| 摘要 |
PURPOSE:To prevent repetitions of plipping and adhering by so forming a first fuzzy inference block for controlling a motor torque and a second fuzzy inference block for correcting instability of an acceleration deviation as to follow up an acceleration command applied to a variable-voltage variable-frequency (VVVF) electric motor vehicle. CONSTITUTION:Induction motors 2A-2D of an electric motor vehicle 1 are driven by VVVF output from an inverter 101 to rotate drive wheels 3A-3D. Speeds of the motors are detected by detectors 4A-4D, and frequencies of the motors 2 are calculated 5A-5D. The frequencies of the motors 2 are differentiated by differentiators 6A-6D to obtain accelerations, its minimum value is selected at the time of power driving, and its maximum value is selected at the time of braking by a selector 8. An output (a) of schedule acceleration generating means 9 is subtracted to obtain an acceleration deviation (e). It is differentiated by a differentiator 11, normalized by normalizers 12X, 12Y, inferred by a fuzzy inference unit 13, integrated by an integrator 14 so that an acceleration follows up an acceleration command. Instability of the deviation (e) is evaluated by an evaluator 16, normalized by a normalizer 16, inferred by a fuzzy inference unit 17, integrated by an integrator 18, and a schedule acceleration (a) is corrected. Thus, vibration due to repetitions of slipping and adhering is prevented. |
