• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:

    公开号:AT510041A4
    申请号:T0017211
    申请日:2011-02-09
    公开日:2012-01-15
    发明作者:Robert Dr Bauer；Wolfgang Dipl Ing Ettl；Christian Dipl Ing Gritsch；Michael Dipl Ing Wastian
    申请人:Seibt Kristl & Co Gmbh；
    IPC主号:
    专利说明:

    I
    I
    1
    The invention relates to a method for simulating a translationally or rotationally moving body, wherein a force acting on the body or a torque acting on the body is detected and the body is assigned a desired mass or a desired moment of inertia, wherein the force or the torque and the desired mass or the desired moment of inertia are used to determine a desired speed for a cruise control, which regulates an actual speed with a control transfer function.
    The invention further relates to a device for simulating a translational or rotationally movable body, having a measuring device for measuring a force acting on the body or a torque acting on the body, which is connected to a computing device which is adapted to measure from the measured force or force Torque and a target mass moment of inertia assigned to the body to provide a target speed for a speed control device having a controller with a control transfer function for controlling an actual speed.
    Such a method for simulating a flywheel is known, for example, from US Pat. No. 4,161,116 in conjunction with a chassis dynamometer for testing a motor vehicle. The chassis dynamometer has a roller supporting a vehicle wheel which is connected to a torque measuring device which supplies the measured torque to a computer. To simulate the moment of inertia of the vehicle, a test mass is provided which is formed by a flywheel coupled to a drive. Since the tested vehicle may have a higher or lower moment of inertia than the proof mass, the speed of the drive is controlled in dependence on the measured torque.
    Accordingly, the deviation between the proof mass and the system to be simulated is taken into account by a corresponding speed rule of the loading machine. However, this method, which is widely used in the prior art, for simulating the flywheel has the disadvantage that the dynamic behavior of the test mass by means of the speed control can be reduced by the speed control ·· «ft ·« · * '2 ........ * " is influenced; the cruise control has a dynamic which distorts the simulation of the vehicle. The influence of the velocity control on the simulation process is, in particular, that the dynamics simulated with the proof mass are delayed relative to that of the real system, i. the proof mass " limps " behind the real system. Thus, the simulation of dynamic processes has errors that should be avoided for a realistic simulation of the vehicle behavior. Under certain test conditions, the self-dynamics of the speed control can also cause instabilities in the simulation process, which would not occur in the real system. Thus, the known flywheel simulation with speed control on a limited range of applications.
    In DE 33 47 182 Al another method for inertia simulation is disclosed in test benches, in which a test specimen, such as an internal combustion engine, is rigidly coupled to a DC electric machine, which simulates the load. The mechanical moment of the test object is detected by a sensor. From the measured moment a desired acceleration of the electric machine is determined with the required moment of inertia. The target acceleration is compared with an actual acceleration, which is calculated from the detected changes in the speed of the machine. Depending on this difference, the torque of the electric machine is readjusted. To determine the target acceleration of the machine, the mechanical moment of the test object is delivered to a smoothing block. Subsequently, a value is formed by division with the desired moment of inertia, which corresponds to the required nominal acceleration of the machine. This method can also be attributed to a speed control of the DC machine, which has the disadvantages explained in connection with US Pat. No. 4,161,116, which can not be remedied by the smoothing module.
    From DE 44 27 966 Al a different method for mass simulation on stationary test stands is known, wherein a load device connected to a test piece is regulated. The actual velocity is determined by differentiation in a • t «* * * # * * · • ·· * * * * *« «** * * *« t * · t «4 ·» * # «*** * 4 * 4 3
    Differentiator and attenuation derived in a controlled timer a torque setpoint. The torque setpoint is compared by a controller with a torque feedback value determined by a torque transducer. If there is a deviation between the torque setpoint and the actual torque value, a correction torque is generated. The timer determines a time constant, which is proportional to a variable mass moment of inertia of the device under test or the test device. This design is intended to prevent instability of the control loop.
    In contrast, the object of the present invention is to provide an easy to implement, stable method of the type mentioned, in which the influence of the speed control on the dynamic behavior of the rotationally or translationally moving body is eliminated or at least considerably reduced. In addition, a structurally simple device of the type mentioned is to be created, with which a precise simulation of the dynamic behavior of a moving body is made possible.
    This is achieved in the method of the type mentioned in that the target speed is determined by means of a transmission element with a reciprocally proportional to the control transfer function transfer function.
    To simulate the dynamic behavior of a rotating body, therefore, a desired moment of inertia is predetermined, which may differ from the available moment of inertia of the rotating body. The difference between the predetermined desired moment of inertia and the available moment of inertia is compensated by means of a speed control for the rotating body. The speed control receives as input a target speed, which is determined from the torque of the rotating body and the desired moment of inertia. The function of the speed control is described by control technology by a complex transfer function, which is the ratio between the output behavior and input behavior of the respective controlled system, i. between desired and actual speed of the rotating body is defined. To the disturbing influence of the speed control on k · V «· 4 '* k | In order to eliminate the simulation of the dynamic behavior of the rotating body, the transmission element has a transfer function which is reciprocal or indirectly proportional to the control transfer function in order to determine the desired speed. The transmission element therefore has a momentum similar to the momentum of the speed control, so that the simulation process as a whole is influenced by the influence of the
    Cruise control is decoupled. Thus, the introduced by the speed control in the overall control loop timing can be compensated by the upstream transmission element. Compared with the known simulation methods, this has the advantage that the rotating body can simulate a desired moment of inertia deviating from the available moment of inertia, without a time delay arising between the dynamic behavior of the body under investigation and that of the simulated system. The problem occurring with known mass simulations that the simulated dynamic behavior runs after the real behavior can be reliably avoided. Thus, a particularly accurate flywheel simulation can be performed, which is particularly advantageous if the rotating body of the properties of a different system to be examined, which is itself subjected to no investigation. The above explanations apply correspondingly to the simulation of translationally moving bodies, wherein only the corresponding physical quantities, specifically force, mass and velocity, are to be used. If features of the invention for the simulation of rotationally moving bodies are explained below, the case of translationally moving bodies should, of course, be included, for which - apart from the use of the corresponding quantities - analogous considerations apply.
    To compensate for the dynamics of the speed control in the control system, it is advantageous if the transmission element for determining the desired speed has an integrating element and an inverse to the control transfer function compensation element. The torque acting on the rotating body, which can be composed of different proportions depending on the version, is on the angular momentum conservation set or twist set with the
    Angular acceleration in relation; in the case of translationally moving bodies, the set of impulses should be applied analogously. In the integrator, the (angular) velocity is determined by integration of the (angular) acceleration. The method for determining the speed from the measured torque using the spin set is, however, extended to the fact that the integrator is coupled to a compensation element having an inverse to the rule transfer function transmission behavior, so that compensates the dynamics of the speed control in a total consideration of the control loop becomes. Of course, the integration element -as well as the other components of the control loop-can be set up for the summation of time-discrete values.
    In order to compensate for the dynamics of the speed or speed control in the transmission element, it is favorable if the desired speed is determined by means of a reciprocally proportional transfer function to a control transfer function of the nth degree, in particular of the 1st or 2nd degree.
    In a particularly preferred embodiment, which allows the use of standard components, it is provided that the transfer function of the transfer member substantially corresponds to that of a PI controller. Such a PI controller is composed in a known manner from the proportions of a (proportional) P-element and an (integrating) I-element with a specific time constant.
    To simulate a translational or rotationally moving body, it is advantageous if the body is formed by a loading machine for simulating the dynamic behavior of a machine element, in particular a flywheel. The loading machine simulates the behavior of the machine element which can be replaced by the loading machine. The loading machine can have a different moment of inertia from the machine element to be simulated. This is the case, for example, if the moment of inertia of the machine element to be simulated is very high, so that a loading machine with matching moment of inertia could not apply the torque required for the simulation. «· ·« 6 ·· ♦ · · * * #
    In order to achieve a precisely working speed or speed control, it is favorable if a disturbance variable connection is made during the speed control.
    The object underlying the invention is also achieved by a device of the type mentioned, in which the computing device for determining the desired speed comprises a transmission member with a reciprocally proportional to the control transfer function transfer function. As a result, the same advantages and technical effects as in the method according to the invention can be achieved, so that reference is made to the above explanations.
    In a particularly preferred embodiment, it is provided that the body is provided as a replica of the dynamic behavior of a machine element, in particular a flywheel, equipped loading machine. The device is in particular part of a test stand, which is known in the prior art in various designs, in particular as a chassis dynamometer or wheel dynamometer.
    The invention will be explained below with reference to an embodiment shown in the figures, to which it should not be limited, however.
    In detail, in the drawing:
    Fig. 1 is a schematic view of a flywheel whose dynamic behavior is simulated;
    Fig. 2 is a schematic view of a loading machine simulating the flywheel shown in Fig. 1; and
    Fig. 3 shows schematically a control loop according to a preferred embodiment of the invention, with a speed control for the loading machine and a compensating member having a transmission element for compensating the dynamics of the speed control. • * * * 4 «t 4 4« · 4 «· 4
    In Fig. 1, a rotationally moving body 1 is shown, which has a flywheel 2 with a (desired) moment of inertia Json. The flywheel 2 is connected to a shaft 3, to which a torque Mw is applied, which causes a rotation of the flywheel 2 in the direction of arrow 3 'with a (angular) speed ω. The spin set provides the relationship between the torque Mw and the (angular) acceleration given in equation (1). J.
    dw ~ dT
    = M (1)
    Equation (1) represents the basis of each flywheel mass simulation in which a velocity ω is derived from the measured torque Mw and the desired moment of inertia Jset.
    This is achieved by transformation and integration of equation (1), resulting in the known speed of inertia Jsoll the speed ω. The transition between the torque Mw and the velocity ω can be described in a known manner by a desired transfer function Tso) i (s) with the complex variable s, cf. Equation (2), which indicates the real behavior of the flywheel 2, which should be simulated as accurately as possible in the simulation.
    Mw {$) 1
    J soltk (2)
    Depending on the design of the simulated system, additional moments can act on the body 1 moved in rotation, which are examined with corresponding test stands known in the prior art, as will be explained below with reference to two examples.
    In order to simulate the behavior of a vehicle taking into account friction and air resistance, roller dynamometers known in the art may be used. For this purpose, the set of swirls given in equation (1) for the case of a machine element with a (wave) moment Mw is extended to equation (3), where Jv denotes the moment of inertia of the vehicle and MRL denotes a torque corresponding to the driving resistance. (3) 8 t ·
    The torque MRL is given according to equation (4) with the coefficients A, B, C for friction and air resistance as a function of angular velocity. (4) Λ {βj-A + Bw + C cu "
    In addition, wheel test stands are known in the state of the art in order to simulate the behavior of a vehicle wheel. In this case, the spin set is expanded to equation (5) with a moment MFx corresponding to the force transmitted to the ground and the moment MReib corresponding to the rolling friction.
    (5)
    Of course, these embodiments can be modified in many ways depending on the simulation.
    FIG. 2 schematically shows a loading machine 4, which is used to simulate the body 1 shown in FIG. 1 in the form of a flywheel 2. The loading machine 4, which may be part of a test stand (not shown), has an inertia moment Jlsx. on, which may differ from the desired target moment of inertia Jso: i of the body 1. This is the case, for example, if the moment of inertia Jso, x is so great or small that a loading machine 4 with a matching moment of inertia could not supply or receive the required torque. In order to compensate for the deviation between the available moment of inertia Jjsl of the loading machine 4 and that of the body 1 to be simulated, the speed of the loading machine 4 is regulated accordingly. Depending on the deviation between target speed ω30χ_ and actual speed oist the loading machine 4, an additional control torque MReg is generated, which is set on the loading machine 4 to track the actual speed oist the target speed ω5οΐι.
    FIG. 3 schematically shows the control diagram of the mass simulation which is used in a device 5 of a (not shown) 9
    Test bench is implemented. The device 5 has a measuring device 6, which measures the torque Mw acting on the body 1. The measuring device 6 is connected to a computing device 7 which has a module 8 which contains the predetermined desired moment of inertia Jset of the body 1. The computing device 7 furthermore has a transmission element 9, which determines from the measured torque Mw and the desired moment of inertia J3C, li a target speed ω50η, which is transmitted to a speed control device 10. The speed control device 10 has a controller 11, which determines a suitable control torque MReg based on a control deviation between the desired speed ω30ιι and actual speed Gjist, which is applied by the loading machine 4 to readjust the actual speed wist the target speed osoli.
    The transition between target speed ω50η and actual speed Oist of the speed control is defined by a control transfer function G (s) with the complex-valued variable s given in equation (6). OJsoJ / U)
    The dynamic behavior of the mass simulation between input (torque Mw) and output (actual speed ωΐ3ί) of the control loop can therefore be determined from equation (2) and equation (6) to equation (7). _ 1_ (7)
    Mw {s) Jsoa *
    As can be seen from equation (7), the speed control causes a deviation between the simulated behavior according to equation (7) and the real, imitative behavior of the flywheel 2 according to equation (2). In other words " limps " the simulated mass of real mass behind the control transfer function G (s) of the cruise control, so that when implementing the transfer function according to equation (7) dynamic processes would be mocked on the test bench. In certain applications (for example, a stiff, weakly damped connection of a second moment of inertia), the mass simulation would also become unstable, although the behavior of the real system would be stable.
    In order to minimize or completely eliminate the influence of the speed control on the simulation of dynamic processes, the transmission element 9 has a transfer function P (s) which is reciprocally proportional to the control transfer function G (s).
    For this purpose, the transmission element 9 has an "l / sn" or integrator 12 and a compensation element 13 inverse to the control transmission function G (s). The transmission element 9 therefore has a transfer function P (s) according to equation (8). P (s) = 1.sGU) (8)
    Thus, for the transition between the measured torque Mw and the actual speed oist, a transfer function Tact (s) is obtained according to equation (9), which advantageously corresponds precisely to the real behavior according to equation (2). (9) _ ωά, (Α ·) _ 1. 1
    Mw (s) JsollsG (s) S J saii s
    The use of the transfer function P (s) therefore allows the flywheel mass simulation of the dynamics of the speed or. Speed control, which is determined by the transfer function G (s) to decouple. Thus, the compensation member 13 of the transmission member 9 is adapted to compensate for the dynamics of the speed control. The transfer function P (s) of the transfer element 9 replaces the previously used integrator, which results from the application of the spin set according to equation (1).
    In one embodiment variant, the speed control device 10 has a control transfer function G (s) of the first degree, which according to equation (10) is determined by coefficients a0 and b0, which can be chosen freely depending on the application. G (s) = - ^ ~ (10) .v + a0
    The result for the transmission element 9 is that given in equation (11). * * * · «I · ·» * I «« «* * ·« ·· «* *
    .. ..- LJ (11) reproduced transfer function P (s) sG (s) b0s b0 b0 s
    As can be seen immediately from equation (11), the transfer function P (s) essentially corresponds to that of a simple PI controller, so that the computing device 7 can advantageously be constructed from low-cost, easy-to-implement standard modules.
    In an alternative embodiment, the speed control has a second order transfer function which is defined in general form according to equation (12) with coefficients a0, ai, bG, bi, which can be freely selected according to the application. G (s) = bx s + b0 52 + ö [5 + n g (12) of the transmission (13)
    This results in a transfer function P (s) transmission element 9 according to equation (13). = / "Ι = _! _ = 1 ± η £ ί £ o sG (s) b] s2 + b0s
    The above explained by the example of a rotating body 1 mass simulation is analogously applicable to translationally moving body, with the underlying computational models differ only by the use of appropriate physical variables (mass instead of moment of inertia, acceleration instead of angular acceleration, etc.).
    权利要求:
    Claims (8)
    [1]
    1. A method for simulating a translationally or rotationally moving body (1), wherein a force acting on the body (1) or on the body (1) acting Torque (Mw) is detected and the body (1) is assigned a desired mass or a desired moment of inertia (Json), wherein the force or the torque (MJ and the target mass or the desired moment of inertia (jsoll ) are used for determining a desired speed (osoli) for a speed control, which regulates an actual speed (mist) with a control transfer function (G (s)), characterized in that the desired speed (ω = οΐι) by means of a transfer member ( 9) is determined with a transfer function (P {s)) proportional to the control transfer function (G (s)).
    [2]
    2. The method according to claim 1, characterized in that the transmission member (9) for determining the desired speed (ωΕΟπ) an integrator {12) and to the control transfer function (G (s)) inverse compensation member (13).
    [3]
    3. The method according to claim 1 or 2, characterized in that the desired speed (coson) by means of a to a rule transfer function n the degree, in particular 1st degree or 2nd degree, reciprocal proportional transfer function <P (s>) is determined ,
    [4]
    4. The method according to claim 3, characterized in that the transfer function (P (s)) of the transmission element (9) substantially corresponds to that of a PI controller.
    [5]
    5. The method according to any one of claims 1 to 4, characterized in that the body (1) by a loading machine (4) for simulating the dynamic behavior of a machine element, in particular a flywheel (2) is formed.
    [6]
    6. The method according to any one of claims 1 to 5, characterized in that in the speed control a StörgrößenaufSchnaltung is made.

    • · 4 · · · * 4 * «· · · · · · · · · ·« · · · ·
    [7]
    7. Device (5) for simulating a translationally or rotationally movable body (1), with a measuring device (6) for measuring a body-acting force or a torque acting on the body (Mw) connected to a computing device (7) is, which is adapted to from the measured force or torque (Mw) and the body (1} associated desired mass or moment of inertia (Jsoli) to deliver a target speed (ω5οη) for a speed control device (10), having a controller (11) with a control transfer function (G (s)) for controlling an actual speed (mist), characterized in that the computing device (7) for determining the desired speed (ω301ι) a transmission member (9) with a for Rule transfer function (G (s)) reciprocal proportional transfer function (P (s)).
    [8]
    8. The device according to claim 7, characterized in that as a body (1) for simulating the dynamic behavior of a machine element, in particular a flywheel (2), equipped loading machine (4) is provided.
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    AT0017211A|AT510041B1|2011-02-09|2011-02-09|METHOD AND DEVICE FOR SIMULATING A TRANSLATORALLY OR ROTATIVELY MOVING BODY|AT0017211A| AT510041B1|2011-02-09|2011-02-09|METHOD AND DEVICE FOR SIMULATING A TRANSLATORALLY OR ROTATIVELY MOVING BODY|
    EP11784407.6A| EP2673610B1|2011-02-09|2011-11-08|Method and device for simulating a body that is moved in a translational or rotational manner|
    US13/807,120| US8689640B2|2011-02-09|2011-11-08|Method and device for simulating a body that is moved in a translational or rotational manner|
    PCT/AT2011/000449| WO2012106737A1|2011-02-09|2011-11-08|Method and device for simulating a body that is moved in a translational or rotational manner|
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