JP3136827B2 - Drive control device - Google Patents

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 carry out a simulation test on the performance of a drive system such as a transmission without using an actual engine as a drive source, the present inventor has first made FIG. A method using a vibration control device having the configuration shown in FIG. This vibration control device performs a simulation test on the performance of a drive system based on a supplied command value (torque value) a ^* . The command value a ^* fluctuates in a sine wave shape as shown by the following equations (1) and (2), and simulates engine torque fluctuation (ripple). Here, A ^* and F ^* represent the amplitude and frequency of the command value a ^* , respectively. Α represents a predetermined phase difference with respect to the phase θ.

(Equation 1)

(Equation 2)

[0003] In FIG, 1, the command value a ^* of the amplitude A ^*,
This is a control device that generates an operation value b ^* according to a frequency F ^* and a phase difference α and a detection signal a (described later). Also,
Reference numeral 2 denotes a vector control inverter that generates a drive voltage according to the operation value b ^* supplied from the control device 1, and reference numeral 3 denotes an induction motor that is rotationally driven by the drive voltage supplied from the inverter 2. Reference numeral 4 denotes a drive system of an automobile that is connected to the rotation shaft of the induction motor 3 and operates by power transmitted from the rotation shaft. Reference numeral 5 denotes a detector disposed at or near the rotation shaft of the induction motor 3. A detection signal a (torque change value) corresponding to the operation of the rotating shaft is fed back to the control device 1.

[0006] Here, the control device 1 includes a Fourier transformer 6
, A vector decomposer 7, deviation calculators 8 and 9, deviation amplifiers 10 and 11, and an inverse Fourier transformer 12. Each component will be described below. First, the Fourier transform unit 6 calculates the cosine amplitude component A _x and a sine amplitude component A _y with respect to the phase θ from the amplitude value of the frequency F ^* components contained in the detection signal a. The calculation formulas (formulas (3) and (4) below) are general Fourier transform formulas, and the above-described amplitude components A _x and A _x are calculated by an integration operation for one cycle (t = 0 to 1 / F ^* ). _y is calculated.

(Equation 3)

(Equation 4)

Next, the vector decomposer 7 calculates the amplitude component A _x ^* and the sine component of the command value a ^* with respect to the cosine direction cos θ from the amplitude A ^* and the phase difference α of the command value a ^* for the component of the frequency F ^*. The amplitude component A _y ^* for the direction sin θ is calculated. The calculation formula has the same format as the above formulas (3) and (4), and is expressed as the following formulas (5) and (6).

(Equation 5)

(Equation 6)

Here, the following equation (7) is derived by substituting the equation (1) into the equation (5) and rearranging it by the addition theorem of a trigonometric function.

(Equation 7) here,

(Equation 8)

(Equation 9) Equation (7) is converted by using the relationship of (1), and the operation is performed by substituting the phase θ (= 2πF ^* t) from the equation (2), the amplitude component A _x ^* becomes a very simple “A ^* cosα”. It is expressed in a simple form.

Further, the following equation (10) is obtained by substituting equation (1) into equation (6) and rearranging similarly.

(Equation 10) Here, equation (9) and

[Equation 11] Equation (10) is converted using the relationship of and the operation is similarly performed by substituting the phase θ, and the amplitude component A _y ^* also becomes “A ^* sin
α ”in a very simple form.

Next, the deviation calculator 8 calculates the command value a
^* The amplitude component A _x ^* and the detection signal (control amount) of calculating a deviation between the amplitude component A _x of a. This deviation is calculated by the deviation amplifier 10
It is amplified by and outputted as an operation value b ^* of the cosine amplitude components B _x ^*. On the other hand, the deviation calculator 9 calculates a deviation between the amplitude component A _y of the command value a ^* of the amplitude component A _y ^* and the detection signal a. The deviation is amplified by the deviation amplifier 11, likewise, it is outputted as an operation value b ^* of the sine amplitude component B _y ^*.

[0009] Then, the inverse Fourier transformer 12, the components B _x ^*, B _y ^* and the frequency F ^* and are supplied, based on the following equation (12) and (13), or (14) An operation value b ^* is calculated. The operation value b thus calculated
^* Is supplied to the inverter 2.

(Equation 12)

(Equation 13)

[Equation 14]

As described above, the operation value b ^* is obtained only from the amplitude components 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 You. By changing the frequency or phase difference of the command value a ^* , various ripple characteristics can be given to the drive system. Although the case where the torque value is used as the command value a ^* has been described, the present invention is not limited to this. For example, a characteristic value other than the torque value, such as the number of revolutions, may be used as the command value.

In the above-described vibration control device, the amplitude components A _x and A _y are calculated for each cycle (1 / F ^* ) of the command value a ^* , and the following operation is performed. . Therefore, the command value a ^* of the amplitude component A _x ^*, by changing the A _y ^* or phase difference alpha, the amplitude component A _x, each of the amplitude component A _y correspond A _x ^*, until it matches the A _y ^* Requires at least one cycle (1 / F ^* ) of the command value a ^* . In this case, when the frequency F ^* is large, the period of the command value a ^* is sufficiently short, and the detection signal a sufficiently follows the command value a ^* , but the frequency F ^* is small ( In the case of 1 Hz, for example, the cycle of the command value a ^* becomes long (for example, 1 second), and the following operation described above 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 present inventor has previously proposed a method using a drive control device having a configuration shown in FIG. In this drive control device, the control device 1 in the vibration control device is used as a high-frequency control unit 14 and a new low-frequency control unit 15 is added to form a control device 13.

In FIG. 1, when an amplitude A ^* , a frequency F ^*, and a phase difference α are supplied to a control device 13 and a detection signal a is fed back from a detector 5, a high-frequency control unit Operation value b ₁ ^* output from 14
And the operation value b ₀ ^* output from the low frequency control unit 15 are added to calculate the operation value b ^* . 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 motor is transmitted to the drive system as motive power instead of the engine.

In the low frequency control section 15, the command value a ^* created by the instantaneous command value creating section 16 and the detection signal a
Are supplied to the deviation detector 17, where the deviation between them is detected. The detected deviation is amplified by the deviation amplifier 18 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, each deviation amount calculated by the deviation calculators 8 and 9 in the high frequency control unit 14 is a value close to zero.

On the other hand, when the frequency F ^* is high, the detection signal a can sufficiently follow the command value a ^* in the high frequency control unit 14 as described above. 17 shows almost no deviation. Therefore, it is possible to cause the detection signal a to sufficiently follow the command value a ^* without depending on the band of the frequency F ^* .

In the above-described vibration control device and drive control device, the vector decomposer 7 is omitted and the command value a
Regarding ^* , the respective amplitude components A _x ^* and A _y ^* may be directly supplied to the deviation detectors 8 and 9. In this case, in the drive control device, instead of the instantaneous command value creator 16, a creator that creates a command value a ^* from each of the amplitude components _Ax ^* and _Ay ^* is provided.

[0017]

In the above-described conventional vibration control device and drive control device, since a command value based on a trigonometric function wave is given to a control target, the amplitude control as described above is performed only for one frequency component. Had been done. However, there may be a case where a vibration test is desired to be performed using an arbitrary periodic function wave other than the trigonometric function wave. Conventionally, it has been difficult to perform control with good responsiveness to such a command value by an arbitrary periodic function wave without depending on the frequency.

Further, in such a conventional vibration control device and drive control device, when a load coupled to a motor shaft is vibrated, a change in the torsion angle of the shaft due to a change in output supplied to the motor causes The shaft is in a state modeled by a spring. In such a system, a resonance phenomenon generally occurs at a specific frequency. However, depending on the vibration test, there is a case 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-described circumstances, and provides a drive control device capable of improving the response characteristics of a control system without depending on the frequency of a command value by an arbitrary periodic function wave. It is intended to provide.

[0020]

In order to solve the above problem, according to the first aspect of the present invention, each frequency included in a command value which is a periodic function wave obtained by synthesizing a plurality of trigonometric function waves is provided. Of the controlled variable fed back from the controlled object
Frequency-dependent amplitude calculating means for calculating a first control amount amplitude component in a second direction orthogonal to the first direction, and a first control amount amplitude component in a second direction orthogonal to the first direction. And calculating a deviation between the command value amplitude component and the first control amount amplitude component as a first deviation amount for each frequency,
First frequency-dependent amplitude control means for calculating a first operation value in a first direction corresponding to the first deviation amount; a second command value amplitude component in the second direction; A second frequency-dependent amplitude control unit that calculates a deviation from the control amount amplitude component as a second deviation amount for each frequency, and calculates a second operation value in a second direction corresponding to the second deviation amount; And an inverse Fourier transform value of the first and second operation values for each frequency calculated by the first and second frequency-dependent amplitude control means, and an amount corresponding to the addition result is set as an operation value. And an adding means for supplying the control object.

According to the second aspect of the present invention, a deviation between a command value, which is a periodic function wave obtained by synthesizing a plurality of trigonometric function waves, and a control amount fed back from a controlled object is detected, and the deviation is detected. Deviation detection means for outputting an operation value corresponding to the first control value, and a first control amount amplitude component in a first direction of the control amount and a second control value orthogonal to the first direction for each frequency included in the command value. Frequency-dependent amplitude calculating means for calculating a second control amount amplitude component in the second direction; and a deviation between the first command value amplitude component and the first control amount amplitude component in the first direction, for each frequency. A first frequency-dependent amplitude control unit separately calculating as a first deviation amount, and calculating a first operation value in a first direction corresponding to the first deviation amount;
A deviation between a second command value amplitude component in the second direction and the second control amount amplitude component is calculated as a second deviation amount for each frequency, and a second deviation amount corresponding to the second deviation amount is calculated. A second frequency-dependent amplitude control means for calculating a second operation value relating to the direction; a second frequency-dependent amplitude control means for calculating the operation value calculated by the deviation detection means; and a second frequency-dependent amplitude control means for calculating each frequency calculated by the first and second frequency-dependent amplitude control means. An adder for adding the inverse Fourier transform values of the first and second operation values and supplying an amount corresponding to a result of the addition to the control target as an operation value is provided.

According to a third aspect of the present invention, in the first or second aspect of the invention, the first and second command value amplitude components are amplitude values for each frequency included in the command value. And the phase is calculated based on the first
And the square root of the sum of the squares of each of the second command value amplitude components is the amplitude for the frequency.
According to a fourth aspect of the present invention, in the first or second aspect, the plurality of trigonometric function waves are a fundamental wave and an odd harmonic up to a predetermined order. According to the fifth aspect of the present invention, the first aspect is provided.
In the invention described in (2), the frequencies of the plurality of trigonometric function waves are resonance frequencies of the controlled object.

[0023]

According to the first aspect of the present invention, each frequency included in the command value, which is a periodic function wave obtained by synthesizing a plurality of trigonometric function waves, is fed back from the control target by the frequency-dependent amplitude calculating means. The first direction of the control amount in the first direction
And the second control amount amplitude component in the second direction orthogonal to the first direction are calculated. And
The first frequency-specific amplitude control means calculates a deviation between the first command value amplitude component and the first control amount amplitude component in the first direction as a first deviation amount for each frequency, and A first operation value in a first direction corresponding to the deviation amount is calculated. Further, the deviation between the second command value amplitude component and the second control amount amplitude component in the second direction is calculated as a second deviation amount for each frequency by the second frequency-specific amplitude control means. A second operation value in the second direction corresponding to the deviation amount of 2 is calculated. Then, the inverse Fourier transform values of the first and second operation values for each frequency calculated by the first and second frequency-dependent amplitude control means are added by the adding means, and the amount corresponding to the addition result is manipulated. It is supplied to the control target as a value.

According to the second aspect of the present invention, the deviation between the command value, which is a periodic function wave obtained by synthesizing a plurality of trigonometric function waves, and the control amount fed back from the controlled object is determined by the deviation detecting means. Detected and an operation value corresponding to the deviation is output. Further, for each frequency included in the command value, a second control amount amplitude component in the first direction of the control amount and a second control amount orthogonal component orthogonal to the first direction are provided by the frequency-specific amplitude calculation means.
Is calculated with respect to the second control amount amplitude component.
Then, the first frequency-dependent amplitude control means calculates a deviation between the first command value amplitude component and the first control amount amplitude component in the first direction as a first deviation amount for each frequency, and A first operation value in a first direction corresponding to the deviation amount of 1 is calculated. Further, the deviation between the second command value amplitude component and the second control amount amplitude component in the second direction by the second frequency-dependent amplitude control means is used to determine the deviation of the second control value amplitude component for each frequency.
And a second operation value in the second direction corresponding to the second deviation amount is calculated. Then, the operation value calculated by the deviation detection means and the inverse Fourier transform value of the first and second operation values for each frequency calculated by the first and second frequency-dependent amplitude control means are added by the addition means. The amount corresponding to the addition result is supplied to the control target as an operation value. According to the third aspect of the present invention, the first and second command value amplitude components are calculated based on the amplitude and phase of each frequency included in the command value.

Therefore, the control system can control a command value by a periodic function such as a rectangular wave in which a fundamental wave and an odd harmonic up to a predetermined order are combined without depending on the frequency. Can be improved. According to the fifth aspect of the present invention, since a command value with suppressed amplitude can be set for the resonance frequency of the control target, it is possible to perform control while avoiding the resonance state.

[0026]

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 control device according to a first embodiment of the present invention. The drive control device having the configuration shown in this figure vibrates the control target in accordance with the supplied command value (torque value), and the same reference numerals are given to portions common to FIG. I do. In FIG. 1, reference numeral 20 denotes a periodic function wave control device, and the frequencies F ₁ ^* , F ₂ ^* , and F ₃ ^{* of} the trigonometric function wave components included in the command value a ^* which is an arbitrary periodic function wave.
..., F _n ^*, the amplitude ^{_{A 1 *, A 2 *,}} ..., A n * and the phase difference α
_An operation value b ^* is generated according to ₁ , α ₂ ,..., Α _n and a detection signal a (control amount) detected by the detector 5.

This periodic function wave control device 20 has triangular function wave control devices 20a, 20b,..., 20n having the same configuration as the control device 1 in FIG. 11, and an operation value synthesizer 21a for synthesizing these output signals. , 21b,... The control unit 20a, the above-mentioned amplitude A ₁ ^*, the frequency F ₁ ^*, is supplied a phase difference alpha ₁ and the detection signal a, the amplitude A ₁ by referring to the phase difference alpha ₁ in its interior ^*
Is vectorized and converted into amplitude components A _x1 ^* and A _y1 ^* (not shown). Further, the detection signal a, relates to frequency F ₁ ^*, each amplitude component A _x1 ^*, the amplitude component A _x1, A _y1 corresponding to A _y1 ^* is detected, the amplitude component A _x1 ^*, A
Each deviation from _y1 ^* is calculated. Each amplitude component B _x1 ^* control variable b ₁ ^* corresponding to the deviation, B _y1 ^* are inverse Fourier transform, and output as the operation value b ₁ ^*.

Similarly, each control device 20b,.
The amplitude ^{_{A 2 *, ..., A n}} *, the phase difference α _2, ..., α _n, the frequency ^{_{F 2 *, ..., F n}} * and the detection signal a is supplied, in each of the units, each of amplitude The deviation between the vector-decomposed amplitude component and the corresponding amplitude component of the detection signal a is calculated, and operation values b ₂ ^* ,..., B _n ^* are generated.
Operation value synthesizer 21a, 21b, ..., the total operating value b ₁ ^*, b
₂ ^*, ..., b _n ^* by adding the operation value synthesizer 21a outputs are combined operating value b ^*. Then, the 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-described configuration, it is assumed that, for example, a command value a ^* by a rectangular function wave as shown in FIG. Such a rectangular wave is a fundamental wave (frequency F) shown in FIG.
₁ ^* ), the third harmonic (frequency F ₂ ^* ) shown in FIG. 4C, the fifth harmonic (frequency F ₃ ^* ) shown in FIG.
It is obtained by synthesizing a predetermined nth harmonic.

FIG. 5E shows the frequency response characteristics (gain G and phase shift θ) of the control object. Further, when the respective sine waves (amplitudes A1, A2, A3) shown in FIGS. 4B to 4D are input, output waveforms based on the gain characteristics are shown in FIGS. .
First, in FIG. 5E, since the gain G relating to the frequency F ₁ ^* is “1”, the amplitude of the output waveform of the fundamental wave shown in FIG. 5B becomes “A1”. Further, the phase shift θ is “0”. Next, regarding the frequency F ₂ ^* , the gain G
Is larger than “1”, the amplitude of the output waveform of the third harmonic shown in FIG. 5C becomes larger than “A2”. In addition, the phase θ has a characteristic of shifting in the negative direction. Next, the frequency F
Regarding ₃ ^* , since the gain G is smaller than “1”, the amplitude of the output waveform of the fifth harmonic shown in FIG.
Will be smaller. In addition, the phase θ has a characteristic of shifting in the negative direction.

As described above, the controlled object has different response characteristics depending on the frequency range.
It is not possible to realize the control by the target rectangular wave only by supplying the amplitude related to the original waveform as shown in (d). In this embodiment, considering its frequency response characteristics for each frequency, the amplitude ^{_{A 1 *, ..., A n}} *
And the phase difference α _1, ..., α _n are set. Therefore, control using the originally regular rectangular wave is realized for the control target. Assuming that the amplitude A ₁ ^* in consideration of the frequency response characteristic,
, A _n ^* are set, and the phase differences α ₁ ,..., Α _n are not set, the control target is actually a rectangular wave with a collapsed shape as shown in FIG. Will be controlled by

Then, an amplitude and a phase difference suitable for the frequency response characteristic of the controlled object are supplied to the periodic function wave control device 20, and each of the trigonometric function wave control devices 20a,. ₁ ^*, ..., b _n ^* is generated. The operation values are added by the operation value synthesizers 21a, 21b,..., And the operation value b ^* is output from the synthesizer 21a. The voltage waveform applied to the induction motor 3 is controlled in the inverter 2 based on the operation value b ^*, and the output of the induction motor is transmitted to a drive system (transmission) as motive power instead of an engine. Then, the detection signal a is fed back to the control device 20 via the detector 5, and feedback control is performed for each frequency. Here, as described above, each operation value b constituting the operation value b ^*
₁ ^* ,..., B _n ^* are obtained only from the amplitude components of the control amount and the command value. Therefore, DC control becomes possible,
Feedback control independent of each frequency included in the command value a ^* is performed.

§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 control target in accordance with the supplied command value (torque value), and the same reference numerals are given to portions common to FIG. 12 and description thereof will be omitted. . 2, 23 is a periodic function wave control apparatus, similarly to the first embodiment, periodic function wave in which the command value a ^* of the amplitude _{^{A 1 *, A 2 *,}} ..., A n *, the phase difference α ₁ , α ₂ ,..., α _n and frequencies F ₁ ^* , F ₂ ^* ,.
And F _n ^*, generates an operation value b ^* according to the detection signal a detected by the detector 5.

The periodic function wave control device 23 includes a trigonometric function wave control device 23a, 23b,..., 23n having the same configuration as the control device 13 in FIG.
a, 24b,... Each control device 23
a, ..., the 23n, each amplitude A ₁ ^* above, ..., A _n ^*, each phase difference α _1, ..., α _n, each frequency ^{_{F 1 *, ..., F n}} * and the detection signal a is supplied and operating values b ₁ ^*, which according to the detection signal a, ..., b _n ^* are generated. The operation value synthesizer 24
a, 24b,..., all operation values are added,
The synthesized operation value b ^* is output from 4a. And
This operation value b ^* is supplied to the inverter 2 as in the first embodiment, and the induction motor 3 is controlled.

B: Operation of the Embodiment In the above-described configuration, it is assumed that a command value a ^* using, for example, a rectangular wave is given as in the first embodiment. Therefore, the amplitude A ₁ ^* , the phase difference α ₁ and the frequency F ₁ ^* relating to the fundamental wave,
.., The amplitude _An ^* , the phase difference αn, and the frequency _Fn ^{* of the} _{n- th} harmonic are supplied to the periodic function wave controller 23, and the detection signal a is fed back via the detector 5.
, 23n generate operation values b ₁ ^* ,..., B _n ^* relating to the respective trigonometric function waves.

At this time, in each trigonometric function wave control device,
Similarly to the control device 13, the high-frequency control unit operates in a high-frequency region and the low-frequency control unit operates in a low-frequency region, so that the detection signal a is independent of the frequency F ^* band. It is possible to sufficiently follow the command value a ^* . Next, the operation value synthesizers 24a, 24b,.
, The operation values are added, and the operation value b ^* is output from the combiner 24a. Then, based on the operation value b ^* , the output of the induction motor 3 controlled by the inverter 2 is transmitted to the drive system, as in the first embodiment.
The detection signal a is fed back.

§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 control target in accordance with the supplied command value (torque value), and the same reference numerals are given to portions common to FIG. 12 and description thereof will be omitted. . 3, 25 is a periodic function wave control apparatus, similarly to the second embodiment, the command value is a periodic function wave a ^* of the amplitude _{^{A 1 *, ..., A n}} *, the phase difference α
_1, ..., _{α n} and the frequency F ₁ ^*, ..., and F _n ^*, the detector 5
An operation value b ^* is generated in response to the detection signal a detected by the control unit.

The periodic function wave control device 25 is different from the control device 13 shown in FIG.
, 25n, the command value synthesizers 26a, 26b,..., The deviation detector 27, the deviation amplifier 28, and the operation value synthesizer. 29, 29a, 29b,... Each controller 25a, ..., the 25n, each amplitude of the above, the phase difference, is supplied with the frequency and the detection signal a, the operation value b ₁ ^*, which according to the detection signal a, ..., with b _n ^* is generated , supplied amplitude, a phase difference and frequency, the command value a sine wave command values corresponding to each trigonometric function wave component of ^{_{* a 1 *, a 2 *}} , ..., a n * are generated.

The sine wave command values a ₁ ^* , a ₂ ^* ,..., A _n ^* are added by the command value synthesizers 26 a, 26 b,. a ^* is output. 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 ^* . Also, the operation value synthesizers 29a and 29
The operation values b ₁ ^* ,..., b _n ^* are added by b,... and supplied to the operation value synthesizer 29 as the operation 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, the operation value b ^* is supplied to the inverter 2 as in the second embodiment, and the induction motor 3 is controlled.

B: Operation of Embodiment In the above-described configuration, it is assumed that a command value a ^* using, for example, a rectangular wave is given, as in the second embodiment. Therefore, the amplitude _{^{A 1 *, ..., A n}} *, each phase difference α _1, ..., α _n and the frequency _F ¹ *, ..., with F _n ^* is supplied to the periodic function wave control device 25, the detector 5, the detection signal a is fed back. The operation values b ₁ ^* according to the trigonometric function waves each trigonometric wave ^{_{controller, b 2 *, ..., b}} n * and a sine wave command values _{^{a 1 *, a 2 *,}} ..., a n * is generated Is done. At this time, in the region where the frequency is high, the control devices 25a and 25
b, the detection signal a can sufficiently follow the command value a ^* .

In the deviation detector 27, the command value a ^*
Is detected, and the difference is supplied to the manipulated value synthesizer 29 as the manipulated value b ₀ ^* via the deviation amplifier 28. Therefore, in the low frequency range, the detection signal a can be made to sufficiently follow the command value a ^* in the deviation detector 27 and the deviation amplifier 28.

Next, the operation value synthesizers 29a, 29b,.
Accordingly, the operation value b ₁ ^*, ..., b _n ^* is added, the operation value b
It is supplied to the manipulated 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 the operation value b ^* , the same control as in the second embodiment is performed.

[0044] §4: Fourth Embodiment FIG 6 is a configuration diagram of a drive control device according to a fourth embodiment is a modification of the first embodiment of the present invention, parts corresponding to those in FIG. 1 The same reference numerals are given and the description is omitted. FIG.
, A periodic function wave control device 38 is provided in place of the periodic function wave control device 20 shown in FIG. Similarly, each of the trigonometric function wave controllers 20a,..., 20n is replaced by a trigonometric function wave controller 38a,..., 38n, and the operation value combiners 21a, 21b,.
a, 39b, ... are provided.

In this embodiment, the command value a^* Included in
A of each trigonometric wave component₁ ^*, A_Two ^*, ..., A_n ^*The
Each amplitude component A decomposed like a vector_x1 ^*, A_y1 ^*,…, And
And A _xn ^*, A_yn ^*Is supplied to the periodic function wave controller 38.
You. Each of the trigonometric function wave control devices 38a,.
Is the amplitude component A_x1 ^*, A_y1 ^*, ..., A_xn ^*, A_yn ^*And inspection
Calculate the deviation of the output signal a from each corresponding amplitude component
Then, similarly to the first embodiment, the operation value b₁ ^*, ..., b_n ^*Generate
You. That is, each of the control devices 38a,.
Configuration in which the vector decomposer 7 is omitted from the control device 1 shown in FIG.
It has become. The operation value synthesizers 39a, 39b, ...
All the operation values are added, and synthesized by the synthesizer 39a.
Operation value b^* Is output. Other configurations and operations
The description is omitted because it is the same as that of the first embodiment.

[0046] Regarding the second and third embodiments described above, similarly, the command value a ^* of the amplitude _{^{A 1 *, ..., A n}} * and the phase difference alpha _1, ..., in place of the alpha _n each Amplitude components A _x1 ^* , A
_{^{y1 *, ..., A xn *}} , A yn * it is possible to deform the structure to be supplied directly.

§5: Fifth Embodiment A: Configuration of Embodiment FIG. 7 is a configuration diagram of a drive control device according to a fifth embodiment to which the fourth embodiment of the present invention is applied. In the drive control device shown in this figure, a command value is directly supplied from an output of an engine or the like, and a control target is vibrated in accordance with the command value. Parts common to FIG. ,
The description is omitted.

In FIG. 7, a command value generator 30
This is a device that records vibration information of the engine or engine.
is there. Command value a generated by command value generator 30^* Is
Fourier transformers 31a, 31b, ..., 31n and deviation
It is supplied to the detector 32. Further, a predetermined frequency F₁ ^*, F
_Two ^*, ..., F_n ^*Is supplied to each of the above Fourier transformers.
Each Fourier transformer has a frequency F₁ ^*, ..., F_n ^*About
Each amplitude component A_x1 ^*, A_{y 1} ^*, A_x2 ^*, A_y2 ^*, ..., A_xn ^*,
A_yn ^*Is calculated. Then, each frequency and amplitude component
Is supplied to the periodic function wave control device 38,
Similarly, the operation value b _x ^*Is output.

In the deviation detector 32, the command value a ^*
Is detected by the deviation amplifier 33 and supplied to the manipulated value synthesizer 34 as the manipulated value b ₀ ^* . Then, the operation value synthesizer 34 adds the operation value b ₀ ^* and the operation value b _x ^*, and outputs the result as the operation value b ^* . Then, based on the 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 Embodiment In the above-described configuration, it is assumed that the command value generator 30 outputs engine torque information. Then, the command value a ^* is the Fourier transformer 31a, ..., is supplied to 31n and the deviation detector 32, also a predetermined frequency F ₁ ^*,
.., F _n ^* are supplied to each Fourier transformer. And
Each of the amplitude components A _x1 ^* , A _y1 ^* ,..., A _xn ^* , A _yn ^* is calculated from each Fourier transformer.

Next, the respective amplitude components and frequencies are supplied to the periodic function wave control device 38, and the operation value b _x ^* is output. 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.

§6: Sixth Embodiment A: Configuration of Embodiment FIG. 8 is a configuration diagram of a drive control device according to a sixth embodiment to which the fourth embodiment of the present invention is applied. It is used in the same manner as in the embodiment. Therefore, the same parts as those in FIG. 7 are denoted by the same reference numerals, and description thereof will be omitted. In FIG. 8, a fast Fourier transformer (FFT) 36 is provided, and the FFT 36 is supplied with a command value a ^* generated by the command value generator 30, a predetermined frequency F ₁ ^*, and a predetermined value n. FFT36 the frequency F ₁ ^* each frequency related to the n-th harmonic _{^{F 1 *, ..., F n}} * and corresponding respective amplitude component _{^{A x1 *, A y1 *,}} ..., A xn *, calculates A _yn ^* Then, it is supplied to the periodic function wave control device 38.

B: Operation of Embodiment In the above configuration, it is assumed that the command value generator 30 outputs engine torque information as in the fifth embodiment. Then, the same command value a ^* , a predetermined frequency F ₁ ^* and a numerical value n are supplied to the FFT 36, and the respective frequency and amplitude components up to the n-th harmonic related to the frequency F ₁ ^* are calculated. Supplied. Hereinafter, the operation value b ^* is output from the operation value synthesizer 34 by the same operation as the fifth embodiment, and the same control is performed based on the operation value b ^* .

§7: Seventh Embodiment A: Configuration of Embodiment FIG. 9 is a configuration diagram of a drive control device according to a seventh embodiment to which the first embodiment of the present invention is applied. It is used in the same manner as in the embodiment. Therefore, the same parts as those in FIGS. 1 and 7 are denoted by the same reference numerals, and description thereof will be omitted.
9, a command value a ^* generated by a command value generator 30 is supplied to a Fourier transformer 31a, 31b,..., 31n and a deviation detector 32. Further, predetermined frequencies F ₁ ^* , F ₂ ^* ,..., F _n ^* are supplied to the respective Fourier transformers. Then, similarly to the fifth embodiment, in each Fourier transformer, each amplitude component A _x1 ^* ,
A _y1 ^* , A _x2 ^* , A _y2 ^* , ..., A _xn ^* , A _yn ^* are calculated.

Each of these amplitude components is supplied to the vector synthesizer 3
, 37n, the corresponding amplitudes A ₁ ^* , A ₂ ^* ,..., _An ^* and the phase differences α ₁ , α ₂ ,.
Converted to α _n . Then, each frequency F ₁ ^* ,..., F _n ^* ,
Amplitude ^{_{A 1 *, ..., A n}} * and the phase difference alpha _1, ..., alpha _n is supplied to the periodic function wave control device 20, similarly to the first embodiment,
The operation value b _x ^* is output.

B: Operation of Embodiment In the above configuration, similarly to the fifth embodiment, a command value a ^*
, 31n and the deviation detector 32, and a predetermined frequency F ₁ ^* ,..., F _n ^*
Is supplied to each Fourier transformer. Then, from each Fourier transformer, each amplitude component A _x1 ^* ,
A _y1 ^* ,..., A _xn ^* , A _yn ^* are calculated. Each vector synthesizers 37a, ..., in 37n, the amplitude A ₁ ^* from each of these amplitude components, ..., A _n ^* and the phase difference alpha _1,
.., Α _n are calculated. And the periodic function wave control device 2
At 0, the operation value b _x ^* is calculated. Hereinafter, the operation value b ^* is output from the operation value synthesizer 34 by the same operation as the fifth embodiment ^.
Is output, and similar control is performed based on the operation value b ^* .

Therefore, in each of the fifth to seventh embodiments, DC control can be performed in a vibration test using an actual engine output, and feedback control independent of the frequency of the command value can be performed.

§8: Eighth Embodiment A: Configuration of Embodiment FIG. 10A shows an eighth embodiment to which the first embodiment of the present invention is applied.
FIG. 3 is a configuration diagram of a drive control device according to the embodiment of FIG. The drive control device shown in this figure vibrates a load coupled to a motor in accordance with a supplied command value (torque value). Parts common to those in FIG. Is omitted. In FIG. 10A, the load 41 is connected to a shaft of the induction motor 3, and the load 42 is connected to the load 41 by a shaft. Then, the output generated by the induction motor 3 is transmitted to the loads 41 and 42.

As described above, in such a system, a resonance phenomenon occurs at a specific frequency. FIG. 10B shows resonance characteristics in this system. In this figure, the horizontal axis represents the frequency, and the vertical axis represents the ratio between the operation value (torque value) τ _M applied to the inverter 2 and the detection signal (feedback torque value) τ _O. That is, in this system, a resonance phenomenon occurs at frequencies F ₂ ^* , F ₃ ^{*, and the} like.

B: Operation of Example In the above-described configuration, the frequency F related to a desired vibration characteristic
_{In addition to 1} ^* , the amplitude A ₁ ^* and the phase difference α ₁ , the resonance frequencies F ₂ ^* and F ₃ ^* and the amplitude value “0” and the phase difference α ₂ and α ₃ for each resonance frequency are different. It is supplied to the periodic function wave control device 20. Then, a torque value τ _{M as} 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 detection signal τ _O is fed back by the detector 5. Therefore, in the control device 20, with respect to the detection signal tau _O, each resonance frequency F
Control is performed so that amplitude components related to ₂ ^* and F ₃ ^* are suppressed. Therefore, it is possible to perform a vibration test while avoiding a resonance state. Instead of the periodic function wave control device 20, each of the periodic function wave control devices 23 or 25 shown in the second or third embodiment can be used.

In each of the embodiments described above, the torque value is used as the control amount. However, a characteristic amount other than the torque value, such as the engine speed, may be used as the control amount. Further, the control amount may be a torque, a rotation speed, or a rotation angle of a driving system that is linked to a rotation shaft of the motor. In addition,
The induction motor, the vector control inverter, and the drive system can be other control targets.

[0062]

As described above, according to the present invention,
For each frequency included in the command value by the periodic function wave,
The deviation between each amplitude component in which each amplitude value of the command value is decomposed into a vector and each corresponding amplitude component for the control amount is calculated by the frequency-specific amplitude calculation means and the first and second frequency-specific amplitude control means. It is calculated for each frequency. Also,
The deviation detecting means detects an instantaneous deviation between the control amount and the command value. Since the control object is controlled based on these deviations, it is possible to improve the response characteristics of the control system without depending on the frequency of the command value by an arbitrary periodic function wave.

[Brief description of the drawings]

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

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

FIG. 3 is a block diagram illustrating a configuration of a drive control device according to a third embodiment of the present invention.

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

FIG. 5 is a diagram illustrating frequency response characteristics of a control target according to the first to third embodiments of the present invention.

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

FIG. 7 is a block diagram illustrating a configuration of a drive control device according to a fifth embodiment of the present invention.

FIG. 8 is a block diagram illustrating a configuration of a drive control device according to a sixth embodiment of the present invention.

FIG. 9 is a block diagram illustrating a configuration of a drive control device according to a seventh embodiment of the present invention.

FIG. 10 is a diagram illustrating a configuration and resonance characteristics of a drive control device according to an eighth embodiment of the present invention.

FIG. 11 is a block diagram showing a configuration of a conventional vibration control device.

FIG. 12 is a block diagram illustrating 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 control device (frequency-dependent amplitude calculating means, first and second frequency-dependent amplitude control means) 21a, 21b,. .., 23n trigonometric function wave control device (frequency-dependent amplitude calculating means, first and second frequency-dependent amplitude controlling means,
Deviation detecting means) 24a, 24b,... Operation value synthesizer (adding means) 25a,..., 25n Trigonometric function wave control device (frequency-dependent amplitude calculating means, first and second frequency-dependent amplitude controlling means) 27 Deviation detector (Deviation detecting means) 28 deviation amplifier (deviation detecting means) 29, 29a, 29b,..., Operation value synthesizer (adding means) 38a,..., 38n trigonometric function wave control device (frequency-based amplitude calculating means, first and second) 39a, 39b,..., Operation value synthesizer (adding means)

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) G01M 13/02 G01M 17/007 G05D 19/02

Claims (5)

(57) [Claims] 1. A first control amount amplitude component in a first direction of a control amount fed back from a control target for each frequency included in a command value that is a periodic function wave obtained by synthesizing a plurality of trigonometric function waves. And a frequency-dependent amplitude calculating means for calculating a second control amount amplitude component in a second direction orthogonal to the first direction, and a first command value amplitude component in the first direction and the first command value amplitude component in the first direction. A first frequency-dependent amplitude control means for calculating a deviation from the control amount amplitude component as a first deviation amount for each frequency and calculating a first operation value in a first direction corresponding to the first deviation amount; And calculating a deviation between a second command value amplitude component in the second direction and the second control amount amplitude component as a second deviation amount for each frequency, and calculating a second deviation amount corresponding to the second deviation amount. A second cycle for calculating a second operation value for the second direction Number-dependent amplitude control means, and inverse Fourier transform values of the first and second operation values for each frequency calculated by the first and second frequency-dependent amplitude control means, and an amount corresponding to the addition result A drive control device comprising: an adder that supplies a control value as an operation value to the control target. 2. A deviation detecting means for detecting a deviation between a command value, which is a periodic function wave obtained by synthesizing a plurality of trigonometric function waves, and a control amount fed back from a controlled object, and outputting an operation value corresponding to the deviation. And for each frequency included in the command value, a first control amount amplitude component in a first direction of the control amount and a second control amount amplitude component in a second direction orthogonal to the first direction. And a frequency-dependent amplitude calculating means for calculating a first command value amplitude component and the first control amount amplitude component in the first direction as a first deviation amount for each frequency. First amplitude control means for calculating a first operation value in a first direction corresponding to a first deviation amount; a second command value amplitude component in the second direction; and the second control The deviation from the amplitude component is calculated as the second deviation for each frequency. A second frequency-dependent amplitude control means for calculating a second operation value in a second direction corresponding to the second deviation amount; an operation value calculated by the deviation detection means; And an inverse Fourier transform value of the first and second operation values for each frequency calculated by the second frequency-dependent amplitude control means, and an amount corresponding to the addition result is supplied to the control target as an operation value. A drive control device comprising: 3. The first and second command value amplitude components are calculated based on an amplitude and a phase for each frequency included in the command value, and each of the first and second command value amplitude components is calculated. 3. The drive control device according to claim 1, wherein a square root of a sum of squares of the amplitude is an amplitude for the frequency. 4. 4. The drive control device according to claim 1, wherein the plurality of trigonometric function waves are a fundamental wave and an odd harmonic up to a predetermined order. 5. The drive control device according to claim 1, wherein a frequency of the plurality of trigonometric function waves is a resonance frequency of the controlled object.