| 摘要 |
PROBLEM TO BE SOLVED: To permit a simulation with high responsivity and high control accuracy in an electric inertia control and compensation operation which controls the inertial resistance of a vehicle by controlling the output torque of a dynamometer. SOLUTION: A disturbance torque observer 21 finds the estimated value FREC of the engine driving torque of a dynamometer 13. On the basis of the estimated value, an inertia-compensation-gain adjustment part 22 gives an electric-inertia-controlled-and-compensated current I0 to a current control system (ACR) 12 while a loop gain is being made constant. A driving force observer 24 finds the estimated value FRE of the engine driving torque on the basis of a torque detected value and on the basis of an acceleration detected value. Theoretical-speed computing means 25 to 27 subtract the running-resistance set value FRL of a vehicle from the estimated value FRE and the set value is divided by a set inertial value J so as to find a theoretical acceleration α. The theoretical acceleration is integrated, and the theoretical speed command NS of a speed control system is obtained. |
