PROBLEM TO BE SOLVED: To provide a slip control device capable of stably and accurately controlling slipping and relatively easily executing control engineering even when dead time is relatively long from outputting of the torque command of a vehicle controller to inputting of a wheel rotational speed fed back to the controller.SOLUTION: This slip control device has: control means 13 such as a PI for generating a torque compensation value Kby PI control or PID control on the basis of deviation between a permitted rotational speed and a wheel rotational speed; addition means 14 and 15 for calculating a torque command output value by adding the torque compensation value to a torque command input value received from host control means 3; and dead time compensation means 17 that has a control target model 18 including dead time and adds dead time compensation to the generation of the torque compensation value by Smith method. An input to the dead time compensation means 17 is an output of P compensation or PD compensation excluding I compensation of the PI compensation or the PID compensation.SELECTED DRAWING: Figure 2

    【課題】 車両コントローラのトルク指令の出力から同コントローラにフィードバックされる車輪回転速度の入力までに比較的大きな無駄時間を持つ場合にも、安定かつ精度良くスリップ制御可能で、比較的に容易に制御設計可能なスリップ制御装置を提供する。【解決手段】 許容回転速度と車輪の回転速度との偏差からPI制御またはPID制御によるトルク補償値KPIDを生成するPI等制御手段13を有する。上位制御手段3から受け取るトルク指令入力値に前記トルク補償値を加算してトルク指令出力値とする加算手段14,15を有する。無駄時間を含む制御対象モデル18を有しスミス法により前記トルク補償値の生成に無駄時間補償を加える無駄時間補償手段17を有する。前記無駄時間補償手段17への入力は前記PI補償または前記PID補償の内のI補償を除くP補償またはPD補償の出力とする。【選択図】 図2


    Access

    Download


    Export, share and cite



    Title :

    SLIP CONTROL DEVICE


    Additional title:

    スリップ制御装置


    Contributors:

    Publication date :

    2017-05-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



    SLIP CONTROL DEVICE

    SUGAI TOMOHIRO | European Patent Office | 2021

    Free access

    SLIP CONTROL DEVICE

    MIZUGAI TOMOHIRO / HIRATA JUNICHI | European Patent Office | 2017

    Free access

    SLIP CONTROL DEVICE

    KOSAKA SHUICHI / HIRATA JUNICHI | European Patent Office | 2019

    Free access

    Slip control device

    SUGAI TOMOHIRO | European Patent Office | 2020

    Free access

    SLIP CONTROL DEVICE

    SUGAI TOMOHIRO | European Patent Office | 2018

    Free access