JPH10197408A - Torque compensation control method for brake test equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically eliminate mechanical error factors and enable a highly accurate test, by controlling a torque of a motor to be decelerated at an acceleration calculated by a set inertia amount and a brake torque. SOLUTION: A value obtained by dividing a measured brake torque by a sum of an electric inertia amount and a mechanical inertia amount is set as a deceleration command value. A torque of a motor is controlled so that an output measured value of a detector 14 for detecting a speed change rate of a driving motor agrees with the deceleration command value. A divider 16 and an inertia amount setting device 17 control the torque of the motor with using a value obtained by dividing a brake torque T according to an inertia set value I* for a deceleration of the rotation as a brake. A relation of the brake torque, inertia amount and deceleration is expressed by dω/dt=T/I* wherein dω/dt is the deceleration, I* is a weight of a vehicle converted to an inertia amount of a rotary shaft, and T is the brake torque. The torque is controlled to be the calculated angular velocity dω/dt, so that a brake time, an abrasion coefficient, etc., can be accurately measured.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control method for correcting an error of an inertia amount and a mechanical loss of a mechanical device in a constant brake torque control test of a brake test device of an automobile or a railway vehicle and performing a test with good accuracy.

[0002]

2. Description of the Related Art In general, an example of a block diagram of a control method in a constant brake torque control of a brake test apparatus for an automobile or a railway vehicle is shown in FIG. In FIG. 3, 1 is an electric motor, 2 is a flywheel device, 3
Denotes a vehicle brake test specimen, which is mechanically connected on the same axis. The brake test body 3 is connected to the master cylinder 4 by hydraulic piping, and the movement of the cylinder controls the former braking force. The load cell 6 measures the above-mentioned braking force, and is converted into an electric signal by the load cell amplifier 7. The torque feedback and the signal of the torque setting device 10 serve as the servo amplifier 8 and the servo valve 5.
Thus, the master cylinder 4 is hydraulically operated to control a predetermined brake torque.

On the other hand, an angular velocity ω is detected by a speed detector 11 attached to the
, Dω / dt is obtained, and the value of the electric inertia setting unit 17 is multiplied to obtain an inertia amount torque command value. In addition, the torque is controlled as a torque command for the inverter 12 by combining the torque command value selected by the mechanical loss setting device 18 for correcting mechanical torque loss and the inertia torque command, thereby reducing the mechanical loss. Compensation and inertia correction are performed. In this way,
The mechanical device including the flywheel device and the electric motor is controlled as a test device having no loss and an accurate amount of inertia.

[0004]

However, in order to perform accurate control, it is necessary to measure the mechanical loss in advance and input the measured value to the setter, or to calibrate the torque control value of the electric motor. The torque accompanying the mechanical loss fluctuates depending on the size of the flywheel device which is a configuration of the machine. Further, the torque generated by the motor fluctuates due to temperature changes and measured values of current and voltage. In order to accurately correct various mechanical losses by motor torque, it is necessary to constantly measure and calibrate these values. The present invention has been made in view of the above points, and an object of the present invention is to provide a torque compensation control method of a brake test device that solves these drawbacks.

[0005]

Means for achieving the object are as follows: 1) In claim 1, a flywheel device, a drive motor having a control device, and a drive motor connected to the flywheel device. In a brake tester comprising a vehicle brake and equipped with a measuring device for measuring the brake torque and the brake pressure, a value obtained by dividing a measured value of the brake torque by a value of a sum of an electric inertia amount and a mechanical inertia amount. A method for controlling the torque of the motor so as to match the deceleration command value as a deceleration command value, and using the output of a detector that detects the rate of change in speed of the drive motor as a measurement value.

2) A measuring device for measuring a brake torque and a brake pressure, comprising a flywheel device, a drive motor having a control device, and a vehicle brake connected to the flywheel device. In the brake test apparatus provided, a value obtained by dividing a brake torque control command value by a sum of an electric inertia amount and a mechanical inertia amount is set as a deceleration command value, and a speed change rate of the driving motor is detected. This is a method of controlling the torque of the electric motor so that the output of the detector becomes a measured value and matches the deceleration command value.

That is, the rotational angular velocity is calculated from the torque generated in the vehicle brake test body and the amount of inertia corresponding to the set vehicle weight, and the angular velocity is calculated from the measured speed of the electric motor using this as the angular velocity command value. The difference is calculated by using this as a feedback amount, and the torque of the electric motor is varied as an input to the control amplifier to control the motor so as to have a predetermined angular velocity. As a result, the above-described mechanical loss and the error of the mechanical inertia can be corrected and controlled by the control amplifier. Less than,
An embodiment of the present invention will be described in detail with reference to the drawings.

[0008]

FIG. 1 is a control block diagram showing an embodiment of the present invention according to claim 1 and claim 2 (parts indicated by broken lines). It is a part having. In FIG. 1, 16 is a divider, 17
Is an inertia amount setting device, which controls the motor torque as a deceleration of the brake rotation by dividing the value obtained by dividing the brake torque T by the inertia setting I *.

The relationship between the brake torque, the amount of inertia, and the deceleration of the mechanical device can be expressed by equation (1). dω / dt = T / I * (1) where dω / dt represents the deceleration of the mechanical device, and rad
The angular acceleration is expressed in units of / sec · sec. I * is a value obtained by converting the vehicle weight into the amount of inertia of the rotating shaft, and is a value set as a test condition, and is kgm / sec.
• Expressed in units of sec. T is the measured brake torque and is expressed in units of kgfm.

As described above, by controlling the torque of the electric motor so as to obtain the angular acceleration dω / dt calculated by the equation (1), an error due to a mechanical loss, a predetermined inertia amount and a mechanical The test is carried out with the objective constant of the test after correcting the error from the amount of inertia, and the measured values such as the brake time, the friction coefficient, and the brake temperature can be obtained with high accuracy.

An example shown by a broken line in FIG. 1 is a part according to claim 2 and is an example in which a torque control command value, that is, a torque set value is input as an input of the divider 16 instead of the measured torque value. , Angular acceleration dω / dt can be expressed by equation (2). dω / dt = T * / I * (2) where dω / dt represents the deceleration of the mechanical device, and rad
The angular acceleration is expressed in units of / sec · sec. I * is a value obtained by converting the vehicle weight into the amount of inertia of the rotating shaft, and is a value set as a test condition, and is kgm / sec.
• Expressed in units of sec. T * is the measured brake torque and is expressed in units of kgfm.

FIG. 2 is a control block diagram showing another embodiment of the present invention, in which a brake pressure is controlled in place of the torque control in FIG.
Is an adder / subtractor, and 8 is a servo amplifier, which is controlled via the servo valve 6 so that the pressure of the master cylinder 4 becomes a predetermined pressure. FIG. 2 also shows the same (1) as FIG.
The torque of the electric motor is controlled so as to decelerate at the angular acceleration calculated by the equation.

[0013]

As described above, according to the present invention, a factor different from the set value is corrected by controlling the motor torque so as to decelerate at the acceleration calculated by the set amount of inertia and the brake torque. Thus, a mechanical error factor can be automatically deleted, and a highly accurate test can be performed without periodically measuring and correcting the error.

[Brief description of the drawings]

FIG. 1 is a control block diagram showing one embodiment of the first and second aspects of the present invention.

FIG. 2 is a control block diagram showing another embodiment of the present invention.

FIG. 3 is a control block diagram showing an example of the related art.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Electric motor 2 Hula wheel device 3 Brake test object 4 Master cylinder 5 Servo valve 6 Load cell 7 Load cell amplifier 8 Servo amplifier 9 Adder / subtractor 10 Torque setting device 10 Pressure setting device 11 Speed detector 12 Inverter 13 Control amplifier 14 Acceleration detector 15 Division Unit 15 Multiplier 17 Inertial amount setting device 17 Electric inertia setting device 18 Mechanical loss setting device 19 Pressure detector 20 Pressure amplifier

Claims (2)

[Claims] 1. A brake test apparatus comprising a flywheel device, a driving motor having a control device, and a vehicle brake connected to the flywheel device, and having a measuring device for measuring the brake torque and the brake pressure. The value obtained by dividing the measured value of the brake torque by the sum of the electric inertia amount and the mechanical inertia amount is used as a deceleration command value, and the output of a detector that detects the rate of change in speed of the drive motor is measured. A torque compensation control method for a brake test apparatus, comprising controlling a torque of an electric motor so as to match the deceleration command value as a value. 2. A brake test apparatus comprising a flywheel device, a driving motor having a control device, and a vehicle brake connected to the flywheel device, and having a measuring device for measuring the brake torque and the brake pressure. In the above, the value obtained by dividing the brake torque control command value by the sum of the electric inertia amount and the mechanical inertia amount is defined as the deceleration command value, and the output of the detector for detecting the speed change rate of the driving motor is obtained. In order to match the deceleration command value as a measured value,
A torque compensation control method for a brake test device, comprising controlling torque of an electric motor.