JP5391456B2 - Electric motor control method and electric motor control device - Google Patents

Description

  The present invention relates to a motor control method and the like.

  Electric vehicles, electric vehicles, and the like are known as vehicles that travel by driving a driving wheel with an electric motor. Hereinafter, a train (power vehicle) will be described as a representative example. The train is accelerated and decelerated by the tangential force between the wheels and rails (also called adhesive force). If the driving force generated by the generated torque of the electric motor is less than the adhesive force acting on the wheels and rails, the adhesive running is performed. If the driving force exceeds the adhesive force, the idle running or sliding (hereinafter referred to as “idling running”) is performed. Occurs. In the case of idling, the control for reducing the generated torque of the electric motor to return to the sticking running, that is, the re-sticking control is performed (for example, refer to Patent Document 1).

JP 2002-44804 A

  However, if slipping occurs on a certain axis, re-adhesion control is performed to temporarily reduce the motor torque (more precisely, the torque component current). There is a possibility that heavy movement occurs and idling is induced on other axes that are not idling. As a countermeasure, when the occurrence of idling is detected, there is a method of reducing the torque of the detected shaft and also reducing the torque of the other shaft that has not been detected. However, there are problems in the following points.

First, the first problem is the problem of the reduction timing. When the occurrence of idling is detected, the motor torque is greatly reduced. For this reason, the threshold condition for detecting idling is usually set to a threshold condition that can reliably determine that idling has occurred. As a result, when slipping is detected, slipping may already be induced on the other axis.
The second problem is the traction force of the entire train. If the motor torque of both the axis where slipping is detected and the other axis where it is not detected is reduced, the traction force of the entire train decreases at the same time, resulting in a time delay due to a decrease in vehicle acceleration, The effects on the ride comfort due to fluctuations.

  Further, in the re-adhesion control, the motor torque is restored after the motor torque is lowered. However, there is a problem that idling of the other shaft can be induced because the axial movement also occurs at the time of the restoration.

  The present invention has been made in view of the above-described problems, and the object of the present invention is to reduce the induction of idling on another axis different from the axis on which idling has occurred and to increase the traction force. It is to propose a strategy.

The first form for solving the above problems is:
A slipping detection state value of the first axis (for example, the monitoring axis in FIG. 3) is set as a threshold condition for determining that the slipping has occurred. A first axis idling run detection step (for example, time t10 in FIG. 2, re-adhesion control device 43-1 in FIG. 8) for detecting the occurrence of idling on the first axis when the threshold value Vs) is satisfied;
A first axis re-adhesion control step for performing re-adhesion control of the first axis by lowering the current corresponding to the torque of the electric motor that drives the first axis in response to detection in the first axis idling sliding detection step (for example, FIG. 2 from time t10 to t20, the re-adhesion control device 43-1) in FIG.
When the state value for detection of idling on the first axis satisfies a predetermined sign detection threshold condition for detecting a sign of idling (for example, the sign detection detection threshold value Vca in FIG. 2), the first value is detected. A first shaft sign detection step (for example, step S2 in FIG. 5) for detecting a sign of idle running of the shaft;
A second axis lowering step (for example, step S14 in FIG. 5) at the time of the first axis predicting to reduce the current corresponding to the torque of the second axis (for example, the target axis in FIG. 3) according to the detection in the first axis sign detecting step; ,
And, by detecting a sign of idling of the first shaft, the current corresponding to the torque of the second shaft is reduced to suppress the induction of idling of the second shaft that may occur when the first shaft is idling. This is an electric motor control method.

As another form,
Detection of the occurrence of idling of the first axis when the state value for idling detection of the first axis satisfies the threshold condition for detecting idling that is determined as a threshold condition for determining that idling has occurred. First axis slip detection means (for example, the re-adhesion control device 43-1 in FIG. 8),
In response to detection by the first shaft idling / sliding detection means, first axis re-adhesion control means (for example, FIG. 8) that performs re-adhesion control of the first axis by reducing the current corresponding to the torque of the electric motor that drives the first axis. Re-adhesion control device 43-1),
A first axis for detecting a sign of idling of the first axis when the state value for detecting idling of the first axis satisfies a predetermined sign detection threshold condition for detecting a sign of idling Sign detection means (for example, suppression command generation unit 70-1 in FIG. 8);
In response to detection by the first axis sign detection means, a first axis sign second axis lowering means (for example, a suppression command generation unit 70-1 in FIG. 8) that reduces the torque component current of the second axis;
And suppressing the induction of idling of the second axis that may occur when the first axis is idling by lowering the current corresponding to the torque of the second axis by detecting the sign of idling of the first axis. It is good also as comprising the electric motor control device characterized by doing.

  According to the first embodiment and the like, when the state value for detecting slipping on the first axis satisfies the threshold condition for detecting slipping on the first axis, it is detected that the first axis has slipped, and re-adhesion control is performed. Is called. However, when the idling / sliding detection state value satisfies the sign detection threshold value condition, the current corresponding to the torque of the second shaft is lowered. That is, the current corresponding to the torque of the second shaft is reduced at the sign stage of idling of the first shaft. As a result, since the occurrence of the idling of the first axis is detected, unlike the conventional control in which the current corresponding to the torque of the second axis is reduced at the same time, the induction of idling of the second axis can be effectively suppressed. .

The second form is
A first axis idling detection step (eg, time t10 in FIG. 2, re-adhesion control device 43-1 in FIG. 8) for detecting the occurrence of idling on the first axis (for example, the monitoring axis in FIG. 3);
The first shaft re-adhesion control for re-adhesion of the first shaft by lowering and returning the current corresponding to the torque of the electric motor that drives the first shaft according to the detection in the first shaft idling sliding detection step. Control steps (for example, times t10 to t40 in FIG. 2, re-adhesion control device 43-1 in FIG. 8);
A first axis return immediately before detection step (for example, step S20 in FIG. 5) for detecting immediately before the return of the torque current by the re-adhesion control in the first axis re-adhesion control step;
In response to the detection in the detection step immediately before the first axis return, the second axis lowering step during the first axis return (for example, step S32 in FIG. 5) for reducing the current corresponding to the torque of the second axis (for example, the target axis in FIG. 3). When,
And the induction of idling of the second shaft that may occur when the first shaft returns is reduced by reducing the current corresponding to the torque of the second shaft immediately before returning of the first shaft that has slipped. This is an electric motor control method.

As another form,
First axis idling detection means (for example, re-adhesion control device 43-1 in FIG. 8) for detecting occurrence of idling on the first axis;
First axis re-adhesion control for performing re-adhesion control of the first axis by lowering and returning the current corresponding to the torque of the electric motor that drives the first axis in response to detection by the first axis idling sliding detection means Means (for example, the re-adhesion control device 43-1 in FIG. 8);
First axis return immediately before detection means (for example, suppression command generation unit 70-1 in FIG. 8) for detecting immediately before the return of the torque component current by the re-adhesion control of the first axis re-adhesion control means;
In response to detection by the detection means immediately before the first axis return, first axis return second axis reduction means (for example, the suppression command generation unit 70-1 in FIG. 8) for reducing the torque component current of the second axis;
By reducing the current corresponding to the torque of the second shaft immediately before the return of the first shaft that has slipped, the induction of the idling of the second shaft that may occur when the first shaft returns is suppressed. It is good also as comprising the electric motor control apparatus characterized by this.

  According to the second embodiment and the like, when occurrence of idling of the first shaft is detected, re-adhesion control of the first shaft is performed by reducing and returning the current corresponding to the torque of the first shaft. However, when it is detected by the re-adhesion control that the torque component current is just before returning, the torque component current of the second shaft is lowered. That is, the first shaft is idling and the torque component current is reduced, and the torque component current of the second shaft is reduced just before the torque component current is restored. Thereby, when the current corresponding to the torque is restored by the re-adhesion control, it is possible to effectively suppress induction of idling of the second axis that is the other axis.

As a third mode, in the motor control method of the first mode,
A first axis return just before detection step (for example, step S20 in FIG. 5) for detecting immediately before the return of the torque share current by the re-adhesion control based on the torque share current;
A second axis lowering step (for example, step S32 in FIG. 5) at the time of first axis return, which reduces the current corresponding to the torque of the second axis according to the detection in the detection step immediately before the first axis return;
Further, the induction of idling of the second shaft that may occur when the first shaft returns is suppressed by reducing the current corresponding to the torque of the second shaft immediately before the return of the first shaft that has slipped. It is good also as comprising the electric motor control method characterized by doing.

The fourth form is
Detection of the occurrence of idling of the first axis when the state value for idling detection of the first axis satisfies the threshold condition for detecting idling that is determined as a threshold condition for determining that idling has occurred. A first axis idling detection step to perform,
When the detection at the first axis idling detection step is performed and the state value for idling detection of the second axis satisfies a predetermined sign detection threshold condition for detecting the sign of idling, A second axis sign detection step for detecting a sign of idling of the second axis;
In response to detection in the second axis sign detection step, a second axis lowering step at the time of a second axis sign that reduces the torque component current of the second axis;
The first shaft is idling by reducing the current corresponding to the torque of the second shaft when the idling of the first shaft is detected and a sign of the idling of the second shaft is detected. An electric motor control method characterized by suppressing induction of idling of the second axis that may occur when sliding.

As another form,
Detection of the occurrence of idling of the first axis when the state value for idling detection of the first axis satisfies the threshold condition for detecting idling that is determined as a threshold condition for determining that idling has occurred. First axis idling detection means for
When the detection by the first axis idling detection means is performed and the state value for idling detection of the second axis satisfies a predetermined sign detection threshold condition for detecting the sign of idling, the first A second axis sign detection means for detecting a sign of two-axis idling;
In response to detection by the second axis sign detection means, a second axis lowering means for lowering the current corresponding to the torque of the second axis;
The first shaft is idling by reducing the current corresponding to the torque of the second shaft when the idling of the first shaft is detected and a sign of the idling of the second shaft is detected. It is good also as comprising the motor control apparatus characterized by suppressing the induction | guidance | derivation of the idling of the said 2nd axis | shaft which may arise when sliding.

  According to the fourth embodiment and the like, when a sign of idling of the second axis is detected in a state where idling of the first axis is detected, the current corresponding to the torque of the second axis is reduced. It can be said that the state in which the first axis is idling and sliding is a state in which so-called accompanying (induction) can occur in the second axis. In this state, when the sign of the idling of the second axis is detected, the current corresponding to the torque of the second axis is lowered, so that the induction of idling of the second axis can be effectively suppressed.

The fifth form is
A first axis idling detection step for detecting occurrence of idling on the first axis;
A second axis idling detection step for detecting occurrence of idling on the second axis;
Second axis re-adhesion control for re-adhesion of the second axis by lowering and returning the current corresponding to the torque of the electric motor that drives the second axis according to the detection in the second axis idling sliding detection step Control steps;
A second axis immediately before returning detection step for detecting immediately before the return of the torque component current by the re-adhesion control in the second axis re-adhesion control step;
When the detection at the first shaft idling / sliding detection step is performed and the detection at the detection step immediately before the second axis return is performed, the second current at the time of the second axis return that reduces the torque component of the second axis A shaft lowering step;
And when the second shaft is returned by lowering the current corresponding to the torque of the second shaft when the idle running of the first shaft is detected and the second shaft that has slipped is just before returning. In this method, the induction of idling of the second shaft that can occur in the second is suppressed.

As another form,
First axis idling detection means for detecting occurrence of idling on the first axis;
Second axis idling detection means for detecting occurrence of idling on the second axis;
Second axis re-adhesion control for performing re-adhesion control of the second axis by lowering and returning the current corresponding to the torque of the electric motor driving the second axis in response to detection by the second axis idling sliding detection means Means,
Second axis just before detection detecting means for detecting immediately before the return of the torque component current by the re-adhesion control of the second axis re-adhesion control means;
When detection by the first axis idling / sliding detection means is made and detection is made by the detection means immediately before the second axis return, the second axis reduction at the time of the second axis reduction reduces the current corresponding to the torque of the second axis. Means,
And when the second shaft is returned by lowering the current corresponding to the torque of the second shaft when the idle running of the first shaft is detected and the second shaft that has slipped is just before returning. It is good also as comprising the electric motor control apparatus characterized by suppressing induction | guidance | derivation of the idling of the said 2nd axis | shaft which may arise in this.

  According to the fifth aspect and the like, when the first shaft idles and slides immediately before the torque current is restored after the second shaft idles and the torque current is reduced, The current corresponding to the torque of the two axes is reduced. It can be said that a so-called revolving (triggering) can occur when the first shaft is idling and sliding in a state immediately before the return of the torque component current of the second shaft during the re-adhesion control. In this case, since the current corresponding to the torque of the second shaft is reduced, induction of idling of the second shaft can be effectively suppressed.

The figure for demonstrating re-adhesion control. The figure for demonstrating induction detection. The circuit block diagram for demonstrating the principle of this embodiment. The figure which shows an example of a reduction coefficient table. The flowchart which shows the flow of a suppression command production | generation process. The flowchart which shows the flow of an indication time suppression command production | generation process. The flowchart which shows the flow of suppression command generation processing immediately before a return. The circuit block diagram of 1st Example. The figure which shows the modification of 1st Example. The circuit block diagram of 2nd Example. The flowchart which shows the flow of a suppression command production | generation process.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In the following, the case where the present invention is applied to a train which is a kind of electric vehicle will be described. However, if the vehicle is driven by driving a driving wheel with an electric motor, the electric locomotive, which is another electric vehicle, It can also be applied to automobiles. In the following description, the “motor torque” is increased or decreased for the sake of simplification. However, more accurately, “torque current” means to increase or decrease, and “motor torque” and “torque current” are This will be described as synonymous.

First, re-adhesion control will be described with reference to FIG. FIG. 1 is a diagram for explaining the re-adhesion control. A series of signals from the idling state where no free-running has occurred to the re-adhesion control after re-adhesion control has occurred. The waveform is shown. The graph which shows the axial speed V and the reference speed Vm of the dynamic axis of a control object, the graph which shows the acceleration (alpha) of a control object axis | shaft, and the graph which shows motor torque (tau) _e in order from a top with the horizontal axis as time t is shown. In a state where no idling occurs, the shaft speed V substantially matches the reference speed Vm, and the motor torque τ _e is kept substantially constant. When idling occurs, the shaft speed V starts to increase, and the speed difference Vd, which is the difference from the reference speed Vm, increases. At time t10, when the speed difference Vd reaches a predetermined idle running detection threshold value Vs, the occurrence of idle running is detected.

Then, the re-adhesion control is activated, and the reduction of the motor torque τ _e (more precisely, the reduction of the current corresponding to the torque) is started. Reduction in motor torque tau _e is continuously performed at a predetermined lowered rate Wt. That is, the amount by which the torque τ _e is reduced is increased. When the motor torque τ _e is reduced, the increase in the acceleration α is gradually suppressed, and starts to decrease. During this time, the axial speed V continues to increase, but at time t20 when the acceleration α becomes zero, the increase in the axial speed V also becomes zero. The fact that the acceleration α has become zero is detected as the start of recovery from idle running to the original adhesive running (recovery detection). Although the acceleration α for recovery detection has been described as zero, it has been set to zero for the sake of simplification of description, and a predetermined recovery detection threshold (for example, “+1” or “−1” instead of zero). When the following is reached, it may be detected as recovery start.

When recovery is detected, the reduction of the motor torque τ _e is stopped and the amount of reduction is maintained. Then, the decrease in acceleration α, which has been negative, is gradually suppressed, and eventually increases. Further, the axial speed V, which has a large deviation from the reference speed Vm, starts to decrease. When the speed difference Vd becomes equal to or less than a predetermined re-adhesion detection threshold Vr, it is detected as re-adhesion (re-adhesion detection), and the control for the return operation is started. That is, the control for returning to decrease the torque to lower the amount of the held have the motor torque tau _e is started. The re-adhesion control ends at time t40 when the motor torque τ _e returns to a predetermined target torque value (for example, the value at the re-adhesion control start time (time t10)). The motor torque τ _e after the re-adhesion detection is controlled so as to return over a predetermined return time Tt.

  Here, although the monitoring target of the idling / sliding detection and the re-adhesion detection has been described as the axial speed V (and thus the speed difference Vd), the acceleration α may be used in addition to the monitoring target. Further, although the motor torque is reduced until recovery is detected, it may be reduced by a predetermined torque reduction amount when idle running is detected.

  In the present embodiment, in parallel with the re-adhesion control described above, the possibility of idling is induced, and if the possibility of induction is detected (trigger detection), the idling is suppressed. Execute induced suppression control. FIG. 2 is a diagram for explaining induction detection. Induction of idling may occur when idling occurs and when the motor torque is restored by re-adhesion control. However, the idling detection threshold Vs for detecting the occurrence of idling is that the shaft speed V is sufficiently increased with respect to the reference speed Vm from the viewpoint of preventing erroneous detection of idling / sliding, and idling has occurred. It is defined as a threshold value that can be reliably determined. Therefore, when the speed difference Vd between the shaft speed V and the reference speed Vm reaches the idling detection threshold value Vs, idling has already occurred, and at the other axis that has not idling before that time, There is a possibility that idling will be triggered.

  Therefore, in the present embodiment, a pre-stage of idling is detected before detecting the occurrence of idling, and this is used as induction detection. Specifically, it is detected that the speed difference Vd obtained by subtracting the reference speed Vm from the shaft speed V is equal to or greater than the predictive trigger detection threshold Vca (trigger detection). The sign trigger detection threshold value Vca is smaller than the idling sliding detection threshold value Vs. In FIG. 2, the sign trigger detection is performed at time t5.

Further, in the re-adhesion control, when the motor torque τ _e once lowered is restored to the original torque (or the target torque determined based on the original torque), bogie pitching and axle load movement occur. An idling on another axis can be triggered. Therefore, in the present embodiment, the difference in torque component current obtained by subtracting the current torque component current from the torque component current at the time of detecting slipping is less than or equal to the induction detection threshold value τcr immediately before the return. It is detected that there is a possibility of idling (induced detection). In FIG. 2, for the sake of description clarity, illustrates the return immediately preceding time induced detection threshold τcr against motor torque tau _e.

  However, immediately after detecting slipping (immediately after time t10 in FIG. 2), since the difference in torque component current is equal to or less than the induction detection threshold value τcr immediately before recovery, immediately after re-adhesion detection (after time t30 in FIG. 2) It is detected as trigger detection that the time trigger detection threshold value τcr or less. In FIG. 2, the induction detection just before the return is performed at time t35.

  FIG. 3 is a circuit block diagram for explaining the principle of the present embodiment, and is a diagram schematically showing a circuit block related to generation of the induction suppression command in the main circuit of the train. The control of the electric motor is individual control (so-called 1C1M). In FIG. 3, the main circuit includes an electric motor 10, an inverter 20, a control device 30, a pulse generator 50, a speed / acceleration detection unit 60, and a suppression command generation unit 70. The speed / acceleration detection unit 60 and the suppression command generation unit 70 may be configured in the control device 30. However, in FIG. 3, the control device is illustrated with a principle circuit block regarding generation of the induction suppression command. It is shown separately from 30.

  The electric motor 10 is a main electric motor (main motor) that rotationally drives the axle when supplied with electric power from the inverter 20, and is realized by, for example, a three-phase induction motor. In FIG. 3, an electric motor 10 is an object to be monitored for occurrence of idling and is an electric motor that performs re-adhesion control. The pulse generator 50 is a rotation detector that detects the rotation of the drive shaft, and outputs a PG signal that is a detection signal to the speed / acceleration detector 60. The speed / acceleration detection unit 60 detects the shaft speed V and the acceleration α of the drive shaft from the PG signal by known arithmetic processing / signal processing or the like. The detected shaft speed V and acceleration α are output to the suppression command generator 70.

The inverter 20 is supplied with power from an overhead line via a converter, a main transformer, and the like. The inverter 20 adjusts the output voltage according to the voltage command values Vu ^* , Vv ^* , and Vw ^{* of the} U phase, V phase, and W phase input from the control device 30 and supplies the electric motor 10 with power.

The control device 30 is an electric motor control device that performs vector control of the electric motor 10. The control device 30 is realized by a computer or the like including a CPU and various memories (ROM, RAM, etc.), and is mounted as a control board, for example, or is integrally configured as an inverter device including the inverter 20. When configured integrally with the inverter 20, the inverter 20 and the control device 30 serve as an electric motor control device. The control device 30 includes a vector calculation control device and a re-adhesion control device, and performs generation of voltage command values Vu ^* , Vv ^* , Vw ^* for vector control of the electric motor 10 and the re-adhesion control described above.

Specifically, the vector calculation control device determines the excitation current component Id as the d-axis component and the torque current component (torque component current) as the q-axis component from the current flowing into the electric motor 10 detected by a current sensor (not shown). ) Determine Iq. In addition to the obtained excitation current component Id and torque current component (torque component current) Iq, the PG signal detected by the pulse generator 50, the axial velocity V and acceleration α detected by the velocity / acceleration detector 60, not shown. Voltage command values Vu ^* , Vv ^* , Vw ^* for the inverter 20 based on the current command values Id ^* , Iq ^* input from the current command generation device, the torque reduction command signal input from the re-adhesion control device, etc. Generate. In addition, control device 30 outputs the calculated torque component current command value Iq ^* to suppression command generation unit 70.

  The suppression command generation unit 70 is realized by a computer or the like including a CPU and various memories (ROM, RAM, etc.), and executes a suppression command generation process (see FIG. 5) according to programs and data stored in the memory. Note that the suppression command generation unit 70 may be in various forms such as being configured integrally as one function unit of the control device 30, and examples of each form will be described in detail later as examples.

  There are roughly two types of signals (information) input to the suppression command generator 70. Monitoring axis information and target axis information. The monitoring axis information is the shaft speed V and acceleration α input from the speed / acceleration detection unit 60, and the torque component current (torque component current command value) input from the control device 30, and monitors the occurrence of idling. This is information on the target axis (hereinafter referred to as “monitoring axis”). The target axis information is information on an axis (hereinafter referred to as “target axis”) that is a target for suppressing the induction of idling, and is an axis speed, acceleration, and torque component current (torque component current) input from the induction suppression target axis. (Command value).

Based on the monitoring axis information, the suppression command generation unit 70 detects that the monitoring axis indicates a sign of idling. Specifically, the speed difference Vd is obtained from the shaft speed V input from the speed / acceleration detection unit 60 and the reference speed Vm, and it is detected that the speed difference Vd is equal to or greater than the predictive trigger detection threshold Vca. In this case, for example, a suppression command is generated based on the following formula (1a).
Target shaft speed Vt × reduction coefficient kc = reduction amount (predictive time suppression command Sca)
... (1a)
Here, the target axis speed Vt is an axis speed of the target axis included in the target axis information. Note that the target axis acceleration may be used instead of the target axis speed Vt, or the monitoring axis acceleration may be used. When using the monitoring axis acceleration, the acceleration of the monitoring axis indicating the sign of idling is used.

Moreover, it is good also as producing | generating a suppression command based on the following Numerical formula (1b) instead of Numerical formula (1a).
Predetermined amount of reduction at the time of idling detection x reduction factor kd
= Reduction amount (predictive time suppression command Sca)
... (1b)
However, the coefficient kd is a value less than 1.

Further, the suppression command generation unit 70 detects that the monitoring shaft is immediately before returning the motor torque to the original torque (an example of the target torque) in the re-adhesion control based on the monitoring shaft information. Specifically, a value at a time when the torque component current input from the control device 30 becomes equal to or greater than the idling sliding detection threshold value Vs is recorded, and the recorded torque component current and the torque component reduced in the re-adhesion control are recorded. When the difference from the current becomes equal to or less than the induction detection threshold value Τcr immediately before return, a suppression command is generated based on the following formula (2b).
Target shaft speed Vt × reduction coefficient kc = reduction amount (suppression command Scr immediately before return)
... (2b)
Note that the target axis acceleration may be used instead of the target axis speed Vt, or the monitoring axis acceleration may be used. When the monitoring axis acceleration is used, the acceleration of the monitoring axis during the re-adhesion control is used.

Moreover, it is good also as producing | generating a suppression command based on the following Numerical formula (2b) instead of Numerical formula (2a).
Predetermined amount of reduction at the time of idling detection x reduction factor kd
= Pull down amount (suppression command Scr immediately before return)
... (2b)
However, the coefficient kd is a value less than 1.

  Here, the reduction coefficient kc used in the equations (1a) and (2a) will be described. FIG. 4 is a diagram illustrating an example of a reduction coefficient table that defines the reduction coefficient kc. The reduction coefficient table is a table that defines a reduction coefficient corresponding to the combination of the monitoring axis and the target axis. Depending on the relative positional relationship such as whether the monitoring axis and the target axis are in the same carriage or which is closer to the traveling direction, the axial movement of the target axis differs when the monitoring axis is idling. Therefore, different pull-down coefficients are determined according to the relative positional relationship between the monitoring axis and the target axis.

Further, the axial load movement also differs depending on whether it is idling (that is, during power running) or sliding (that is, during braking). Therefore, two types of reduction coefficient tables 82 and 84 for powering and braking are defined. The reduction coefficient tables 82 and 84 are stored in advance in a memory in the suppression command generation unit 70.
Note that the reduction coefficient tables 82 and 84 are common to the indication suppression command generation and the immediately before recovery suppression command generation, but may be prepared separately.
Also, the reduction coefficient kd when using the expressions (1b) and (2b) instead of the expressions (1a) and (2a) depends on the relative positional relationship between the monitoring axis and the target axis, similarly to the reduction coefficient kc. It may be determined as shown in FIG.

  The suppression command generation unit 70 selects the corresponding reduction coefficient kc from the reduction coefficient tables 82 and 84 in accordance with the power running / braking of the train and the positional relationship between the monitoring axis and the target axis.

  Information input to the suppression command generation unit 70 includes a reference speed and an operation command signal in addition to the monitoring axis information and the target axis information described above. However, for example, the reference speed may be omitted as the lowest speed of the monitoring shaft speed and the target shaft speed, or a travel speed signal may be input from the cab. The driving command signal may be omitted as determining the running state of the train (powering / braking / coasting) based on the axis speed of the monitoring axis or the target axis.

Next, the suppression command generation process executed by the suppression command generation unit 70 will be described in detail. FIG. 5 is a flowchart showing the flow of the suppression command generation process.
First, the suppression command generation unit 70 determines whether or not there is a sign of idling on the monitoring axis based on the monitoring axis information (step S2). Specifically, the speed difference Vd is obtained by subtracting the reference speed Vm from the shaft speed V input from the speed / acceleration detection unit 60, and it is determined whether or not the speed difference Vd is equal to or greater than the warning trigger detection threshold value Vca. . The sign may be determined using acceleration instead of speed. Of course, the detection threshold in that case is also set as a value smaller than the threshold for detecting the occurrence of idling. In short, rather than the threshold condition for detecting the occurrence of idling based on the state value for detecting idling (for example, speed and acceleration), it is necessary to detect a sign of idling based on the condition value. The threshold condition is a lower condition.

  When it is determined that there is a sign of idling on the monitoring axis (step S2: Yes), the time (predictive time) is recorded (step S4). Then, it is determined whether it is within a predetermined time from the previously recorded time (step S6). If it is within the predetermined time, 1 is added to the variable N (step S8), and if not within the predetermined time, the variable N is set to 1 and the variable N is reset (step S10). Then, it is determined whether or not the value of the variable N is equal to or less than a predetermined value (for example, “3”) (step S12), and only when it is equal to or less than the predetermined value, a sign suppression control generation process is performed (step S14).

  This series of processes using the variable N is a kind of convergence determination. The threshold value for detecting the sign (for example, the sign detection trigger threshold value Vca) is set smaller than the threshold value for detecting the occurrence of idling (for example, idling detection threshold value Vs). For this reason, although the sign is detected, the monitoring axis may return to the sticky run and converge without reaching the idling run that is detected as the occurrence of the idling run, or the sign state may continue for a long time. obtain. Therefore, it is determined in step S6 whether or not the warning trigger detection threshold has been reached continuously. If it has been reached continuously, the suppression command generation process is executed up to a predetermined number of times, but the predetermined number of times is exceeded. In this case, the generation and output of endless suppression commands is stopped. When the suppression command is stopped, the process proceeds to the idling sliding detection to re-adhesion control on the target shaft side.

  FIG. 6 is a flowchart showing the flow of the sign suppression control generation process. The predictive time suppression command generation process functions as a subroutine of the suppression command generation process, and a program of this subroutine is stored in the suppression command generation unit 70 as a part of the program of the suppression command generation process.

  In FIG. 6, the suppression command generation unit 70 refers to the reduction coefficient tables 82 and 84, identifies the idling (power running) / sliding (braking), and the reduction coefficient kc based on the relative relationship between the monitoring axis and the target axis. Is determined (step A2). Then, the amount of reduction is determined according to the mathematical formula (1a) (step A4), an indication suppression control command Sca is generated (step A6), and output to the target axis (step A8). Thereafter, the predictive time suppression command Sca is updated so as to gradually decrease the reduction amount as time elapses (step A12), and the output of the predictive time suppression command Sca is stopped by reducing the reduction amount to zero or the predictive time suppression command Sca Exit.

  Returning to FIG. 5, whether or not the monitoring axis has slipped after starting the sign suppression control generation process (step S14) or after determining that there is no sign of idling on the monitoring axis (step S2: No). Is determined (step S16). This determination is the same as the conventional detection of the occurrence of idling. Therefore, the suppression command generation unit 70 may determine whether or not the differential speed Vd between the monitoring shaft speed V and the reference speed Vm is equal to or greater than the idling detection threshold value Vs. An idling detection signal may be input.

  When the idling of the monitoring axis is detected (step S16: Yes), the suppression command generation unit 70 holds the monitoring axis information at that time (step S18).

  Next, the suppression command generator 70 determines whether or not the monitoring shaft is in a state immediately before the torque return by the re-adhesion control (step S20). More specifically, the torque component current included in the monitoring axis information held in step S18 is compared with the torque component current included in the currently input monitoring axis information, and the difference between them is determined as the induction detection threshold immediately before return. It is determined whether or not it is within τcr.

  When it is determined that the monitoring axis is in a state immediately before torque return (step S20: Yes), the time (time immediately before return) is recorded (step S22). Then, it is determined whether it is within a predetermined time from the previously recorded time (step S24). If it is within the predetermined time, 1 is added to the variable M (step S26), and if it is not within the predetermined time, the variable M is set to 1 and the variable M is reset (step S28). Then, it is determined whether or not the value of the variable M is equal to or less than a predetermined value (for example, “3”) (step S30). This series of processes using the variable M is a kind of convergence determination process, similar to the series of processes using the variable N.

  FIG. 7 is a flowchart showing a flow of the suppression command generation process immediately before return. The suppression command generation process immediately before returning functions as a subroutine for the suppression command generation process, and the program of this subroutine is stored in the suppression command generation unit 70 as part of the program for the suppression command generation process.

  In FIG. 7, the suppression command generator 70 refers to the reduction coefficient tables 82 and 84, identifies the idling (power running) / sliding (braking), and the reduction coefficient kc based on the relative relationship between the monitoring axis and the target axis. Is determined (step B2). Then, the amount of reduction is determined according to the mathematical formula (2) (step B4), the immediately before return suppression command Scr is generated (step B6), and output to the target axis (step B8). Thereafter, the immediately before return suppression command Scb is updated so as to gradually decrease the pull-down amount as time passes (step A12), and the output immediately before the return is suppressed by stopping the output of the pull-down amount to zero or just before the return suppression command Scb. The command generation process is terminated.

  The suppression command generation unit 70 repeatedly executes the processes of steps S2 to S32 described above at a predetermined cycle. That is, the suppression command generation unit 70 monitors whether or not a sign of idling has appeared on the monitoring axis, or when the occurrence of idling is detected and re-adhesion control is performed, the torque current is set to the target torque ( For example, it is monitored whether or not it is just before returning to the original torque component current). Then, if it is detected as a result of monitoring that it is highly probable that idling will be induced on the target shaft, a suppression command is generated to reduce the torque component current of the target shaft. ·Output. Of course, the reduction amount of the torque component current of the target shaft is smaller than the torque reduction amount in the re-adhesion control. Also, it is set to a value adapted to each of whether it is idling (power running) / sliding (braking), the relative positional relationship between the monitoring axis and the target axis, the state of the target axis (for example, speed or acceleration), and the like.

  Next, an embodiment will be described in which the principle circuit block described in FIG. 3 is applied to an actual train main circuit.

<First embodiment>
The circuit block shown in FIG. 8 is the first embodiment. 1st Example is an Example which comprised the suppression command production | generation part 70 in the control apparatus of each axis | shaft. If it is the first axis, the suppression command generation unit 70 generates a suppression command with the first axis as the target axis and the second to fourth axes as other axes as the monitoring axes. The first to fourth axes indicate the four axes in the same vehicle.

  Each axis has the same main circuit configuration, and the first axis will be described as a representative. The main circuit of the first axis includes a main motor 10-1, an inverter 20-1, and a control device 30-1 that controls power supplied to the main motor 10-1 by the inverter 20-1. . The control device 30-1 includes a vector arithmetic control device 41-1, a re-adhesion control device 43-1, a torque reduction command controller 45-1, and a suppression command generation unit 70-1. .

  The torque reduction command controller 45-1 selects either the torque suppression command (reduction command) output from the suppression command generation unit 70-1 or the torque reduction command output from the re-adhesion control device 43-1. Thus, it is configured as a selection circuit that outputs to the vector calculation control device 41-1, and basically selects and outputs a torque reduction command from the re-adhesion control device 43-1. That is, when a lowering command is output from either the suppression command generating unit 70-1 or the re-adhesion control device 43-1, the lowering command is output to the vector arithmetic control device 41-1 as it is. When a lowering command is output from both the suppression command generating unit 70-1 and the re-adhesion control device 43-1, the lowering command from the re-adhesion control device 43-1 is output to the vector arithmetic control device 41-1. .

The vector calculation control device 41-1 performs normal calculation processing based on given current command values Id ^* , Iq ^*, etc. while the torque reduction command controller 45-1 does not receive the torque reduction command signal. When the command values Vu ^* , Vv ^* , Vw ^* are calculated and a torque reduction command signal is input, the voltage command value voltage command value Vu ^{* is} set so as to reduce the torque generated by the motor 10-1 by an amount corresponding to the signal. , Vv ^* , Vw ^* are calculated.
Then, the vector calculation control device 41-1 outputs the torque component current command value (torque component current) of the electric motor 10-1 to the other shaft as one of the first axis information.

  The re-adhesion control device 43-1 has a speed / acceleration detection unit 60-1, and performs the same re-adhesion control as before based on the axial velocity and acceleration of the first axis detected from the PG signal. The torque reduction command signal is output to the torque reduction command controller 45-1. The speed / acceleration detection unit 60-1 outputs the detected axis speed and acceleration to the other axis as one of the first axis information.

  The suppression command generation unit 70-1 includes three suppression command generation units 70-1 having the second to fourth axes as monitoring axes, and functions as the suppression command generation unit 70 described above.

  After the second axis, the main circuit configuration is the same as that of the first axis except that the axis becomes the target axis and the axis other than the axis becomes the monitoring axis.

As described above, according to the first embodiment, an individual control main circuit in which each axis generates its own axis suppression command is configured.
In addition, instead of detecting the occurrence of idling on the monitoring axis by comparing the axial speed of the monitoring axis with the reference speed in the suppression command generation unit 70-1 for the target axis, as shown in FIG. The re-adhesion control device 43-1 may output the result of detection of the occurrence of idling to another axis as one of the information on the axis. Of course, the same applies to the re-adhesion detection information.

<Second embodiment>
The circuit block shown in FIG. 10 is the second embodiment. The second embodiment is an embodiment in the case where there is an overall control device as a host device that performs overall control of the control devices for each axis. The overall control device 300 generates and outputs a command to share and generate the traction force (torque) to the control devices 30 (30-1, 30-2,...) For each axis, It is a device that manages and controls the organization collectively. However, illustration of a command signal from the overall control device 300 to the control device 30 of each axis is omitted.

  In FIG. 10, the overall control device 300 is configured to include a suppression command generation unit 700. The suppression command generation unit 700 inputs the axis information of each axis, performs induction detection for each axis (detection at the time of indication and detection at the time immediately before return), and generates and outputs a suppression command for each axis. That is, the generation of the suppression command for all combinations of the monitoring axis and the target axis is performed collectively. It should be noted that the detection of slipping and re-adhesion of each axis may be performed by the suppression command generation unit 700, or a detection signal may be included in the axis information of each axis as shown in FIG. Good.

[Modification]
Although two embodiments have been described above, embodiments to which the present invention can be applied are not limited to these.
For example, in the first and second embodiments, the number of axes that one vehicle has is illustrated and described as “4”, but may be “6”. In addition, although it has been described that the respective axes are combined as monitoring axes or target axes in one vehicle, the monitoring axes or target axes may be combined in one truck.

  In the embodiment including the two examples described above, the speed and acceleration are detected based on the PG signal. However, speed sensorless vector control technology may be applied to detect speed and acceleration without using a speed sensor such as a pulse generator. Specifically, the speed / acceleration detection unit 60 detects (estimates) the shaft speed V by estimating the rotational speed from the motor current / voltage supplied to the motor 10, and further detects (estimates) the acceleration α. It is good to do.

  In the above-described embodiment, the sign trigger detection threshold Vca is set to a value smaller than the idling sliding detection threshold Vs in order to reduce the current corresponding to the torque of the target shaft at the sign stage before the monitoring axis slips. However, when it is desired to perform the same control as the above-described control at the stage where the monitoring shaft is idling and sliding, it is only necessary to set the warning trigger detection threshold value Vca to the same value as the idling and sliding detection threshold value Vs.

  In the above-described embodiment, the control of the target axis in a state where the monitoring shaft is idling and sliding is described as being similar to the conventional re-adhesion control based on whether or not the target axis is idling and sliding. However, in the state in which the monitoring axis is idling, the possibility of inducing idling on the target axis is determined, and when the possibility of induction is detected (induction detection), the induction suppression control may be executed.

  FIG. 11 is a flowchart showing the flow of the suppression command generation processing in this case, and shows the flow of processing between steps S16 to S18 of FIG. Processes other than steps S16 to S18 are the same as those in FIG.

  In FIG. 11, when idling of the monitored axis is detected (step S16: Yes), it is determined whether or not there is a sign of idling on the target axis (step D2). Specifically, the speed difference Vd is obtained by subtracting the reference speed Vm from the axis speed V of the target axis included in the target axis information, and it is determined whether or not the speed difference Vd is equal to or greater than the predictive trigger detection threshold value Vca. Of course, the sign may be determined using acceleration instead of speed.

  If it is determined that there is a sign of idling (step D2: Yes), a kind of convergence determination process is performed (steps D4 to D12) as in steps S4 to S10, and the value of the variable n is a predetermined value. In the following case (step D12: Yes), the target axis predictor suppression command generation process is performed (step D14).

  The target axis sign suppression command generation process is the same as the sign suppression control command generation process shown in FIG. It should be noted that a reduction coefficient table used in the target axis predictive time suppression command generation process may be determined in the same manner as in FIG.

  When it is determined in step D2 that there is no sign of idling (step D2: No) or after step D14, the suppression command generation unit 70 determines whether the target shaft is in a state immediately before torque return by re-adhesion control. Is determined (step D16). Specifically, it may be determined by inputting a control state from the re-adhesion control device 43, or may be determined on the basis of the torque component current included in the target axis information as in step S20.

  If it is determined that the target axis is in a state immediately before the torque return (step D16: Yes), a kind of convergence determination process is performed (steps D18 to D26) as in steps S22 to S30, and the variable m When the value is equal to or smaller than the predetermined value (step D26: Yes), a suppression command generation process immediately before the target axis return is performed (step D28).

  Since the suppression command generation process immediately before the target axis return is the same process as the suppression command generation process immediately before return shown in FIG. Note that a reduction coefficient table used in the suppression command generation process immediately before the target axis return may be determined in the same manner as in FIG.

  By performing the above-described processing of FIG. 11, it is possible to detect at an early stage the occurrence of so-called follow-up that causes the target axis to idle and slide due to the idle running of the monitoring axis (induced detection), and to prevent torque component current. Can be lowered.

DESCRIPTION OF SYMBOLS 10 Electric motor 20 Inverter 30 Control apparatus 50 Pulse generator 60 Speed / acceleration detection part 70 Suppression command generation part

Claims (6)

A first axis idling detection step for detecting occurrence of idling on the first axis;
The first shaft re-adhesion control for re-adhesion of the first shaft by lowering and returning the current corresponding to the torque of the electric motor that drives the first shaft according to the detection in the first shaft idling sliding detection step. Control steps;
A first axis return immediately before detection step for detecting immediately before the return of the torque component current by the reattachment control in the first axis readhesion control step;
A second axis lowering step at the time of first axis return that reduces the current corresponding to the torque of the second axis in accordance with the detection in the detection step immediately before the first axis return;
Including motor control methods. Detection of the occurrence of idling of the first axis when the state value for idling detection of the first axis satisfies the threshold condition for detecting idling that is determined as a threshold condition for determining that idling has occurred. A first axis idling detection step to perform,
Second axis sign detection for detecting a sign of idling of the second axis when a state value for detecting idling of the second axis satisfies a predetermined sign detection threshold condition for detecting a sign of idling Steps,
Wherein the detection of the first shaft idling skid detection step is performed, and, when said detection at is made the second shaft sign detection step, the second shaft lowered during the second shaft sign lowering the torque current of the second shaft Steps,
Including motor control methods. A first axis idling detection step for detecting occurrence of idling on the first axis;
A second axis idling detection step for detecting occurrence of idling on the second axis;
Second axis re-adhesion control for re-adhesion of the second axis by lowering and returning the current corresponding to the torque of the electric motor that drives the second axis according to the detection in the second axis idling sliding detection step Control steps;
A second axis immediately before returning detection step for detecting immediately before the return of the torque component current by the re-adhesion control in the second axis re-adhesion control step;
When the detection at the first shaft idling / sliding detection step is performed and the detection at the detection step immediately before the second axis return is performed, the second current at the time of the second axis return that reduces the torque component of the second axis A shaft lowering step;
Including motor control methods. First axis idling detection means for detecting occurrence of idling on the first axis;
First axis re-adhesion control for performing re-adhesion control of the first axis by lowering and returning the current corresponding to the torque of the electric motor that drives the first axis in response to detection by the first axis idling sliding detection means Means,
First axis return just before detection means for detecting immediately before return of the torque component current by the re-adhesion control of the first axis re-adhesion control means;
In response to detection by the detection means immediately before the first axis return, the second axis lowering means at the time of first axis return that reduces the torque component of the second axis;
An electric motor control device. Detection of the occurrence of idling of the first axis when the state value for idling detection of the first axis satisfies the threshold condition for detecting idling that is determined as a threshold condition for determining that idling has occurred. First axis idling detection means for
Second axis sign detection for detecting a sign of idling of the second axis when a state value for detecting idling of the second axis satisfies a predetermined sign detection threshold condition for detecting a sign of idling Means,
A second axis lowering means at the time of a second axis predictor that lowers the current corresponding to the torque of the second axis when the detection by the first shaft idling / sliding detection means is made and the detection by the second axis predictor detecting means is made ; ,
An electric motor control device. First axis idling detection means for detecting occurrence of idling on the first axis;
Second axis idling detection means for detecting occurrence of idling on the second axis;
Second axis re-adhesion control for performing re-adhesion control of the second axis by lowering and returning the current corresponding to the torque of the electric motor driving the second axis in response to detection by the second axis idling sliding detection means Means,
Second axis just before detection detecting means for detecting immediately before the return of the torque component current by the re-adhesion control of the second axis re-adhesion control means;
When detection by the first axis idling / sliding detection means is made and detection is made by the detection means immediately before the second axis return, the second axis reduction at the time of the second axis reduction reduces the current corresponding to the torque of the second axis. Means,
An electric motor control device.

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