Test device, test method and program

Abstract

To provide a test device capable of executing a test with a simple method and in which an actual use environment is simulated, without using a complicated control flow and transient torque map.SOLUTION: A test device comprises: an inertia setting part for setting an actual load inertia of an actual use environment, a test load inertia of the test device, and a motor inertia of a specimen motor; a load torque acquisition part for acquiring a load torque applied to the specimen motor; a compensation torque calculation part for, on the basis of the motor torque generated by the specimen motor, the load torque, the motor inertia, the actual load inertia, and the test load inertia, calculating compensation torque for compensating an angular speed difference of the specimen motor between the actual use environment and the test device caused by a difference of the actual load inertia and the test load inertia; and a torque command value calculation part for calculating a torque command value in which the load torque and the compensation torque are added.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a test apparatus, a test method, and a program. [Background technology]

[0002] In motor characteristic tests, a load torque is applied from a bench test device (load test device) to a specimen motor to be tested, simulating an actual usage environment. For example, Patent Document 1 describes a test device that transmits a load torque from a dynamometer connected to a vehicle engine.

[0003] Generally, the angular velocity ω of a test motor in a bench test device is expressed as in equation (2) from the equation of motion expressed in equation (1). In equation (1), T is the torque, I is the inertia, and α is each acceleration. I in equation (2) motor is the inertia of the test motor, I bench is the inertia of the bench test equipment, T motor is the torque generated by the test motor (motor torque), T load is the load torque applied to the test motor by the bench test device. Note that ω -1 is the ω one step (Δt) before. The second term on the right side of equation (2) is the difference Δω from one step before, and the motor torque T motor and the load torque T load The difference between these is called the motor inertia I motor and the inertia I of the bench test equipment bench This is the integral of the composite inertia consisting of

[0004]

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[0005]

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[0006] Based on equation (2), the motor torque Tmotor of the test specimen is output, and a load torque Tload is applied from a bench test device, making it possible to perform a load test simulating an actual usage environment. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Patent No. 4020513 Summary of the Invention [Problem to be solved by the invention]

[0008] As described above, the angular velocity ω of the test motor is determined by the inherent inertia of the test motor and the bench test device, the test motor torque, and the load torque. By applying a constant load torque from the bench test device, it is possible to perform a load test simulating rated operation and a load test simulating a step response speed change. However, in order to more accurately simulate the actual usage environment, it was necessary to prepare a complex control flow simulating the fluctuations in load and inertia, a transient torque map showing the transient change in torque, and the like.

[0009] An object of the present disclosure is to provide a test device, a test method, and a program that can perform tests simulating an actual usage environment in a simpler manner without using complex control flows or transient torque maps. [Means for solving the problem]

[0010] According to one aspect of the present disclosure, a test apparatus is a test apparatus that applies a load torque simulating an actual usage environment to a specimen motor by a load motor, and includes an inertia setting unit that sets an actual load inertia of the actual usage environment, a test load inertia of the test apparatus, and a motor inertia of the specimen motor, a load torque acquisition unit that acquires a load torque to be applied to the specimen motor, a compensation torque calculation unit that calculates a compensation torque to compensate for an angular velocity difference of the specimen motor between the actual usage environment and the test apparatus caused by a difference between the actual load inertia and the test load inertia, based on the motor torque generated by the specimen motor, the load torque, the motor inertia, the actual load inertia, and the test load inertia, and a torque command value calculation unit that calculates a torque command value by adding the load torque and the compensation torque.

[0011] According to one aspect of the present disclosure, a testing method uses a testing device that applies a load torque simulating an actual usage environment to a specimen motor using a load motor, and includes the steps of setting an actual load inertia of the actual usage environment, a test load inertia of the testing device, and a motor inertia of the specimen motor; acquiring a load torque to be applied to the specimen motor; calculating a compensation torque based on the motor torque generated by the specimen motor, the load torque, the motor inertia, the actual load inertia, and the test load inertia, which compensates for the angular velocity difference of the specimen motor between the actual usage environment and the testing device due to the difference between the actual load inertia and the test load inertia; and calculating a torque command value by adding the load torque and the compensation torque.

[0012] According to one aspect of the present disclosure, the program causes a test device that applies a load torque simulating a real-use environment to a specimen motor using a load motor to execute the following steps: setting an actual load inertia of the real-use environment, a test load inertia of the test device, and a motor inertia of the specimen motor; acquiring a load torque to be applied to the specimen motor; calculating a compensation torque based on the motor torque generated by the specimen motor, the load torque, the motor inertia, the actual load inertia, and the test load inertia, to compensate for the angular velocity difference of the specimen motor between the real-use environment and the test device caused by the difference between the actual load inertia and the test load inertia; and calculating a torque command value by adding the load torque and the compensation torque. Effect of the Invention

[0013] According to the above aspect, a test simulating an actual usage environment can be performed in a simpler manner without using a complicated control flow or a transient torque map. [Brief description of the drawings]

[0014] [Figure 1] 1 is a schematic diagram showing an overall configuration of a test device according to a first embodiment. [Diagram 2] 2 is a block diagram showing a functional configuration of a control device according to the first embodiment. FIG. [Diagram 3] 5 is a flowchart showing an example of processing by the control device according to the first embodiment. [Figure 4] 10 is a flowchart showing an example of processing by a control device according to a second embodiment. [Diagram 5] FIG. 11 is a diagram for explaining functions of a control device according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] <First embodiment> Hereinafter, the embodiments will be described in detail with reference to the drawings.

[0016] (Overall configuration of the test equipment) FIG. 1 is a schematic diagram showing the overall configuration of a test device according to the first embodiment. 1, the test apparatus 1 is a bench test apparatus that performs a load test on a specimen motor 20. The test apparatus 1 includes a control device 10, a load motor 11, a torque sensor 12, and a rotation angle sensor 13.

[0017] The control device 10 controls the operation of the load motor 11, and evaluates the load characteristics, etc., of the test specimen motor 20. The detailed functional configuration of the control device 10 will be described later.

[0018] The load motor 11 applies a load torque to the motor under test 20 under the control of the control device 10. The rotating shaft 14 of the load motor 11 is connected to the rotating shaft 21 of the motor under test 20 via joints 15 and 16.

[0019] The torque sensor 12 is provided between the load motor 11 and the test specimen motor 20 and measures the torque of the test specimen motor 20 .

[0020] The rotation angle sensor 13 is disposed, for example, between the motor under test 20 and the torque sensor 12 , and measures the rotation angle and rotation speed of the motor under test 20 .

[0021] (Functional configuration of the control device) FIG. 2 is a block diagram showing a functional configuration of the control device according to the first embodiment. As shown in FIG. 2, the control device 10 includes a processor 100, a memory 101, a storage 102, and a communication interface 103.

[0022] The processor 100 operates according to a predetermined program to thereby fulfill the functions of an inertia setting unit 1001, a load torque obtaining unit 1002, a compensation torque calculating unit 1003, a torque command value calculating unit 1004, and an evaluating unit 1005.

[0023] The inertia setting unit 1001 sets the test load inertia of the test device 1, the actual load inertia in the actual usage environment, and the motor inertia of the motor under test 20.

[0024] The load torque acquisition unit 1002 acquires the load torque applied to the motor under test 20 .

[0025] The compensation torque calculation unit 1003 calculates a compensation torque that compensates for the angular velocity difference of the specimen motor between the actual usage environment and the test equipment caused by the difference between the actual load inertia and the test load inertia, based on the motor torque generated by the specimen motor 20, the load torque, the motor inertia of the specimen motor 20, the actual load inertia, and the test load inertia.

[0026] A torque command value calculation unit 1004 calculates a torque command value by adding the load torque and the compensation torque.

[0027] The evaluation unit 1005 evaluates the characteristics of the motor under test 20 based on the measurement values ​​of the torque and rotation angle of the motor under test 20 acquired from the torque sensor 12 and the rotation angle sensor 13 .

[0028] The predetermined program executed by the processor 100 is stored in a computer-readable recording medium. The computer-readable recording medium refers to a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, etc. The computer program may be distributed to a computer via a communication line, and the computer that receives the program may execute the program. The program may be for implementing part of the above-mentioned functions. The program may be a so-called difference file (difference program) that can realize the above-mentioned functions in combination with a program already recorded in the computer system.

[0029] The memory 101 has a memory area necessary for the operation of the processor 100 .

[0030] The storage 102 is a so-called auxiliary storage device, such as a hard disk drive (HDD), a solid state drive (SSD), etc. The storage 102 stores data that each unit of the processor 100 acquires, generates, and refers to during processing.

[0031] The communication interface 103 transmits and receives various signals (control signals, measurement signals, etc.) to and from each device (load motor 11, torque sensor 12, rotation angle sensor 13).

[0032] (Control device processing flow) FIG. 3 is a flowchart illustrating an example of processing by the control device according to the first embodiment. Here, the flow of processing by the control device 10 will be described with reference to FIG.

[0033] First, the inertia setting unit 1001 sets the actual load inertia in the actual use environment, the test load inertia of the test device 1, and the motor inertia of the motor under test 20 (step S11). The test load inertia is a composite of the inertia of the load motor 11 and the rotating shaft 14 (including the joints 15, 16, the connecting shaft with the motor under test 20, etc.). The actual load inertia is the inertia of the rotating shaft 21 of the motor under test 20 in the actual use environment. The motor inertia may be a design value of the motor under test 20. The actual load inertia and the test load inertia may be calculated and input by an operator based on parameters such as the load of the actual use environment and the design values ​​and weights of the configurations used in each part of the test device 1. In another embodiment, the inertia setting unit 1001 may calculate the actual load inertia and the test load inertia based on parameters input by the operator. The method for calculating the load inertia is known, and therefore the explanation will be omitted.

[0034] The load torque acquisition unit 1002 also acquires the load torque to be applied to the motor under test 20 (step S12). The load torque may be a value input by an operator. For example, the operator calculates and inputs the load torque during rated operation. In another embodiment, the load torque acquisition unit 1002 may acquire the load torque by reading a data file that records a time series of the load torque measured in an actual usage environment.

[0035] Next, the compensation torque calculation unit 1003 calculates a compensation torque for compensating for the difference in load inertia between the actual use environment and the test device 1 (step S13). Hereinafter, a method for calculating the compensation torque will be specifically described.

[0036] From the above formula (2), if the change in angular velocity of the test device 1 in a short time Δt is Δω, then formula (3) is obtained. motor is the motor inertia of the test motor 20, I bench is the load inertia of test device 1, T motor is the motor torque generated by the test motor 20, T load is the load torque applied to the specimen motor 20.

[0037]

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[0038] In addition, the actual load inertia in the actual usage environment is I load This results in equation (4).

[0039]

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[0040] From equation (4), the combined inertia (I motor +I load ) with the motor torque T motor The change in angular velocity in a small time Δt when real This results in equation (5).

[0041]

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[0042] Test load inertia I of test device 1 bench is the actual load inertia I load For this reason, if an attempt is made to simulate a load torque measured in an actual usage environment, for example, by directly applying the measured value of this load torque to equation (4), the angular velocity change Δω of the test specimen motor 20 in the test device 1 will be different from the angular velocity change Δω of the test specimen motor 20 in the actual usage environment. real In other words, there will be a deviation from the actual usage environment.

[0043] Therefore, the test device 1 according to this embodiment compensates for the difference in load inertia between the actual use environment and the test device 1. Specifically, a compensation torque T comp By further applying the above, the angular velocity change Δω of the test motor 20 in the actual load environment is real can be simulated.

[0044]

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[0045] Equation (7) is T comp Solving this gives us equation (8).

[0046]

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[0047]

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[0048] That is, the compensation torque calculation unit 1003 calculates the motor torque T motor , load torque T load, motor inertia I motor , test load inertia I bench , and the actual load inertia I load from the compensation torque T comp can be calculated.

[0049] Next, the torque command value calculation unit 1004 calculates the load torque T load and compensation torque T comp The torque command value (T load +T comp ) (step S14). The load motor 11 operates based on the torque command value calculated by the torque command value calculation unit 1004. In this way, the control device 10 can adjust the torque output by the load motor 11 so as to reduce the difference between the actual usage environment and the testing device 1. In other words, it becomes possible to more accurately simulate the actual usage environment in the testing device 1.

[0050] Furthermore, the evaluation unit 1005 acquires the measurement values ​​of the torque, rotation angle, and rotation speed of the motor under test 20 from the torque sensor 12 and the rotation angle sensor 13 (step S15), and evaluates the characteristics of the motor under test 20 based on the acquired measurement values ​​(step S16). The method of evaluating the characteristics of the motor under test 20 is similar to that of the conventional technology, and therefore a description thereof will be omitted.

[0051] The control device 10 controls the load torque T load 3 while changing the value of , the test specimen motor 20 may be tested by simulating changes in the load in an actual usage environment. In the case of a test specimen motor 20 for a vehicle, the load torque acquisition unit 1002 acquires the load torque T load By using the data file that records the time series of the load torque T load In this case, the compensation torque calculation unit 1003 automatically simulates the change in compensation torque T compand the torque command value calculation unit 1004 calculates the torque command value for each time. Furthermore, the evaluation unit 1005 acquires a time series of the measurement values ​​in step S15, and evaluates the characteristics of the specimen motor 20 according to the driving state of the vehicle in step S16. In this manner, the test device 1 can simulate a state in which the specimen motor 20 is mounted and the vehicle is driven (the driving state is changed), and perform a realistic test that approximates the actual usage environment.

[0052] (Action, effect) As described above, the test device 1 according to this embodiment is capable of measuring the actual load inertia I load and the test load inertia I of the test device 1. bench and the motor inertia I of the test motor 20 motor and a load torque T applied to the test specimen motor 20 by the load motor 11. load and a load torque acquisition unit 1002 that acquires a motor torque T generated by the test specimen motor 20. motor and the load torque T load and motor inertia I motor and the actual load inertia I load and the test load inertia I bench Based on this, the actual load inertia I load and test load inertia I bench A compensation torque T that compensates for the angular velocity difference of the test specimen motor 20 between the actual use environment and the test device 1 due to the difference comp A compensation torque calculation unit 1003 calculates a compensation torque T load and compensation torque T comp and a torque command value calculation unit 1004 that calculates a torque command value by adding

[0053] In the conventional test device, in order to more accurately simulate the actual usage environment, it is necessary to prepare a complex control flow and a transient torque map. In contrast, the test device 1 according to the present embodiment does not require the time-consuming work of preparing the conventional control flow and the transient torque map, and the compensation torque T comp Calculate the load torque T loadBy simply adding the simple calculation of the actual usage environment to the actual test environment, it is possible to perform tests that more accurately simulate the actual usage environment.

[0054] In addition, the load torque acquisition unit 1002 acquires the load torque for each time from a data file in which a time series of the load torque is recorded, the compensation torque calculation unit 1003 calculates the compensation torque corresponding to the load torque for each time, and the torque command value calculation unit 1004 calculates the torque command value for each time.

[0055] In this way, the test device 1 can perform realistic testing that simulates changes in driving conditions in an actual operating environment. For example, when a data file that records a time series of the load torque when the test specimen motor 20 is mounted on a vehicle and driven is used, the test device 1 can perform a test that simulates a state in which the test specimen motor 20 is mounted on a vehicle and driven (changing the driving conditions).

[0056] <Second embodiment> Next, a second embodiment will be described with reference to Figures 4 and 5. Components common to the above-mentioned embodiment will be given the same reference numerals and detailed description will be omitted.

[0057] In the first embodiment, the test device 1 measures the actual load inertia I load and the test load inertia I of test device 1 bench The difference between the torque T comp In the above embodiment, the test device 1 performs a characteristic test by simulating an actual test environment by applying a load torque compensated by the actual load inertia I load An example will be described in which a change in the torque sig- nal is simulated to test whether the test specimen motor 20 is correctly controlled in response to this change.

[0058] (Control device processing flow) FIG. 4 is a flowchart illustrating an example of processing by the control device according to the second embodiment. Here, an example of testing a test specimen motor 20 for a vehicle will be described.

[0059] For example, the actual load inertia I is larger when the vehicle wheels are in a slipping state (idling or sliding) than when they are in contact with the ground (rails). load The inertia setting unit 1001 according to the present embodiment assumes a case where the wheels spin, for example, and calculates the actual load inertia I load (Step S21). This actual load inertia I load The value of may be calculated and input by an operator, or may be calculated by the inertia setting unit 1001 based on parameters input by the operator.

[0060] Furthermore, the load torque acquisition unit 1002 acquires the load torque applied to the motor under test 20 (step S22). This process is the same as step S12 in FIG.

[0061] Next, the compensation torque calculation unit 1003 calculates the compensation torque T comp (Step S23). This process is the same as step S13 in FIG. 3. In this embodiment, the actual load inertia I load Since is set, the compensation torque T comp compensates for the difference in the load inertia between the actual use environment and the test device 1, as well as the difference in the actual load inertia between normal operation (when the wheels are stuck) and when slipping occurs.

[0062] The torque command value calculation unit 1004 calculates the load torque T load and compensation torque T comp The torque command value (T load +T comp ) is calculated (step S24). This process is the same as step S14 in FIG. 3. The load motor 11 operates based on the torque command value calculated by the torque command value calculation unit 1004. In this way, the control device 10 calculates the actual load inertia I load The change in the load current can be simulated by the torque generated by the load motor 11, thereby testing the specimen motor 20.

[0063] Furthermore, the evaluation unit 1005 acquires measurement values ​​from the torque sensor 12 and the rotation angle sensor 13 (step S25), and evaluates the operation of the specimen motor 20 based on the acquired measurement values ​​(step S26).

[0064] FIG. 5 is a diagram for explaining functions of the control device according to the second embodiment. FIG. 5 shows an example of a time series of the vehicle body speed Vc and the wheel rotation speed (rotation speed of the test motor 20) Vw. For example, in an actual usage environment, when the wheels run over dirt or the like, the slip speed Vs, which is the speed difference between the vehicle body speed Vc and the wheel rotation speed Vw, increases over time. When the slip speed Vs exceeds a threshold value, the test motor 20 determines that a slip has occurred, and the motor torque T motor A re-adhesive treatment is performed to reduce this.

[0065] Also, a case will be described in which the test device 1 applies a load torque simulating a slip to the test specimen motor 20. In step S26, the evaluation unit 1005 compares the rotation speed Vw measured by the rotation angle sensor 13 with an estimated value of the vehicle speed Vc based on the torque measured by the torque sensor 12.

[0066] For example, assume that at time t, the slippage speed Vs exceeds the threshold value, and the test specimen motor 20 correctly executes the re-adhesion process. Then, as shown in graph Vw1, the rotation speed Vw of the test specimen motor 20 decreases, and the slippage speed Vs, which is the difference between the expected value of the vehicle body speed Vc, is suppressed from increasing. As the test specimen motor 20 continues the re-adhesion process, the slippage speed Vs gradually decreases, and eventually the vehicle body speed Vc and the rotation speed Vw1 match, and re-adhesion is achieved. On the other hand, if the test specimen motor 20 does not correctly execute the re-adhesion process, the rotation speed Vw and the slippage speed Vs increase, as shown in graph Vw2.

[0067] In step S26, the evaluation unit 1005 evaluates whether the specimen motor 20 has correctly executed the re-adhesion process based on the rotation speed Vw or the slippage speed Vs. If it is determined that re-adhesion has occurred after the slippage speed Vs becomes equal to or greater than the threshold value at time t, the evaluation unit 1005 evaluates that the specimen motor 20 is operating normally (the re-adhesion process has been executed correctly). On the other hand, if it is determined that re-adhesion has not occurred, the evaluation unit 1005 evaluates that the specimen motor 20 is not operating normally (the re-adhesion process has not been executed correctly).

[0068] In a test environment, it is difficult to simulate readhesion between the wheel and the rail. For this reason, the evaluation unit 1005 determines that readhesion has occurred, for example, when the slippage speed Vs becomes equal to or less than a predetermined readhesion determination threshold. Also, the evaluation unit 1005 determines that readhesion has not occurred, for example, when the slippage speed Vs does not become equal to or less than the readhesion threshold even after a predetermined time has elapsed since the slippage speed Vs became equal to or more than the threshold.

[0069] In addition, after simulating the occurrence of slippage, when it is determined that adhesion has been restored, the control device 10 calculates the actual load inertia I load To a value expected in the case where the load re-adhesion occurs, the evaluation unit 1005 may change the actual load inertia I load to the value at the time of re-adhesion, and then it is evaluated whether the test specimen motor 20 is outputting torque correctly in response to, for example, an instruction to accelerate or decelerate.

[0070] The test device 1 is a temporary inertia test device for the actual load I load Since this simulates the change in the vehicle speed Vc, the transient response until the rotation speed Vw matches the vehicle speed Vc due to the readhesion process may not completely match the actual usage environment. However, as described above, it is possible to evaluate whether the readhesion process of the test specimen motor 20 is working by determining whether the rotation speed Vw is reduced to the extent that the slip speed Vs becomes equal to or lower than the readhesion threshold value in a certain period after the occurrence of the slip, and whether the torque is output according to the acceleration / deceleration command after the readhesion.

[0071] (Action, effect) As described above, in the test device 1 according to this embodiment, the inertia setting unit 1001 sets the actual load inertia I load Set.

[0072] In conventional test devices, in order to simulate cases where the load inertia changes, such as when the wheels slip (spin or slide) or when the wheels re-adhere, it is necessary to prepare a complex control flow or a transient torque map. In contrast, the test device 1 according to the present embodiment can simulate the actual load inertia I load Change the value of the compensation torque T comp By adjusting the compensation amount by the actual load inertia I load In other words, the test device 1 does not require the time-consuming task of preparing a conventional control flow or a transient torque map, and can perform tests when a slip state occurs or when re-adhesion occurs with only simple calculations.

[0073] In addition, the evaluation unit 1005 determines whether the motor under test 20 has an actual load inertia I load Evaluate whether the action was taken in response to the change in

[0074] In this way, the test device 1 can measure the actual load inertia I load When the change occurs, it is possible to evaluate whether the test specimen motor 20 correctly performs the expected operation (re-adhesion process).

[0075] <Other embodiments> Although one embodiment has been described in detail above with reference to the drawings, the specific configuration is not limited to the above, and various design changes are possible. That is, in other embodiments, the order of the above-mentioned processes may be changed as appropriate. Also, some of the processes may be executed in parallel.

[0076] <Additional Notes> The test apparatus, the test method, and the program according to the above-described embodiments can be understood, for example, as follows.

[0077] (1) According to the first aspect, a load torque T simulating an actual use environment is generated by the load motor 11. load The test device 1 applies the actual load inertia I load and the test load inertia I of the test device 1. bench and the motor inertia I of the test motor 20 motor and a load torque T applied to the test motor 20. load and a load torque acquisition unit 1002 that acquires a motor torque T generated by the test specimen motor 20. motor and the load torque T load and motor inertia I motor and the actual load inertia I load and the test load inertia I bench Based on this, the actual load inertia I load and test load inertia I bench A compensation torque T that compensates for the angular velocity difference of the test specimen motor 20 between the actual use environment and the test device 1 due to the difference comp A compensation torque calculation unit 1003 calculates a compensation torque T load and compensation torque T comp and a torque command value calculation unit 1004 that calculates a torque command value by adding

[0078] In the conventional test device, in order to more accurately simulate the actual usage environment, it is necessary to prepare a complex control flow and a transient torque map. In contrast, the test device 1 according to the present embodiment does not require the time-consuming work of preparing the conventional control flow and the transient torque map, and the compensation torque T comp Calculate the load torque T load By simply adding the simple calculation of the actual usage environment to the actual test environment, it is possible to perform tests that more accurately simulate the actual usage environment.

[0079] (2) According to the second aspect, in the test device 1 according to the first aspect, the load torque acquisition unit 1002 acquires the load torque Tload From the data file that records the time series of the load torque T load The compensation torque calculation unit 1003 obtains the load torque T load The compensation torque T comp and the torque command value calculation unit 1004 calculates the torque command value for each time.

[0080] In this way, the test device 1 can perform a realistic test that simulates the change in the operating state in the actual operating environment. For example, when the test specimen motor 20 is mounted on a vehicle and driven, the load torque T load When a data file in which a time series of the above is recorded is used, the test device 1 can perform a test simulating a state in which a vehicle equipped with the motor under test 20 is driven (the driving state is changed).

[0081] (3) According to the third aspect, in the test device 1 according to the first or second aspect, the inertia setting unit 1001 calculates an actual load inertia I simulating a change in load inertia in an actual use environment. load Set.

[0082] In conventional test devices, in order to simulate cases where the load inertia changes, such as when the wheels slip (spin or slide) or when the wheels re-adhere, it is necessary to prepare a complex control flow or a transient torque map. In contrast, the test device 1 according to the present embodiment can simulate the actual load inertia I load Change the value of the compensation torque T comp By adjusting the compensation amount by the actual load inertia I load In other words, the test device 1 does not require the time-consuming task of preparing a conventional control flow or a transient torque map, and can perform tests when a slip state occurs or when re-adhesion occurs with only simple calculations.

[0083] (4) According to the fourth aspect, the test device 1 according to the third aspect determines whether the test motor 20 has an actual load inertia I based on a time series of measurement values ​​of the torque sensor 12 and the rotation angle sensor 13 provided between the load motor 11 and the test motor 20. load The device further includes an evaluation unit 1005 that evaluates whether an action has been taken in response to the change in the value.

[0084] In this way, the test device 1 can measure the actual load inertia I load When the change occurs, it is possible to evaluate whether the test specimen motor 20 correctly performs the expected operation (re-adhesion process).

[0085] (5) According to the fifth aspect, the load torque T simulating the actual use environment by the load motor 11 is load The test method using the test device 1 that applies the inertia I load and the test load inertia I of the test device 1. bench and the motor inertia I motor and a step of setting a load torque T applied to the test specimen motor 20. load and acquiring a motor torque T generated by the test specimen motor 20. motor and the load torque T load and motor inertia I motor and the actual load inertia I load and the test load inertia I bench Based on this, the actual load inertia I load and test load inertia I bench A compensation torque T that compensates for the angular velocity difference of the test specimen motor 20 between the actual use environment and the test device 1 due to the difference comp and a step of calculating the load torque T load and compensation torque T comp and calculating a torque command value by adding

[0086] (6) According to the sixth aspect, the program generates a load torque T simulating an actual use environment by the load motor 11. loadThe test device 1 applies the inertia I load and the test load inertia I of the test device 1. bench and the motor inertia I of the test motor 20 motor and a step of setting a load torque T applied to the test specimen motor 20. load and acquiring a motor torque T generated by the test specimen motor 20. motor and the load torque T load and motor inertia I motor and the actual load inertia I load and the test load inertia I bench Based on this, the actual load inertia I load and test load inertia I bench A compensation torque T that compensates for the angular velocity difference of the test specimen motor 20 between the actual use environment and the test device 1 due to the difference comp and a step of calculating the load torque T load and compensation torque T comp and calculating a torque command value by adding [Explanation of symbols]

[0087] 1 Test equipment 10 Control device 100 processors 1001 Inertia setting section 1002 Load torque acquisition unit 1003 Compensation torque calculation unit 1004 Torque command value calculation unit 1005 Evaluation Department 101 Memory 102 Storage 103 Communication Interface 11 Load motor 12 Torque sensor 13 Rotation angle sensor 14 Rotational Axis 15,16 Joints 20 Test Motor 21 Rotation axis

Claims

1. A test device that applies a load torque simulating an actual usage environment to a test specimen motor by a load motor, an inertia setting unit that sets an actual load inertia in an actual usage environment, a test load inertia of the test device, and a motor inertia of the test specimen motor; a load torque acquisition unit for acquiring a load torque applied to the motor under test; a compensation torque calculation unit that calculates a compensation torque for compensating for an angular velocity difference of the specimen motor between the actual use environment and a test device, the angular velocity difference being caused by a difference between the actual load inertia and the test load inertia, based on a motor torque generated by the specimen motor, the load torque, the motor inertia, the actual load inertia, and the test load inertia; a torque command value calculation unit that calculates a torque command value by adding the load torque and the compensation torque; A test apparatus comprising:

2. the load torque acquisition unit acquires the load torque for each time from a data file in which a time series of the load torque is recorded, the compensation torque calculation unit calculates a compensation torque corresponding to a load torque for each time period, The torque command value calculation unit calculates a torque command value for each time period.

2. The test device of claim 1.

3. the inertia setting unit sets the actual load inertia simulating a change in load inertia in the actual usage environment.

3. A test device according to claim 1 or 2.

4. and an evaluation unit that evaluates whether the test specimen motor has operated in response to a change in the actual load inertia based on a time series of measurement values ​​of a torque sensor and a rotation angle sensor provided between the load motor and the test specimen motor.

4. A test device according to claim 3.

5. A test method using a test device that applies a load torque simulating an actual usage environment to a test specimen motor by a load motor, comprising: Setting an actual load inertia in an actual usage environment, a test load inertia of the test device, and a motor inertia of the motor under test; acquiring a load torque applied to the motor under test; calculating a compensation torque for compensating for an angular velocity difference of the specimen motor between the actual use environment and a test device, the angular velocity difference being caused by a difference between the actual load inertia and the test load inertia, based on a motor torque generated by the specimen motor, the load torque, the motor inertia, the actual load inertia, and the test load inertia; calculating a torque command value by adding the load torque and the compensation torque; A test method having the following characteristics.

6. The test equipment applies a load torque simulating a real-life usage environment to the test specimen motor using a load motor. Setting an actual load inertia in an actual usage environment, a test load inertia of the test device, and a motor inertia of the motor under test; acquiring a load torque applied to the motor under test; calculating a compensation torque for compensating for an angular velocity difference of the specimen motor between the actual use environment and a test device, the angular velocity difference being caused by a difference between the actual load inertia and the test load inertia, based on a motor torque generated by the specimen motor, the load torque, the motor inertia, the actual load inertia, and the test load inertia; calculating a torque command value by adding the load torque and the compensation torque; A program that executes the following.

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