JPS6133324B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a control device for an electric vehicle, and provides a specific method for constant speed operation of an electric vehicle.

Conventionally, constant-speed operation of electric cars has not been performed except in the classical method, but recent developments in power electronics have made it possible to continuously control the speed of electric cars, and more advanced constant-speed operation control has become possible. It has become possible.

The conventional driving method for electric cars is generally the notch command system, and the speed of the electric car can vary widely depending on fluctuations in the overhead line voltage, track slope conditions, and whether the load on the electric car is large or small. However, due to these external conditions,
The driver is required to change the notch on the electric car's main controller and frequently operate the electric car, including operating the brake valve, to keep the electric car at the desired speed. The level of skill and workload involved was enormous. Furthermore, in the past, driving operations such as power running and braking were left solely to the driver's judgment based on the driver's attentiveness and skilled driving skills, so it was not possible to completely prevent driver misperceptions and erroneous operations. First, there were no problems with the safe operation of electric vehicles.

The purpose of the present invention is to simplify the driving operation by using a constant speed driving device to reduce the driver's skill level and burden, although highly skilled skills are required of the driver in order to ensure the safety of driving an electric vehicle. In addition, the aim is to avoid conventional driver misperceptions and erroneous operations and improve safety. Furthermore, the objective is to maintain accurate operating time and improve operating speed, as well as to perform economical operation and reduce power consumption.

The constant speed operation system according to the present invention will be explained in detail below based on an embodiment shown in the drawings. Figure 1 shows the main circuit of an electric vehicle during power running. In Figure 1, Pan is a pantograph, FL is a main smoothing reactor, OF is a main filter capacitor, CH11 to CH22 are armature chopper devices, DF11 to DF22 are freewheeling diodes, MSL11 to MSL22 are main smoothing reactors, M ₁ , M ₂ is the armature of the main motor, F ₁ ,
F ₂ is the field of the main motor, and FCH ₁ and FCH ₂ are field shunt chopper devices. With the configuration shown in Figure 1, if the current flow rate of the armature chopper devices CH11 to CH22 is controlled, the terminal voltages of the main motors M ₁ and ₂ can be continuously controlled, so the speed of the electric car can be controlled freely and continuously. Can be controlled. Furthermore, in FIG. 1, by controlling the conduction rate of the field shunt chopper devices FCH _{1 and 2} , the currents of the field fields F ₁ and ₂ of the main motor can be continuously controlled.

FIG. 3 shows an embodiment of a constant operation control system during power running. In FIG. 3, an arbitrary speed VP at which the electric vehicle should be operated is commanded from the speed command device SAD. On the other hand, the actual running speed of the electric vehicle is detected by the speed generator TG, the actual speed Vi is detected via the F-DC frequency/voltage converter, and the actual speed Vi is compared with the command speed VP by the comparator CV. The error signal ΔV is applied to the current pattern calculation circuit CPL, and a pattern as shown in the figure is generated based on the relationship between the speed difference ΔV and the power running acceleration current IP. This current pattern IP is the accelerating current command AC
The magnitude of the power running acceleration current IP can be adjusted by the command. Also, by adjusting the axle load shift compensator WC,
This current pattern IP can be corrected. The current pattern IP given by the above current pattern calculation circuit CPL is the armature chopper constant current control system.
Actual traction motor armature current given to ACHACR
A comparison operation is performed with IA, and a gate pulse corresponding to the conduction rate to be controlled is given to the gate circuits of the armature chopper devices CH11 to CH22 by the phase shifter _PS1 . In order to weaken the field current of the main motor in the high-speed range of electric cars, the above current pattern calculation circuit is used.
The CPL current pattern is given to the field shunt chopper constant current control system FCHACR, where it is compared with the actual field current IF, and the current pattern of the field shunt chopper devices FCH ₁ and ₂ is controlled by the phase shift PS2. The field rate is automatically controlled to become the commanded field rate IF/IA. Third
In the figure, ALM is an acceleration limiter that controls the acceleration of the electric vehicle to prevent it from becoming excessive. IF/IALM is the weakest field rate limiter, and is a limiter device that prevents the field current of the main motor from weakening excessively. Also the third
In the figure, RMC is a driving mode command device that issues a powering command when △V≧0 based on the speed difference △V between the command speed VP and the actual running speed Vi.
A brake command is generated when -V ₁ > △V, and -V ₁ <
When ΔV<0, a coasting command is generated. The value of V ₁ may be set in advance depending on the accuracy of constant speed operation of the electric vehicle. As shown in FIG. 5, the acceleration α is controlled to decrease as the traveling speed of the electric vehicle approaches the actual speed. This is automatically controlled by the current pattern calculation circuit CPL. According to the above control, the constant speed operation of the electric vehicle during power running is performed with extremely high accuracy.

Now, when the running speed Vi of the electric car is greater than the command speed VP, △V=VP-Vi≦-V ₁ (see Figure 5), the command to apply the dynamic brake to the electric car is sent to the driving mode command RMC. The dynamic brake circuit shown in FIG. 2 is automatically constructed.
In FIG. 2, the armatures M ₁ and M ₂ of the traction motor are connected to the dynamic brake resistor BRe to form a closed circuit, and the fields F ₁ and F ₂ of the traction motor are connected to the armature chopper device, respectively. The overhead wires are separately excited by CH11 to CH22, and the field current is continuously controlled by the field shunt chopper devices FCH ₁ and FCH ₂ , so that a regenerative braking circuit is formed and a regenerative braking is applied.

Figure 4 shows the constant speed operation control system during dynamic braking. In Fig. 4, the speed difference △V is applied to the electric brake force pattern circuit BPC, which generates a pattern of brake force BE according to the speed difference △V, which is applied to the armature chopper current pattern circuit ACHCPC, and the phase shifter Armature chopper device via PS ₁
The conduction rate of CH11 to CH22 is controlled to keep the current supplied from the overhead wire to the fields F ₁ and F ₂ of the main motor constant. On the other hand, by detecting the actual armature current IA and the actual field current IF, and using the electric brake force calculation circuit BED, the brake force BE=K・IA・IF
(K is a constant), and the field shunt chopper brake force compensation circuit FCHTCC performs a comparison calculation with the brake force command given by the electric brake force pattern circuit BPC, and the actual electric brake force is determined by the command. The conduction rate of the field shunt chopper devices FCH, FCH ₂ is automatically controlled via the phase shifter PS ₂ so that the current value is the same. In FIG. 4, PBC is a pneumatic brake control circuit, and when the electric braking force is insufficient, the air brake It is provided to apply the brakes. Through the above control, the braking force necessary for constant speed operation of the electric vehicle is automatically controlled based on the speed difference ΔV.

In FIG. 5, if the speed difference △V between the command speed VP and the running speed Vi of the electric vehicle is 0>V>-Vi, a coasting command is issued from the constant speed operation control system of FIG.
The conductivity of the armature chopper devices CH11 to CH22 and field shunt chopper devices FCH ₁ and FCH ₂ of the electric car becomes zero, and the electric car becomes coasting.

As shown in FIG. 5, even in the dynamic braking zone, when the speed difference becomes smaller than the speed difference ΔV=V ₃ , the electric brake force calculation circuit BPC performs control to gradually reduce the deceleration.

As in one embodiment of the present invention, by controlling the conduction rate of the armature chopper devices CH11 to CH22 and the field shunt chopper devices FCH ₁ and FCH ₂ , it is possible to freely operate the electric vehicle at a constant speed. Recognize.

According to the constant speed operation control system according to the present invention, the following features can be exhibited and the drawbacks of conventional operation methods can be eliminated.

(1) Driving operations such as power braking, which conventionally depended on the driver's attentiveness and skilled driving techniques, will be changed to constant speed operation to avoid driver misperceptions and erroneous operations and improve safety.

(2) In order to ensure the safety of driving electric vehicles, drivers were required to have highly skilled skills, but constant-speed driving simplifies driving operations and reduces the driver's skill level and burden. do.

(3) It is possible to maintain accurate operating time and improve operating speed, and to perform economical operation and reduce power consumption.

(4) The armature chopper device and the field shunt chopper device perform power running, coasting, and power generation brake control continuously according to speed zones, providing a constant speed operation system.

(5) As the traveling speed of the electric vehicle approaches the commanded speed, the acceleration or deceleration is controlled to be gradually smaller, so the electric vehicle speed can reach the commanded speed without overshooting.

Although the present invention has been described with reference to an embodiment of a chopper-controlled electric vehicle, it can also be applied to an AC electric vehicle provided with an AC thyristor Leonard device. It is clear that the present invention can also be applied to electric vehicles with variable voltage/variable frequency control of a three-phase induction motor using a three-phase inverter.

[Brief explanation of the drawing]

1 and 2 are a main circuit diagram during power running and a main circuit diagram during dynamic braking of an electric vehicle to which the present invention is applied. FIGS. 3 and 4 are a block diagram of a constant speed operation control system during power running and a constant speed operation control system block diagram of a dynamic braking mode, showing an embodiment of the present invention. FIG. 5 is a characteristic diagram showing the relationship between velocity and acceleration. In the diagram, Pan: pantograph, FL:
Main filter reactor, CF: Main filter capacitor, CH11-22: Armature chopper device, DF11-22: Freewheeling diode, MSL11-22: Main smoothing reactor,
M ₁ , ₂ : Main motor armature, F ₁ , ₂ : Main motor field, FCH ₁ , ₂ : Field shunt chopper device,
BRe ₁ , ₂ : Generating brake resistor, TG: Speed generator, F-DC: Frequency/DC converter, SAD: Speed command, AC: Acceleration current command, WC: Axle load movement compensator, IA: Electrical equipment child current, IF: field current,
CPL: Current pattern calculation circuit, ALM: Acceleration limiter, ACH, ACR: Armature chopper constant current control system, FCHACR: Field chopper constant current control system,
PS ₁ , ₂ : Phase shifter, RMC: Operation mode command unit,
CV: Speed comparator, BCP: Electric brake force pattern circuit, ACHCPC: Armature chopper current pattern circuit, BCD: Electric brake force calculation circuit,
FCHTCC: Field chopper brake force compensation circuit,
PBC: Air brake control circuit, DEC: Deceleration detection circuit. Note that the same reference numerals in the figures indicate the same or corresponding parts.

Claims (1)

[Claims] 1. In electric vehicles where the armature chopper device and field shunt chopper device control the armature voltage and field current of the main motor, the speed difference between the speed command device and the speed detector and the command from the acceleration current command device A current pattern calculation circuit that receives a signal as an input, and an armature chopper constant current control system and field that control the conductivity of the armature chopper device and field shunt chopper device, respectively, based on the output of the current pattern calculation circuit. a shunt chopper constant current control system, an operation mode command device that outputs a power running command, a coasting command, and a brake command according to the speed difference, and a power generating brake resistor connectable to the armature of the main motor;
an electric brake force pattern circuit that is connected to the speed command device and the speed detector and generates an electric brake force pattern according to the speed difference; and an electric brake force pattern circuit that receives armature current and field current and calculates the actual brake force. an armature chopper current pattern circuit connected to the electric brake force pattern circuit for controlling the conduction rate of the armature chopper device, the electric brake force pattern circuit and the electric brake force. a field shunt chopper brake compensation circuit for controlling the conductivity of the field shunt chopper device based on the output deviation of the arithmetic circuit; and an air brake control circuit for controlling the air brake force based on the speed difference and deceleration. A control device for an electric vehicle characterized by comprising a circuit.