JPH11285103A - Electric car control device - Google Patents

Abstract

(57) [Summary] In the conventional adhesive control, it takes time to return the torque command once reduced, and the acceleration is reduced and the riding comfort is poor. A means for repeatedly selecting two or more types of reduction rates in a self-propelled manner is provided, and the reduction rate is multiplied by a torque command to oscillate the torque so that a re-adhesive torque command value is sensed in a short time. It is composed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric vehicle control device for obtaining a propulsion and braking force by controlling the torque of an induction motor with an inverter device. The present invention relates to an electric vehicle control device that performs adhesion control for restoring the slip / slide to an adhesive state because the slip / slide may occur without being transmitted.

[0002]

2. Description of the Related Art FIG. 7 is a basic configuration diagram showing an example of an electric vehicle control device. An inverter device 1 inputs electric power from a pantograph 5 and drives an induction motor 2. Induction motor 2
Has a rotation speed sensor 4. Power typically returns from the wheels to ground 6 through the rails. The control device 3 outputs the torque command 1
0, the motor rotation speed sensor output 8 and the motor current 9 are input, and a timing signal 7 for instructing ignition and extinction of a switching element constituting the inverter device 1 is output.

FIG. 8 shows a detailed view of the control device 3. In FIG. 8, the torque command is replaced with a current command value in a command replacement unit 30, a difference calculation unit 31 calculates a difference from the feedback value, and the calculation result is input to an error amplifier 32. The motor current 9 is converted into a feedback signal for matching with a command value in a current calculation unit 33. The error amplifier 32 outputs a signal corresponding to the slip frequency Fs, and adds the signal Fm corresponding to the rotation speed of the motor by the adding unit 34 to obtain an inverter frequency Fi. The inverter voltage is normally calculated by the voltage command unit 36 in proportion to the inverter frequency in the control in the constant torque range. PWM operation unit 3 for inputting an inverter frequency Fi and a voltage command output from voltage command unit 36
5 outputs a timing signal 7 for instructing ignition and extinction of the switching elements constituting the inverter device 1. The speed calculation and idling detection unit 38 calculates the frequency of the motor rotation speed sensor output 8 of the pulse train or the AC sine wave signal, calculates the rotation speed signal Fm corresponding to the conversion ratio of the inverter frequency Fi, and changes the speed at the same time. The acceleration rate is calculated, and the rate of rise is increased during acceleration, and the rate of decrease is decreased during deceleration.
Activate The adhesion control unit 37 outputs the idling detection signal S
In response to L, the normal torque command T * is reduced while SL is active.

FIG. 9 shows a detailed view of the adhesion controller 37. In FIG. 9, the adhesion control unit 37 is a soft start unit 37.
0, command lowering unit 371, command holding unit 372, memory 3
73, a reset initial value setting unit 374. Before the idling occurs, when SL is inactive, "1.0" is input to K of the command lowering unit 371 via a switch of the command lowering unit 371, and this is multiplied by the command value from the preceding stage. Therefore, T * and Tc * have the same value. S
When L becomes active, the switch in the command lowering unit 371 is switched to the A side, and K is set to "0.2", so that Tc * becomes 20% of the value of T * immediately before SL becomes active. Will be reduced. At this time, the command holding unit 37
The switch of No. 2 is on the side opposite to A. The immediately preceding T * is realized by holding the value in the memory 373 before K is switched and by switching the command holding unit 372 to the A side. FIG.
Shows a configuration example of the memory 373. Again, there is a switch that switches at the same time as the switch in the command reduction unit 371, and while switching to the A side, the output switches and retains the value immediately before, so that the previous value can be reduced by 20%. it can.

A reset initial value setting section 374 sets an initial value for returning the torque to a normal value after the re-adhesion in the soft start section 370. The signal is controlled by a torque command T *. This means that a lower priority is established with the command Tc *. Therefore, in the example shown in FIG.
When SL becomes inactive, soft start unit 3
Numeral 70 increases the torque command from the value immediately before to the normal value of T *. However, the numerical value such as 20% described here is an example, and may be changed according to the situation.

[0006]

As described above, in order to promote reliable re-adhesion, it is general to sufficiently increase the torque reduction rate immediately after the idling is detected. However, since the soft start portion is used in combination, it takes time to recover the torque after re-adhesion, and the acceleration may be excessively reduced, or the fluctuation of the vehicle speed may impair ride comfort. The present invention has been made in view of the above points, and an object of the present invention is to provide an electric vehicle control device that solves these drawbacks.

[0007]

Means for achieving the object are as follows: 1) A control device for controlling the torque of an induction motor by an inverter device according to claim 1, and a rate of change of the motor rotational speed. When the output is greater than a predetermined value, the output is activated to detect the slip / skid, and when the output of the idle detection is active, the torque command value is reduced by multiplying the torque command value by a predetermined reduction rate. And an adhesion control means for performing a slip / sliding re-adhesion control for returning the torque command value to a value before the detection of the slip / sliding at the time of being inactive, and the adhesion control means includes the idling detection. The torque command value immediately before the means is activated is stored. If the output of the idling detection means becomes inactive and slips again during the return of the torque command value, the finger at this time is The present invention relates to a control device for an electric vehicle for lowering a command price, wherein at least two types of reduction rates are provided in a command reduction section, and the command reduction section repeats a large reduction rate and a small reduction rate in a self-propelled (vibrating) manner. While the output of the idling detection means is active, the torque command is vibrated in a state of greatly reducing the torque command while the output is inactive, and the vibration of the torque command is stopped when the output of the idling detection means becomes inactive. An electric vehicle control device having the self-propelled reduction rate selecting means as described above.

[0008] 2) In claim 2, a means for storing a torque command value immediately before the output of the idling detecting means becomes active is provided, and the output of the idling detecting means is activated in conjunction with the self-propelled reduction rate selecting means. During the period, the command value at the time of selecting the small reduction rate is stored so that the average of the torque command value decreases exponentially each time the self-propelled reduction rate selection unit repeats the large reduction rate and the small reduction rate. The electric vehicle control device according to claim 1, wherein:

3) The electric vehicle control device according to claim 1 or 2, wherein the amount of reduction of the torque command value is set to a constant value. Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

[0010]

FIG. 1 is a block diagram of an adhesion control unit according to an embodiment of the present invention. FIG. 2 is a detailed view of a memory unit of FIG. The method of selecting the reduction rate of 378 is different. In the drawing, those having the same reference numerals as those in FIG. 9 are portions having the same configuration and function, and description thereof will be omitted. In FIG. 1, when the idling detection signal SL is inactive, the switch of the command pull-down unit 378 is at position 1 and K = 1.0. When idle SL becomes active, positions 2 and 3 are repeated alternately,
Create states of K = 0.2 and 0.7. This gives the output Tc
* Becomes oscillating.

If the slip is transient, the sticking may be re-adhered by a single sticking control. However, when the sticking limit is steadily lowered, such as during rainfall, the relationship between the rail rail and the wheels is reduced. Changes from moment to moment. Conventionally, when the idling detection signal SL becomes inactive, the torque command is gradually increased from a state of a large reduction rate. In the present invention, it is immediately raised to a state of a small reduction rate. This state continues for a predetermined time, but if no idling is detected again during this time, the switch (reduction rate selection section) of the command reduction section 378 returns to position 1, and the output of the soft start section 370 changes from the state of the small reduction rate. Returns to the normal value. When re-slipping is immediately detected when the vehicle is pulled up to a state of a small reduction rate, the state changes to a state of a large reduction rate in the next cycle based on the state of this small reduction rate.

The embodiment of claim 2 can be realized as follows. Since the switch of the memory unit 373a shown in FIG. 2 is also operated by synchronizing the position number with the switch of the command lowering unit 378, the output of the memory unit 373a is Tc * at the position 3 (K = 0.7). Since the reduction rate selection unit repeats positions 2 and 3, when selecting K = 0.2 in the next cycle that occurs subsequently, the immediately preceding K = 0.7
20% of Tc * at the time of Tc *, ie, Tc * = 0.
7 * 0.2 * T *. Similarly, at position 3 of this cycle, 70% of Tc * when K = 0.7,
That is, for a normal torque command T *, Tc * = 0.
It becomes 7 * 0.7 * T *. FIG. 3 shows the vibration state of the torque command.

In the embodiment of the present invention, the configuration of the command lowering unit is realized as shown in FIG. This means differs from FIG. 1 in the way of providing a large reduction rate. That is, the reduction rate by which the command value is multiplied is set to 1.0 and 0.7 at positions 2 and 3, and instead, the constant rate of the command value is added / not added in the opposite polarity (K = 1.0 / 0.0). ) Perform the calculation. At this time, if a predetermined value is subtracted before multiplying the reduction rate, a torque command of a fixed width is reduced as shown in FIG.
In a sufficiently lowered state, a vibration of torque over the “zero command” is obtained.

Although neither FIG. 1 nor FIG. 4 clearly shows a signal indicating the interlocking operation between the pull-down rate selector and the idling detector, the condition for releasing (inactive) the output SL of the idling detector 38 is shown. Means that the idling detection condition is not satisfied until the selection period of the small reduction rate ends as well as the selection period of the large reduction rate. If the idling detection condition is not satisfied at the time when the switch of the reduction rate selecting unit ends position 3, the switch position shifts to 1 and SL is deactivated, and at the same time, the switch of the command holding unit is reversed from the A side.

[0015]

As described above, according to the present invention, by virtue of providing a large reduction rate and a small reduction rate, and vibrating the torque command, it is possible to realize a search for a tacky torque command value which could not be conventionally achieved. Can be. Figure 6: Exploration
Shown in For example, when the rail rails and the wheels are in a dry state, the adhesion limit between the rails and the wheels shows a relatively high value. There is no slipping or skidding because there is a sticky state in vehicle operation below this value. During rainfall, slippage occurs when the adhesion limit falls below the available adhesion. In the conventional adhesion control state, after the torque was greatly reduced, the operation of gradually increasing the command called soft start from the most reduced value was performed (broken line), so the torque reduction period was long and the vehicle speed was affected. Appearing, it had the effect of lowering acceleration and hindering ride comfort. The adhesion control according to the present invention reduces the torque for a short period of time required for the rotation energy injected into the rotating part of the electric motor to the rotor, gears and wheels to be reduced to the adhesion speed, and immediately increases the torque to a predetermined value. . Therefore, it is possible to search for a reduced torque command value that can be adhered while the influence on the vehicle speed is small. Also, in order to suppress the decrease in acceleration as much as possible, it is necessary to make the torque command follow the sticking state that changes every moment. Done in That is, the torque does not gradually return to the original value from the state of being reduced most, but returns to a predetermined value at a stretch. Here, if the sticky state can be maintained, the period during which the torque is reduced is shorter than in the conventional method of starting a command by soft start, and the influence on acceleration and riding comfort is small. Therefore, the electric vehicle control device of the present invention
It is extremely useful in practice.

[Brief description of the drawings]

FIG. 1 is a block diagram of an adhesion control unit according to an embodiment of the present invention.

FIG. 2 is a block diagram of a memory unit according to the embodiment of the present invention.

FIG. 3 is an explanatory diagram of a change in a torque command value in an execution state according to the first embodiment;

FIG. 4 is a block diagram of an adhesion control unit according to the second embodiment.

FIG. 5 is an explanatory diagram of a change in a torque command value in an embodiment of the present invention.

FIG. 6 is an explanatory diagram of a change in a torque command value in an embodiment of the present invention.

FIG. 7 is a block diagram of a basic configuration example of the electric vehicle control device.

FIG. 8 is a detailed block diagram of a configuration example of a control device unit.

FIG. 9 is a block diagram of a conventional adhesion control unit.

FIG. 10 is a block diagram of a conventional memory unit.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Inverter device 2 Induction motor 3 Control device 4 Rotation speed sensor 5 Pantograph 6 Ground 7 Timing signal 8 Motor rotation speed sensor output 9 Motor current 10 Torque command 30 Command replacement unit 31 Deviation calculation unit 32 Error amplifier 33 Current calculation unit 34 Addition unit 35 PWM calculation unit 36 Voltage command unit 37 Adhesion control unit 38 Idling detection unit 370 Soft start unit 371 Command reduction unit 372 Command holding unit 373 Memory 373a Memory 374 Return initial value setting unit 378 Command reduction unit T * Torque command Fm Rotation speed Signal SL Idling detection signal Fi Inverter frequency Fs Slip frequency Tc * Output K Reduction rate

Claims (3)

[Claims] An idling detection means for controlling the torque of an induction motor by an inverter device and activating an output to detect idling / sliding when the rate of change of the motor rotational speed is greater than a predetermined value. When the output of the idling detection means is active, the torque command value is reduced by multiplying the torque command value by a predetermined reduction rate, and at the time when the torque command value becomes inactive, the torque command value is set to a value before detecting slip / skid. The adhesion control means for performing slip / sliding re-adhesion control to return to the state, the adhesion control means stores a torque command value immediately before the slip detection means is activated, and the output of the slip detection means is deactivated. If the vehicle slips again during the return of the torque command value, at least two types of reduction rates are commanded in the control device of the electric vehicle that reduces the command value at this time. A state in which the torque command is greatly reduced while the output of the idling detection means is active while repeatedly selecting a large reduction rate and a small reduction rate in a self-propelled (oscillating) manner. An electric vehicle control device comprising: a self-propelled pull-down rate selecting means that vibrates in a small pull-down state and stops the vibration of the torque command when the output of the idling detection means becomes inactive. 2. A means for storing a torque command value immediately before the output of said idling detecting means becomes active, and interlocking with a self-propelled reduction rate selecting means, wherein a small reduction is performed while the output of said idling detecting means is active. The command value at the time of selecting the rate is stored, and the average of the torque command value is reduced exponentially each time the self-propelled reduction rate selecting means repeats the large reduction rate and the small reduction rate. The electric vehicle control device according to claim 1, wherein 3. The electric vehicle control device according to claim 1, wherein the reduction amount of the torque command value is set to a constant value.