;
A natural vibration suppression circuit that generates a correction signal for correcting the control signal so that the natural vibration of the oscillator is suppressed based on a predetermined input signal;
A correction circuit that inverts the detection signal of the acceleration sensor and removes an AC component from the detection signal of the load cell using the inverted signal;
A position detection device for detecting the position of the axis of the dynamometer,
The controller receives the load cell detection signal passed through the correction circuit, and the natural vibration suppression circuit adds the correction signal to the controller control signal and the load cell detection signal not passed through the correction circuit. type in,
The controller includes a position controller that generates a control signal that eliminates a deviation between the position command signal generated based on the detection signal of the load cell that has passed through the correction circuit and the detection signal of the position detection device;
The correction circuit includes a DC component removing unit that removes a DC component having a predetermined frequency or less from the detection signal of the acceleration sensor, a phase inverting unit that inverts the phase of the output signal of the DC component removing unit, and a phase inverting unit A torque converter that multiplies the output signal by a predetermined coefficient to convert it to a torque signal, an adder that adds the output signal of the torque converter to the detection signal of the load cell, and harmonic noise from the output signal of the adder And a filter for removing the dynamometer system. An oscillating dynamometer connected to a load;
A load cell that detects a torque generated in the oscillator of the dynamometer via a torque arm extending from the oscillator;
An acceleration sensor that detects an acceleration of the torque arm along a load direction of the load cell, and a controller for a dynamometer system comprising:
A controller that generates a control signal for controlling the dynamometer based on a predetermined input signal;
A natural vibration suppression circuit that generates a correction signal for correcting the control signal so that the natural vibration of the oscillator is suppressed based on a predetermined input signal;
A correction circuit that inverts the detection signal of the acceleration sensor and removes an AC component from the detection signal of the load cell using the inverted signal;
A speed detecting device for detecting the speed of the dynamometer,
The controller receives the load cell detection signal passed through the correction circuit, and the natural vibration suppression circuit adds the correction signal to the controller control signal and the load cell detection signal not passed through the correction circuit. type in,
The controller includes a torque controller that generates a control signal that eliminates a deviation between the detection signal of the load cell that has passed through the correction circuit and a predetermined command signal, and a command generation device that generates a torque command signal for the torque controller. And comprising
The command generation device is based on a travel resistance setting unit that generates a travel resistance command signal based on a detection signal of the speed detection device, a detection signal of the load cell that has passed through the correction circuit, and a detection signal of the speed detection device. An electric inertia command calculation unit that generates an electric inertia command signal, a summation unit that uses a combination of the running resistance command signal and the electric inertia command signal as a torque command signal to the torque controller, and the speed detection A speed controller that generates a torque correction signal for matching the speed of the dynamometer to a predetermined target speed based on a detection signal of the device, the running resistance command signal, and a detection signal of the load cell that has passed through the correction circuit; With
The control unit for a dynamometer system, wherein the summing unit uses a sum of the running resistance command signal, the electric inertia command signal, and the torque correction signal as a torque command signal to the torque controller.

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