CN100544996C - Vehicle electric machinery control device - Google Patents
Vehicle electric machinery control device Download PDFInfo
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- CN100544996C CN100544996C CNB200710104275XA CN200710104275A CN100544996C CN 100544996 C CN100544996 C CN 100544996C CN B200710104275X A CNB200710104275X A CN B200710104275XA CN 200710104275 A CN200710104275 A CN 200710104275A CN 100544996 C CN100544996 C CN 100544996C
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- acceleration detection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/003—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to inverters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/30—Railway vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
As the motor that is used for the powered vehicle wheel, for each chassis provides three motors.When controlling corresponding motor individually, provide by inverter: acceleration detection control part (26), at the speed signal that detects motor when the increase of rate has surpassed predetermined value over time, the throttling torque; And coasting speed detection control part (27), according to the amount that motor velocity signal increases with respect to predetermined reference speed, throttling torque.Switch control portion (28) is switched, so that carry out controlling the control of the inverter (11) that in the direct of travel of vehicle, is positioned at last motor in each chassis by acceleration detection control part (26) usually, and detect control part (27) by coasting speed and carry out control the inverter of controlling other two motors.
Description
Technical field
The present invention relates to be used to control the vehicle electric machinery control device of the driving of guideway vehicle.
Background technology
The vehicle electric machinery control device of the driving of control guideway vehicle is carried out anti-idle running adhesion (anti-skid readhesion) again (or adhesion again) control, so that prevent the idle running of wheel.Can be by the method for acceleration detection or the method that detects by coasting speed, carry out this anti-idle running control of adhering again, wherein in the method for acceleration detection, detect idle running by the percentage speed variation of calculating axletree or motor shaft, carry out this anti-idle running control of adhering again, and in the method that coasting speed detects, detect idle running by calculating speed without load (or coasting speed).
Fig. 1 is to use traditional acceleration detection method to carry out the anti-idle running layout of the vehicle electric machinery control device of adhesion control again.Fig. 1 shows the situation that has six wheel drive motors axles in single unit vehicle, and these motor shafts are controlled individually by inverter separately.
Detect the rotative speed of the motor 12a to 12f that drives by inverter 11a to 11f by rotary speed detector (such as impulse deviser or magslip (resolver)) 13a to 13f, and be entered into the anti-idle running control part 14a to 14f that adheres again.The anti-idle running control part 14a to 14f that adheres again has identical structure, therefore, will only describe the anti-adhesive part 14a again that dallies hereinafter.
Convert the rotative speed (rotation number) of the detected motor 12a of rotary speed detector (impulse deviser) 13a to a speed signal, this speed signal is imported into adhere the again 15a of speed calculation portion of control part 14a of anti-idle running.By being input to acceleration detecting section 16a, draw the rate of change of speed signal by the speed signal that the 15a of speed calculation portion obtains.Then, acceleration detecting section 16a determines whether the rate of change of speed signal is equal to or higher than predetermined value: if the rate of change of speed signal is equal to or higher than predetermined value, then acceleration detecting section 16a identification (detection) is to idling conditions; If the rate of change of speed signal is lower than predetermined value, then acceleration detecting section 16a recognizes recovery (recovery).Torque throttling/recovery calculating part 17a calculates and output torque throttling or recovery amount according to the idle running identification signal of acceleration detecting section 16a.
Torque instruction pattern efferent 18a output torque instruction mode: the output of torque throttling/recovery calculating part 17a is outputted as final torque instruction after always being deducted in the torque instruction pattern of self-torque instruction mode efferent 18a by subtracter 19a.
Then, Fig. 2 is to use traditional coasting speed method of inspection to carry out the anti-idle running layout of the vehicle electric machinery control device of adhesion control again.Fig. 2 shows the situation that has six wheel drive motors axles in single unit vehicle, and these motor shafts are controlled individually by inverter separately.
Detect the rotative speed of the motor 12a to 12f that drives by inverter 11a to 11f by rotary speed detector 13a to 13f, and be entered into adhere the again 15a to 15f of speed calculation portion of control part 14a to 14f of anti-idle running, in the 15a to 15f of speed calculation portion, convert thereof into speed signal.To be input to reference velocity calculating part 20 by the speed signal that the 15a to 15f of speed calculation portion calculates, in reference velocity calculating part 20, calculate reference velocity.Can be by for example (121-D ' rolls up at Journal of the Electrical Association of Japan IndustrialApplications Section, the 9th phase, calendar year 2001, the 928th page) (Figure 11) in illustrated method, carry out the calculating of reference velocity.
To be input to adhere the again subtracter 21a to 21f of control part 14a to 14f of separately anti-idle running by the reference velocity that reference velocity calculating part 20 is calculated, wherein in subtracter 21a to 21f, from the speed signal of each motor shaft of obtaining by the 15a to 15f of speed calculation portion, deduct reference velocity, and will be input to preliminary delay enlarging section 22a to 22f greater than zero deviate.Always deduct the output of preliminary delay enlarging section 22a to 22f in the torque instruction pattern of self-torque instruction mode efferent 18a to 18f, and the result is output as final torque instruction.
Some documents, such as for example disclosed Japanese Patent 3152785 (disclosed Japanese patent application H.6-261415) such scheme is disclosed, wherein, when when each controller of each motor of control vehicle motor is controlled individually, can carry out High Accuracy Control, and can not influence other motors, even also be like this when idle running in any one motor, occurring.
Yet, utilize wherein and carry out the anti-idle running vehicle electric machinery control device of adhesion control again, when detecting idle running, carry out the torque throttling immediately so that realize adhesion again in positive mode by traditional acceleration detection method, so the torque throttling is easy to become sharply, and amount of restriction is easy to become big.Therefore, under the frequent situation about taking place of idle running, reduced the average acceleration torque widely, perhaps may cause the transfer of axle load, thereby be easy to cause other idle running as rapid throttling mentioned in the above-mentioned patent disclosure of quoting to the torque of each execution.
On the other hand, under the situation of carrying out the anti-vehicle electric machinery control device of adhesion control that dallies again by traditional coasting speed method of inspection, according to coasting speed amount by idling products, determine the torque amount of restriction, therefore, although can make the torque amount of restriction, because first-order lag element (or preliminary lag element) has reduced the torque throttle response than little under the situation of acceleration detection method.Therefore, generate a kind of like this pattern, wherein, can not realize reliably adhering again, therefore,, then have the unsettled risk of reference velocity if continue with regard to all six axle idle running.
Summary of the invention
Therefore, the advantage of one aspect of the present invention provides a kind of vehicle electric machinery control device of novelty, thus, reduces the torque amount of restriction of relevant idle running, and obtains stable acceleration/accel performance, and do not have the instability of reference velocity.
By the turning motor of following structure, can realize above-mentioned purpose.Specifically, a kind of vehicle electric machinery control device has three motors conducts and is used for the motor of powered vehicle wheel, and further has the inverter of controlling each motor individually on each chassis, and this vehicle electric machinery control device comprises:
Be the acceleration detection control part that each corresponding inverter provides, be used at the speed signal that detects described motor when the increase of rate is higher than predetermined value over time the throttling torque;
Be that the coasting speed that each corresponding inverter provides detects control part, be used in response to the speed signal of described motor recruitment with respect to predetermined reference speed, and the throttling torque; And
Switch control portion, be used for switching to be positioned in the direction that vehicle is advanced on each chassis last described motor control in case make its by the inverter of described acceleration detection control part control and other two motors of control so that make it detect the inverter of control part control by described coasting speed.
According to the present invention, a kind of vehicle electric machinery control device is provided, on each chassis, have three motors as being used for the motor of powered vehicle wheel respectively, and described motor is controlled individually by inverter, described vehicle electric machinery control device comprises: the acceleration detection control part that provides for each corresponding inverter, be used at the speed signal that detects described motor when the increase of rate has surpassed predetermined value over time the throttling torque; The coasting speed that provides for each corresponding inverter detects control part, is used for coming the throttling torque in response to following recruitment, and described recruitment is the recruitment of the speed signal of described motor with respect to predetermined reference speed; And switch control portion, be used between described acceleration detection control part and described coasting speed detection control part, switching, wherein said acceleration detection control part is controlled controlling the inverter that is positioned at last described motor in each chassis in the direction that vehicle is advanced, and described coasting speed detection control part is controlled the inverter of controlling other two motors.
According to the present invention, even have bad adhesion between track and wheel so that taking place continually under the condition of idle running, because the minimum torque amount of restriction according to idling speed tolerance is enough, thus reduction that also can the rejection of acceleration performance, and can obtain stable reference velocity.
Description of drawings
When considered in conjunction with the accompanying drawings, by with reference to following specification sheets, will be easy to obtain more fully estimate and many attendant advantages of the present invention, they also become and are more readily understood simultaneously, wherein:
Fig. 1 is to use traditional acceleration detection method to carry out the anti-idle running layout of the vehicle electric machinery control device of adhesion control again.
Fig. 2 is to use traditional coasting speed method of inspection to carry out the anti-idle running layout of the vehicle electric machinery control device of adhesion control again.
Fig. 3 is the block diagram that the vehicle electric machinery control device according to the first embodiment of the present invention is applied to the situation on the vehicle.
Fig. 4 is the detailed diagram according to the vehicle electric machinery control device of the first embodiment of the present invention.
Fig. 5 shows the operation waveform diagram of the operation under the situation of the acceleration detection control method of utilizing the acceleration detection control part according to the first embodiment of the present invention.
Fig. 6 is that the operation waveform diagram that moving speed detects the coasting speed detection control method of control part is slided in utilization according to the first embodiment of the present invention.
Fig. 7 is the detailed placement block diagram of vehicle electric machinery control device according to a second embodiment of the present invention.
Fig. 8 is the layout block diagram of reference velocity abnormity detection portion according to a second embodiment of the present invention.
The specific embodiment
Now, with reference to the accompanying drawings, wherein, identical reference number is represented identical or corresponding parts in several figure, and more specifically with reference to figure 3, will describe two embodiment of the present invention.
(first embodiment)
Fig. 3 is the block diagram that the vehicle electric machinery control device according to the first embodiment of the present invention is applied to the situation on the vehicle.Bottom at the car body 23 of vehicle provides two chassis 24A, 24B; Axletree 25a, 25b, 25c are installed on the sole 24a, and axletree 25d, 25e, 25f are installed on the sole 24B.These axletrees are driven by motor 12a to 12f respectively.Hereinafter, under the situation that is used for the instruction that forward direction advances, from direct of travel, the motor shaft that corresponds respectively to six axletree 25a to 25f is described as first (No.1) axle, second (No.2) axle, the 3rd (No.3) axle, the 4th (No.4) axle, the 5th (No.5) axle and the 6th (No.6) axle.
Detect rotative speed respectively by rotary speed detector 13a to 13f, and be entered into the anti-idle running control part 14a to 14f that adheres again corresponding to the motor 12a to 12f of corresponding axis.The anti-idle running control part 14a to 14f that adheres again comprises that acceleration detection control part 26a to 26f, coasting speed detect control part 27a to 27f and switch control portion 28a to 28f.
Acceleration detection control part 26a to 26f reverses by throttling when detecting idle running, carries out anti-idle running adhesion control again; Be higher than predetermined value by the speed signal increase of rate over time that detects motor 12a to 12f, carry out this detection.On the contrary, coasting speed detect control part 27a to 27f by in response to from the speed signal Va to Vf of motor 12a to 12f with respect to the recruitment of predetermined reference speed Vref and anti-idle running adhesion control is again carried out in the throttling torque.Calculating by being carried out by reference velocity calculating part 20 draws predetermined reference speed Vref.In this embodiment of the present invention, the minimum value of the speed signal Va to Vf of motor 12a to 12f is chosen as reference velocity.
Then, switch control portion 28a to 28f switches between acceleration detection control part 26a to 26f and coasting speed detection control part 27a to 27f, usually, they are by using acceleration detection control part 26a to 26f, control is used for inverter each chassis, that be positioned at last motor at the direct of travel of vehicle to be controlled, and switch, the inverter of controlling other two motors is controlled so that detect control part 27a to 27f by coasting speed.For example, if the direct of travel of vehicle is the direction left among Fig. 1, then carry out following such configuration: by in the direct of travel of vehicle, being positioned at last motor 12c (12f) on acceleration detection control part 26a to the 26f control chassis, and detecting control part 27a to 27f by coasting speed and control other two motor 12a, 12b (12d, 12e).
Fig. 4 is the detailed diagram according to the vehicle electric machinery control device of the first embodiment of the present invention.Adhere the again acceleration detection control part 26a to 26f of control part 14a to 14f and coasting speed of anti-idle running detects control part 27a to 27f and has same structure, therefore, detect control part 27a with only describing adhere again acceleration detection control part 26a and the coasting speed of control part 14a of anti-idle running.
Acceleration detection control part 26a comprises the 15a of speed calculation portion, acceleration detecting section 16a, torque throttling/recovery calculating part 17a, switch 29a, subtracter 19a and torque instruction pattern efferent 18a.In addition, coasting speed detection control part 27a comprises the 15a of speed calculation portion, subtracter 30a, preliminary delay amplifier 22a, switch 29a, subtracter 19a and torque instruction pattern efferent 18a.By the switching of switch 29a, carry out the switching that acceleration detection control part 26a and coasting speed detect control part 27a.Carry out this switching by switch control portion 28a.
At first, with the operation of describing when having selected acceleration detection control part 26a by switch 29a.To be input to acceleration detecting section 16a by the speed signal Va of the 15a of speed calculation portion conversion, draw the rate of change of speed signal Va thus.If the rate of change of this speed signal Va has exceeded predetermined value, then identify idle running, if do not exceed predetermined value, then identify recovery.Torque throttling/recovery calculating part 17a is according to the idle running identification signal that obtains in acceleration detecting section 16a, calculating torque amount of restriction or recovery amount, and it is outputed to subtracter 19a by switch 29a.Subtracter 19a with its with compare from the torque instruction pattern of torque instruction pattern efferent 18a, and output is corresponding to the torque instruction of its difference.
Fig. 5 shows the operation waveform diagram of the operation of the acceleration detection control method among the acceleration detection control part 26a.When thereby wheel and interorbital adhesion cause wheel slipping owing to for example rainwater descends, there is the rapid increase of percentage speed variation, therefore, exceeded in percentage speed variation on the time point t1 of a certain setting value A, the idle running certification mark is set, thereby causes beginning the torque throttling with steeper gradient.Then, on percentage speed variation becomes time point t2 less than the given value of setting B, remove the idle running certification mark, thereby allow to carry out the operation that wherein utilizes the preliminary delay constant that provides by timeconstant to reset into the initial moment instruction lentamente.Thus, by the motor shaft of control in this way, can carry out basically failure-free and adhere again.
Then, selected coasting speed to detect operation under the situation of control part 27a with being described in by switch 29a.To be input to subtracter 30a by the speed signal Va of the 15a of speed calculation portion conversion.Subtracter 30a input draws the deviation of speed signal Va and reference velocity Vref from the reference velocity Vref of reference velocity calculating part 20, and this deviation is outputed to preliminary delay enlarging section 22a.Reference velocity calculating part 20 is selected the minimum value by the speed signal Va to Vf of the 15a to 15f of the speed calculation portion calculating of six of primary shafies to the, and it is output as reference velocity Vref.
Preliminary postpone enlarging section 22a according to speed signal Va and reference velocity Vref greater than zero deviation, draw the torque amount of restriction, and this result outputed to subtracter 19a by switch 29a.Subtracter with its with compare from the torque instruction pattern of torque instruction pattern efferent 18a, and according to its difference output torque instruction.
Fig. 6 shows the operation waveform diagram that detects the operation of the coasting speed detection control method among the control part 27a according to coasting speed.When on time point t1 as the idle running of wheel as a result the speed signal Va of motor 12a increase when having exceeded some values with respect to reference velocity Vref, according to this recruitment, from the torque instruction pattern, deduct speed signal Va.As the result of this torque throttling, the deviation of the speed signal Va of motor 12a and reference velocity Vref becomes time point t2 less than some values owing to adhering again on, the vanishing of torque amount of restriction.Detect under the control in this speed, control this torque continuously by departure, allow sliding of wheel simultaneously, therefore, under the condition that the track adhesion has reduced, the speed signal Va of motor 12a is usually greater than reference velocity Vref.
Then, will the switching that acceleration detection control part 26a to 26f and coasting speed detect control part 27a to 27f be described.Carry out the switching of acceleration detection control part 26a to 26f and coasting speed detection control part 27a to 27f by switch control portion 28a to 28f.
Adhere the again switch control portion 28a of control part 14a of the anti-idle running that is associated with primary shaft adhering under the identical condition of the switch control portion 28d of control part 14d with the 4th anti-idle running that is associated again, carries out and switches.Similarly, with adhere the again switching part 28b of control part 14b and under identical condition, carry out switching of second anti-idle running that is associated with adhere the again switch control portion 28e of control part 14e of the 5th anti-idle running that is associated, and with adhere the again switch control portion 28c of control part 14c and under identical condition, carry out switching of the anti-idle running that third axle is associated with adhere the again switch control portion 28f of control part 14f of the 6th anti-idle running that is associated.
About primary shaft and the 4th, switch control portion 28a, 28d make their judgement when forward direction is advanced instruction and axle numbering are input to AND circuit 31a, 31d.Under the situation of forward instruction, the AND circuit 31a of switch control portion 28a, 28d, 31d fetch logic value " 1 ", and switch 29a, 29d are switched to coasting speed detect control part 27a one side.On the contrary, under the situation of negative line feed instruction, AND circuit 31a, the 31d of switch control portion 28a, 28d become logical value " 0 ", and switch 29a, 29d are switched to acceleration detection control part 26a one side.
About second and the 5th, forward direction is advanced or negative line feed is instructed and be input to AND circuit 31b, 31e by output and axle numbering with OR circuit 32b, 32e by being imported by OR circuit 32b, 32e for switch control portion 28b, 28e, makes their judgement.Therefore, under forward direction is advanced the situation of instructing and under the situation of negative line feed instruction, logical value becomes " 1 ", and switch 29a, 29d are switched to coasting speed detection control part 27a one side.
About third axle and the 6th, switch control portion 28c, 28f make their judgement by negative line feed instruction and axle numbering are input to AND circuit 31c, 31f.Under the situation of negative line feed instruction, AND circuit 31c, the 31f of switch control portion 28c, 28f become logical value " 1 ", and switch 29c, 29f are switched to coasting speed detection control part 27a one side.On the contrary, under forward direction was advanced the situation of instructing, AND circuit 31c, the 31f of switch control portion 28c, 28f became logical value " 0 ", and switch 29c, 29f are switched to acceleration detection control part 26a one side.
In this way, detect control part 27 by coasting speed and control the first and second motor 12a, 12b and the 4th and the 5th motor 12d, 12e with respect to the forward direction direct of travel, and by acceleration detection control part 26 control the 3rd and the 6th motor 12c, 12f.
Its reason is in order to obtain stable reference velocity in view of the following fact: consider the transfer of the axle load of vehicle, the size of axle load is minimum under the situation of first motor shaft, after this, increases by second, the 4th, the 3rd, the 5th and the 6th order.In other words, detect control with the control method that acts on as the 3rd and the 6th motor of afterbody motor, can realize that failure-free adheres again, wherein load in the 3rd and the 6th motor maximum at each chassis axis by degree of will speed up.Be used for other axles by coasting speed being detected control, whole torque throttling is minimized.
Utilize first embodiment, by using three and six motor (at each chassis axis load in this motor to maximum) of acceleration detection control part 26 controls as the afterbody motor, and use coasting speed to detect other axles of control part 27 controls, can realize the reliably adhesion again of wheel and track, and the transfer that can prevent axle load causes other idle running, thereby makes minimum overall torque amount of restriction become possibility.
(second embodiment)
Fig. 7 is the detailed placement block diagram of vehicle electric machinery control device according to a second embodiment of the present invention.In this second embodiment, different with first embodiment shown in Figure 4, reference velocity abnormity detection portion 33a to 33f is provided in switch control portion 28a to 28f.To with the situation of Fig. 4 under components identical given identical reference symbol, and saved the description that repeats.
Primary shaft and the 4th switch control portion 28a, 28d comprise and be used to import forward direction advance AND circuit 31a, the 31d of instruction and axle numbering, and the AND circuit 34a, the 34d that are used to import the output of the output of AND circuit 31a, 31d and reference velocity abnormity detection portion 33a, 33d.When output logic value " 0 " appears when unusual in the reference velocity Vref of reference velocity abnormity detection portion 33a, 33d.Therefore, when reference velocity Vref occurs when unusual, the output of AND circuit 34a, 34d becomes logical value " 0 ", and irrelevant with the output of AND circuit 31a, 31d, therefore, has selected acceleration detection control part 26.
Second and the 5th switch control portion 28b, 28e comprises and is used to import forward direction advance OR circuit 32b, the 32e of instruction and negative line feed instruction, be used to import the output of OR circuit 32b, 32e and AND circuit 31b, the 31e of axle numbering, and the AND circuit 34b, the 34e that are used to import the output of the output of AND circuit 31b, 31e and reference velocity abnormity detection portion 33b, 33e.When reference velocity abnormity detection portion 33b, 33e output logic value " 0 " appear when unusual in reference velocity Vref.Therefore, when reference velocity Vref occurs when unusual, the output of AND circuit 34b, 34e becomes logical value " 0 ", and irrelevant with the output of AND circuit 31b, 31e, therefore, has selected acceleration detection control part 26.
Third axle and the 6th switch control portion 28c, 28f comprises AND circuit 31c, the 31f that is used to import negative line feed instruction and axle numbering, and the AND circuit 34c, the 34f that are used to import the output of the output of AND circuit 31c, 31f and reference velocity abnormity detection portion 33c, 33f.When reference velocity abnormity detection portion 33c, 33f output logic value " 0 " appear when unusual in reference velocity Vref.Therefore, if reference velocity Vref occurs when unusual, then the output of AND circuit 34c, 34f becomes logical value " 0 ", and irrelevant with the output of AND circuit 31c, 31f, therefore, has selected acceleration detection control part 26.
Fig. 8 is the layout block diagram of the reference velocity abnormity detection portion 33a to 33f in the second embodiment of the present invention.The reference velocity Vref of self-reference speed calculation portion 20 is input to comparator 35 in the future, and by comparator 35 itself and first setting value is compared.Thus, judge that reference velocity Vref is whether in first range of set value (for example ± 0.5Hz).If reference velocity Vref continues the setting value (for example 1 second) that period in first range of set value is equal to or greater than ON time element 36, then logical value " 1 " is outputed to NAND circuit 37.
Simultaneously, the speed signal Va to Vf of motor 12a to 12f is input to maximum value calculation portion 38, obtains the maxim of these speed signals Va to Vf thus.The maxim of the speed signal Va to Vf that will be drawn by maximum value calculation portion 38 is input to comparator 39, if and the maxim of speed signal Va to Vf is equal to or greater than second setting value (for example 2Hz), then comparator 39 outputs to NAND circuit 37 with logical value " 1 ".Therefore, if reference velocity Vref is in first range of set value, promptly near zero, and the maxim of speed signal Va to Vf is equal to or greater than second setting value, promptly, if any one among the speed signal Va to Vf is under the exception condition, then the output of NAND circuit 37 becomes logical value " 0 ".
Therefore, if it is unusual that any one speed signal Va to Vf among the motor 12a to 12f occurs, then according to the result who rests on zero, after the maxim of having selected speed signal Va to Vf, reference velocity Vref also remains zero, and therefore, the torque that carry out the motor of coasting speed detection control is under the throttling condition, that is, motor becomes inactive.
Therefore, if detect the unusual of reference velocity Vref, then the first and second and the 4th and the 5th motor is detected control part 27 from coasting speed and switch to acceleration detection control part 26.In this way, can normally start the inverter of the motor 12 that is associated with axle drive shaft except that the unusual axle drive shaft of its speed signal V at least.
By this second embodiment, when detecting reference velocity Vref unusual, all motors are switched to acceleration detection control part 26, so that can normally start the inverter 11 of the axle drive shaft except that unusual axle drive shaft.Therefore, even one or more having become unusually in the axle drive shaft also can be carried out anti-idle running adhesion control again.
Can in electric locomotive, use the present invention.
Claims (5)
1. vehicle electric machinery control device has three motors as being used for the motor of powered vehicle wheel respectively on each chassis, and described motor controlled individually by inverter, and described vehicle electric machinery control device comprises:
Be the acceleration detection control part that each corresponding inverter provides, be used at the speed signal that detects described motor when the increase of rate has surpassed predetermined value over time the throttling torque;
The coasting speed that provides for each corresponding inverter detects control part, is used for coming the throttling torque in response to following recruitment, and described recruitment is the recruitment of the speed signal of described motor with respect to predetermined reference speed; And
Switch control portion, be used between described acceleration detection control part and described coasting speed detection control part, switching, wherein said acceleration detection control part is controlled controlling the inverter that is positioned at last described motor in each chassis in the direction that vehicle is advanced, and described coasting speed detection control part is controlled the inverter of controlling other two motors.
2. vehicle electric machinery control device as claimed in claim 1,
Wherein, if even predetermined reference speed is equal to or less than first setting value when having pass by the schedule time after inverter startup, and the maxim of the described speed signal of corresponding motor has become and has been equal to or greater than second setting value, and then described switch control portion is controlled all described inverters by described acceleration detection control part.
3. vehicle electric machinery control device as claimed in claim 2,
Wherein, described first setting value is ± 0.5Hz.
4. vehicle electric machinery control device as claimed in claim 2,
Wherein, described second setting value is 2Hz.
5. vehicle electric machinery control device as claimed in claim 1,
Wherein, provide three motors respectively in two described chassis that in each vehicle, provide, and in first motor of in the direct of travel of described vehicle, being discerned, second motor, the 3rd motor, the 4th motor, the 5th motor and the 6th motor, carry out acceleration detection control with regard to described the 3rd motor and the 6th motor, detect control and carry out coasting speed with regard to remaining other motor.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2006142578A JP2007318826A (en) | 2006-05-23 | 2006-05-23 | Motor controller for vehicle |
| JP2006142578 | 2006-05-23 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101077695A CN101077695A (en) | 2007-11-28 |
| CN100544996C true CN100544996C (en) | 2009-09-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB200710104275XA Active CN100544996C (en) | 2006-05-23 | 2007-05-23 | Vehicle electric machinery control device |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP2007318826A (en) |
| KR (1) | KR100908025B1 (en) |
| CN (1) | CN100544996C (en) |
| ZA (1) | ZA200704137B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4818463B2 (en) | 2008-11-13 | 2011-11-16 | 株式会社東芝 | Electric vehicle control device |
| CN102882444B (en) * | 2012-09-11 | 2016-04-27 | 北京铁道工程机电技术研究所有限公司 | The control device of the balanced and rotating-speed tracking of a kind of torque being applicable to axle control and frame control locomotive |
| CN103010229B (en) * | 2012-12-13 | 2015-01-21 | 中国北车集团大连机车车辆有限公司 | Locomotive anti-slip sliding method based on rotational speed control |
| JP5994704B2 (en) * | 2013-03-26 | 2016-09-21 | 株式会社明電舎 | Control device for each wheel independent drive cart |
| DE102014204814A1 (en) * | 2014-03-14 | 2015-09-17 | Bombardier Transportation Gmbh | Operation of a rail vehicle with control and / or regulation of a tensile force between the wheel and the rail |
| CN106394613A (en) * | 2016-10-19 | 2017-02-15 | 中车大连电力牵引研发中心有限公司 | Railway vehicle speed control system and method |
| CN107525505A (en) * | 2017-07-27 | 2017-12-29 | 河南思维轨道交通技术研究院有限公司 | Train wheel dallies and slided detection method and system |
| CN109131287B (en) * | 2018-08-22 | 2020-10-20 | 中车株洲电力机车有限公司 | Method, system and equipment for realizing impact limitation of brake system |
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| US5608631A (en) * | 1993-03-16 | 1997-03-04 | Mitsubishi Denki Kabushiki Kaisha | Apparatus and method for detecting acceleration of motor vehicle with high accuracy and anti-skid control apparatus using the same |
| CN1271658A (en) * | 1999-04-23 | 2000-11-01 | 株式会社日立制作所 | Controller for electric railway train |
| US6274998B1 (en) * | 1997-09-24 | 2001-08-14 | Hiatchi, Ltd. | Controller for electric vehicles |
| EP1552977A1 (en) * | 2002-08-29 | 2005-07-13 | Toyota Jidosha Kabushiki Kaisha | Device and method for controlling prime mover |
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| JPS6443002A (en) * | 1987-08-05 | 1989-02-15 | Kawasaki Steel Co | Power supply controller for conveying truck |
| JPH053694A (en) * | 1991-06-26 | 1993-01-08 | Yaskawa Electric Corp | Driving method for synchronous motor |
| JPH10210605A (en) * | 1996-11-25 | 1998-08-07 | Mitsubishi Electric Corp | Electric vehicle controller |
| JP3911621B2 (en) * | 2000-06-06 | 2007-05-09 | 株式会社日立製作所 | Railway system for battery-powered trains |
| JP4130611B2 (en) * | 2003-06-11 | 2008-08-06 | 株式会社東芝 | Electric vehicle control device |
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- 2006-05-23 JP JP2006142578A patent/JP2007318826A/en active Pending
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2007
- 2007-05-21 KR KR1020070049268A patent/KR100908025B1/en active IP Right Grant
- 2007-05-22 ZA ZA2007/04137A patent/ZA200704137B/en unknown
- 2007-05-23 CN CNB200710104275XA patent/CN100544996C/en active Active
Patent Citations (4)
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|---|---|---|---|---|
| US5608631A (en) * | 1993-03-16 | 1997-03-04 | Mitsubishi Denki Kabushiki Kaisha | Apparatus and method for detecting acceleration of motor vehicle with high accuracy and anti-skid control apparatus using the same |
| US6274998B1 (en) * | 1997-09-24 | 2001-08-14 | Hiatchi, Ltd. | Controller for electric vehicles |
| CN1271658A (en) * | 1999-04-23 | 2000-11-01 | 株式会社日立制作所 | Controller for electric railway train |
| EP1552977A1 (en) * | 2002-08-29 | 2005-07-13 | Toyota Jidosha Kabushiki Kaisha | Device and method for controlling prime mover |
Also Published As
| Publication number | Publication date |
|---|---|
| KR100908025B1 (en) | 2009-07-15 |
| JP2007318826A (en) | 2007-12-06 |
| ZA200704137B (en) | 2009-12-30 |
| CN101077695A (en) | 2007-11-28 |
| KR20070113130A (en) | 2007-11-28 |
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