JP2012135159A - Control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device for controlling an object to be controlled, such as a motor in a system making the motor simulate the operation of an automotive engine, the control device being capable of implementing such control as to compensate for the delay time of a control system with high precision.SOLUTION: The operating speed of an object to be controlled is converted into a first angle, the time corresponding to the delay time of a control system is converted into a second angle in accordance with the operating speed, the first angle and the second angle are added to generate a third angle. The third angle is converted into a command value for controlling a control target element of the object to be controlled as indicated by a command value, and the object to be controlled is controlled based on the command value.

Description

  The present invention relates to a control device that controls a control object, such as control of a motor in a system in which a motor simulates the operation of an automobile engine.

  Conventionally, in order to cause a control object to perform an operation according to a command value, the operation of the control object is measured to obtain a measurement value, and the control object is controlled so that the measurement value matches the command value. So-called feedback control is performed.

  In the case of this feedback control, the delay time from the input timing of the command value to the input timing of the measured value reflecting the command value may affect the operation of the controlled object, and accurate control may not be performed. .

  In order to solve this, conventionally, for example, a proposal for learning a response delay time and setting the learned value of the response delay time as a delay time, a proposal for a compensation circuit for compensating a control delay by a control system, etc., by feedforward Proposals have been made to compensate for delays.

  However, in recent years, since control is performed digitally at constant control time intervals, for example, when the delay time is 0.01234456789 sec and the control time interval is 0.01 sec, this corresponds to a delay time of 0.01 sec. Compensation error for 0.00234456789 sec occurs. Even if the control time interval is 0.001 sec, compensation corresponding to a delay time of 0.012 sec is performed, so that an error corresponding to 0.0003456789 sec occurs. In recent years, it is often required to perform extremely high-precision control. However, it is often difficult to narrow the control time interval to such an extent that the delay time can be set with a negligible level of error because of the operation speed of the control device.

JP 2006-177246 A Japanese Patent Laid-Open No. 9-1331070 JP 2005-192336 A

  In view of the above circumstances, an object of the present invention is to provide a control device capable of performing control with high accuracy compensating for a delay time of a control system.

The control device of the present invention that achieves the above object provides:
A command unit that receives an input of an angle and generates a command value for controlling the control target element of the control target according to the command value based on the angle;
A first measurement unit that generates a first measurement value obtained by measuring a control target element of the control target;
A control unit that inputs both the command value and the first measurement value and controls the operation of the controlled object so that the command value and the first measurement value match;
A second measuring instrument for measuring the operating speed of the controlled object;
A first angle converter that converts the operating speed into a first angle;
The time corresponding to the delay time from the input timing of the command value to the control unit to the input timing of the first measurement value reflecting the command value to the control unit is converted into the second angle corresponding to the operating speed. A second angle conversion unit,
An adder that adds the first angle and the second angle to generate a third angle;
The command unit receives the input of the third angle and generates a command value based on the third angle.

  Here, in the control device of the present invention, for example, the control object is a motor, the command unit generates a torque command value for controlling the output torque of the motor, and the first measurement unit is the motor. The torque measurement value is generated by measuring the output torque, and the second measurement unit may measure the rotation speed of the motor.

  An angle is input to the command unit, and a command value is generated based on the angle. Even in a system in which the command value is generated at a constant control time interval, it is easy to configure the command unit so that the angle itself can be set with a sufficient number of digits.

  In the present invention, the operation speed and the delay time are converted into angles, added to each other, and the added angle is input to the command unit. Therefore, the command value accurately reflects the delay time from the command unit. Can be generated, and high-precision control becomes possible.

It is a figure which shows the simulation system of a motor vehicle including the motor which is a control object of the control apparatus of one Embodiment of this invention. It is a block diagram which shows the control apparatus as a comparative example. It is a figure which shows an example of a torque command value and a torque measurement value. It is a block diagram of a control device of one embodiment of the present invention. FIG. 5 is a block diagram showing an internal configuration of a delay time / advance angle conversion unit shown by one block in FIG. 4. It is a figure which shows an example of a torque command value and a torque measurement value in the control apparatus shown in FIG. It is explanatory drawing of the error at the time of trying to compensate directly for every calculation period. It is the figure which showed the relationship between calculation period resolution and angle resolution. It is the figure which showed the simulation result. It is the figure which expanded and showed the time axis (horizontal axis) about the area X of FIG. It is the figure which expanded and showed the time axis (horizontal axis) about the area Y of FIG.

  Embodiments of the present invention will be described below.

  FIG. 1 is a diagram illustrating a vehicle simulation system including a motor that is a control target of a control device according to an embodiment of the present invention.

  FIG. 1 shows a motor 10 for simulating an automobile engine. The motor 10 is a motor that is controlled by a control device (described later) according to an embodiment of the present invention. An automobile transmission 20 is connected to the output shaft of the motor 10. The output shaft of the motor 10 is provided with a measuring instrument 50 that measures the torque and rotational speed of the output shaft. Further, the system 1 is connected with two motors 30 and 40 for simulating the left and right wheels.

  From the two motors 30 and 40, various road conditions such as a flat asphalt surface and an uphill slope are simulated. Further, the motor 10 is for engine simulation, and an output equivalent to an output accompanied with a torque fluctuation by a real engine is generated.

  Here, a control device for controlling the engine simulation motor 10 will be described.

  The motors 30 and 40 are controlled in the same manner as in the prior art, and a description of the control of the motors 30 and 40 is omitted here.

  In the following, regarding the control device responsible for controlling the motor 10 of the system 1 shown in FIG. 1, a control device of a comparative example will be described first, and then a control device as one embodiment of the present invention will be described.

  FIG. 2 is a block diagram showing a control device as a comparative example.

  The control device 100A includes a motor controller 110. The control signal output from the motor controller 110 is input to the inverter 60, and the inverter 60 drives the motor 10 according to the control signal. An output shaft of the motor 10 is connected to the transmission 20, and a measuring instrument 50 for measuring the torque and rotational speed of the output shaft is provided. The torque measurement value measured by the measuring instrument 50 is fed back to the motor controller 110.

  The rotational speed of the motor 10 measured by the measuring instrument 50 is input to the crank angle calculator 120, and the rotational speed [r / min] is converted into a crank angle [deg] by time integration. This crank angle is input to the engine model 130. The engine model 130 is a calculator that generates a torque command value based on the input crank angle. The torque command value generated by the engine model 130 is input to the motor controller 110. The motor controller 110 receives an input of the torque command value generated by the engine model 130 and the torque measurement value measured by the measuring device 50, and receives a control signal for controlling the torque measurement value so as to coincide with the torque command value. Generated. This control signal is input to the inverter 60 as described above, and the inverter 60 drives the motor 10 according to the control signal.

  FIG. 3 is a diagram illustrating an example of a torque command value and a torque measurement value.

  Here, the operation of a four-cycle engine is simulated, and the torque moves up and down four times within a crank angle of 0 [deg] to 720 [deg].

  In FIG. 3, the measured torque value is delayed compared to the torque command value. This delay is a time delay from when the torque command value is input to the motor controller 110 to when the measured torque value reflecting the torque command value is input to the motor controller 110. That is, in this case, torque is transmitted to the transmission 20 at a timing delayed from the intended timing from the motor 10, and an error is caused in the simulation, and high-precision simulation is not performed.

  The control device according to the embodiment described below is to supply a torque command value from the engine model 130 to the motor controller 110 at an earlier timing by an amount corresponding to the delay time. In the control device of this embodiment, a time corresponding to the delay time is converted into an angle, a crank angle corrected by the angle is calculated, and the corrected crank angle is input to the engine model 130. Thus, accurate compensation independent of the resolution of the calculation cycle of the control device is realized.

  FIG. 4 is a block diagram of a control device according to an embodiment of the present invention. In the control device 100B shown in FIG. 4, a delay time / advance conversion unit 140 and an adder 150 are further added to the same components as the control device 100A of the comparative example shown in FIG. The delay time / advance angle conversion unit 140 corresponds to an example of a second angle conversion unit according to the present invention. Further, the adder 150 corresponds to an example of an adding unit referred to in the present invention. Furthermore, the motor controller 110, the crank angle calculator 120, and the engine model 130 correspond to examples of the control unit, the first angle conversion unit, and the command unit, respectively, according to the present invention. The measuring instrument 50 corresponds to both an example of the first measuring instrument and an example of the second measuring instrument according to the present invention.

  FIG. 5 is a block diagram showing an internal configuration of the delay time / advance angle conversion unit shown by one block in FIG.

  The delay time / advance angle conversion unit 140 receives the rotational speed [r / min] measured by the measuring instrument 50 and is set with a time [s] corresponding to the above-described delay time.

  In the delay time / advance conversion unit 140, the input rotational speed [r / min] is multiplied by (2π / 60) to obtain the angular speed [rad / s], and the angular speed [rad / s] is obtained. The time [s] corresponding to the delay time is multiplied, and (360 / 2π) is further multiplied to generate a correction value [deg] obtained by converting the delay time into an angle. In the adder 150 also illustrated in FIG. 4, the correction value [deg] is added to the crank angle [deg] calculated by the crank angle calculator 120, so that the crank angle [deg] becomes the correction value [deg]. ] Is corrected to the advanced crank angle. The corrected crank angle [deg] is input to the engine model 130 shown in FIG. Accordingly, the engine model 130 outputs an advanced torque command value that is advanced by the correction value [deg] from the original timing.

  6 is a diagram illustrating an example of a torque command value and a torque measurement value in the control device illustrated in FIG.

  In FIG. 6, the torque command value at the original timing, the measured torque value, and the advanced torque command value are shown in order from the top. The advanced torque command value is advanced by the correction value [deg] described above with respect to the torque command value at the original timing. Therefore, the torque measurement value matches the torque command value at the original timing with almost no error.

  In the case of the control device 100B shown in FIG. 4, the time corresponding to the delay time is set once, and the time is converted into an angle correction value [deg] corresponding to the rotational speed at that time for each calculation cycle. The crank angle [deg] is corrected by the angle correction value [deg]. Thus, according to the control device 100B of the present embodiment, the delay time is easily compensated.

  Further, as will be described below, in the case of the present embodiment, correction with extremely high accuracy is performed.

  FIG. 7 is an explanatory diagram of an error when attempting to compensate directly for each calculation cycle. FIG. 8 is a diagram showing the relationship between the calculation period resolution and the angular resolution.

  Here, a case where the rotational speed is 1000 [r / min] is illustrated.

  In FIG. 1-No. In all cases, it is assumed that the rotational speed is 1000 [r / min] and the delay time is 0.01234456789 [s]. From these rotational speed = 1000 [r / min] and delay time = 0.01234456789 [s], when the delay time is converted into an angle [deg] corresponding to the rotational speed, “angle to be set by delay time = 74.074034 [deg] If the control periods in No. 1 to No. 5 are 0.01 [s], 0.001 [s],. The delay times set in the fixed calculation cycle corresponding to [s] are 0.01 [s], 0.012 [s],..., 0.012345 [s], respectively, and in each of these fixed calculation cycles. When the set delay time [s] is converted into an angle [deg], they are 60 [deg], 72 [deg],..., 74.07 [deg], that is, control cycle = 0.01 [s]. of In this case, the delay time = 0.01234456789 [s] cannot be set as it is, and the delay time = 0.01 [s], or when the angle [deg] is set, the delay time = 0. The angle corresponding to 01 [s] = 60 [deg] In other words, although the angle to be set corresponding to the delay time = 0.01234456789 [s] is 74.0750734 [deg], the fixed calculation is performed. The angle corresponding to the period = 0.01 [s] is 60 [deg], and an error (74.0750734 [deg] −60 [deg] = 14.0750734 [deg]) occurs in the meantime. Is 0.05 [deg], the control cycle needs to be about 0.00001 [s] of No. 4. If control cycle = 0.00001 [s] The error is 74.074034-74.04 = 0.034 [deg], and the control target accuracy is less than 0.05 [deg], and thus a control device that operates in a very short control cycle is configured. Even if it is difficult, it may be expensive.

  On the other hand, if the control device 100B shown in FIG. 4 is configured as a device that performs an operation with double type = 64 bits, for example, it is possible to set a decimal value of 15 digits, and an angle to be set = 74.0740734 [deg] All digits can be set with a sufficient margin, and even if the control cycle is 0.01 [s], for example, an extremely accurate correction angle is obtained every 0.01 [s], and extremely accurate correction is performed. The subsequent crank angle [deg] can be generated and highly accurate control can be performed.

  FIG. 9 is a diagram showing simulation results.

  Here, in order from the top, the crank angle, the torque command value at the original timing, the torque measurement value, and the advanced torque command value are started until the engine is stopped and the idle rotation speed is maintained. Each time waveform during is shown.

  10 and 11 are diagrams in which the time axis (horizontal axis) is enlarged for each of the sections X and Y in FIG.

  The rotation speed is slightly different between the section X and the section Y, and therefore the waveform cycle (time length between the crank angles 0 [deg] to 720 [deg]) is different.

  In the case of this embodiment, even if the waveform period (time length between crank angles 0 [deg] to 720 [deg]) is different in this way, the advanced torque command value is always equal to the delay time. The torque command value is advanced accurately by the corresponding angle. Therefore, the torque measurement value has the same waveform that always matches the phase of the torque command value at the original timing even if the rotational speed fluctuates. It is done.

  In the case of the above-described embodiment, as shown in FIG. 5, the time [s] corresponding to the delay time is set as a fixed value. However, depending on the control object and the control target element, the delay time may vary depending on conditions. Some change. In that case, a map may be created for each condition corresponding to the delay time, and the time may be changed according to the condition.

  Moreover, although the above-mentioned embodiment is an example which gives a torque command value and makes the motor 10 simulate engine torque, this invention is not limited to this, It is a rotation system or a translation system which reciprocates. Regardless of this, the present invention can be applied to a control device that controls various control objects.

1 System 10, 30, 40 Motor 20 Transmission 50 Measuring Instrument 60 Inverter 100A, 100B Controller 110 Motor Controller 120 Crank Angle Calculator 130 Engine Model 140 Delay Time / Advance Conversion Unit 150 Adder

Claims (2)

A command unit that receives an input of an angle and generates the command value for controlling the control target element of the control target according to the command value based on the angle;
A first measurement unit that generates a first measurement value obtained by measuring a control target element of the control target;
A control unit that inputs both the command value and the first measurement value, and controls the operation of the control object so that the command value and the first measurement value match;
A second measuring instrument for measuring the operating speed of the controlled object;
A first angle converter that converts the operating speed into a first angle;
A time corresponding to a delay time from the input timing of the command value to the control unit to the input timing of the first measurement value reflecting the command value to the control unit is determined according to the second operation speed. A second angle conversion unit for converting to an angle of
An adder that adds the first angle and the second angle to generate a third angle;
The control device, wherein the command unit receives the input of the third angle and generates the command value based on the third angle. The control object is a motor;
The command unit generates a torque command value for controlling the output torque of the motor;
The first measurement unit measures the output torque of the motor and generates a torque measurement value;
The control apparatus according to claim 1, wherein the second measurement unit measures a rotation speed of the motor.

Images