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公开(公告)号：US20210356360A1
公开(公告)日：2021-11-18
申请号：US17312685
申请日：2019-09-11
发明人： Takao AKIYAMA
IPC分类号： G01M13/025
摘要： This design method is provided with a design process for a computer to design a μ controller satisfying a prescribed design condition in a feedback control system provided with the μ controller and a generalized plant. Set in the design process are: an integration operation amount calculation unit which calculates an integration operation amount; a summing unit which sums the output from the μ controller and the integration operation amount and generates an input to a nominal plant; a first control amount output port which outputs, as a first control amount output, an output obtained by multiplying the deviation input by a weight function Ge(s); and a second control amount output port which outputs, as a second control amount output, an output obtained by multiplying the output from the μ controller by a weight function Gip(s).
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公开(公告)号：US20190278237A1
公开(公告)日：2019-09-12
申请号：US16319709
申请日：2017-07-21
摘要： A shaft torque control device executes highly responsive shaft-torque control even when spring rigidity of a connection shaft connecting an engine and dynamometer varies, and has a feedback control system including a nominal plant imitating input-output characteristics of a test system, generalized plant having nominal plant; controller providing an input with use of outputs and variation term causing variation in the nominal plant on the basis of a variation transfer function. In the controller, setting is made to satisfy a design condition. Nominal plant is structured with a two-inertia system configured by connecting two inertia bodies via a shaft having spring rigidity equal to a predetermined nominal value set to be a lower limit value in an assumed variation range of spring rigidity of the connection shaft. The variation transfer function is a positive real function. Spring rigidity in the nominal plant Na increases from the nominal value.
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公开(公告)号：US20190219481A1
公开(公告)日：2019-07-18
申请号：US16312961
申请日：2017-06-19
发明人： Takao AKIYAMA
IPC分类号： G01M13/025 , G05B13/04 , G01M15/04 , G01M15/02 , H02P6/08
CPC分类号： G01M13/025 , G01M13/02 , G01M15/02 , G01M15/044 , G05B13/02 , G05B13/04 , H02P6/08
摘要： A resonance suppression control circuit provides operation stable for variations with a low order mode of vibration and suppressing spill-over due to high order mode of vibration. This circuit controls a physical system having two or more modes of vibration, and suppresses resonance in a lowest order mode of vibration from among the plurality of modes. The circuit has a controller designed by a μ design method, using a generalized plant with nominal model, and structured perturbation to the generalized plant. The nominal model is represented by the product of a low order vibration mode transfer function having the low order mode of vibration to be suppressed, and a high order vibration mode transfer function having a high order mode of vibration. The structured perturbation includes a first parameter perturbation term which imparts a multiplicative error to a spring constant included in the vibration mode transfer function being suppressed.
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公开(公告)号：US20190137361A1
公开(公告)日：2019-05-09
申请号：US16096548
申请日：2017-04-25
发明人： Takao AKIYAMA
摘要： The purpose of the present invention is to provide a device for controlling a dynamometer of a test system, wherein the device is capable of controlling shaft torque to a prescribed target torque while minimizing low-frequency-range resonance caused by viscous drag of a test piece. This test system is provided with a dynamometer joined to an engine via a coupling shaft, an inverter for supplying electric power to the dynamometer, a shaft torque meter for detecting the shaft torque produced in the coupling shaft, and a dynamometer-controlling device 6 for generating a torque-current command signal T2 that is sent to the inverter and is generated on the basis of a shaft torque detection signal T12 from the shaft torque meter. The dynamometer-controlling device 6 is provided with an integrator 62 for integrating the difference between the shaft torque detection signal 12 and a shaft torque command signal T12ref, and a phase lead compensator 63 for accepting an output signal from the integrator 62 as an input and performing a phase lead compensation process that uses constants (a1, b1) that are dependent on the viscous drag of the test piece. An output signal from the phase lead compensator 63 is used to generate the torque-current command signal T2.
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公开(公告)号：US20160252428A1
公开(公告)日：2016-09-01
申请号：US15027932
申请日：2014-10-06
摘要： Provided is a dynamometer system dynamo control device that can accurately reproduce a no-load state. The dynamo control device includes controllers that are designed, using a H-infinity control or a μ-design method, such that, for a generalized plant that outputs observation output and a controlled variable from external input and from control input, the response from the input until the variable is shortened. The generalized plant includes a dynamic characteristics model wherein the characteristics of a dynamometer system are identified such that the angular acceleration is output from the external input and the control input. The controlled variable is the difference between the angular acceleration calculated for an engine alone on the basis of the external input and the angular acceleration calculated by the dynamic characteristics model.
摘要翻译： 提供了一种能够精确地再现无负载状态的测力计系统发电机控制装置。 发电机控制装置包括使用H无限远控制或μ设计方法设计的控制器，使得对于从外部输入和控制输入输出观测输出和受控变量的广义工厂，响应来自 输入，直到变量缩短。 广义设备包括动态特性模型，其中识别测力计系统的特征，使得从外部输入和控制输入输出角加速度。 受控变量是基于外部输入单独地对发动机计算的角加速度与由动态特性模型计算的角加速度之间的差。
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公开(公告)号：US20220349779A1
公开(公告)日：2022-11-03
申请号：US17621128
申请日：2020-03-18
发明人： Takao AKIYAMA
摘要： This system identification method includes: a step (S1) for measuring frequency responses (ω, HR1), (ω, HR2) . . . , and (ω, HRn) in a real system under n sets of disturbances of different magnitudes; a step (S3) for calculating frequency responses (ω, HM1), (ω, HM2) . . . , (ω, HMn) from input to output in n sets of mechanical models M1 to Mn including i sets (i is an integer of 1 or greater) of common parameters that do not change due to disturbance and j sets of disturbance variable parameters that do change due to disturbance; a step (S4) for calculating the values of a total of n sets of evaluation functions F (HRk, HMk) and the sum σF thereof, and steps (S3 to S6) for searching for the values of i sets of common parameters and j×n sets of disturbance variable parameters for which the sum σF would meet convergence conditions.
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7.发明申请公开(公告)号：US20190017894A1
公开(公告)日：2019-01-17
申请号：US16068484
申请日：2016-12-13
发明人： Takao AKIYAMA
摘要： The purpose of the present invention is to provide a test piece characteristic estimation method capable of quickly measuring the moment of inertia of a test piece while taking loss resulting from rotational friction of the test piece into consideration. This test piece characteristic estimation method is provided with a step (S1) for measuring a first transfer function G1 from a torque current command for a dynamometer to output from a shaft torque sensor by vibrationally operating the dynamometer, a step (S2) for measuring a second transfer function G2 from the torque current command to the output of a dynamo rotation speed sensor by vibrationally operating the dynamometer, and steps (S3 and S4) for calculating the value of a ratio obtained by dividing the second transfer function G2 by the first transfer function G1 at a prescribed measurement frequency ωk and using the ratio value to calculate a moment of inertia Jeg and a rotational friction Ceg.
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公开(公告)号：US20160109328A1
公开(公告)日：2016-04-21
申请号：US14787238
申请日：2014-04-21
IPC分类号： G01M13/02 , H02P6/08 , G01M17/007
CPC分类号： G01M13/025 , B60L11/02 , G01M15/044 , G01M17/0074 , H02P6/08 , H02P31/00
摘要： The purpose of the present invention is to provide a torque command generation device for generating a motor-generated-torque command that makes it possible to maximize excitation force while ensuring necessary acceleration, and the like, within a limited motor torque range. A torque command generation device is provided with: a maximum torque calculation unit for calculating, according to a motor speed, a maximum torque value for a motor-generated-torque-command signal value; a DC component limiter for calculating a DC signal value; a surplus amplitude calculation unit for calculating a surplus amplitude by subtracting the maximum torque value from the sum of the DC component value; a sine-wave transmitter for generating a sine wave having an amplitude obtained by subtracting the surplus amplitude from a base amplitude; and a summing unit for calculating the motor-generated-torque-command signal value.
摘要翻译： 本发明的目的是提供一种用于产生电动机 - 转矩指令的转矩指令生成装置，其能够在有限的电动机转矩范围内确保必要的加速等的同时使励磁力最大化。 一种转矩指令生成装置，具备：最大转矩计算部，其根据电动机转速计算电动发电转矩指令信号值的最大转矩值; DC分量限制器，用于计算DC信号值; 剩余幅度计算单元，用于通过从直流分量值的和中减去最大转矩值来计算剩余幅度; 正弦波发射器，用于产生具有通过从基本幅度减去剩余幅度而获得的振幅的正弦波; 以及用于计算电动发电转矩指令信号值的求和单元。
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公开(公告)号：US20210318205A1
公开(公告)日：2021-10-14
申请号：US17290194
申请日：2019-08-20
发明人： Takao AKIYAMA
IPC分类号： G01M17/007 , G01M99/00 , B60K1/02
摘要： A shaft torque control device includes a feedback control system having: a generalized plant P including a nominal plant model N representing the input/output characteristic of a test system including a tandem dynamometer system; and a controller K for applying a first and second control inputs u1, u2 to the generalized plant P on the basis of a first observed output y1 and second observed output y2. The controller K has been designed using a computer so as to satisfy a prescribed design condition. For the generalized plant P, defined are: a first control amount output z1 resulting from weighting the first observed output y1 using a weighting function Ge(s); a second control amount output z2 resulting from weighting a front transmission torque t1 using a weighting function Gt1(s); and a third control amount output z3 resulting from weighting a rear transmission torque t2 using a weighting function Gt2(s).
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公开(公告)号：US20210011454A1
公开(公告)日：2021-01-14
申请号：US16971862
申请日：2018-12-19
发明人： Masayasu KANKE , Takao AKIYAMA
IPC分类号： G05B19/404 , G01L3/04 , G01P3/00 , G01M99/00 , G05B19/406
摘要： This overall control device for a testing system comprises: a plurality of resonance suppression controllers that each generate a torque current command signal for suppressing mechanical resonance between a specimen and a dynamometer upon receiving a base torque current command signal and axial torque detection signal and have different input/output characteristics; a specimen characteristic acquisition unit for acquiring the value of the moment of inertia of the specimen connected to the dynamometer; and a resonance-suppression-controller selection unit for selecting one of the plurality of resonance suppression controllers on the basis of the value of the moment of inertia acquired by the specimen characteristic acquisition unit and mounting the selected resonance suppression controller in a dynamometer control module.
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