Patent ID: 9164005
Filing Date: 2015-10-20
Classification: G01L,G01N,H02P

Abstract:
1. A dynamometer system comprising: a dynamometer that is connected by a common shaft to a load device; an inverter that supplies electric power to the dynamometer; an encoder that detects a rotational position or angular velocity of the dynamometer; a shaft torque meter that detects shaft torque between the load device and the dynamometer; and a control device that controls the dynamometer based on a detection value of the encoder and a detection value of the shaft torque meter, wherein the control device includes: a main control unit that calculates a torque-current-command value to serve as an input to the inverter, based on a command value relative to the detection value of the encoder inputted externally, and the detection value of the encoder; a shaft-torque-detection-compensation unit that adds a compensation amount obtained by multiplying a filter transfer function and a suppression gain by the detection value of the shaft torque meter, to the torque-current-command value calculated by the main control unit, so as to correct the torque-current-command value; and a disturbance observer compensation unit that calculates a disturbance observer based on the detection value of the encoder and the torque-current-command value calculated by the main control unit, and subtracts the disturbance observer thus calculated from the torque-current-command value calculated by the main control unit, so as to correct the torque-current-command value, wherein the filter transfer function of the shaft-torque-detection-compensation unit is set with only a resonance frequency of a mechanical system consisting of the load device and the dynamometer and a vicinity thereof as a passband, and wherein the disturbance observer compensation unit has a characteristic of blocking a frequency band higher than a cutoff frequency which is set to be lower than the resonance frequency.