Patent ID: 11942884
Assignee: MEIDENSHA CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC H  B  G  Y | IPC B  G  H

Claim 10:
11. The vehicle system vibration suppression control device as claimed in claim 9, comprising:
a backlash period detection section configured to detect a backlash period;
a compensation torque subtractor configured to subtract the compensation torque component (ΔTcomp) from the torque command (Tref_LPF) to output the output torque command (Tm), wherein the torque command (Tref_LPF) is produced by causing the input torque command (Tref) to pass through the prefilter to suppress a high frequency band;
first and second torque limiters configured to limit the output torque command (Tm) outputted from the compensation torque subtractor, wherein the first torque limiter has a first torque limit value, and wherein the second torque limiter has a second torque limit value smaller than the first torque limit value;
a switch configured to select one of an output of the first torque limiter and an output of the second torque limiter, and when the backlash period detection section detects the backlash period, select the output of the second torque limiter; and
an adder configured to calculate a first sum of the output of one of the torque limiters selected by the switch and the compensation torque component (ΔTcomp), and feed the first sum back to the prefilter;
wherein the backlash period detection section includes:
a torque-to-phase transformation section configured to receive input of the shaft torsional torque ({circumflex over ( )}Td) estimated, which is a difference between the second quantity ({circumflex over ( )}Tm) and the estimated motor-accelerating torque component ({circumflex over ( )}TmA), and transform the estimated shaft torsional torque ({circumflex over ( )}Td) into an estimated shaft torsional phase ({circumflex over ( )}θd);
a backlash start timing detection section configured to detect a zero cross point of the estimated shaft torsional phase ({circumflex over ( )}θd) as a start timing of the backlash period;
a torsional speed estimation section configured to estimate the shaft torsional speed by time-differentiating the estimated shaft torsional phase ({circumflex over ( )}θd);
a speed change estimation section configured to estimate a speed change component during the backlash period by time-integrating the output torque command (Tm);
a torsional displacement estimation section configured to calculate an estimated phase change amount ({circumflex over ( )}ΔθBL) corresponding to backlash by:
calculating a second sum of the shaft torsional speed, which is estimated by the torsional speed estimation section, an initial torsional speed, which is stored at the start timing of the backlash period detected by the backlash start timing detection section, and the speed change component during the backlash period, which is estimated by the speed change estimation section; and
time-integrating the second sum; and

a backlash end detection section configured to detect an end of the backlash period by comparing the phase change amount ({circumflex over ( )}ΔθBL), which is estimated by the torsional displacement estimation section, with an absolute value of backlash phase width ({circumflex over ( )}θd) and a margin width (Δθ) as set values; and

wherein the backlash period is detected based on the backlash start timing detected by the backlash start timing detection section and the backlash end signal detected by the backlash end detection section.