JPH01170828A - Circuit for detecting failure in speed change of drive robot - Google Patents
Circuit for detecting failure in speed change of drive robotInfo
- Publication number
- JPH01170828A JPH01170828A JP62331276A JP33127687A JPH01170828A JP H01170828 A JPH01170828 A JP H01170828A JP 62331276 A JP62331276 A JP 62331276A JP 33127687 A JP33127687 A JP 33127687A JP H01170828 A JPH01170828 A JP H01170828A
- Authority
- JP
- Japan
- Prior art keywords
- current
- motor
- speed change
- shift
- failure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 230000002159 abnormal effect Effects 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 description 9
- 230000005856 abnormality Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000012360 testing method Methods 0.000 description 4
- 230000007935 neutral effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000011056 performance test Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
A 産業上の利用分野
本発明は、ドライブロボットの変速失敗検出回路に関す
る。DETAILED DESCRIPTION OF THE INVENTION A. Field of Industrial Application The present invention relates to a shift failure detection circuit for a drive robot.
B4発明の概要
本発明は、電動機駆動によってシフトレバ−位置を切換
えるドライブロボットにおいて、電動機の電流継続時間
の長短から変速失敗を検出することにより、
確実な検出ができるようにしたものである。B4 Summary of the Invention The present invention is a drive robot that changes the shift lever position by driving an electric motor, and is capable of reliable detection by detecting a failure in shifting based on the length of the current duration of the electric motor.
C0従来の技術
ドライブロボットは、シャーシダイナモメータやテスト
コースでの車両の走行性能試験のために、車両に各種運
転状態を得るもので、遠隔操作又はプログラムされた指
令に応じて車両のシフトレバ−位置制御やクラッチ制御
等を行う。このうち、シフトレバ−位置制御には、電動
アクチエータによりそシフトレバ−を縦横に操作し、所
期の変速状態を得る。C0 Conventional technology Drive robots are used to obtain various driving states of vehicles for vehicle driving performance tests on chassis dynamometers and test courses, and control the vehicle's shift lever position according to remote control or programmed commands. Performs control, clutch control, etc. Among these, for shift lever position control, the shift lever is operated vertically and horizontally using an electric actuator to obtain a desired speed change state.
第3図は従来のシフトレバ−位置制御装置の制御回路図
を示す。変速指令の解読によるストローク設定値に対し
て、ストローク制御部1とストローク検出部2によるフ
ィードバック制御によってシフトレバ−駆動用電動機3
の回転量を制御し、この制御にアクチエータ位置をポテ
ンショメータ4によって検出する。FIG. 3 shows a control circuit diagram of a conventional shift lever position control device. The shift lever driving electric motor 3 is controlled by feedback control by the stroke control section 1 and the stroke detection section 2 based on the stroke setting value obtained by decoding the shift command.
For this control, the actuator position is detected by a potentiometer 4.
この制御装置において、変速失敗検出回路は、ストロー
ク設定値とストローク検出部2の検出値との偏差が所定
値内にあるか否かを両極性コンパレータ5と偏差設定器
6によって検出し、偏差が異常にあるときにコンパレー
タ5の出力反転によってタイマ7を起動し、この状態が
タイマ7の時限を越えたときに該タイマ7の出力によっ
て変速失敗警報出力を得る。In this control device, the shift failure detection circuit uses a bipolar comparator 5 and a deviation setter 6 to detect whether or not the deviation between the stroke setting value and the detection value of the stroke detection section 2 is within a predetermined value. When there is an abnormality, a timer 7 is activated by the inversion of the output of the comparator 5, and when this state exceeds the time limit of the timer 7, a shift failure alarm output is obtained from the output of the timer 7.
D9発明が解決しようとする問題点
従来の変速失敗検出回路は、シフトレバ−位置制御にお
けるアクチエータのストローク設定値と電動アクチエー
タのストローク検出値とを比較し、両者の偏差か設定時
間以上続くときに変速失敗としている。即ち、変速位置
異常はアクチエータのストロークで検出している。この
ため、ドライブロボットを車両に取付ける際に、アクチ
エータとシフトレバ−の相対的な位置ずれがあるとアク
チエータ制御系は正常動作と判定してしまい、変速位置
異常の検出失敗を起こして正常な試験を不能にする。ま
た、変速は短時間で行われ変速機によってはシンクロさ
れずにシフトインされる場合があり、これはギヤ鳴り状
態を起こし、この状態で変速失敗の検出ができないとき
には変速機を破損する恐れもあった。D9 Problems to be Solved by the Invention Conventional gear shift failure detection circuits compare the actuator stroke setting value and the electric actuator stroke detection value in shift lever position control, and perform a gear shift when the deviation between the two continues for a set time or longer. It is considered a failure. That is, the shift position abnormality is detected by the stroke of the actuator. Therefore, when installing the drive robot on a vehicle, if there is a relative positional deviation between the actuator and shift lever, the actuator control system will determine that it is operating normally, causing a failure in detecting the shift position abnormality and preventing a normal test. make impossible. In addition, gear shifts occur in a short period of time, and depending on the transmission, the gear may be shifted in without being synchronized, which may cause gear noise, and if a gear shift failure cannot be detected in this state, there is a risk of damage to the transmission. there were.
E 問題点を解決するための手段
本発明は」二記問題点に鑑みてなされたもので、電動機
の電流継続時間が設定時間を越えたときに変速失敗と判
定する構成にしたものである。E. Means for Solving the Problems The present invention has been made in view of the problems mentioned in section 2 above, and is configured to determine that a shift has failed when the current duration of the motor exceeds a set time.
F1作用
アクチエータの取付位置の不具合や変速機の異常シフト
インには電動機の電流継続状態になることを利用して該
電流継続時間の長短から変速失敗を検出する。If there is a problem with the mounting position of the F1 action actuator or an abnormal shift-in of the transmission, a failure in gear shifting is detected from the length of the current continuation time by utilizing the fact that the electric motor is in a continuous current state.
G、実施例 第1図は本発明の一実施例を示す回路図である。G. Example FIG. 1 is a circuit diagram showing an embodiment of the present invention.
同図が第3図と異なる部分は、電動機3の電流検出をす
る電流検出器8を設け、この電流検出器8の検出信号を
絶対値アンプ9を通して電流設定器10の設定値との大
小をコンパレータ5で比較する構成にした点である。電
流設定器10は電動機3の定格電流の50%程度に設定
され、コンパレータ5では該設定値以上に電動機3の電
流が流れているか否か判定する。タイマ7はその時限を
電動機3によるシフトレバ−操作に必要な最大時間を越
える値に設定される。The difference between this figure and FIG. 3 is that a current detector 8 is provided to detect the current of the motor 3, and the detection signal of the current detector 8 is passed through an absolute value amplifier 9 to determine the magnitude of the setting value of the current setting device 10. This is because a comparator 5 is used for comparison. The current setting device 10 is set to about 50% of the rated current of the motor 3, and the comparator 5 determines whether the current of the motor 3 is flowing at a value exceeding the set value. The timer 7 is set to a value that exceeds the maximum time required for the electric motor 3 to operate the shift lever.
こうした構成において、正常な変速動作と異常変速動作
を電動機3の電流継続時間の長短によって判定する。第
2図は変速時の各部波形図を示し、期間T1には正常な
変速動作の場合を、期間T、には異常変速動作の場合を
示す。In such a configuration, a normal speed change operation and an abnormal speed change operation are determined based on the length of the current continuation time of the electric motor 3. FIG. 2 shows waveform diagrams of various parts during gear shifting, with period T1 showing the case of normal shifting operation, and period T showing the case of abnormal shifting operation.
第2図において、正常な変速動作ではクラッチの接から
断の操作後、ストローク設定値の切換えによる電動機3
の回転位置制御を開始する。この電動機3の回転でシフ
トレバーが3速から4速にシフトされるとき、そのスト
ロークには変速機のシンクロゾーンSZで瞬時保持され
る状態になるか、変速開始から変速終了までの時間はほ
ぼ一定(車両の変速機ストロークで約0.1秒)にあっ
て電動機3の電流期間も一定時間で終了する。従って、
電動機3の電流供給期間Tmに較べてタイマ7の時限を
例えば1秒に設定しておくことにより、正常な変速動作
には変速失敗検出は行われない。In Fig. 2, in normal gear shifting operation, after the clutch is engaged and disengaged, the electric motor 3 changes by changing the stroke setting value.
Starts rotational position control. When the shift lever is shifted from 3rd gear to 4th gear by the rotation of this electric motor 3, the stroke will either be instantaneously held in the synchro zone SZ of the transmission, or the time from the start of the shift to the end of the shift will be approximately The current period of the electric motor 3 is constant (approximately 0.1 seconds in a vehicle transmission stroke) and ends in a constant time. Therefore,
By setting the time limit of the timer 7 to, for example, 1 second compared to the current supply period Tm of the electric motor 3, shift failure detection is not performed during a normal shift operation.
次に、第2図の期間T、に示すように、アクチエータの
取イ」位置すれや変速機の異常等によって変速機のシン
クロゾーン位置かずれたとき、ギヤ鳴り状態やシフトレ
バーが4速位置に到達しているにも拘わらずボテンンヨ
メータ4の位置検出が4速位置にない状態にあるとシフ
トレバ−制御系が電動機3に電流供給を継続する。この
とき、電動機3には正常な変速に要する期間Tm以上に
電流が流れ続け、タイマ7の時限Ttに達することで変
速失敗検出信号が得られる。この検出時には警報発生の
ほかに、テストコースの遠隔操作ではストローク設定値
をニュートラル位置にするニュートラル指令を与えるこ
とでギヤ鳴り状態から変速機を保護することかできる。Next, as shown in period T in Figure 2, when the synchro zone position of the transmission is shifted due to the actuator being out of position or due to an abnormality in the transmission, there is a gear noise or the shift lever is in the 4th gear position. If the position detection of the button yometer 4 is not at the fourth speed position even though the position has been reached, the shift lever control system continues to supply current to the electric motor 3. At this time, current continues to flow through the electric motor 3 for a period longer than the period Tm required for normal gear shifting, and when the time limit Tt of the timer 7 is reached, a gear shifting failure detection signal is obtained. When this is detected, in addition to issuing an alarm, remote control on the test course can protect the transmission from gear noise by giving a neutral command to set the stroke setting to the neutral position.
上述までのように、アクチエータの取付位置の不具合や
ギヤ鳴り状態になる変速失敗には電動機3の電流継続が
正常な変速時のそれよりも長くなることから検出され、
従来のアクチエータのストローク位置からの検出に比べ
て確実な検出になる。As mentioned above, a malfunction in the mounting position of the actuator or a gear shift failure resulting in gear noise is detected because the current continuation of the motor 3 is longer than that during normal gear shifting.
Detection is more reliable than conventional detection from the stroke position of the actuator.
なお、実施例においては電動機の電流継続時間から変速
異常を検出する場合を示したが、変速具常時には電動機
電流値も正常時のそれよりも大きくなることが多く、こ
の電流値の異常から変速失敗を検出し、この検出と電流
継続時間異常の検出との論理和で変速失敗検出信号を得
る構成にして一層確実な検出になる。In addition, in the example, a case was shown in which a shift abnormality is detected from the current duration time of the electric motor, but when the gear is normally used, the motor current value is often larger than that when it is normal. A configuration in which a failure is detected and a shift failure detection signal is obtained by a logical sum of this detection and the detection of abnormality in current duration time allows for more reliable detection.
H1発明の効果
以上のとおり、本発明によれば、電動機電流の継続時間
の長短から変速失敗を検出するようにしたため、アクチ
エータの取付位置すれや変速異常による変速失敗を確実
に検出でき、車両試験に適用して正確な試験を可能にす
ると共に変速機破損等を防止する効果がある。H1 Effects of the Invention As described above, according to the present invention, a gear shift failure is detected from the length of the duration of the motor current, so it is possible to reliably detect a gear shift failure due to misalignment of the actuator mounting position or gear shift abnormality, and it is possible to detect a gear shift failure due to a misalignment of the actuator mounting position or a gear shift abnormality. It is effective in making accurate testing possible and preventing damage to the transmission.
第1図は本発明の一実施例を示す回路図、第2図は実施
例における変速失敗検出動作を説明するための波形図、
第3図は従来の回路図である。
■・・ストローク制御部、2・・・ストローク検出部、
3・・電動1a、5−コンパレータ、7・・タイマ、8
電流検出器、9 ・絶対値アンプ、10・電流設定器。FIG. 1 is a circuit diagram showing an embodiment of the present invention, and FIG. 2 is a waveform diagram for explaining the shift failure detection operation in the embodiment.
FIG. 3 is a conventional circuit diagram. ■... Stroke control section, 2... Stroke detection section,
3...Electric 1a, 5-comparator, 7...Timer, 8
Current detector, 9. Absolute value amplifier, 10. Current setting device.
Claims (1)
車両のシフトレバー位置を切換えるドライブロボットに
おいて、前記電動機の電流継続時間が設定時間を越えた
ときに変速失敗と判定する構成にしたことを特徴とする
ドライブロボットの変速失敗検出回路。A drive robot that switches the shift lever position of a vehicle by controlling the rotational position of an electric motor according to a set stroke value, characterized in that the drive is configured to determine that a shift has failed when the current duration of the electric motor exceeds a set time. Robot gear shift failure detection circuit.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62331276A JPH0658300B2 (en) | 1987-12-25 | 1987-12-25 | Drive robot shift failure detection circuit |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62331276A JPH0658300B2 (en) | 1987-12-25 | 1987-12-25 | Drive robot shift failure detection circuit |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH01170828A true JPH01170828A (en) | 1989-07-05 |
JPH0658300B2 JPH0658300B2 (en) | 1994-08-03 |
Family
ID=18241880
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP62331276A Expired - Fee Related JPH0658300B2 (en) | 1987-12-25 | 1987-12-25 | Drive robot shift failure detection circuit |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0658300B2 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006105711A (en) * | 2004-10-04 | 2006-04-20 | Ono Sokki Co Ltd | Automatic driving apparatus for vehicle |
JP2006170741A (en) * | 2004-12-15 | 2006-06-29 | Meidensha Corp | Abnormality detector for motive power measurement system |
-
1987
- 1987-12-25 JP JP62331276A patent/JPH0658300B2/en not_active Expired - Fee Related
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006105711A (en) * | 2004-10-04 | 2006-04-20 | Ono Sokki Co Ltd | Automatic driving apparatus for vehicle |
JP2006170741A (en) * | 2004-12-15 | 2006-06-29 | Meidensha Corp | Abnormality detector for motive power measurement system |
Also Published As
Publication number | Publication date |
---|---|
JPH0658300B2 (en) | 1994-08-03 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
LAPS | Cancellation because of no payment of annual fees |