DYNAMOMETER SYSTEM
First Claim
1. A dynamometer system comprising:
- a dynamometer that is connected by a common shaft to a load device;
an inverter that supplies electric power to the dynamometer;
an encoder that detects a rotational position or angular velocity of the dynamometer;
a shaft torque meter that detects shaft torque between the load device and the dynamometer; and
a control device that controls the dynamometer based on a detection value of the encoder and a detection value of the shaft torque meter,wherein the control device includes;
a main control unit that calculates a torque-current-command value to serve as an input to the inverter, based on a command value relative to the detection value of the encoder inputted externally, and the detection value of the encoder;
a shaft-torque-detection-compensation unit that adds a compensation amount obtained by multiplying a filter transfer function and a suppression gain by the detection value of the shaft torque meter, to the torque-current-command value calculated by the main control unit, so as to correct the torque-current-command value; and
a disturbance observer compensation unit that calculates a disturbance observer based on the detection value of the encoder and the torque-current-command value calculated by the main control unit, and subtracts the disturbance observer thus calculated from the torque-current-command value calculated by the main control unit, so as to correct the torque-current-command value,wherein the filter transfer function of the shaft-torque-detection-compensation unit is set with only a resonance frequency of a mechanical system consisting of the load device and the dynamometer and a vicinity thereof as a passband, andwherein the disturbance observer compensation unit has a characteristic of blocking a frequency band higher than a cutoff frequency which is set to be lower than the resonance frequency.
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Accused Products
Abstract
Provided is a dynamometer system capable of stable speed control and position control even in instances of large load inertia. A speed-control device (6C) in a dynamometer system is provided with: a speed-control-circuit unit (61A) for calculating a torque-current-command value (T2) on the basis of an angular-velocity-command value (ωref) and the angular velocity (ωM) of the dynamometer; a disturbance-observer-compensation unit (63C) for correcting the torque-current-command value by subtracting a disturbance observer (Tobs) from the torque-current-command value (T2); and a shaft-torque-detection-compensation unit (62A) for correcting the torque-current-command value by adding a shaft-torque-detection-compensation amount (Tsh_K), which is obtained by multiplying a filter transfer function (GBPF) and a control gain (K1) by a shaft-torque-detection value (Tsh), to a torque-current-command value (T1). Therein, the filter transfer function (GBPF) has only the resonance frequency and vicinity thereof for mechanical systems comprising load devices and dynamometers set as a passband.
23 Citations
8 Claims
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1. A dynamometer system comprising:
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a dynamometer that is connected by a common shaft to a load device; an inverter that supplies electric power to the dynamometer; an encoder that detects a rotational position or angular velocity of the dynamometer; a shaft torque meter that detects shaft torque between the load device and the dynamometer; and a control device that controls the dynamometer based on a detection value of the encoder and a detection value of the shaft torque meter, wherein the control device includes; a main control unit that calculates a torque-current-command value to serve as an input to the inverter, based on a command value relative to the detection value of the encoder inputted externally, and the detection value of the encoder; a shaft-torque-detection-compensation unit that adds a compensation amount obtained by multiplying a filter transfer function and a suppression gain by the detection value of the shaft torque meter, to the torque-current-command value calculated by the main control unit, so as to correct the torque-current-command value; and a disturbance observer compensation unit that calculates a disturbance observer based on the detection value of the encoder and the torque-current-command value calculated by the main control unit, and subtracts the disturbance observer thus calculated from the torque-current-command value calculated by the main control unit, so as to correct the torque-current-command value, wherein the filter transfer function of the shaft-torque-detection-compensation unit is set with only a resonance frequency of a mechanical system consisting of the load device and the dynamometer and a vicinity thereof as a passband, and wherein the disturbance observer compensation unit has a characteristic of blocking a frequency band higher than a cutoff frequency which is set to be lower than the resonance frequency. - View Dependent Claims (3, 4, 5, 6, 7, 8)
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2. (canceled)
Specification