加速度センサを用いない主電動機トルクによる振動制御

概要

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This paper presents a method to suppress the vertical bending vibration of electric railcar by controlling traction motors without accelerometer. Two motors in the truck vibrate in reverse phase when truck frame vibrates vertically. Thus the truck vibration can be detected by the different rotation speed of two motors. The rotation speed of motors can be estimated by speed sensor-less control of induction motor. Experimental result using bogie testing machine with parallel cardan drive device with hollow shaft shows proportional control of differential rotation speed of two motors can decrease the truck frame vibration. However, simulation shows the proportional control of different rotation speed of two motors does not always decrease truck frame vibration depending on the truck characteristics. This paper proposes a controller by H-infinity control theory. The simulation result shows proposed controller can decrease the carbody vibration without accelerometer, even if the case of the truck characteristic is inapplicable for the proportional control.