JPH10323086A - Speed correction circuit and torque correction circuit for loading dc motor coupled to output shaft of three-axis differential gear durability tester - Google Patents

Speed correction circuit and torque correction circuit for loading dc motor coupled to output shaft of three-axis differential gear durability tester

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Publication number
JPH10323086A
JPH10323086A JP9137466A JP13746697A JPH10323086A JP H10323086 A JPH10323086 A JP H10323086A JP 9137466 A JP9137466 A JP 9137466A JP 13746697 A JP13746697 A JP 13746697A JP H10323086 A JPH10323086 A JP H10323086A
Authority
JP
Japan
Prior art keywords
value
output shaft
function
torque
correction circuit
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.)
Pending
Application number
JP9137466A
Other languages
Japanese (ja)
Inventor
Kosaku Yoshida
耕作 吉田
Hiroshi Miyazaki
広 宮崎
Akira Tanahashi
章 棚橋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shinko Electric Co Ltd
Original Assignee
Shinko Electric Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shinko Electric Co Ltd filed Critical Shinko Electric Co Ltd
Priority to JP9137466A priority Critical patent/JPH10323086A/en
Publication of JPH10323086A publication Critical patent/JPH10323086A/en
Pending legal-status Critical Current

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  • Retarders (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

PROBLEM TO BE SOLVED: To provide a speed correction circuit and a torque correction circuit for a DC motor for testing essential performance of a differential gear. SOLUTION: For speed correction circuit during speed control, absolute values V1, V2 of torque feedback of left side output shaft and right side output shaft are determined respectively, a difference V3 between the absolute values is calculated, the value V3 is multiplied by 1/2 and a value V4 is obtained, the value V4 is subtracted from the value V2 and a value V5 is obtained, this value V5 is used as an input value of proportional integration function, its output value V6 is added to a left side output shaft motor speed command and a value V7 is obtained as a left side output shaft motor speed command, on the other hand, for the right side output shaft motor speed command, no correction is added. And the revolution feedback of each output shaft is added together and V11 is obtained as an input value of proportional integration function, its output value V12 is multiplied by 1/2 and a value V13 is obtained, the value 13 is added to the left-side output shaft motor torque command and a value V14 is obtained and used as a left side output shaft torque command.

Description

【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION

【０００１】[0001]

【発明の属する技術分野】本発明は、３軸ディファレン
シャルギヤ耐久試験機の各出力軸に連結される負荷用直
流モータの速度補正回路及びトルク補正回路に関する。The present invention relates to a speed correction circuit and a torque correction circuit for a load DC motor connected to each output shaft of a three-axis differential gear durability tester.

【０００２】[0002]

【従来の技術】従来、ディファレンシャルギヤの耐久試
験には、耐久試験機の一例として３軸ディファレンシャ
ルギヤ耐久試験機が使用されてきた。この３軸ディファ
レンシャルギヤ耐久試験機１０の構成を図２を用いて説
明する。図２は、外部からの速度指令あるいはトルク指
令に対して、右側出力軸ＳＲの直流モータＭＲからの速
度帰還（速度ＦＢ）又はトルク帰還（トルクＦＢ）を受
けて、自動速度調整器ＡＳＲ、自動トルク調整器ＡＴＲ
を備えたコントローラＣにより、サイリスタＳを介して
上記直流モータＭＲを速度制御、或いはトルク制御し、
ディファレンシャルギヤ１に負荷を掛ける構成を示して
いる。従って、左側出力軸ＳＬの直流モータＭＬに対す
るコントローラの図示は省略したが、双方の出力軸Ｓ
Ｌ、ＳＲに設けられた各直流モータＭＬ、ＭＲを同様に
制御し、双方の出力軸ＳＬ、ＳＲに負荷を掛けることに
より、各指令に基づいた夫々の負荷におけるディファレ
ンシャルギヤ１の耐久度を測定することができる。な
お、ＳＩは、ディファレンシャルギア１の入力軸、ＭＩ
はこの入力軸ＳＩに連結された直流モータである。2. Description of the Related Art Conventionally, in a durability test of a differential gear, a three-axis differential gear durability tester has been used as an example of a durability tester. The configuration of the three-axis differential gear durability tester 10 will be described with reference to FIG. FIG. 2 shows an automatic speed adjuster ASR which receives speed feedback (speed FB) or torque feedback (torque FB) from the DC motor MR of the right output shaft SR in response to an external speed command or torque command. Torque regulator ATR
By controlling the speed or torque of the DC motor MR via the thyristor S by the controller C having
2 shows a configuration for applying a load to the differential gear 1. Therefore, although the controller for the DC motor ML of the left output shaft SL is not shown, both output shafts S
By controlling the DC motors ML and MR provided on the L and SR in the same manner and applying a load to both output shafts SL and SR, the durability of the differential gear 1 at each load based on each command is measured. can do. Note that SI is the input shaft of the differential gear 1, MI
Is a DC motor connected to the input shaft SI.

【０００３】[0003]

【発明が解決しようとする課題】ところで、ディファレ
ンシャルギヤの耐久試験を行う際に、上述の通り左側出
力軸及び右側出力軸夫々に負荷として各直流モータを連
結し、速度制御又はトルク制御する。理論的にはディフ
ァレンシャルギヤの左側出力軸の回転数と右側出力軸の
回転数及び左側出力軸のトルクと右側出力軸のトルクは
夫々一致する。しかし、実際には直流モータ、出力軸等
の機械損等の差により、左側出力軸と右側出力軸の回転
数及びトルクは夫々一致しない。By the way, when performing a durability test of the differential gear, each of the left output shaft and the right output shaft is connected to each DC motor as a load as described above, and speed control or torque control is performed. Theoretically, the rotational speed of the left output shaft and the rotational speed of the right output shaft of the differential gear, and the torque of the left output shaft and the torque of the right output shaft respectively match. However, in practice, the rotational speed and torque of the left output shaft and the right output shaft do not match due to differences in mechanical loss and the like of the DC motor and the output shaft.

【０００４】従って、ディファレンシャルギヤの本来の
性能を試験するために、できるだけ左側出力軸と右側出
力軸の回転数及びトルクを夫々一致させる必要がある。
それには、直流モータの速度及びトルクを夫々制御し、
上述のように左側出力軸と右側出力軸の回転数及びトル
クを一致させるようにするため、各出力軸の負荷用の各
直流モータを夫々適切な速度、トルクとなるように調整
しなければならない。ところで、直流モータは速度及び
トルクを同時に制御することができないという問題があ
る。Therefore, in order to test the original performance of the differential gear, it is necessary to make the left output shaft and the right output shaft have the same rotational speed and torque as much as possible.
To do so, control the speed and torque of the DC motor respectively,
As described above, in order to match the rotation speed and torque of the left output shaft and the right output shaft, each DC motor for load on each output shaft must be adjusted to have an appropriate speed and torque. . However, there is a problem that the DC motor cannot control the speed and the torque simultaneously.

【０００５】従って、本発明は上記課題（問題点）を解
決し、ディファレンシャルギヤ本来の耐久性を試験でき
るようにするために、３軸ディファレンシャルギヤ耐久
試験機の出力軸の負荷用直流モータを、速度制御時は速
度補正をすることにより、上述のように左側出力軸と右
側出力軸のトルクを一致させるように調節する速度補正
回路及び前記直流モータのトルク制御時はトルク補正を
することにより、左側出力軸と右側出力軸の回転数を一
致させるように調節するトルク補正回路を提供すること
を目的とする。Therefore, the present invention solves the above-mentioned problems (problems) and, in order to be able to test the inherent durability of the differential gear, a DC motor for a load on the output shaft of a three-axis differential gear durability tester is provided. By performing speed correction during speed control, a speed correction circuit that adjusts the torque of the left output shaft and the right output shaft to match as described above, and by performing torque correction during torque control of the DC motor, It is an object of the present invention to provide a torque correction circuit that adjusts the rotational speeds of a left output shaft and a right output shaft so that they match.

【０００６】[0006]

【課題を解決するための手段】本発明は、上記課題を解
決するために、３軸ディファレンシャルギヤ耐久試験機
の出力軸に連結される負荷用直流モータの速度補正回路
及びトルク補正回路を以下のような構成とした。In order to solve the above-mentioned problems, the present invention provides a speed correction circuit and a torque correction circuit for a load DC motor connected to an output shaft of a three-axis differential gear durability tester as follows. Such a configuration was adopted.

【０００７】本発明の３軸ディファレンシャルギヤ耐久
試験機の出力軸に連結される負荷用直流モータの速度補
正回路は、第１及び第２の絶対値算出機能、１つの乗算
機能、第１及び第２の相引機能、１つの相加機能と１つ
の比例積分機能を備え、前記第１の絶対値算出機能によ
り、左側出力軸のトルク帰還の絶対値Ｖ１を求め、同様
に第２の絶対値算出機能により、右側出力軸のトルク帰
還の絶対値Ｖ２を求め、第１の相引機能により値Ｖ１か
ら値Ｖ２を差し引いて値Ｖ３を算定し、前記乗算機能に
よりその値Ｖ３に１／２を乗じて値Ｖ４を得、更に第２
の相引機能により右側出力軸のトルク帰還の絶対値Ｖ２
から値Ｖ４を差し引いて値Ｖ５を得、その値Ｖ５を前記
比例積分機能の入力値とし、当該比例積分機能の出力値
Ｖ６と左側出力軸モータ速度指令とを前記相加機能で足
し合わせて値Ｖ７とし、その値Ｖ７を最終的な左側出力
軸モータ速度指令とし、一方、右側出力軸モータ速度指
令については、そのまま補正を加えずに最終的な右側出
力軸モータ速度指令とする構成とした。The speed correction circuit of the load DC motor connected to the output shaft of the three-axis differential gear durability tester according to the present invention comprises a first and a second absolute value calculating function, a single multiplying function, a first and a second 2, a subtraction function, an addition function, and a proportional integration function. The first absolute value calculation function obtains the absolute value V1 of the torque feedback of the left output shaft, and similarly obtains the second absolute value. The calculation function determines the absolute value V2 of the torque feedback of the right output shaft, subtracts the value V2 from the value V1 by the first subtraction function to calculate the value V3, and halves the value V3 by the multiplication function. Multiplied to obtain the value V4 and the second
Absolute value V2 of torque feedback of right output shaft by subtraction function of
Is subtracted from the value V4 to obtain a value V5. The value V5 is used as an input value of the proportional integration function, and the output value V6 of the proportional integration function and the left output shaft motor speed command are added by the addition function to obtain a value. V7, and the value V7 is used as a final left output shaft motor speed command. On the other hand, the right output shaft motor speed command is used as a final right output shaft motor speed command without any correction.

【０００８】本発明の３軸ディファレンシャルギヤ耐久
試験機の出力軸に連結される負荷用直流モータのトルク
補正回路は、第１、第２の乗算機能、１つの比例積分機
能、第１、第２及び第３の相加機能を備え、次の（Ａ）
及び（Ｂ）項記載の第１及び第２のトルク補正回路より
構成され、左側及び右側の各出力軸へのモータトルク指
令を補正して、最終的な左側及び右側の各出力軸へのモ
ータトルク指令とする構成とした。 （Ａ）第１の相加機能により、左側出力軸の回転数帰還
と右側出力軸の回転数帰還とを足し合わせてＶ１１を
得、その値Ｖ１１を前記比例積分機能の入力値とし、当
該比例積分機能の出力値Ｖ１２に、第１の乗算機能によ
り１／２を乗じて値Ｖ１３を得、その値Ｖ１３を第２の
相加機能で左側出力軸モータトルク指令と足し合わせ値
Ｖ１４とし、その値Ｖ１４を最終的な左側出力軸モータ
トルク指令とする第１のトルク補正回路。 （Ｂ）前記第１の乗算機能により得られた値Ｖ１３を第
２の乗算機能により（−１）を乗じて値Ｖ１５を得、第
３の相加機能でその値Ｖ１５と右側出力軸の回転数帰還
を足し合わせて値Ｖ１６を得、その値Ｖ１６を最終的な
右側出力軸モータトル指令とする第２のトルク補正回
路。The torque correction circuit of the load DC motor connected to the output shaft of the three-axis differential gear durability tester according to the present invention includes a first and second multiplication function, one proportional integration function, and first and second functions. And a third addition function, and the following (A)
And the first and second torque correction circuits described in (B), and corrects the motor torque command to each of the left and right output shafts, and finally outputs the motor to each of the left and right output shafts. The torque command was adopted. (A) By the first addition function, the feedback of the rotation speed of the left output shaft and the feedback of the rotation speed of the right output shaft are added to obtain V11, and the value V11 is used as the input value of the proportional integration function. The output value V12 of the integration function is multiplied by に よ り by the first multiplication function to obtain a value V13, and the value V13 is used as the sum value V14 with the left output shaft motor torque command by the second addition function. A first torque correction circuit that uses the value V14 as a final left output shaft motor torque command. (B) The value V13 obtained by the first multiplying function is multiplied by (-1) by the second multiplying function to obtain a value V15, and the value V15 and the rotation of the right output shaft are obtained by a third adding function. A second torque correction circuit that adds a number feedback to obtain a value V16 and uses the value V16 as a final right output shaft motor torque command.

【０００９】[0009]

【発明の実施の形態】本発明の３軸ディファレンシャル
ギヤ耐久試験機の各出力軸に連結される負荷用直流モー
タの速度補正回路及びトルク補正回路の一実施の形態
を、図２をも参照し図１（Ａ）及び（Ｂ）を用いて説明
する。 速度補正回路：左側及び右側出力軸ＳＬ、ＳＲの負荷用
直流モータＭＬ、ＭＲの速度制御時の速度補正回路を図
１（Ａ）にブロック線図で示す。この補正回路では、先
ず、左側出力軸ＳＬからのトルク帰還ＴＬｆｂ（＋）の
絶対値Ｖ１を第１の絶対値算出器１１Ａにより算出し、
同様に右側出力軸ＳＲからのトルク帰還ＴＲｆｂ（−）
の絶対値Ｖ２を第２の絶対値算出器１１Ｂにより算出す
る。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a speed correction circuit and a torque correction circuit of a load DC motor connected to each output shaft of a three-axis differential gear durability tester of the present invention will be described with reference to FIG. This will be described with reference to FIGS. Speed correction circuit: FIG. 1A is a block diagram showing a speed correction circuit at the time of speed control of the load DC motors ML and MR of the left and right output shafts SL and SR. In this correction circuit, first, the absolute value V1 of the torque feedback TLfb (+) from the left output shaft SL is calculated by the first absolute value calculator 11A,
Similarly, torque feedback TRfb (−) from right output shaft SR
Is calculated by the second absolute value calculator 11B.

【００１０】次に、相引点Ｓ１により、値Ｖ１より値Ｖ
２を差し引いて値Ｖ３を算定し、第１の乗算器１２によ
り値Ｖ３に１／２を乗ずることにより値Ｖ４を得る。な
お、ここでは、右側出力軸ＳＲを正転とし、左側出力軸
ＳＬを逆転とするので、値Ｖ４は左側出力軸ＳＬのトル
ク帰還ＴＬｆｂ（＋）と右側出力軸のトルク帰還ＴＲｆ
ｂ（−）の差に該当する値である。また、第２の相引点
Ｓ２により、右側出力軸ＳＲのトルク帰還ＴＲｆｂ
（−）の絶対値Ｖ２から値Ｖ４を差し引いて値Ｖ５を得
る。Next, the value V1 is subtracted from the value V1 by the subtraction point S1.
The value V3 is calculated by subtracting 2, and the value V4 is obtained by multiplying the value V3 by に よ り by the first multiplier 12. Here, since the right output shaft SR is rotated forward and the left output shaft SL is rotated reversely, the value V4 is the torque feedback TLfb (+) of the left output shaft SL and the torque feedback TRf of the right output shaft.
This is a value corresponding to the difference of b (−). Further, the torque feedback TRfb of the right output shaft SR is obtained by the second subtraction point S2.
The value V4 is obtained by subtracting the value V4 from the absolute value V2 of (-).

【００１１】更に、前記値Ｖ５を比例積分回路（以下Ｐ
Ｉ回路という）１３Ａの入力値とし、ＰＩ回路１３Ａの
出力値Ｖ６を相加点Ｓ３において左側出力軸モータの速
度指令と足し合わせて値Ｖ７を得、その値Ｖ７を最終的
な左側出力軸モータの速度指令とする。一方、右側出力
軸モータ速度指令については、そのまま補正を加えず
に、最終的な右側出力軸モータ速度指令とする。Further, the value V5 is converted to a proportional integration circuit (hereinafter P
The value V7 is obtained by adding the output value V6 of the PI circuit 13A to the speed command of the left output shaft motor at the addition point S3, and obtaining the value V7 as the final left output shaft motor. Speed command. On the other hand, the right output shaft motor speed command is used as a final right output shaft motor speed command without any correction.

【００１２】この速度補正回路を図２に示した３軸ディ
ファレンシャルギヤ耐久試験機に取り付け、左側及び右
側出力軸ＳＬ、ＳＲの負荷用直流モータＭＬ、ＭＲの速
度制御を行うことにより、左側出力軸ＳＬ及び右側出力
軸ＳＲのトルクを一致させることが可能となる。This speed correction circuit is attached to the three-axis differential gear durability tester shown in FIG. 2 to control the speed of the load DC motors ML and MR of the left and right output shafts SL and SR, thereby obtaining the left output shaft. The torque of SL and the right output shaft SR can be matched.

【００１３】トルク補正回路：次に、直流モータのトル
ク制御時のトルク補正回路を図１（Ｂ）にブロック線図
で示す。この補正回路は、左側出力軸については次の
（Ａ）項に示す第１の補正回路、右側出力軸については
（Ｂ）で示す第２の補正回路のように構成される。FIG. 1B is a block diagram showing a torque correction circuit for controlling the torque of the DC motor. This correction circuit is configured as a first correction circuit shown in the following item (A) for the left output shaft, and as a second correction circuit shown in (B) for the right output shaft.

【００１４】（Ａ）左側出力軸の直流モータの第１のト
ルク補正回路：先ず、第１の相加点Ｓ４により、左側出
力軸ＳＬの回転数帰還ＮＬｆｂ（＋）と右側出力軸の回
転数帰還ＮＲｆｂ（−）を足し合わせてＶ１１を求め
る。なお、ここでは、右側出力軸ＳＲを正転とし、左側
出力軸ＳＬを逆転とするので、値Ｖ１１は左側出力軸Ｓ
Ｌの回転数帰還ＮＬｆｂ（＋）と右側出力軸の回転数帰
還ＮＲｆｂ（−）の差に該当する値である。次に、その
値Ｖ１１をＰＩ回路１３Ｂの入力値とし、当該ＰＩ回路
１３Ｂの出力値Ｖ１２を第１の乗算器１４により１／２
を乗じて値Ｖ１３を得、その値Ｖ１３を第２の相加点Ｓ
５で左側出力軸モータのトルク指令と足し合わせて値Ｖ
１４とし、その値Ｖ１４を最終的な左側出力軸モータの
トルク指令とする。(A) First torque correction circuit of the DC motor of the left output shaft: First, the rotation speed feedback NLfb (+) of the left output shaft SL and the rotation speed of the right output shaft are determined by the first additive point S4. V11 is obtained by adding the feedback NRfb (-). Here, since the right output shaft SR is rotated forward and the left output shaft SL is rotated reversely, the value V11 is set to the left output shaft S
This is a value corresponding to the difference between the rotation speed feedback NLfb (+) of L and the rotation speed feedback NRfb (−) of the right output shaft. Next, the value V11 is used as an input value of the PI circuit 13B, and the output value V12 of the PI circuit 13B is reduced to 1/2 by the first multiplier 14.
To obtain a value V13, and the value V13 is added to the second additive point S
5, the value V is added to the torque command of the left output shaft motor.
14, and the value V14 is used as a final torque command for the left output shaft motor.

【００１５】（Ｂ）右側出力軸の直流モータの第２のト
ルク補正回路：第１の乗算器１４によって得られた値Ｖ
１３に第２の乗算器１５により更に（−１）を乗じ値Ｖ
１５を得、その値Ｖ１５と右側出力軸モータトルク指令
とを第３の相加点Ｓ６で足し合わせ値Ｖ１６とし、その
値Ｖ１６を最終的な右側出力軸モータトルク指令とす
る。(B) The second torque correction circuit of the DC motor of the right output shaft: the value V obtained by the first multiplier 14
13 is further multiplied by (−1) by the second multiplier 15 to obtain a value V
15, the value V15 and the right output shaft motor torque command are added at a third addition point S6 to obtain a sum V16, and the value V16 is used as a final right output shaft motor torque command.

【００１６】このトルク補正回路を図２に示した３軸デ
ィファレンシャルギヤ耐久試験機に取り付け、各出力軸
ＳＲ、ＳＬの負荷用直流モータＭＲ、ＭＬのトルク制御
を行うことにより、左側出力軸ＳＬ及び右側出力軸ＳＲ
の回転数を一致させることが可能となる。The torque correction circuit is attached to the three-axis differential gear durability tester shown in FIG. 2 and the torque of the load direct-current motors MR and ML of the output shafts SR and SL is controlled. Right output shaft SR
Can be matched.

【００１７】本発明は上記の各実施の形態に限定され
ず、種々の改変が可能である。例えば、上記の各実施の
形態では速度補正回路及びトルク補正回路をハードウェ
アで構成する場合で説明したが、これらの同等の機能を
行うため、コンピュータプログラムを組み、ソフトウェ
アで実現するという構成にしても良い。The present invention is not limited to the above embodiments, and various modifications are possible. For example, in each of the above embodiments, the case where the speed correction circuit and the torque correction circuit are configured by hardware has been described. However, in order to perform these equivalent functions, a computer program is assembled and realized by software. Is also good.

【００１８】[0018]

【発明の効果】本発明の３軸ディファレンシャルギヤ耐
久試験機の負荷用直流モータの速度補正回路及びトルク
補正回路は上述のような構成としたために、以下のよう
な優れた効果を有する。 （１）各直流モータの速度制御時には、本発明の速度補
正回路により、３軸ディファレンシャルギヤ耐久試験機
の左側出力軸と右側出力軸のトルクを一致させることが
できる。 （２）各直流モータのトルク制御時には、本発明のトル
ク補正回路により、３軸ディファレンシャルギヤ耐久試
験機の左側出力軸と右側出力軸の回転数とを一致させる
ことができる。 （３）従って、試験対象であるディファレンシャルギヤ
本来の耐久性能を正確に把握することが可能となる。The speed correction circuit and the torque correction circuit of the load DC motor of the three-axis differential gear durability tester according to the present invention have the following advantages because of the above-described configuration. (1) When controlling the speed of each DC motor, the torque of the left output shaft and the right output shaft of the three-axis differential gear durability tester can be matched by the speed correction circuit of the present invention. (2) During the torque control of each DC motor, the torque correction circuit of the present invention can make the rotational speeds of the left output shaft and the right output shaft of the three-axis differential gear durability test machine coincide with each other. (3) Therefore, it is possible to accurately grasp the original durability performance of the differential gear to be tested.

【図面の簡単な説明】[Brief description of the drawings]

【図１】本発明の３軸ディファレンシャルギヤ耐久試験
機の出力軸に連結される負荷用直流モータの速度補正回
路及びトルク補正回路の構成を示す図で、同図（Ａ）
は、直流モータの速度制御時の速度補正回路のブロック
線図、同図（Ｂ）は、直流モータのトルク制御時のトル
ク補正回路のブロック線図である。FIG. 1 is a diagram showing a configuration of a speed correction circuit and a torque correction circuit of a load DC motor connected to an output shaft of a three-axis differential gear durability tester according to the present invention; FIG.
3 is a block diagram of a speed correction circuit at the time of DC motor speed control, and FIG. 3B is a block diagram of a torque correction circuit at the time of DC motor torque control.

【図２】３軸ディファレンシャルギヤの耐久試験機の構
成の一例を示す接続回路である。FIG. 2 is a connection circuit showing an example of a configuration of a durability test machine for a three-axis differential gear.

【符号の説明】[Explanation of symbols]

１１Ａ、１１Ｂ：絶対値算出器（ＡＢＳ） １３Ａ、１３Ｂ：比例積分回路（ＰＩ回路） ＴＬｆｂ（＋）：左側出力軸トルク帰還 ＴＲｆｂ（−）：右側出力軸トルク帰還 ＮＬｆｂ（＋）：左側出力軸回転数帰還 ＮＲｆｂ（−）：右側出力軸回転数帰還 Ｓ１、Ｓ２：相引点 Ｓ３〜Ｓ７：相加点 １２、１４、１５：乗算器 11A, 11B: Absolute value calculator (ABS) 13A, 13B: Proportional integration circuit (PI circuit) TLfb (+): Left output shaft torque feedback TRfb (-): Right output shaft torque feedback NLfb (+): Left output shaft Rotational speed feedback NRfb (-): Right side output shaft rotational speed feedback S1, S2: Subtraction point S3 to S7: Addition point 12, 14, 15: Multiplier

Claims (2)

【特許請求の範囲】[Claims] 【請求項１】 第１及び第２の絶対値算出機能、１つの
乗算機能、第１及び第２の相引機能、１つの相加機能と
１つの比例積分機能を備え、 前記第１の絶対値算出機能により、左側出力軸のトルク
帰還の絶対値Ｖ１を求め、同様に第２の絶対値算出機能
により、右側出力軸のトルク帰還の絶対値Ｖ２を求め、
第１の相引機能により値Ｖ１から値Ｖ２を差し引いて値
Ｖ３を算定し、前記乗算機能によりその値Ｖ３に１／２
を乗じて値Ｖ４を得、更に第２の相引機能により右側出
力軸のトルク帰還の絶対値Ｖ２から値Ｖ４を差し引いて
値Ｖ５を得、その値Ｖ５を前記比例積分機能の入力値と
し、当該比例積分機能の出力値Ｖ６と左側出力軸モータ
速度指令とを前記の相加機能で足し合わせて値Ｖ７と
し、その値Ｖ７を最終的な左側出力軸モータ速度指令と
し、 一方、右側出力軸モータ速度指令については、そのまま
補正を加えずに最終的な右側出力軸モータ速度指令とす
ることを特徴とする３軸ディファレンシャルギヤ耐久試
験機の出力軸に連結される負荷用直流モータの速度補正
回路。A first absolute value calculating function, one multiplying function, first and second subtracting functions, one adding function, and one proportional integration function; The absolute value V1 of the torque feedback of the left output shaft is obtained by the value calculating function, and the absolute value V2 of the torque feedback of the right output shaft is similarly obtained by the second absolute value calculating function.
The value V3 is calculated by subtracting the value V2 from the value V1 by the first subtraction function, and the value V3 is reduced to 1/2 by the multiplication function.
And a value V4 is subtracted from the absolute value V2 of the torque feedback of the right output shaft by a second subtraction function to obtain a value V5. The value V5 is used as an input value of the proportional integration function. The output value V6 of the proportional integration function and the left output shaft motor speed command are added by the addition function to obtain a value V7, and the value V7 is used as a final left output shaft motor speed command. The speed correction circuit for a DC motor for a load connected to the output shaft of a three-axis differential gear endurance test machine, wherein the motor speed command is used as a final right output shaft motor speed command without any correction. . 【請求項２】 第１、第２の乗算機能、１つの比例積分
機能、第１、第２及び第３の相加機能を備え、 次の（Ａ）及び（Ｂ）項記載の第１及び第２のトルク補
正回路より構成され、左側及び右側の各出力軸へのモー
タトルク指令を補正して、最終的な左側及び右側の各出
力軸へのモータトルク指令とすることを特徴とする３軸
ディファレンシャルギヤ耐久試験機の出力軸に連結され
る負荷用直流モータのトルク補正回路。 （Ａ）第１の相加機能により、左側出力軸の回転数帰還
と右側出力軸の回転数帰還とを足し合わせてＶ１１を
得、その値Ｖ１１を前記比例積分機能の入力値とし、当
該比例積分機能の出力値Ｖ１２に、第１の乗算機能によ
り１／２を乗じて値Ｖ１３を得、その値Ｖ１３を第２の
相加機能で左側出力軸モータトルク指令と足し合わせ値
Ｖ１４とし、その値Ｖ１４を最終的な左側出力軸モータ
トルク指令とする第１のトルク補正回路。 （Ｂ）前記第１の乗算機能により得られた値Ｖ１３を第
２の乗算機能により（−１）を乗じて値Ｖ１５を得、第
３の相加機能でその値Ｖ１５と右側出力軸の回転数帰還
を足し合わせて値Ｖ１６を得、その値Ｖ１６を最終的な
右側出力軸モータトル指令とする第２のトルク補正回
路。2. It has first and second multiplication functions, one proportional-integral function, first, second and third addition functions, and the first and second functions described in the following (A) and (B). A second torque correction circuit configured to correct a motor torque command to each of the left and right output shafts to obtain a final motor torque command to each of the left and right output shafts; A torque correction circuit for a load DC motor connected to the output shaft of a shaft differential gear durability tester. (A) By the first addition function, the feedback of the rotation speed of the left output shaft and the feedback of the rotation speed of the right output shaft are added to obtain V11, and the value V11 is used as the input value of the proportional integration function. The output value V12 of the integration function is multiplied by に よ り by the first multiplication function to obtain a value V13, and the value V13 is used as the sum value V14 with the left output shaft motor torque command by the second addition function. A first torque correction circuit that uses the value V14 as a final left output shaft motor torque command. (B) The value V13 obtained by the first multiplying function is multiplied by (-1) by the second multiplying function to obtain a value V15, and the value V15 and the rotation of the right output shaft are obtained by a third adding function. A second torque correction circuit that adds a number feedback to obtain a value V16 and uses the value V16 as a final right output shaft motor torque command.
JP9137466A 1997-05-13 1997-05-13 Speed correction circuit and torque correction circuit for loading dc motor coupled to output shaft of three-axis differential gear durability tester Pending JPH10323086A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP9137466A JPH10323086A (en) 1997-05-13 1997-05-13 Speed correction circuit and torque correction circuit for loading dc motor coupled to output shaft of three-axis differential gear durability tester

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP9137466A JPH10323086A (en) 1997-05-13 1997-05-13 Speed correction circuit and torque correction circuit for loading dc motor coupled to output shaft of three-axis differential gear durability tester

Publications (1)

Publication Number Publication Date
JPH10323086A true JPH10323086A (en) 1998-12-04

Family

ID=15199273

Family Applications (1)

Application Number Title Priority Date Filing Date
JP9137466A Pending JPH10323086A (en) 1997-05-13 1997-05-13 Speed correction circuit and torque correction circuit for loading dc motor coupled to output shaft of three-axis differential gear durability tester

Country Status (1)

Country Link
JP (1) JPH10323086A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2013047551A1 (en) * 2011-09-30 2015-03-26 国際計測器株式会社 Torsion test equipment
CN108501768A (en) * 2018-03-29 2018-09-07 南京航空航天大学 A kind of two-wheeled method for control speed based on Z axis gyroscope and difference in wheel

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2013047551A1 (en) * 2011-09-30 2015-03-26 国際計測器株式会社 Torsion test equipment
CN108501768A (en) * 2018-03-29 2018-09-07 南京航空航天大学 A kind of two-wheeled method for control speed based on Z axis gyroscope and difference in wheel
CN108501768B (en) * 2018-03-29 2021-05-07 南京航空航天大学 Two-wheel speed control method based on Z-axis gyroscope and wheel speed difference

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