JPH06273277A - Drive controller - Google Patents

Abstract

PURPOSE:To improve the response characteristic in a control system independently of the frequency of the instruction value due to an arbitrary periodic function wave. CONSTITUTION:The frequency F1*,...,Fn*, amplitudes A1*,...,An*, and a detection signal (a) of each triangular function which constitute an instruction value (a*) due to the periodic function are supplied into a periodic function wave amplitude controller 25. The operation values b1*,...,bn* which are obtained from each amplitude and the amplitude component of the corresponding detection signal (a) are generated in each triangular function wave amplitide controllers 25a,...,25n. Accordingly, the responsiveness in the control in the high frequency region is improved. Further, since, in the low frequency region, the difference between the instruction value (a*) and the detection signal (a) is obtained by a difference detector 27, the instruction signal (a*) is allowed to follow sufficiently to the detection signal (a) independently of the band region of the frequency.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive control device suitable for use in testing a drive system of an automobile such as a transmission.

[0002]

2. Description of the Related Art In order to perform a simulation test of the performance of a drive system such as a transmission without using an actual engine as a drive source at the design and trial production stage of an automobile, the inventor of the present application has previously described FIG. A method using a vibration control device having the configuration shown in is proposed. This vibration control device performs a simulation test of the performance of the drive system based on the supplied command value (torque value) a ^* . The command value a ^* varies in a sine wave shape as represented by the following equations (1) and (2), and simulates torque variation (ripple) of the engine. Here, A ^* and F ^* represent the amplitude and frequency of the command value a ^* , respectively.

[Equation 1]

[Equation 2]

In the figure, reference numeral 1 is a control device for generating an operation value b ^* according to an amplitude A ^* and a frequency F ^{* of} a command value a ^* and a detection signal a (described later). Further, 2 is a vector control inverter that generates an AC voltage according to a torque command (operation value b ^* ) supplied from the control device 1, 3
Is an induction motor that rotates its rotating shaft by an AC voltage supplied from the inverter 2. Further, 4 is a drive system of an automobile which is connected to the rotary shaft of the induction motor 3 and is operated by power transmitted from the rotary shaft, and 5 is a detector arranged on the rotary shaft of the induction motor 3, The detection signal a corresponding to the operation is fed back to the control device 1.

Here, the control device 1 includes a Fourier transformer 6,
Deviation calculator 7, deviation amplifier 8 and inverse Fourier transformer 9
Each of the components will be described below. First, the Fourier transformer 6 calculates the amplitude A of the component of the frequency F ^* for the detection signal a. The calculation formulas (the following formulas (3) to (5)) are general Fourier transform formulas, and the amplitude A is calculated by the integration operation for one cycle (t = 0 to 1 / F ^* ).

[Equation 3]

[Equation 4]

[Equation 5]

Next, the deviation calculator 7 uses the above-mentioned command value a.
^* The amplitude A ^* and the (3) of calculating the difference between the amplitude A calculated by - (5) below. This deviation amount is calculated by the deviation amplifier 8
Is amplified and output as a command amplitude B ^* . Then, the Fourier inverse transformer 9 is supplied with the command amplitude B ^* and the frequency F ^*, and the operation value b ^* is calculated based on the following equations (6) and (7). The operation value b ^* thus calculated is supplied to the inverter 2.

[Equation 6]

[Equation 7]

As described above, the operation value b ^* is obtained only by the amplitudes of the control amount and the command value. Therefore, allows DC control, feedback control is performed that it does not depend on the command value a ^* of the frequency F ^*, the drive system is controlled so that the deviation between the command value a ^* and the detection signal a is minimum It Then, by changing the frequency of the command value a ^* , it becomes possible to give various ripple characteristics to the drive system. Although the case where the torque value is used as the command value a ^* has been described, the invention is not limited to this, and it is also possible to use a characteristic amount other than the torque value, such as the number of revolutions, as the command value.

Further, in the above-described vibration control device, the amplitude A is calculated for each cycle (1 / F ^* ) of the command value a ^* , and the above-described follow-up operation is performed. Therefore,
Changing the command value a ^* of the amplitude A ^*, until the amplitude A is equal to the amplitude A ^*, requires at least command values a ^* of one period of time (1 / F ^*). In this case, the frequency F ^*
Is large, the cycle of the command value a ^* becomes sufficiently short, so the detection signal a sufficiently follows the command value a ^* , but the frequency F ^* is small (for example, 1 hertz). If
The cycle of the command value a ^* becomes long (for example, 1 second), and the following tracking operation becomes insufficient. That, as the command value a ^* of the frequency F ^* is small, so that the response characteristic of the control system is impaired.

In order to solve this problem, the inventor of the present application has previously proposed a method using the drive control device having the configuration shown in FIG. In this drive control device, the control device 1 in the vibration control device is a high-frequency control unit 11, and a low-frequency control unit 12 is newly added to form a control device 10.

In the figure, when the amplitude A ^* and the frequency F ^* are supplied to the control device 10 and the detection signal a is fed back from the detector 5, the operation value synthesizer 16 outputs it from the high frequency controller 11. that operating value b ₁ ^* and the operation value b ₀ ^* output from the low-frequency control unit 12. is added,
The operation value b ^* is calculated. Then, similarly to the vibration control device, the induction motor 3 is controlled by the inverter 2 based on the operation value b ^*, and the output of the induction motor 3 is transmitted to the drive system as power in place of the engine.

In the low frequency control unit 12, the command value a ^* and the detection signal a created by the instantaneous command value creator 13 are used.
Are supplied to the deviation detector 14, where the deviation between them is detected. The detected deviation is amplified by the deviation amplifier 15 and output as the operation value b ₀ ^* . When the frequency F ^* is low, the phase delay in the feedback control system can be ignored, so that the detection signal a can sufficiently follow the command value a ^* in the low frequency control unit.
Therefore, the deviation amount calculated by the deviation calculator 7 in the high frequency control unit 11 becomes a value close to zero.

On the other hand, when the frequency F ^* is high, the detection signal a can be made to sufficiently follow the command value a ^* in the high frequency control section 11 as described above, so that the deviation detector in the low frequency control section 12 is detected. 14 shows almost no deviation. Therefore, it is possible to make the detection signal a sufficiently follow the command value a ^* without depending on the band of the frequency F ^* .

[0012]

By the way, in the above-mentioned conventional vibration control device and drive control device, since the command value by the trigonometric function wave is given to the controlled object, the amplitude control as described above is performed only for one frequency component. Was being done. However, there are cases where it is desired to perform a vibration test using an arbitrary periodic function wave other than the trigonometric function wave. It has heretofore been difficult to perform control with good responsiveness to a command value by such an arbitrary periodic function wave without depending on frequency.

Further, in such a conventional vibration control device and drive control device, when the load coupled to the shaft of the motor is vibrated, a change in the torsion angle of the shaft due to a change in the output supplied to the motor causes The shaft will be modeled with a spring. In such a system, a resonance phenomenon generally occurs at a specific frequency. However, depending on the vibration test, there are cases where it is desired to perform a test that avoids such a resonance state. Conventionally, it has been difficult to perform such a test.

The present invention has been made in view of the above circumstances, and provides a drive control device capable of improving the response characteristic of a control system without depending on the frequency of a command value by an arbitrary periodic function wave. It is intended to be provided.

[0015]

In order to solve the above problems, according to the invention of claim 1, each frequency included in a command value which is a periodic function wave obtained by combining a plurality of trigonometric function waves. The frequency-dependent amplitude calculation means for calculating the amplitude of the control amount fed back from the controlled object, and the deviation between the amplitude for each frequency calculated by the frequency-specific amplitude calculation means and the amplitude for each frequency of the command value. To detect each of the deviations, inverse Fourier transform each of the quantities corresponding to these deviations, frequency-dependent amplitude control means for calculating the operation value of each frequency component for each frequency, and each operation value calculated by the frequency-specific amplitude control means. Is added and an amount corresponding to the addition result is supplied as an operation value to the controlled object.

According to the second aspect of the invention, the deviation between the command value, which is a periodic function wave composed of a plurality of trigonometric function waves, and the control amount fed back from the control target is detected, and this deviation is detected. Deviation detecting means for outputting an operation value corresponding to, frequency-specific amplitude calculating means for calculating the amplitude for each frequency included in the command value for the control amount, and each of the frequency-specific amplitude calculating means for calculating A frequency that detects a deviation between the amplitude with respect to the frequency and the amplitude with respect to each frequency of the command value, inverse Fourier transforms the amounts corresponding to these deviations, and calculates the operation value of each frequency component for each frequency. The separate amplitude control means, the operation value calculated by the deviation detection means and each operation value calculated by the frequency-dependent amplitude control means are added, and the amount corresponding to the addition result is provided to the control target as the operation value. Characterized by comprising an adding means.

The invention according to claim 3 is characterized in that, in the invention according to claim 1 or 2, the plurality of trigonometric function waves are a fundamental wave and odd harmonics up to a predetermined order. To do. The invention according to claim 4 is characterized in that, in the invention according to claim 1 or 2, the frequency of the plurality of trigonometric function waves is a resonance frequency of the control target.

[0018]

According to the first aspect of the invention, the frequency-dependent amplitude calculating means feeds back from the controlled object each frequency included in the command value which is a periodic function wave in which a plurality of trigonometric function waves are combined. The amplitude of the controlled variable is calculated. Next, the frequency-based amplitude control means detects the deviation between the amplitude for each frequency calculated by the frequency-based amplitude calculation means and the amplitude for each frequency of the command value, and the amounts corresponding to these deviations are reversed. Fourier transform is performed, and the operation value of each frequency component is calculated for each frequency. Then, the operation values calculated by the frequency-specific amplitude control means are added by the adding means, and the amount corresponding to the addition result is supplied to the control target as the operation value. Further, in the invention according to claim 2, the deviation detecting means detects a deviation between a command value which is a periodic function wave obtained by combining a plurality of trigonometric function waves and a control amount fed back from the controlled object, An operation value corresponding to this deviation is output. In addition, the frequency-dependent amplitude calculating means calculates the amplitude for each frequency included in the command value for the control amount. Next, the frequency-based amplitude control means detects the deviation between the amplitude for each frequency calculated by the frequency-based amplitude calculation means and the amplitude for each frequency of the command value, and the amounts corresponding to these deviations are reversed. Fourier transform is performed, and the operation value of each frequency component is calculated for each frequency. Then, by the adding means,
The operation value calculated by the deviation detection means and each operation value calculated by the frequency-based amplitude control means are added, and the amount corresponding to the addition result is supplied to the control target as the operation value.

Therefore, the control system does not depend on the frequency with respect to the command value of the periodic function such as the rectangular wave in which the fundamental wave and the odd harmonics up to the predetermined order are combined as in the third aspect of the invention. It is possible to improve the response characteristics of. Further, in the invention according to the fourth aspect, since it is possible to set the command value in which the amplitude is suppressed with respect to the resonance frequency of the control target, it is possible to perform the control while avoiding the resonance state.

[0020]

Embodiments of the present invention will be described below with reference to the drawings.

§1: First Embodiment A: Configuration of Embodiment FIG. 1 is a configuration diagram of a drive controller according to a first embodiment of the present invention. The drive control device configured as shown in the figure vibrates the controlled object in accordance with the supplied command value (torque value), and the portions common to FIG. To do. In FIG. 1, reference numeral 20 denotes a periodic function wave amplitude control device, which is a frequency F ₁ ^* , F ₂ ^* , ..., F of each trigonometric function wave component of the command value a ^* which is an arbitrary periodic function wave.
_n ^* and the amplitudes A ₁ ^* , A ₂ ^* , ..., A _n ^*, and the operation value b ^* according to the detection signal a (control amount) detected by the detector 5 ^.
To occur.

This periodic function wave amplitude control device 20 is shown in FIG.
, 20n having the same configuration as that of the control device 1 in FIG. 1 and operation value synthesizers 21a, 21b ,. Control device 2
The amplitude A ₁ ^* , the frequency F ₁ ^*, and the detection signal a are supplied to 0a, and the operation value b ₁ ^* corresponding to the detection signal a is generated. Similarly, the control devices 20b, ..., 20n are supplied with the amplitudes A ₂ ^* , ..., A _n ^* , the frequencies F ₂ ^* , ..., F _n ^* and the detection signal a, and the respective operations corresponding to the detection signal a. The value b ₂ ^* , ...,
b _n ^* is generated. Next, the operation value synthesizers 21a, 21
b, ..., All the operation values b ₁ ^* , b ₂ ^* , ..., b _n ^* are added, and the operation value b ^* synthesized by the operation value synthesizer 21 a is output. Then, this operation value b ^* is supplied to the inverter 2, and the induction motor 3 is controlled based on the operation value b ^* .

B: Operation of Embodiment In the above-mentioned configuration, for example, a command value a ^* by a rectangular function wave as shown in FIG. 4A is given. Therefore, the amplitude A ₁ ^* and the frequency F ₁ ^* related to the fundamental wave shown in FIG. 4B, and the amplitude A ₂ ^* related to the third harmonic shown in FIG. 4C.
And frequency F ₂ ^* , ..., Amplitude A relating to a predetermined nth harmonic
_{The n} ^* and the frequency F _n ^* are supplied to the periodic function wave amplitude control device 20, and the detection signal (feedback torque value) a is fed back via the detector 5. Then, the operation values b ₁ ^* , ..., B _n ^* relating to each trigonometric function wave are generated in each trigonometric function wave amplitude control device 20 a, ..., 20 n, and the operation value synthesizer 21 is generated.
Each operation value is added by a, 21b, ...
The operation value b ^* is output from 1a.

The voltage waveform applied to the induction motor 3 in the inverter 2 is controlled based on the operation value b ^*, and the output of the induction motor 3 is transmitted to the drive system (transmission) as the power for replacing the engine. At this time, as described above, the detection signal a is fed back to the control device 20 via the detector 5. Here, as described above, the operation value b ₁ ^* constituting the operation value b ^*, ..., b _n ^* is determined by only the amplitude components of the control amount and the command value. Therefore,
Direct current control becomes possible, and frequency-independent feedback control is performed for each frequency included in the command value a ^* .

§2: Second Embodiment A: Configuration of Embodiment FIG. 2 is a configuration diagram of a drive control device according to a second embodiment of the present invention. The drive control device shown in this figure also vibrates the controlled object in accordance with the supplied command value (torque value), and parts that are the same as in FIG. 9 are assigned the same reference numerals and explanations thereof are omitted. . In FIG. 2, reference numeral 23 denotes a periodic function wave amplitude control device, and like the first embodiment, each amplitude A ₁ ^* , A ₂ ^* , ..., A _n ^* and frequency of the command value a ^* which is a periodic function wave. The manipulated value b ^* is generated according to F ₁ ^* , F ₂ ^* , ..., F _n ^* and the detection signal a detected by the detector 5.

This periodic function wave amplitude control device 23 is shown in FIG.
, 23n having the same configuration as that of the control device 10 in FIG. 3 and operation value synthesizers 24a, 24b ,. And
, 23n are supplied with the above-mentioned respective amplitudes A ₁ ^* , ..., A _n ^* , respective frequencies F ₁ ^* , ..., F _n ^* and the detection signal a, and the control signals 23 a ,. Operation value b ₁ ^* , ...,
b _n ^* is generated. Next, the operation value synthesizers 24a, 24
All operation values are added by b, ..., And the combined operation value b ^* is output from the synthesizer 24a. Then, this operation value b ^* is supplied to the inverter 2 as in the first embodiment,
The induction motor 3 is controlled.

[0027]B: Operation of the embodiment In the above-mentioned configuration, similarly to the first embodiment, for example,
Command value a by square wave ^* Shall be given. Therefore,
Amplitude A related to fundamental wave₁ ^*And frequency F₁ ^*, ..., nth harmonic
Amplitude A related to wave_n ^*And frequency F_n ^*Is a periodic function wave amplitude control
It is supplied to the control device 23 and detected through the detector 5.
The output signal a is returned. And each trigonometric wave amplitude control
, 23n, the operation related to each trigonometric wave is performed.
Product value b₁ ^*, ..., b_n ^*Is generated.

At this time, in each trigonometric function wave amplitude control device, as in the control device 10, the high frequency control unit operates predominantly in the high frequency region and the low frequency control unit predominantly operates in the low frequency region. , The detection signal a can sufficiently follow the command value a ^* without depending on the band of the frequency F ^* . Next, the operation value synthesizers 24a, 24
The operation values are added by b, ... And the operation value b ^* is output from the synthesizer 24a. Then, based on this operation value b ^* , the output of the induction motor 3 controlled by the inverter 2 is transmitted to the drive system and the detection signal a is fed back, as in the first embodiment.

§3: Third Embodiment A: Configuration of Embodiment FIG. 3 is a configuration diagram of a drive control device according to a third embodiment of the present invention. The drive control device shown in this figure also vibrates the controlled object in accordance with the supplied command value (torque value), and parts that are the same as in FIG. 9 are assigned the same reference numerals and explanations thereof are omitted. . In FIG. 3, reference numeral 25 denotes a periodic function wave amplitude control device, and similarly to the second embodiment, each amplitude A ₁ ^* , ..., A _n ^* of the command value a ^* which is a periodic function wave, and
The operating value b ^* is generated in response to the frequencies F ₁ ^* , ..., F _n ^* and the detection signal a detected by the detector 5.

This periodic function wave amplitude control device 25 is shown in FIG.
Deviation detector 14 and deviation amplifier 1 from control device 10 shown in FIG.
5 and each of the trigonometric function wave amplitude control devices 25a, 25b, ...
Command value synthesizer 26a, 26b, ..., Deviation detector 27, Deviation amplifier 28 and operation value synthesizer 29, 29a, 29
b, ... And. Then, each control device 25
, 25n are supplied with the above-mentioned respective amplitudes, frequencies and detection signals a, and manipulated values b ₁ ^* corresponding to the detection signals a,
..., b with _n ^* is generated, the supply amplitude and frequency, the command value a ^* of the sine-wave command value a _1, which corresponds to the trigonometric wave component ^*, a ₂ ^*, ..., is a _n ^* Is generated.

The command value synthesizers 26a, 26b, ...
Then, the respective sine wave command values a ₁ ^* , a ₂ ^* , ..., A _n ^* are added, and the command value a ^* which is a periodic function wave is added from the synthesizer 26a ^.
Is output. Next, the deviation detector 27 detects the deviation between the command value a ^* and the detection signal a, and the deviation amount is amplified by the deviation amplifier 28 and supplied to the operation value synthesizer 29 as the operation value b ₀ ^* . On the other hand, the operation value synthesizer 29
The manipulated values b ₁ ^* , ..., B _n ^* are added by a, 29 b, ... And supplied to the manipulated value synthesizer 29 as the manipulated value b _x ^* . Then, in the operation value synthesizer 29, the operation value b ₀ ^* and the operation value b _x ^* are added and output as the operation value b ^* . Then, this operation value b ^* is supplied to the inverter 2 as in the second embodiment, and the induction motor 3 is controlled.

B: Operation of the Embodiment In the above-described configuration, it is assumed that the command value a ^* by, for example, a rectangular wave is given, as in the second embodiment. Therefore, the amplitudes A ₁ ^* , ..., A _n ^* and the frequencies F ₁ ^* , ..., F _n ^* are supplied to the periodic function wave amplitude controller 25, and the detection signal a is fed back via the detector 5. To be done. Then, in each trigonometric function wave amplitude control device, operation values b ₁ ^* , b ₂ ^* , ..., B _n ^* relating to each trigonometric function wave and sine wave command values a ₁ ^* , a ₂ ^* ,
..., a _n ^* are generated. At this time, in the high frequency range, the detection signal a can be made to sufficiently follow the command value a ^* in the control devices 25a, ..., 25n.

Further, in the deviation detector 27, the command value a ^*
And the detection signal a are detected, and the same deviation amount is supplied to the operation value synthesizer 29 as the operation value b ₀ ^* via the deviation amplifier 28. Therefore, in the low frequency region, the deviation detector 27 and the deviation amplifier 28 can cause the detection signal a to sufficiently follow the command value a ^* .

Next, the operation value synthesizers 29a, 29b, ...
, The operation values b ₁ ^* , ..., b _n ^* are added, and the operation value b
It is supplied to the operation value synthesizer 29 as _x ^* . Then, in the operation value synthesizer 29, the operation value b ₀ ^* and the operation value b _x ^* are added and output as the operation value b ^* . Then, based on this operation value b ^* , the same control as in the second embodiment is performed.

§4: Fourth Embodiment A: Configuration of Embodiment FIG. 5 is a configuration diagram of a drive controller according to a fourth embodiment to which the first embodiment of the present invention is applied. In the drive control device shown in this figure, a command value is directly supplied from the output of an engine or the like, and a controlled object is vibrated in accordance with the command value. ,
The description is omitted.

In FIG. 5, the command value generator 30 is an engine or a device in which vibration information of the engine is recorded. The command value a ^* generated by the command value generator 30 is supplied to the Fourier transformers 31a, 31b, ..., 31n and the deviation detector 32. Further, predetermined frequencies F ₁ ^* , F ₂ ^* , ..., F _n ^* are supplied to the Fourier transformers. Then, in each Fourier transformer, the amplitude A ₁ ^* , A ₂ ^* , ..., A for each frequency F ₁ ^* , F ₂ ^* , ..., F _n ^*
_n ^* is calculated. Then, the above frequencies F ₁ ^* , ..., F _n ^*
And amplitudes A ₁ ^* , ..., A _n ^* are periodic function wave amplitude control device 2
0, and the operation value b _x ^* is output as in the first embodiment.

Further, in the deviation detector 32, the command value a ^*
And the detection signal a are detected, the same deviation amount is amplified by the deviation amplifier 33, and is supplied to the operation value synthesizer 34 as the operation value b ₀ ^* . Then, in the operation value synthesizer 34, the operation value b ₀ ^* and the operation value b _x ^* are added and output as the operation value b ^* . Then, based on this operation value b ^* , the output of the induction motor 3 controlled by the inverter 2 is transmitted to the drive system and the detection signal a is fed back, as in the first embodiment.

B: Operation of the Embodiment In the above-mentioned configuration, it is assumed that the command value generator 30 outputs engine torque information. Then, the same command value a ^* is supplied to each of the Fourier transformers 31a, ..., 31n and the deviation detector 32, and the predetermined frequency F ₁ ^* ,
, F _n ^* are supplied to each Fourier transformer. And
From each Fourier transformer, the amplitude A ₁ ^* for each of the above frequencies,
..., A _n ^* is calculated.

Next, each of the above amplitudes and frequencies is supplied to the periodic function wave amplitude control device 20, and the operation value b _x ^* is output. Further, the deviation between the command value a ^* and the detection signal a is detected by the deviation detector 32 and is supplied to the operation value synthesizer 34 as the operation value b ₀ ^* via the deviation amplifier 33. And
An operation value b ^{* obtained} by adding both operation values is output from the synthesizer 34, and the output of the induction motor 3 is transmitted to the drive system via the inverter 2.

§5: Fifth Embodiment A: Configuration of Embodiment FIG. 6 is a configuration diagram of a drive controller according to a fifth embodiment to which the first embodiment of the present invention is applied, and a fourth embodiment. It is used similarly to the embodiment. Therefore, the same parts as those in FIG. 5 are designated by the same reference numerals and the description thereof will be omitted. In FIG. 6, a fast Fourier transformer (FFT) 36 is provided, and the FFT 36 is supplied with a command value a ^* generated by a command value generator 30, a predetermined frequency F ₁ ^* and a predetermined value n. Then, at FFT 36, each frequency F ₁ ^* to the n-th harmonic related frequencies _{^{F 1 *, ..., F n}} * and corresponding respective amplitudes _{^{A 1 *, A 2 *,}} ..., A n * is calculated, the period It is supplied to the function wave amplitude control device 20.

B: Operation of the Embodiment In the above configuration, the command value generator 30 outputs the torque information of the engine, as in the fourth embodiment. Then, the same command value a ^* , the predetermined frequency F ₁ ^*, and the numerical value n are supplied to the FFT 36, the respective frequencies and amplitudes up to the nth harmonic of the frequency F ₁ ^* are calculated, and the periodic function wave amplitude control device 20 Supplied. Hereinafter, the same operation as the fourth embodiment, the operation value synthesizer 34 operating value b ^* is output from the same control on the basis of the operation value b ^* is performed.

Therefore, in each of the fourth and fifth embodiments, the direct current control can be performed in the vibration test based on the actual engine output, and the feedback control independent of the frequency of the command value can be performed.

§6: Sixth Embodiment A: Configuration of Embodiment FIG. 7A is a configuration diagram of a drive controller according to a sixth embodiment to which the first embodiment of the present invention is applied. The drive control device shown in this figure vibrates a load coupled to a motor according to a command value (torque value) supplied,
The same parts as those in FIG. 1 are designated by the same reference numerals and the description thereof will be omitted. In FIG. 7A, the load 41 is connected to the shaft of the induction motor 3, and the load 42 is the load 41.
Is connected by a shaft. Then, the output generated from the induction motor 3 is transmitted to the loads 41 and 42.

By the way, as described above, in such a system, a resonance phenomenon occurs at a specific frequency. FIG. 7 (B) shows the resonance characteristic in this system. In this figure, the horizontal axis represents frequency, and the vertical axis represents the ratio between the operation value (torque value) τ _M given to the inverter 2 and the detection signal (feedback torque value) τ _O. That is, in this system, the resonance phenomenon occurs at the frequencies F ₂ ^* , F ₃ ^{* and the} like.

B: Operation of the embodiment In the above-mentioned configuration, the frequency F related to the desired vibration characteristic
_{In addition to 1} ^* and amplitude A ₁ ^* , the resonant frequencies F ₂ ^* , F
₃ ^* and the amplitude value “0” for each resonance frequency are supplied to the periodic function wave amplitude control device 20. Then, the torque value τ _M, which is an operation value, is output from the control device 20 and supplied to the inverter 2. Then, the output of the induction motor 3 controlled by the inverter is transmitted to the loads 41 and 42, and the detector 5 feeds back the detection signal τ _O. Therefore, in the control device 20, the detection signal τ
_{With respect} to _O , the amplitude components related to the resonance frequencies F ₂ ^* and F ₃ ^* are controlled so as to be suppressed. Therefore, it is possible to perform a vibration test avoiding the resonance state. Instead of the periodic function wave amplitude control device 20, each periodic function wave amplitude control device 23 or 25 shown in the second or third embodiment may be used.

Although the torque value is used as the command value in each of the above-described embodiments, the command value may be a characteristic amount other than the torque value, such as the engine speed. It is also possible to set the control amount to the torque, the number of rotations, the rotation angle, or the like of the rotation shaft of the drive system that is linked to the rotation shaft of the motor. The induction motor, the vector control inverter, and the drive system can be other control targets.

[0047]

As described above, according to the present invention,
The deviation between the amplitude of the control amount and the amplitude of the command value is calculated for each frequency included in the command value by the periodic function wave by the frequency-specific amplitude calculation means and the frequency-specific amplitude control means.
Further, the deviation detecting means detects the instantaneous deviation between the control amount and the command value. Since the controlled object is controlled based on these deviations, the response characteristic of the control system can be improved without depending on the frequency of the command value by an arbitrary periodic function wave.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a drive control device according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of a drive control device according to a second embodiment of the present invention.

FIG. 3 is a block diagram showing a configuration of a drive control device in a third embodiment of the present invention.

FIG. 4 is a waveform diagram showing periodic function waves in the first to third embodiments of the present invention.

FIG. 5 is a block diagram showing a configuration of a drive control device according to a fourth embodiment of the present invention.

FIG. 6 is a block diagram showing a configuration of a drive control device according to a fifth embodiment of the present invention.

FIG. 7 is a diagram showing a configuration and resonance characteristics of a drive control device according to a sixth embodiment of the present invention.

FIG. 8 is a block diagram showing a configuration of a conventional vibration control device.

FIG. 9 is a block diagram showing a configuration of a conventional drive control device.

[Explanation of symbols]

2 vector control inverter (control target) 3 induction motor (control target) 20a, ..., 20n Trigonometric function wave amplitude control device (frequency-based amplitude calculation means, frequency-based amplitude control means) 21a, 21b, ... Manipulated value synthesizer (addition) , 23n Trigonometric function wave amplitude control device (frequency-specific amplitude calculation means, frequency-specific amplitude control means, deviation detection means) 24a, 24b, ... manipulated value synthesizer (adding means) 25a, ..., 25n trigonometric function Wave amplitude control device (frequency-based amplitude calculation means, frequency-based amplitude control means) 27 Deviation detector (deviation detection means) 28 Deviation amplifier (deviation detection means) 29, 29a, 29b, ... Manipulated value synthesizer (adding means)

Claims (4)

[Claims] 1. A frequency-specific amplitude calculation means for calculating the amplitude of a control amount fed back from a control target for each frequency included in a command value which is a periodic function wave obtained by combining a plurality of trigonometric function waves, The deviation between the amplitude for each frequency calculated by the frequency-specific amplitude calculating means and the amplitude for each frequency of the command value is detected, and the amounts corresponding to these deviations are each inverse-Fourier-transformed. Frequency-based amplitude control means for calculating an operation value for each frequency, and addition means for adding the operation values calculated by the frequency-based amplitude control means, and supplying an amount corresponding to the addition result to the control target as an operation value. And a drive control device. 2. A deviation detecting means for detecting a deviation between a command value, which is a periodic function wave composed of a plurality of trigonometric function waves, and a control amount fed back from a control target, and outputting an operation value corresponding to the deviation. With respect to the control amount, a frequency-specific amplitude calculation means for calculating amplitude for each frequency included in the command value, and an amplitude and command value for each frequency calculated by the frequency-specific amplitude calculation means Detecting deviation from the amplitude with respect to frequency, inverse Fourier transforming the amounts corresponding to these deviations, and amplitude control means for each frequency for calculating the operation value of each frequency component for each frequency, and the deviation detection means And a summing means for adding the calculated manipulation value and each manipulation value calculated by the frequency-based amplitude control means and supplying an amount corresponding to the addition result to the control target as a manipulation value. Drive control device. 3. The drive control device according to claim 1, wherein the plurality of trigonometric function waves are a fundamental wave and odd harmonics up to a predetermined order. 4. The drive control device according to claim 1, wherein the frequencies of the plurality of trigonometric function waves are resonance frequencies of the control target.