CN104249743A - Suspension control device - Google Patents

Abstract

Provided is a suspension control device. A car body (2i) and a car body (2i+1) are connected through a connecting part (3i). Rotating racks (4i) are arranged on a lower side of the connecting part (3i); left and right sides of the rotating rack (4i) are provided with vertical shock absorbers (7) connected to the rotating racks (4i) and the connecting part (3i). Damping force of the vertical shock absorbers (7) is controlled through an actuator (7A). Just above the rotating rack (4i), an accelerated speed sensor (9i) used for detecting vibration up and down is arranged. A control device (10) uses detection signals from accelerated speed sensors (9i-1,9i,9i+1) to detect vibration of car bodies (2i,2i+1), and considers vibration of all car bodies (21-2n) to calculate an ith rotating rack control instructions (ui) of the vertical shock absorbers (7)to each rotating rack (4i).

Description

Hang control setup

Technical field

The present invention relates to the suspension control setup of the vibration being suitable for reducing railway vehicle etc.

Background technology

In the railway vehicle that the route that the essentiality of the change weaving into joint number is low travels, sometimes adopt the linking portion configuration bogie truck at vehicle, supported the mode of two adjacent car bodies by a bogie truck.Such bogie truck being called connection bogie truck, being called connection train by have employed the vehicle connecting bogie truck.Owing to connecting train compared with disconnected train, the position of bogie truck away from main cabin, so reducing main cabin noise, reduce body gravity, improve in the vehicle movement of pillow spring bearing height etc. there is the advantage of easily carrying out favourable design.

In addition, the cylinder unit of dumping force adjustment type energy disperser etc. is set between the known car body at railway vehicle and bogie truck, according to control signal (instruction current), the damping force characteristic of cylinder unit is carried out the structure (for example, referring to Japanese Unexamined Patent Publication 2012-76553 publication) of variable control.

In addition, the structure recorded in JP 2012-76553 publication is applied between car body with can along the disconnected train of the state flexible joint of the mutual displacement of above-below direction.In disconnected train, the impact that the up-down vibration of up-down vibration on the car body of self of adjacent car body is brought is little, and in addition, the vertical damper of the bogie truck of front and back is only connected to the car body of self.Therefore, if make vertical damper produce the dumping force of the vibration of the car body suppressing self, then the vibration of car body can be suppressed.

In contrast, in connection train, by connecting part (connecting portion), can not link along the state rigidity of the mutual displacement of above-below direction between car body, the up-down vibration of up-down vibration on the car body of self of adjacent car body brings strong impact.Therefore, the whole car bodies connected by connecting bogie truck have contact, and the absorption of vibrations of these car bodies is responsible for by vertical damper., as prior art, there is the dumping force only making vertical damper produce the vibration of the car body suppressing self, then fully can not suppress the problem of the vibration of car body in its result.

Summary of the invention

The present invention completes in view of the problem of above-mentioned prior art, the object of the invention is to, and provides the suspension control setup that can suppress the vibration connecting train.

In order to solve above-mentioned problem, the invention is characterized in, comprising: the first car body; Second car body adjacent with described first car body; Connecting part, by between described first car body and described second car body can the mode of transmission of drive force link; Connect bogie truck, at least at described second car body side of described first car body, support via spring member; Cylinder unit, is arranged between described connection bogie truck and described first car body, can adjusts operational forces by actuator; And control setup, control described actuator, described control setup, based on the detected value of the detected value of the first vibration detection parts of vibration and the second vibration detection parts of the vibration of described second car body of detection that detect described first car body, calculates the command value of described actuator.

According to the present invention, the vibration connecting train can be suppressed.

Accompanying drawing explanation

Fig. 1 is the front view of the railway vehicle representing the suspension control setup applying the first embodiment of the present invention.

Fig. 2 is the instruction diagram of the railway vehicle schematically showing the first embodiment.

Fig. 3 is the instruction diagram of the configuration relation of the connecting part represented in Fig. 1, bogie truck, vertical damper etc.

Fig. 4 is the block diagram of the control setup representing the first embodiment.

Fig. 5 is the instruction diagram of pitching (pitching) pattern representing car body.

Fig. 6 is the instruction diagram of (bouncing) pattern of beating representing car body.

Fig. 7 is the instruction diagram representing the pitching of car body and the pattern of compound of beating.

Fig. 8 is railway vehicle in order to simulate in the first embodiment and the illustraton of model made.

Fig. 9 is the instruction diagram representing i-th binding force between bogie truck and car body.

Figure 10 is the instruction diagram representing the tractive force applied at i car rear.

Figure 11 represents to the instruction diagram of suppression i-th car body with the power of the direction action of the relative rotation of the i-th+1 car body.

Figure 12 is the instruction diagram representing the power produced with the relative rotation between the i-th+1 car body by i-th car body.

Figure 13 is the instruction diagram of the railway vehicle schematically showing the first variation.

Figure 14 is the instruction diagram of the railway vehicle schematically showing the second embodiment.

Figure 15 is the block diagram of the control setup representing the second embodiment.

Figure 16 is the characteristic line chart of the PSD beated representing car body.

Figure 17 is the characteristic line chart of the PSD of the pitching representing car body.

Figure 18 is the block diagram of the control setup representing the 3rd embodiment.

Figure 19 is the block diagram of the control setup representing the 4th embodiment.

Figure 20 is the block diagram of the control setup representing the 5th embodiment.

Figure 21 is the block diagram of the control setup representing the 6th embodiment.

Figure 22 represents the instruction diagram to the tractive force that passenger vehicle applies in the traveling of uphill line.

Figure 23 is the instruction diagram of the railway vehicle schematically showing the 7th embodiment.

Figure 24 is the instruction diagram of the railway vehicle schematically showing the second variation.

Figure 25 is the instruction diagram of the railway vehicle schematically showing the 3rd variation.

Figure 26 is the instruction diagram of the railway vehicle schematically showing the 4th variation.

Figure 27 is the instruction diagram of the railway vehicle schematically showing the 8th embodiment.

Figure 28 is the block diagram of the control setup representing the 8th embodiment.

Figure 29 is the block diagram of the control setup representing the 9th embodiment.

Figure 30 is the instruction diagram representing virtual railway vehicle.

Figure 31 is the instruction diagram of the railway vehicle schematically showing the tenth embodiment.

Figure 32 is the block diagram of the control setup representing the tenth embodiment.

Figure 33 is the instruction diagram of the railway vehicle schematically showing the 11 embodiment.

Figure 34 is the block diagram of the control setup representing the 11 embodiment.

Figure 35 is the instruction diagram of the railway vehicle schematically showing the 5th variation.

Figure 36 is the block diagram of the control setup representing the 12 embodiment.

Figure 37 is the instruction diagram of the railway vehicle schematically showing the 6th variation.

Detailed description of the invention

Below, with reference to the accompanying drawings, the suspension control setup of embodiments of the present invention is described in detail.

Fig. 1 to Fig. 4 represents the first embodiment of the present invention.In Fig. 1 and Fig. 2, railway vehicle 1 has car body 2i, connecting part 3i, bogie truck 4i, vertical damper 7, acceleration pick-up 9i, control setup 10 etc.Railway vehicle 1 is the use of the connection train of the connection bogie truck that such as n trolley body 21 ~ 2n links.Such link bogie truck is used in the such as little 50000 type electric cars of field urgent telegram iron Co., Ltd. and the 300 type electric cars of Jiang Zhi Dao electricity Tie Co., Ltd..

On car body 2i, take such as passenger, bus attendant etc.In addition, in the front side of car body 2i, adjoin and car body 2i-1 is set, at the rear side of car body 2i, adjoin and car body 2i+1 is set.Therefore, being saved by n in the railway vehicle 1 (connection train) weaved into, become car body 21 foremost, most end becomes car body 2n.Below, when car body 21 ~ 2n is carried out general name, be called car body 2i.

Connecting part 3i by between car body 2i and car body 2i+1 can the mode of transmission of drive force link.Connecting part 3i is connection body 2i and car body 2i+1 by not shown rubber bush (gum bush) or mechanical linkage.Thus, when track turn, allow the bending of the left and right directions relative to travel direction between car body 2i and car body 2i+1, in addition, allow the bending of the above-below direction of the vehicle 1 when track enters inclination.

In addition, be configured with connecting part 3i at the rear side of car body 2i, be configured with connecting part 3i-1 in the front side of car body 2i.Therefore, such as, saved by n in the train weaved into, between the car body 21 and the car body 22 of No. 2 cars of No. 1 car, configuring connecting part 31, n-1 car car body 2n-1 and become most end n car car body 2n between configure connecting part 3n-1.Below, when connecting part 31 ~ 3n-1 is carried out general name, be called connecting part 3i.

Connecting part 3i in phase roughly links between car body 2i and car body 2i+1 with measuring the mode of carrying out displacement along above-below direction with them.That is, in car body 2i and car body 2i+1, connecting part 3i becomes basic point, links along above-below direction rigidity.Therefore, car body 2i and car body 2i+1 carries out displacement in the position of connecting part 3i together along above-below direction.In addition, preferred car body 2i and car body 2i+1 is linked along above-below direction rigidity by connecting part 3i, namely links with the state can not carried out along the relative displacement of above-below direction, but allows the skew a little along above-below direction.

Bogie truck 4i is arranged on the downside of car body 2i or the downside of connecting part 3i.Here, bogie truck 41 ~ 4n-1 is the connection bogie truck supporting the such 2 joint amounts of such as car body 2i and car body 2i+1, is separately positioned on the downside of connecting part 31 ~ 3n-1.In addition, bogie truck 40 is arranged on the underside of forward of car body 21 foremost, and bogie truck 4n is arranged on the downside of the rear portion of the car body 2n at most end.These bogie trucks 40,4n only support 1 joint amount as car body 21,2n.Below, when bogie truck 40 ~ 4n is carried out general name, be called bogie truck 4i.

As shown in Figure 1 and Figure 3, bogie truck 4i has air bellow 5, wheel 6, vertical damper 7, traction link (not shown) etc.Bogie truck 40,4n use traction link and car body 21,2n to link.Bogie truck 41 ~ 4n-1 uses traction link and connecting part 31 ~ 3n-1 to link.Bogie truck 4i is such as provided with 2 axletrees of wheel 6 at left and right two ends by having, install and amount to 4 wheels 6.Railway vehicle 1, is such as driven along the direction running of A shown in arrow when advancing along track 8 in left and right track 8 (only diagram one) upper rotation by each wheel 6.

Air bellow 5 is spring members of the present invention, is formed in the pillow spring that bogie truck 4i is arranged.Air bellow 5 is separately positioned on the both sides of the left and right directions of such as bogie truck 4i, connecting part 31 ~ 3n-1 and car body 21,2n is flexibly supported along above-below direction relative to bogie truck 4i.This air bellow 5 reduces the vibration of the above-below direction between bogie truck 4i and connecting part 31 ~ 3n-1 and car body 21,2n.

In addition, traction link transmits the tractive force and braking force that apply along fore-and-aft direction between bogie truck 4i and connecting part 31 ~ 3n-1 and car body 21,2n.Traction link uses rubber bush etc. and forms, and makes to allow connecting part 31 ~ 3n-1 and car body 21,2n to carry out relative displacement (movement) relative to bogie truck 4i along above-below direction, left and right directions, partially rail (bogie truck convolution) direction and pitch orientation.

Vertical damper 7 lays respectively at right side and the left side of bogie truck 4i, is arranged between car body 21,2n and bogie truck 40,4n or between connecting part 31 ~ 3n-1 and bogie truck 41 ~ 4n-1.Vertical damper 7 is such as attached to connecting part 31 ~ 3n-1 and car body 21,2n and bogie truck 4i respectively via rubber bush etc.This vertical damper 7 is formed can adjust separately the cylinder unit of the dumping force becoming operational forces (such as, be called as the oleo gear of the dumping force adjustment type of semi-active damper), there is the flowing of the working fluid suppressed in cylinder unit and produce the damping force generating mechanism (not shown) of dumping force.

Damping force generating mechanism is produced dumping force actuator 7A by the flowing of the working fluid controlled in cylinder unit is formed.The characteristic (damping force characteristic) producing dumping force, as flow control valve, is adjusted to soft characteristic (software feature) from rigid characteristic (hardware features) by this actuator 7A configuration example continuously.Specifically, actuator 7A is such as made up of the proportion magnetic valve etc. of current-control type.Further, vertical damper 7 can according to the current value flow through in actuator 7A damping adjusting force characteristic.In addition, the actuator 7A of dumping force adjustment by damping force characteristic 2 rank or multistage can to adjust instead of continuously adjustable parts.

Further, damping force characteristic, in order to reduce the vibration of car body 2i, is adjusted to the arbitrary characteristic between rigid characteristic and soft characteristic by vertical damper 7.Specifically, in the mode of the pitching (pitching) or beat (bouncing) that can reduce car body 2i, there is provided the control signal (instruction current) corresponding with i-th bogie truck control effort instruction ui by control setup described later 10 couples of actuator 7A, according to control signal, the dumping force of vertical damper 7 carries out variable control.Thus, vertical damper 7 produces the control effort of the vibration of the above-below direction for suppressing car body 2i.

Acceleration pick-up 9i is separately positioned in connecting part 31 ~ 3n-1 and car body 21,2n.Specifically, acceleration pick-up 91 ~ 9n-1 is arranged in connecting part 31 ~ 3n-1 as position corresponding with bogie truck 41 ~ 4n-1 seen from above time, detects the acceleration/accel a1 ~ an-1 of the above-below direction of connecting part 31 ~ 3n-1.Acceleration pick-up 90 is arranged on the front side of car body 21 as the position corresponding with chassis 40, at the acceleration/accel a0 of the above-below direction of the position probing car body 21 of chassis 40.Acceleration pick-up 9n is arranged on the rear side of car body 2n as the position corresponding with chassis 4n, at the acceleration/accel an of the above-below direction of the position probing car body 2n of chassis 4n.Acceleration/accel a0 ~ an of these acceleration pick-ups 90 ~ 9n above-below direction of position probing connecting part 31 ~ 3n-1 and car body 21,2n directly over bogie truck 40 ~ 4n, and export the detection signal corresponding with these acceleration/accels a0 ~ an.Below, when degree of will speed up sensor 90 ~ 9n carries out general name, acceleration pick-up 9i is called.

Such as car body 2i is set to the first car body, the car body 2i+1 adjacent at the rear of car body 2i is set to the second car body.Now, i-th body oscillating operational part 12i of acceleration pick-up 9i-1 and acceleration pick-up 9i and control setup described later 10 together forms the first vibration detection parts of the vibration detecting car body 2i.In addition, the i-th+1 body oscillating operational part 12i+1 of acceleration pick-up 9i and acceleration pick-up 9i+1 and control setup 10 together forms the second vibration detection parts of the vibration detecting car body 2i+1.Thus, acceleration pick-up 9i forms a part for first, second vibration detection parts.In addition, the second car body is not limited to the car body at the rear being configured in the first car body, also can be configured in the front of the first car body.

Control setup 10 is made up of such as microcomputer etc., is connected with acceleration pick-up 9i at its input side.In addition, the actuator 7A of the vertical damper 7 of each bogie truck 4i is connected with at the outgoing side of control setup 10.And, control setup 10 is based on the detection signal carrying out acceleration sensor 9i, become i-th bogie truck control effort instruction ui of the dumping force command signal of the vertical damper 7 of each bogie truck 4i, the dumping force of these vertical dampers 7 is carried out variable control.

As shown in Figure 4, control setup 10 comprises and to be made up of AD changer, filter process portion etc. and to obtain the pre-processing portion (not shown) of acceleration/accel ai from the detection signal of acceleration pick-up 9i, and comprises the vibration control portion 11 exporting i-th the bogie truck control effort instruction ui corresponding with the command value of actuator 7A based on acceleration/accel ai.

Vibration control portion 11 comprises: i-th body oscillating operational part 12i, based on becoming the acceleration/accel ai of detected value of acceleration pick-up 9i and the vibration of computing car body 2i; And control effort ordering calculation portion 13, based on the vibration of the car body 2i calculated by i-th body oscillating operational part 12i, calculate i-th bogie truck control effort instruction ui of the vertical damper 7 for each bogie truck 4i.Now, i-th body oscillating operational part 12i is based on carrying out the detection signal of acceleration sensor 9i-1 and carrying out the detection signal of acceleration sensor 9i, the vibration of computing car body 2i.Therefore, vibration control portion 11 corresponds to the car body 21 ~ 2n of n joint and comprises 1st ~ n body oscillating operational part 121 ~ 12n.Below, when 1st ~ n body oscillating operational part 121 ~ 12n is carried out general name, be called i-th body oscillating operational part 12i.

Control effort ordering calculation portion 13, according to control law described later, calculates i-th bogie truck control effort instruction ui.And, i-th the bogie truck control effort instruction ui calculated by control effort ordering calculation portion 13 is input to i-th bogie truck electric current efferent 14i, and the instruction current corresponding with i-th bogie truck control effort instruction ui is supplied to the actuator 7A of the vertical damper 7 of bogie truck 4i by i-th bogie truck electric current efferent 14i.Thus, pitching and the caused vibration of beating of car body 2i are attenuated, and can improve the taking sense of car body 2i.Below, when 1st ~ n bogie truck electric current efferent 140 ~ 14n is carried out general name, be called i-th bogie truck electric current efferent 14i.As the simplest structure for such control, consider following structure: directly over the connecting part of car body side, configure acceleration pick-up, obtain the acceleration/accel of the above-below direction of the car body directly over connecting part, the mode reduced with the variation of this acceleration/accel controls the vertical damper immediately below connecting part.But due in such a configuration, the pitching not considering car body and the mode of motion of to beat etc., so think that the improvement effect of taking sense is little.

Here, the concept of the mode of vibration of the car body 2i in railway vehicle 1 is described.Fig. 5 is the figure of the pitch mode conceptually representing car body 2i.In addition, Fig. 6 is the figure of the beating pattern conceptually representing car body 2i, Fig. 7 is conceptually represent car body 2i-1,2i+1 of beating and the figure just carrying out the pattern of compound at the car body 2i of pitching.In Fig. 5 to Fig. 7, separately illustrate the pattern of beating with pitching, but these patterns are synthesized in the car body 2i of reality.

Then, illustrate in the railway vehicle 1 with aforesaid structure, based on the output of acceleration pick-up 9i and control law when controlling the dumping force of the vertical damper 7 of each bogie truck 4i.

During the calculating of the dumping force instruction (i-th bogie truck control effort instruction ui) in control setup 10, a car body 2i is carried out modelling with 2 degree of freedom of beating pattern, pitch mode, uses the equation of state of 4 × n time as the vehicle weaving into joint number n with the degree of freedom of 2 × n and derive control law.

The equational method of calculating of description status.Fig. 8 is the illustraton of model made to simulate railway vehicle 1 in present embodiment.Left side in Fig. 8 is that the travel direction A of this model, travel direction A (working direction) get X-axis, the above-below direction of car body 2i gets Z axis, the left and right directions of car body 2i gets Y-axis (with reference to Fig. 3).In this model, do not consider the elastic oscillation of car body 2i, car body 2i and bogie truck 4i is treated to rigid body.

The main symbol used in modeling (modelling) is as shown in table 1.In addition, as long as no special note, then i means car sequence number, in addition, the bogie truck sequence number of the bogie truck 4i at the rear of i car is set to i.That is, the bogie truck sequence number of the bogie truck 41 at the rear of No. 1 car becomes 1, and the bogie truck sequence number of the bogie truck 40 in the front of No. 1 car becomes 0.

In addition, the point in formula means the first differential (d/dt) of time t.If point is 2, then mean second-order differential (d2/dt2).In addition, the long all equal (L1=L2=of car body of whole car body 2i is set to ...=Ln=L), be set to rigidity equal (k1=k2=in whole bogie truck 4i of air bellow 5 ...=kn=k).

[table 1]

In addition, i-th body oscillating operational part 12i based on following several 1 formula, obtain the acceleration/accel (d2zBi/dt2) of the above-below direction of the center at car body 2i of the vibration as car body 2i, and based on several 2 formula and obtain pitch angle acceleration/accel (d2 θ i/dt2).

[several 1]

${\stackrel{..}{z}}_{\mathrm{Bi}}=\frac{a_i+a_{i-1}}{2}$

[several 2]

${\stackrel{..}{\mathrm{\θ}}}_i=\frac{a_i-a_{i-1}}{L_i}=\frac{a_i-a_{i-1}}{L}$

Whole 1st ~ n body oscillating operational part 121 ~ 12n carries out same calculation process.Such as, when car body 2i being set to the first car body, car body 2i+1 being set to the second car body, acceleration/accel (d2zBi/dt2), pitch angle acceleration/accel (d2 θ i/dt2) are equivalent to the vibration of the first car body (car body 2i), and acceleration/accel (d2zBi+1/dt2), pitch angle acceleration/accel (d2 θ i+1/dt2) are equivalent to the vibration of the second car body (car body 2i+1).

In addition, i-th body oscillating operational part 12i is by carrying out integral operation etc., speed (dzBi/dt) and the displacement zBi of the above-below direction in the center of car body 2i can be obtained, the rate of pitch (d θ i/dt) obtained in the center of car body 2i based on pitch angle acceleration/accel (d2 θ i/dt2) and luffing angle θ i based on acceleration/accel (d2zBi/dt2).

Then, about i car, using the power Fri of binding force Fi, tractive force Ti, the generation by relative rotation as follows as formula.In addition, binding force Fi is the binding force between i-th bogie truck 4i (i-th bogie truck) and car body 2i.The tractive force that tractive force Ti applies at i car rear (directly over i-th bogie truck 4i).The power Fri produced by relatively rotating is the power produced by the relative rotation between car body 2i with car body 2i+1.

Binding force Fi between i-th bogie truck 4i and car body 2i represents as shown in Figure 9.Now, the tension force of binding force Fi as air bellow 5 of the above-below direction between car body 2i and bogie truck 4i and the dumping force sum of vertical damper 7, as shown in the formula obtaining like that.

[several 3]

$F_i=-k\{(z_{\mathrm{Bi}}+\frac{L}{2}\sin {\mathrm{\θ}}_i)-z_{\mathrm{Ti}}\}-u_i$

Here, the power fi (i) that the binding force Fi applied at the connecting part 3i (connecting portion) of i car and i+1 car can be applied by the rearward end of the car body 2i being used in i car and the power fi (i+1) applied at the leading section of i+1 car and show as follows.Wherein, fa (b) represents the component applied in the power applied at the connecting part 3a of bogie truck sequence number a, b car body 2b side.

[several 4]

F _i＝f _i(i)+f _i(i+1)

Wherein, f ₀(0)=0, f _n(n+1)=0

Then, the tractive force Ti applied at i car rear (directly over i-th bogie truck 4i) represents as shown in Figure 10.Now, the front and back force of inertia of the car body 2i+1 when tractive force Ti applied at the car body 2i (directly over i-th bogie truck 4i) of i car is forwards accelerated by car body 2i and in full the formula of 5 obtain like that.In addition, in the formula of several 5, friction of rolling is left in the basket.

[several 5]

$T_i=-\left(\underset{k=i+1}{\overset{n}{\mathrm{\Σ}}}{m}_k\right){\stackrel{..}{x}}_{\mathrm{Bi}}$

Wherein, T _n=0

Now, if the Z-direction component of tractive force Ti is set to Tzi, then Z-direction component Tzi can be represented by the formula of following several 6.

[several 6]

T _zi＝-T _isinθ _i+1

In addition, because car body 2i each in the vehicle of disperse power type has power, between car body 2i, do not produce tractive force Ti, thus with upward slope or accelerates have nothing to do and become Tzi=0.In addition, when being equipped with brake in each bogie truck 4i, can with concentrated power/disperse power independently, slow down time be assumed to be Tzi=0.That is, only in the upward slope of concentrated dynamical type vehicle or in accelerating, Tzi ≠ 0 is become.

Then, the power Fri produced by the relative rotation between car body 2i with car body 2i+1 is represented as shown in Figure 12.Here, as shown in figure 11, when i car moves with pitch mode, by spring component kr and attenuation components cr to the car body 2i suppressing i car and i+1 car, the power of the direction action of the relative rotation of 2i+1, become around the connecting part 3i between i car and i+1 car, the leading section (the connecting part 3i-1 of the i-th-1 bogie truck 4i-1) of i car and the power fri-1 (i) of the rectangular action of car body 2i are represented with to the rearward end (the connecting part 3i+1 of the i-th+1 bogie truck 4i+1) of i+1 car and power fri+1 (i+1) sum of the rectangular action of car body 2i+1.Wherein, fra (b) represents the component applied in b the car body 2b side of the connecting part 3a of bogie truck sequence number a.Now, power fri-1 (i), fri+1 (i+1) represent as shown in the formula such.

[several 7]

$f_{\mathrm{ri}-1}\left(i\right)=f_{\mathrm{ri}+1}(i+1)=\frac{1}{L}[-k_r({\mathrm{\θ}}_{i+1}-{\mathrm{\θ}}_i)-c_r({\stackrel{.}{\mathrm{\θ}}}_{i+1}-{\stackrel{.}{\mathrm{\θ}}}_i)]$

Therefore, the power Fri produced by the relative rotation of car body in full 8 formula obtain like that.

[several 8]

$F_{\mathrm{ri}}=\cos \left(\frac{{\mathrm{\θ}}_{i+1}-{\mathrm{\θ}}_i}{2}\right)f_{\mathrm{ri}}\left(i\right)+\cos \left(\frac{{\mathrm{\θ}}_{i+1}-{\mathrm{\θ}}_i}{2}\right)f_{\mathrm{ri}}(i+1)$

$f_{\mathrm{ri}}\left(i\right)=-k_{\mathrm{rr}}({\mathrm{\θ}}_i-{\mathrm{\θ}}_{i-1})-c_{\mathrm{rr}}({\stackrel{.}{\mathrm{\θ}}}_i-{\stackrel{.}{\mathrm{\θ}}}_{i-1})$

$f_{\mathrm{ri}}(i+1)=-k_{\mathrm{rr}}({\mathrm{\θ}}_{i+2}-{\mathrm{\θ}}_{i+1})-c_{\mathrm{rr}}({\stackrel{.}{\mathrm{\θ}}}_{i+2}-{\stackrel{.}{\mathrm{\θ}}}_{i+1})$

Wherein, $k_{\mathrm{rr}}=\frac{1}{L}{k}_r,c_{\mathrm{rr}}=\frac{1}{L}{c}_r$

Here, in the car body 2i of railway vehicle 1, because luffing angle θ i is fully little, so be similar to as described below.

[several 9]

In addition, suppose at the uniform velocity to travel on level land.Therefore, be set to the acceleration/accel (d2xBi/dt2=0) not producing fore-and-aft direction at the center of car body 2i and also do not produce Z-direction component Tzi (Tzi=0).Now, the equation of motion of the above-below direction of car body 2i become in full 10 formula such.In addition, the equation of motion of the hand of rotation of car body 2i become in full 11 formula such.

[several 10]

$\begin{array}{c}\mathrm{mi}{\stackrel{\·\·}{z}}_{\mathrm{Bi}}=\frac{1}{2}(F_i+F_{i-1}+T_{\mathrm{zi}}+T_{\mathrm{zi}-1}+F_{\mathrm{ri}}+F_{\mathrm{ri}-1})\\ =\frac{1}{2}\{-k\{(z_{\mathrm{Bi}}+\frac{L}{2}{\mathrm{\θ}}_i)-z_{\mathrm{Ti}}\}-u_i-k\{(z_{\mathrm{Bi}-1}+\frac{L}{2}{\mathrm{\θ}}_{i-1})-z_{\mathrm{Ti}-1}\}-u_{i-1}+0+0+\\ -k_{\mathrm{rr}}({\mathrm{\θ}}_i-{\mathrm{\θ}}_{i-1})-c_{\mathrm{rr}}({\stackrel{.}{\mathrm{\θ}}}_i-{\stackrel{.}{\mathrm{\θ}}}_{i-1})-k_{\mathrm{rr}}({\mathrm{\θ}}_{i+2}-{\mathrm{\θ}}_{i+1})-c_{\mathrm{rr}}({\stackrel{.}{\mathrm{\θ}}}_{i+2}-{\stackrel{.}{\mathrm{\θ}}}_{i+1})\\ -k_{\mathrm{rr}}({\mathrm{\θ}}_{i-1}-{\mathrm{\θ}}_{i-2})-c_{\mathrm{rr}}({\stackrel{.}{\mathrm{\θ}}}_{i-1}-{\stackrel{.}{\mathrm{\θ}}}_{i-2})-k_{\mathrm{rr}}({\mathrm{\θ}}_{i+1}-{\mathrm{\θ}}_i)-c_{\mathrm{rr}}({\stackrel{.}{\mathrm{\θ}}}_{i+1}-{\stackrel{.}{\mathrm{\θ}}}_i)\}\\ =\frac{1}{2}\{-k\{(z_{\mathrm{Bi}}+\frac{L}{2}{\mathrm{\θ}}_i)-z_{\mathrm{Ti}}\}-u_i-k\{(z_{\mathrm{Bi}-1}+\frac{L}{2}{\mathrm{\θ}}_{i-1})-z_{\mathrm{Ti}-1}\}-u_{i-1}\\ -k_{\mathrm{rr}}({\mathrm{\θ}}_{i+2}-{\mathrm{\θ}}_{i-2})-c_{\mathrm{rr}}({\stackrel{.}{\mathrm{\θ}}}_{i+2}-{\stackrel{.}{\mathrm{\θ}}}_{i-2})\}\end{array}$

[several 11]

$\begin{array}{c}{I}_i{\stackrel{..}{\mathrm{\θ}}}_i=-\frac{L}{2}\left[\frac{1}{2}(F_{i-1}+T_{\mathrm{zi}-1}+F_{\mathrm{ri}-1})\right]+\frac{L}{2}\left[\frac{1}{2}(F_i+T_{\mathrm{zi}}+F_{\mathrm{ri}})\right]\\ =-\frac{L}{2}\left[\frac{1}{2}\right\{-k\{(z_{\mathrm{Bi}-1}+\frac{L}{2}{\mathrm{\θ}}_{i-1})-z_{\mathrm{Ti}-1}\}-u_{i-1}+0-k_{\mathrm{rr}}({\mathrm{\θ}}_{i-1}-{\mathrm{\θ}}_{i-2})\\ -c_{\mathrm{rr}}({\stackrel{.}{\mathrm{\θ}}}_{i-1}-{\stackrel{.}{\mathrm{\θ}}}_{i-2})-k_{\mathrm{rr}}({\mathrm{\θ}}_{i+1}-{\mathrm{\θ}}_i)-c_{\mathrm{rr}}({\stackrel{.}{\mathrm{\θ}}}_{i+1}-{\stackrel{.}{\mathrm{\θ}}}_i)\left\}\right]\\ +\frac{L}{2}\left[\frac{1}{2}\right\{-k\{(z_{\mathrm{Bi}}+\frac{L}{2}{\mathrm{\θ}}_i)-z_{\mathrm{Ti}}\}-u_i+0-k_{\mathrm{rr}}({\mathrm{\θ}}_i-{\mathrm{\θ}}_{i-1})\\ -c_{\mathrm{rr}}({\stackrel{.}{\mathrm{\θ}}}_i-{\stackrel{.}{\mathrm{\θ}}}_{i-1})-k_{\mathrm{rr}}({\mathrm{\θ}}_{i+2}-{\mathrm{\θ}}_{i+1})-c_{\mathrm{rr}}({\stackrel{.}{\mathrm{\θ}}}_{i+2}-{\stackrel{.}{\mathrm{\θ}}}_{i+1})\left\}\right]\\ =\frac{L}{4}\left[k\right\{(z_{\mathrm{Bi}-1}+\frac{L}{2}{\mathrm{\θ}}_{i-1})-z_{\mathrm{Ti}-1}\}+u_{i-1}-k\{(z_{\mathrm{Bi}}+\frac{L}{2}{\mathrm{\θ}}_i)-z_{\mathrm{Ti}}\}-u_i\\ -k_{\mathrm{rr}}({\mathrm{\θ}}_{i+2}-2{\mathrm{\θ}}_{i+1}+2{\mathrm{\θ}}_i-2{\mathrm{\θ}}_{i-1}+{\mathrm{\θ}}_{i+2})\\ -c_{\mathrm{rr}}({\stackrel{.}{\mathrm{\θ}}}_{i+2}-2{\stackrel{.}{\mathrm{\θ}}}_{i+1}+2{\stackrel{.}{\mathrm{\θ}}}_i-2{\stackrel{.}{\mathrm{\θ}}}_{i-1}+{\stackrel{.}{\mathrm{\θ}}}_{i+2})\end{array}$

Further, by these equation of motion, the following equation of state with 4 × n quantity of state, the input of n+1 external disturbance and n+1 control inputs can be obtained.

[several 12]

$\stackrel{.}{x}=\mathrm{Ax}+B_{1}w+B_{2}u$

Wherein, state vector x, external disturbance input w, control inputs u (i-th bogie truck control effort instruction ui) are as following expression.

[several 13]

< state vector >

$x={\left[\begin{array}{ccccccccccccccccc}{\stackrel{.}{z}}_{B1}& {\stackrel{.}{z}}_{B2}& ...& {\stackrel{.}{z}}_{\mathrm{Bn}}& z_{B1}& z_{B2}& ...& z_{\mathrm{Bn}}& {\stackrel{.}{\mathrm{\&theta;}}}_1& {\stackrel{.}{\mathrm{\&theta;}}}_2& ...& {\stackrel{.}{\mathrm{\&theta;}}}_n& {\mathrm{\&theta;}}_1& {\mathrm{\&theta;}}_2& ...& {\mathrm{\&theta;}}_n& \end{array}\right]}^T$

[several 14]

< external disturbance input >

w＝[z _T0?z _T1?…?z _Tn] ^T

[several 15]

< control inputs >

u＝[u ₀?u ₁?…?u _n] ^T

Then, use this equation of state, lift LQ and control as example derives control law.Now, such as, to be set to minimum mode by as shown in the formula the evaluation function J represented, feedback of status K is provided to equation of state.

[several 16]

$J={\&Integral;}_0^{\&infin;}(x^T\mathrm{Qx}+u^T\mathrm{Ru})\mathrm{dt}$

[several 17]

u＝-Kx

The feedback of status K now obtained is by the matrix representation of the capable 4 × n row of following n.Now, GA represents the ride gain matrix of the speed (dzBi/dt) for above-below direction, GB represents the ride gain matrix of the displacement zBi for above-below direction, GC represents the ride gain matrix for rate of pitch (d θ i/dt), and GD represents the ride gain matrix for luffing angle θ i.

[several 18]

K＝[G _A?G _B?G _c?G _D]

[several 19]

$G_A=\left[\begin{array}{cccccccccc}{G}_{A\mathrm{0,1}}& G_{A\mathrm{0,2}}& G_{A\mathrm{0,3}}& G_{A\mathrm{0,4}}& G_{A\mathrm{0,5}}& \&CenterDot;\&CenterDot;\&CenterDot;& G_{A0,n-3}& G_{A0,n-2}& G_{A0,n-1}& G_{A0,n}\\ G_{A\mathrm{1,1}}& G_{A\mathrm{1,2}}& G_{A\mathrm{1,3}}& G_{A\mathrm{1,4}}& G_{A\mathrm{1,5}}& \&CenterDot;\&CenterDot;\&CenterDot;& G_{A1,n-3}& G_{A1,n-2}& G_{A1,n-1}& G_{A1,n}\\ G_{A\mathrm{2,1}}& G_{A\mathrm{2,2}}& G_{A\mathrm{2,3}}& G_{A\mathrm{2,4}}& G_{A\mathrm{2,5}}& \&CenterDot;\&CenterDot;\&CenterDot;& G_{A2,n-3}& G_{A2,n-2}& G_{A2,n-1}& G_{A2,n}\\ G_{A\mathrm{3,1}}& G_{A\mathrm{3,2}}& G_{A\mathrm{3,3}}& G_{A\mathrm{3,4}}& G_{A\mathrm{3,5}}& \&CenterDot;\&CenterDot;\&CenterDot;& G_{A3,n-3}& G_{A3,n-2}& G_{A3,n-1}& G_{A3,n}\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ G_{\mathrm{An}-\mathrm{1,1}}& G_{\mathrm{An}-\mathrm{1,2}}& G_{\mathrm{An}-\mathrm{1,3}}& G_{\mathrm{An}-\mathrm{1,4}}& G_{\mathrm{An}-\mathrm{1,5}}& \&CenterDot;\&CenterDot;\&CenterDot;& G_{\mathrm{An}-1,n-3}& G_{\mathrm{An}-1,n-2}& G_{\mathrm{An}-1,n-1}& G_{\mathrm{An}-1,n}\\ G_{\mathrm{An},1}& G_{\mathrm{An},2}& G_{\mathrm{An},3}& G_{\mathrm{An},4}& G_{\mathrm{An},5}& \&CenterDot;\&CenterDot;\&CenterDot;& G_{\mathrm{An},n-3}& G_{\mathrm{An},n-2}& G_{\mathrm{An},n-1}& G_{\mathrm{An},n}\end{array}\right]$

[several 20]

$G_B=\left[\begin{array}{cccccccccc}{G}_{B\mathrm{0,1}}& G_{B\mathrm{0,2}}& G_{B\mathrm{0,3}}& G_{B\mathrm{0,4}}& G_{B\mathrm{0,5}}& \&CenterDot;\&CenterDot;\&CenterDot;& G_{B0,n-3}& G_{B0,n-2}& G_{B0,n-1}& G_{B0,n}\\ G_{B\mathrm{1,1}}& G_{B\mathrm{1,2}}& G_{B\mathrm{1,3}}& G_{B\mathrm{1,4}}& G_{B\mathrm{1,5}}& \&CenterDot;\&CenterDot;\&CenterDot;& G_{B1,n-3}& G_{B1,n-2}& G_{B1,n-1}& G_{B1,n}\\ G_{B\mathrm{2,1}}& G_{B\mathrm{2,2}}& G_{B\mathrm{2,3}}& G_{B\mathrm{2,4}}& G_{B\mathrm{2,5}}& \&CenterDot;\&CenterDot;\&CenterDot;& G_{B2,n-3}& G_{B2,n-2}& G_{B2,n-1}& G_{B2,n}\\ G_{B\mathrm{3,1}}& G_{B\mathrm{3,2}}& G_{B\mathrm{3,3}}& G_{B\mathrm{3,4}}& G_{B\mathrm{3,5}}& \&CenterDot;\&CenterDot;\&CenterDot;& G_{B3,n-3}& G_{B3,n-2}& G_{B3,n-1}& G_{B3,n}\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ G_{\mathrm{Bn}-\mathrm{1,1}}& G_{\mathrm{Bn}-\mathrm{1,2}}& G_{\mathrm{Bn}-\mathrm{1,3}}& G_{\mathrm{Bn}-\mathrm{1,4}}& G_{\mathrm{Bn}-\mathrm{1,5}}& \&CenterDot;\&CenterDot;\&CenterDot;& G_{\mathrm{Bn}-1,n-3}& G_{\mathrm{Bn}-1,n-2}& G_{\mathrm{Bn}-1,n-1}& G_{\mathrm{Bn}-1,n}\\ G_{\mathrm{Bn},1}& G_{\mathrm{Bn},2}& G_{\mathrm{Bn},3}& G_{\mathrm{Bn},4}& G_{\mathrm{Bn},5}& \&CenterDot;\&CenterDot;\&CenterDot;& G_{\mathrm{Bn},n-3}& G_{\mathrm{Bn},n-2}& G_{\mathrm{Bn},n-1}& G_{\mathrm{Bn},n}\end{array}\right]$

[several 21]

$G_C=\left[\begin{array}{cccccccccc}{G}_{C\mathrm{0,1}}& G_{C\mathrm{0,2}}& G_{C\mathrm{0,3}}& G_{C\mathrm{0,4}}& G_{C\mathrm{0,5}}& \&CenterDot;\&CenterDot;\&CenterDot;& G_{C0,n-3}& G_{C0,n-2}& G_{C0,n-1}& G_{C0,n}\\ G_{C\mathrm{1,1}}& G_{C\mathrm{1,2}}& G_{C\mathrm{1,3}}& G_{C\mathrm{1,4}}& G_{C\mathrm{1,5}}& \&CenterDot;\&CenterDot;\&CenterDot;& G_{C1,n-3}& G_{C1,n-2}& G_{C1,n-1}& G_{C1,n}\\ G_{C\mathrm{2,1}}& G_{C\mathrm{2,2}}& G_{C\mathrm{2,3}}& G_{C\mathrm{2,4}}& G_{C\mathrm{2,5}}& \&CenterDot;\&CenterDot;\&CenterDot;& G_{C2,n-3}& G_{C2,n-2}& G_{C2,n-1}& G_{C2,n}\\ G_{C\mathrm{3,1}}& G_{C\mathrm{3,2}}& G_{C\mathrm{3,3}}& G_{C\mathrm{3,4}}& G_{C\mathrm{3,5}}& \&CenterDot;\&CenterDot;\&CenterDot;& G_{C3,n-3}& G_{C3,n-2}& G_{C3,n-1}& G_{C3,n}\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ G_{\mathrm{Cn}-\mathrm{1,1}}& G_{\mathrm{Cn}-\mathrm{1,2}}& G_{\mathrm{Cn}-\mathrm{1,3}}& G_{\mathrm{Cn}-\mathrm{1,4}}& G_{\mathrm{Cn}-\mathrm{1,5}}& \&CenterDot;\&CenterDot;\&CenterDot;& G_{\mathrm{Cn}-1,n-3}& G_{\mathrm{Cn}-1,n-2}& G_{\mathrm{Cn}-1,n-1}& G_{\mathrm{Cn}-1,n}\\ G_{\mathrm{Cn},1}& G_{\mathrm{Cn},2}& G_{\mathrm{Cn},3}& G_{\mathrm{Cn},4}& G_{\mathrm{Cn},5}& \&CenterDot;\&CenterDot;\&CenterDot;& G_{\mathrm{Cn},n-3}& G_{\mathrm{Cn},n-2}& G_{\mathrm{Cn},n-1}& G_{\mathrm{Cn},n}\end{array}\right]$

[several 22]

$G_D=\left[\begin{array}{cccccccccc}{G}_{D\mathrm{0,1}}& G_{D\mathrm{0,2}}& G_{D\mathrm{0,3}}& G_{D\mathrm{0,4}}& G_{D\mathrm{0,5}}& \&CenterDot;\&CenterDot;\&CenterDot;& G_{D0,n-3}& G_{D0,n-2}& G_{D0,n-1}& G_{D0,n}\\ G_{D\mathrm{1,1}}& G_{D\mathrm{1,2}}& G_{D\mathrm{1,3}}& G_{D\mathrm{1,4}}& G_{D\mathrm{1,5}}& \&CenterDot;\&CenterDot;\&CenterDot;& G_{D1,n-3}& G_{D1,n-2}& G_{D1,n-1}& G_{D1,n}\\ G_{D\mathrm{2,1}}& G_{D\mathrm{2,2}}& G_{D\mathrm{2,3}}& G_{D\mathrm{2,4}}& G_{D\mathrm{2,5}}& \&CenterDot;\&CenterDot;\&CenterDot;& G_{D2,n-3}& G_{D2,n-2}& G_{D2,n-1}& G_{D2,n}\\ G_{D\mathrm{3,1}}& G_{D\mathrm{3,2}}& G_{D\mathrm{3,3}}& G_{D\mathrm{3,4}}& G_{D\mathrm{3,5}}& \&CenterDot;\&CenterDot;\&CenterDot;& G_{D3,n-3}& G_{D3,n-2}& G_{D3,n-1}& G_{D3,n}\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ G_{\mathrm{Dn}-\mathrm{1,1}}& G_{\mathrm{Dn}-\mathrm{1,2}}& G_{\mathrm{Dn}-\mathrm{1,3}}& G_{\mathrm{Dn}-\mathrm{1,4}}& G_{\mathrm{Dn}-\mathrm{1,5}}& \&CenterDot;\&CenterDot;\&CenterDot;& G_{\mathrm{Dn}-1,n-3}& G_{\mathrm{Dn}-1,n-2}& G_{\mathrm{Dn}-1,n-1}& G_{\mathrm{Dn}-1,n}\\ G_{\mathrm{Dn},1}& G_{\mathrm{Dn},2}& G_{\mathrm{Dn},3}& G_{\mathrm{Dn},4}& G_{\mathrm{Dn},5}& \&CenterDot;\&CenterDot;\&CenterDot;& G_{\mathrm{Dn},n-3}& G_{\mathrm{Dn},n-2}& G_{\mathrm{Dn},n-1}& G_{\mathrm{Dn},n}\end{array}\right]$

By above control law, weave into all multi-freedom-degree vibrations owing to control object being set to, consider interference between car body 2i and determine the control effort of each vertical damper 7, thus can improve railway vehicle 1 weave into all taking senses.Now, feedback of status K is not limited to aforesaid LQ and controls, and also can be controlled and H by LQG _∞deng various control theories obtain.

In addition, when realizing above system, using the acceleration/accel ai directly over i-th bogie truck 4i being detected by acceleration pick-up 9i, obtaining the component of acceleration (d2zBi/dt2, d2 θ i/dt2) of state vector x.But the present invention is not limited thereto, quantity of state also can be obtained according to the testing result of these acceleration pick-ups 9i (information), also can design suitable state observer and estimate.

Then, the effect that the taking sense of present embodiment improves is described.In the taking sense of railway vehicle 1, the inclined rail (yaw) of car body 2i and wave the acceleration/accel of the vibration acceleration of left and right directions of (sway) etc., the vibration acceleration of above-below direction of rolling (roll)/pitching/beat etc. of car body 2i and then the left and right steady acceleration produced in curve driving or the such lower frequency of the fore-aft acceleration that produces when acceleration and deceleration, has an impact to taking sense.

Enter at a high speed the vehicle in narrow tunnel, running rail the many interval of lateral deformation vehicle in, the taking sense of double swerve especially becomes problem, but in such vehicle, the Active Suspensions (active suspension) of left and right directions is popularized widely, improves taking sense in recent years.In addition, rolling (rolling) and go forward side by side in left and right, the skilled taking sense also affecting left and right of partially rail, but these also by the Active Suspensions of left and right directions and car body elevation mount (also comprising oscillator device) and with and improve taking sense.Thus, improve the result of the taking sense of left and right directions, relatively, the upper and lower taking sense caused by the track deformation of above-below direction badly become obvious.

In addition, wide in tunnel, tunnel is few, straight line is many, the lateral deformation of track is few or height that is track is out of shape in the vehicle of large section travel, taking sense upper and lower from the past severe just obvious.

In the railway vehicle 1 as connection train, by connecting part 3i rigidity combination in the vertical direction between car body 2i, the up-down vibration of up-down vibration on the car body 2i of self of adjacent car body 2i-1,2i+1 brings strong impact.Thus, the whole car body 21 ~ 2n connected by connecting bogie truck 41 ~ 4n-1 have contact.Because the absorption of vibrations of these car bodies 21 ~ 2n is responsible for by vertical damper 7, so only make vertical damper 7 produce the dumping force of the vibration of the car body 2i suppressing self, the vibration of car body 2i fully can not be suppressed.

In contrast, in the present embodiment, control setup 10, based on the detected value of the vibration of whole car body 21 ~ 2n, calculates i-th the bogie truck control effort instruction ui becoming the command value of the actuator 7A of bogie truck 4i.Therefore, even when by connecting bogie truck 41 ~ 4n-1 and whole car body 21 ~ 2n of connecting there is contact, also can consider the impact of the mutual vibration of car body 21 ~ 2n and control the vertical damper 7 of bogie truck 4i.Its result, in railway vehicle 1 entirety of connection train becoming the car body 2i with n joint, can suppress the vibration of car body 2i, can improve taking sense.

In addition, railway vehicle 1 detects the acceleration/accel ai-1 of car body 2i-1 by the acceleration pick-up 9i-1 arranged in connecting part 3i-1, detected the acceleration/accel ai+1 of car body 2i+1 by the acceleration pick-up 9i+1 arranged in connecting part 3i+1, detected the acceleration/accel ai of connecting part 3i by the acceleration pick-up 9i arranged in connecting part 3i.Therefore, can based on the detected value of acceleration/accel ai of the detected value of the acceleration/accel ai-1 of acceleration pick-up 9i-1 and acceleration pick-up 9i and the vibration of computing car body 2i, and can based on the detected value of acceleration/accel ai of the detected value of the acceleration/accel ai+1 of acceleration pick-up 9i+1 and acceleration pick-up 9i and the vibration of computing car body 2i+1.

In addition, in the first embodiment, single control setup 10 is connected to the vertical damper 7 of whole acceleration pick-up 90 ~ 9n, all bogie truck 40 ~ 4n.But the present invention is not limited thereto, also can be that the railway vehicle 21 of the first variation such as shown in Figure 13 is such, degree of will speed up information and the control command of vertical damper 7 be mounted in the digital signal to communicate etc. and share between vehicle.Now, control setup 22 is made up of n+1 handset 230 ~ 23n and 1 machine tool 24.Handset 230 ~ 23n such as closest to each vertical damper 7, obtains the detection signal of acceleration pick-up 90 ~ 9n respectively, and by this information embarkation on order wire 25.In addition, handset 230 ~ 23n, according to the control effort information (i-th bogie truck control effort instruction ui) on order wire 25, exports the instruction current as dumping force instruction to the actuator 7A of vertical damper 7.Machine tool 24 obtains the acceleration information of n car from order wire 25, and according to aforesaid control law, the control effort (i-th bogie truck control effort instruction ui) needed for each vertical damper 7 of computing.This operation result is mounted on order wire 25 and is delivered to handset 230 ~ 23n by machine tool 24.

Then, Figure 14 and Figure 15 represents the second embodiment of the present invention.The feature of the second embodiment is, control setup is the control effort of computing connection bogie truck based on the vibration of the car body of 2 joint amounts.In addition, in this second embodiment, give identical label for the structural element identical with aforesaid first embodiment, and the description thereof will be omitted.

With the railway vehicle 1 of the first embodiment substantially in the same manner, the railway vehicle 31 of the second embodiment comprises car body 2i, connecting part 3i, bogie truck 4i, vertical damper 7, acceleration pick-up 9i, control setup 32i etc.

Control setup 32i uses such as microcomputer etc. and forms identically with the control setup 10 of the first embodiment.But railway vehicle 31 corresponds to the number of units of bogie truck 4i and has n+1 control setup 320 ~ 32n altogether.These control setups 320 ~ 32n individually controls the vertical damper 7 of bogie truck 40 ~ 4n.Below, when control setup 321 ~ 32n is carried out general name, be called control setup 32i.

At the outgoing side of control setup 32i, be connected with the actuator 7A of the vertical damper 7 of bogie truck 4i.At the input side of control setup 32i, be connected with acceleration pick-up 9i-1,9i, 9i+1.And, control setup 32i is based on the detection signal from 3 acceleration pick-ups 9i-1,9i, 9i+1, become i-th bogie truck control effort instruction ui of the dumping force command signal of the vertical damper 7 of bogie truck 4i, and the dumping force of these vertical dampers 7 is carried out variable control.

As shown in figure 15, control setup 32i comprises and to be made up of AD changer, filter process portion etc. and to obtain the pre-processing portion (not shown) of acceleration/accel ai-1, ai, ai+1 from the detection signal of acceleration pick-up 9i-1,9i, 9i+1, and comprises the vibration control portion 33 exporting i-th the bogie truck control effort instruction ui corresponding with the command value of actuator 7A based on acceleration/accel ai-1, ai, ai+1.

Vibration control portion 33 comprises: i-th body oscillating operational part 34i, based on becoming acceleration/accel ai-1, ai of detected value of acceleration pick-up 9i-1,9i and the vibration of computing car body 2i; The i-th+1 body oscillating operational part 34i+1, based on becoming acceleration/accel ai, ai+1 of detected value of acceleration pick-up 9i, 9i+1 and the vibration of computing car body 2i+1; Control effort ordering calculation portion 35, based on car body 2i, 2i+1 of being calculated by these body oscillating operational part 34i, 34i+1 vibration and calculate i-th bogie truck control effort instruction ui of the vertical damper 7 for bogie truck 4i.

Now, i-th body oscillating operational part 12i of body oscillating operational part 34i, 34i+1 and the first embodiment is formed substantially in the same manner.Therefore, body oscillating operational part 34i, 34i+1 based on several 1 and several 2 formula, the vibration of computing car body 2i, 2i+1.In addition, control effort ordering calculation portion 35, according to control law described later, calculates i-th bogie truck control effort instruction ui.

And, i-th the bogie truck control effort instruction ui calculated by control effort ordering calculation portion 35 is input to i-th bogie truck electric current efferent 14i, and the instruction current corresponding with i-th bogie truck control effort instruction ui is supplied to the actuator 7A of the vertical damper 7 of bogie truck 4i by i-th bogie truck electric current efferent 14i.Thus, be attenuated by the pitching of car body 2i and caused vibration of beating, the taking sense of car body 2i can be improved.

Then, illustrate in the railway vehicle 31 with aforesaid structure, the output based on acceleration pick-up 9i-1,9i, 9i+1 controls the control law during dumping force of the vertical damper 7 of each bogie truck 4i.

The control law of the second embodiment is substantially identical with the first embodiment.But, be with an embodiment difference, as described below, feedback of status K be similar to.

In the first embodiment, the feedback of status K obtained by various control theory shown in formula of 18 to several 22 is in full conceived to.In the feedback of status K obtained by the control law of the best feedback etc., mainly large in the gain of the diagonal element periphery of matrix, the gain of off-diagonal element from diagonal element more away from then less.Pay close attention to this point, in off-diagonal element, the gain away from diagonal element is similar to 0, such as, feedback of status K is similar to as follows.

[several 23]

K＝[G _A?G _B?G _c?G _D]

[several 24]

$G_A=\left[\begin{array}{cccccccccc}{G}_{A\mathrm{0,1}}& 0& 0& 0& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 0& 0& 0& 0\\ G_{A\mathrm{1,1}}& G_{A\mathrm{1,2}}& 0& 0& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 0& 0& 0& 0\\ 0& G_{A\mathrm{2,2}}& G_{A\mathrm{2,3}}& 0& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 0& 0& 0& 0\\ 0& 0& G_{A\mathrm{3,3}}& G_{A\mathrm{3,4}}& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 0& 0& 0& 0\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ 0& 0& 0& 0& 0& \&CenterDot;\&CenterDot;\&CenterDot;& G_{\mathrm{An}-3,n-3}& G_{\mathrm{An}-3,n-2}& & \\ 0& 0& 0& 0& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 0& G_{\mathrm{An}-2,n-2}& G_{\mathrm{An}-2,n-1}& \\ 0& 0& 0& 0& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 0& 0& G_{\mathrm{An}-1,n-1}& G_{\mathrm{An}-1,n}\\ 0& 0& 0& 0& 0& 0& 0& 0& 0& G_{\mathrm{An},n}\end{array}\right]$

[several 25]

$G_B=\left[\begin{array}{cccccccccc}{G}_{B\mathrm{0,1}}& 0& 0& 0& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 0& 0& 0& 0\\ G_{B\mathrm{1,1}}& G_{B\mathrm{1,2}}& 0& 0& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 0& 0& 0& 0\\ 0& G_{B\mathrm{2,2}}& G_{B\mathrm{2,3}}& 0& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 0& 0& 0& 0\\ 0& 0& G_{B\mathrm{3,3}}& G_{B\mathrm{3,4}}& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 0& 0& 0& 0\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ 0& 0& 0& 0& 0& \&CenterDot;\&CenterDot;\&CenterDot;& G_{\mathrm{Bn}-3,n-3}& G_{\mathrm{Bn}-3,n-2}& & \\ 0& 0& 0& 0& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 0& G_{\mathrm{Bn}-2,n-2}& G_{\mathrm{Bn}-2,n-1}& \\ 0& 0& 0& 0& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 0& 0& G_{\mathrm{Bn}-1,n-1}& G_{\mathrm{Bn}-1,n}\\ 0& 0& 0& 0& 0& 0& 0& 0& 0& G_{\mathrm{Bn},n}\end{array}\right]$

[several 26]

$G_C=\left[\begin{array}{cccccccccc}{G}_{C\mathrm{0,1}}& 0& 0& 0& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 0& 0& 0& 0\\ G_{C\mathrm{1,1}}& G_{C\mathrm{1,2}}& 0& 0& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 0& 0& 0& 0\\ 0& G_{C\mathrm{2,2}}& G_{C\mathrm{2,3}}& 0& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 0& 0& 0& 0\\ 0& 0& G_{C\mathrm{3,3}}& G_{C\mathrm{3,4}}& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 0& 0& 0& 0\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ 0& 0& 0& 0& 0& \&CenterDot;\&CenterDot;\&CenterDot;& G_{\mathrm{Cn}-3,n-3}& G_{\mathrm{Cn}-3,n-2}& & \\ 0& 0& 0& 0& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 0& G_{\mathrm{Cn}-2,n-2}& G_{\mathrm{Cn}-2,n-1}& \\ 0& 0& 0& 0& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 0& 0& G_{\mathrm{Cn}-1,n-1}& G_{\mathrm{Cn}-1,n}\\ 0& 0& 0& 0& 0& 0& 0& 0& 0& G_{\mathrm{Cn},n}\end{array}\right]$

[several 27]

$G_D=\left[\begin{array}{cccccccccc}{G}_{D\mathrm{0,1}}& 0& 0& 0& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 0& 0& 0& 0\\ G_{D\mathrm{1,1}}& G_{D\mathrm{1,2}}& 0& 0& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 0& 0& 0& 0\\ 0& G_{D\mathrm{2,2}}& G_{D\mathrm{2,3}}& 0& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 0& 0& 0& 0\\ 0& 0& G_{D\mathrm{3,3}}& G_{D\mathrm{3,4}}& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 0& 0& 0& 0\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;& \&CenterDot;\\ 0& 0& 0& 0& 0& \&CenterDot;\&CenterDot;\&CenterDot;& G_{\mathrm{Dn}-3,n-3}& G_{\mathrm{Dn}-3,n-2}& & \\ 0& 0& 0& 0& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 0& G_{\mathrm{Dn}-2,n-2}& G_{\mathrm{Dn}-2,n-1}& \\ 0& 0& 0& 0& 0& \&CenterDot;\&CenterDot;\&CenterDot;& 0& 0& G_{\mathrm{Dn}-1,n-1}& G_{\mathrm{Dn}-1,n}\\ 0& 0& 0& 0& 0& 0& 0& 0& 0& G_{\mathrm{Dn},n}\end{array}\right]$

Now, the control effort produced in the vertical damper 7 of i-th bogie truck 4i is by the performance of following recursion formula.

[several 28]

$\begin{array}{c}{u}_i=G_{\mathrm{Ai},i}{\stackrel{\&CenterDot;}{z}}_{\mathrm{Bi}}+G_{\mathrm{Ai},i+1}{\stackrel{\&CenterDot;}{z}}_{\mathrm{Bi}+1}+G_{\mathrm{Bi},i}{z}_{\mathrm{Bi}}+G_{\mathrm{Bi},i+1}{z}_{\mathrm{Bi}+1}\\ +G_{\mathrm{Ci},i}{\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_i+G_{\mathrm{Ci},i+1}{\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_{i+1}+G_{\mathrm{Di},i}{\mathrm{\&theta;}}_i+G_{\mathrm{Di},i+1}{\mathrm{\&theta;}}_{i+1}\end{array}$

G _A0，0，G _B0，0，G _C0，0，G _D0，0=0

G _An，n+l，G _Bn，n+l，G _Cn，n+1，G _Dn，n+l=0

${\stackrel{\&CenterDot;}{z}}_{B0},{\stackrel{\&CenterDot;}{z}}_{\mathrm{Bn}+l},z_{B0},z_{\mathrm{Bn}+l}=0$

Wherein, ${\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_0,{\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_{n+l}.{\mathrm{\&theta;}}_0,{\mathrm{\&theta;}}_{n+l}=0$

If pay close attention to above-mentioned recursion formula, the control effort produced in the vertical damper 7 of i-th bogie truck 4i only determines according to i car (car body 2i) and the motion of i+1 car (car body 2i+1).That is, configured closest to each shock absorber 7 by control setup 32i, each control setup 32i, according to described recursion formula, only determines control effort according to the vehicle (car body 2i) of self and the acceleration information of adjacent vehicle (car body 2i+1).Now, except acceleration pick-up 9i and between vertical damper 7 and control setup 32i the signal wire (SW) of cabling length such as 2 joint amounts about so short except, the operand of each control setup 32i also reduces.Therefore, it is possible to obtain the performance equal with the first embodiment by simple structure.

Then, as the vibration control effect in above-mentioned control law, Figure 16 represents the analog result of the PSD beated of car body 2i, and Figure 17 represents the analog result of the PSD of the pitching of car body 2i.In Figure 16 and Figure 17, solid line represents the PSD when applying the second embodiment.As the first comparative example, dotted line represents PSD when the passive oil-pressure damper applying and do not carry out ACTIVE CONTROL.As the second comparative example, a long and short dash line represents the acceleration/accel at the above-below direction obtaining the car body 2i directly over connecting part 3i, with its acceleration/accel variation reduce mode control immediately below connecting part 3i vertical damper 7 when PSD.As shown in Figure 16 and Figure 17, in the frequency band of the known 1 ~ 2Hz periphery such as easily felt people, in this second embodiment, compare with the situation only controlling vertical damper 7 based on the vibration directly over connecting part 3i with the situation employing passive damper, the both sides beated with pitching can be reduced.

Like this, in this second embodiment, also the action effect identical with the first embodiment can be obtained.

In addition, in the first embodiment, single control setup 10 is introduced in the wiring of n+1 acceleration pick-up 9i and the control line of n+1 vertical damper 7 that configure in the car body 2i of n joint.Its result, produces wiring and becomes in difficulty, wiring the various problems of easily carrying noise, can not keep the precision of analog signal etc.

On the other hand, in the first variation shown in Figure 13, degree of will speed up information and the control command of vertical damper 7 are mounted in the digital signal to communicate etc. to be shared between vehicle.In the case of such a construction, the acceleration/accel in handset 230 ~ 23n obtains and acceleration information in the communications sends, acceleration information in machine tool 24 receives and control algorithm and control effort instruction sends, control effort command reception in handset 230 ~ 23n and postponing respectively in exporting for the electric current of vertical damper 7.Because communication cable (order wire 25) needs to transmit, so be difficult to carry out high speed in the noise circumstance more than hundred meters.

In addition, if as in the first embodiment, will weave into all as control object, then because the quantity of state of control object is many and operand becomes huge, so the state computing of process 4 × n quantity of state needs performance-oriented microcomputer.Under such restriction, the system lingeringly not realizing taking sense control algorithm becomes the system of high price.

Relative to this, in this second embodiment, the vibration of car body 2i that control setup 32i is arranged in front based on clipping bogie truck 4i and the vibration of the car body 2i+1 arranged in the wings, computing becomes i-th bogie truck control effort instruction ui of the command value of the actuator 7A of the vertical damper 7 of bogie truck 4i.Therefore, as long as about connecting the length 2 joint amount of acceleration pick-up 9i-1,9i, 9i+1 and the cable between vertical damper 7 and control setup 32i, the reduction of simplification and the noise connected up can be realized.In addition, owing to taking sense control algorithm can be simplified, the reduction of manufacturing cost can be realized.

Then, Figure 18 represents the 3rd embodiment of the present invention.The feature of the 3rd embodiment is, control setup removes the component of the acceleration change slowly as the change of road gradient, calculates the command value of actuator.In addition, in the third embodiment, give identical label to the structural element identical with aforesaid second embodiment, the description thereof will be omitted.

The control setup 41i of the 3rd embodiment and the control setup 32i of the second embodiment is formed substantially in the same manner.Therefore, control setup 41i has the vibration control portion 33 be made up of i-th body oscillating operational part 34i, the i-th+1 body oscillating operational part 34i+1 and control effort ordering calculation portion 35.In addition, control setup 41i comprises the pre-processing portion 42 obtaining acceleration/accel ai from the detection signal of acceleration pick-up 9i.This pre-processing portion 42 has acceleration/accel obtaining section 42A, low-pass filter 42B (hereinafter referred to as LPF42B), high-pass filter 42C (hereinafter referred to as HPF42C), phase compensator 42D.

Acceleration/accel obtaining section 42A is made up of AD changer etc., and the detection signal of degree of will speed up sensor 9i is transformed to digital signal and obtains acceleration/accel ai.The cutoff frequency of LPF42B is set as removing the value of less than 1/2 of such as sampling frequency to the high frequency noise of the input overlapping acceleration/accel ai.The cutoff frequency of HPF42C be set as than car body 2i beat and pitching resonant frequency in the also low value of the frequency of low frequency side, stay and beat and the frequency component of pitching, removing is with the component of the acceleration change slowly of the change of condition of road surface.

Car body 2i beat and the resonance point of pitching such as produces in the frequency of about 1 ~ 2Hz.On the other hand, the offset component of adjoint ascents and descents such as becomes the frequency of below 0.5Hz.Therefore, the cutoff frequency of HPF42C, as the value of beating and between the resonant frequency of pitching and the frequency of offset component, is set as such as about 0.5Hz.In addition, the cutoff frequency of HPF42C is not limited to above-mentioned frequency, also can consider vibration when making vehicle actual travel etc. and determine by experiment.

Phase compensator 42D, by LPF42B and HPF42C, when control frequency periphery can not get the phase propetry expected, improves phase propetry.LPF42B, HPF42C, phase compensator 42D are made up of the digital filter etc. based on digital signal processing.Based on the detected value of the acceleration/accel ai exported from above pre-processing portion 42, vibration control portion 33 computing i-th bogie truck control effort instruction ui, and output to i-th bogie truck electric current efferent 14i.

Like this, in the third embodiment, also the action effect identical with the second embodiment can be obtained.

In addition, in the taking sense employing acceleration pick-up 9i controls, control setup 41i generates control effort instruction in the mode of the change of the speed of the change and above-below direction that reduce the rate of pitch of car body 2i.Therefore, in the control of the second embodiment, railway vehicle 31 come uphill line moment, depart from uphill line moment, come descending route moment, depart from descending route moment or be in upward slope state and a part of vehicle is in moment of descending state save by 1 a part of vehicle weaved into, generate the control effort instruction of the activity (change of the change of rate of pitch and the speed of above-below direction) of obstruction car body 2i.

This control effort instruction is tilted by car body 2i or retract or makes it lean forward or the instruction of tilting of hypsokinesis ground, by this effects of overlapping in taking sense control command, as a result, worsens the taking sense coming the moment in ramp.In addition, in the acceleration and deceleration in upward slope and in descending, the curve negotiating of inclination car body 2i, there is skew in the acceleration/accel ai of the above-below direction of car body 2i, impact is brought on taking sense.

Relative to this, in the third embodiment, by HPF42C, the component of the such acceleration change slowly of change of removing road gradient, so only to pitching with beat acceleration/accel ai caused and provide control, the taking sense in uphill line and descending route can be improved.

In addition, the situation the 3rd embodiment being applied to the second embodiment is illustrated, but it also can be applied to the first embodiment.

Then, Figure 19 represents the 4th embodiment of the present invention.The feature of the 4th embodiment is, control setup switching controls gain according to the weight of adjacent two car bodies.In addition, in the 4th embodiment, give identical label to the structural element identical with aforesaid second embodiment, the description thereof will be omitted.

The control setup 51i of the 4th embodiment and the control setup 32i of the second embodiment is formed substantially in the same manner.Control setup 51i comprises the pre-processing portion 52 obtaining acceleration/accel ai from the detection signal of acceleration pick-up 9i.This pre-processing portion 52 has acceleration/accel obtaining section 52A, low-pass filter 52B (hereinafter referred to as LPF52B), high-pass filter 52C (hereinafter referred to as HPF52C), phase compensator 52D.

Acceleration/accel obtaining section 52A is made up of AD changer etc., and the detection signal of degree of will speed up sensor 9i is transformed to digital signal and obtains acceleration/accel ai.LPF52B removing is than the noise etc. of the frequency side high with the frequency of pitching of beating of car body 2i.HPF52C removing beating and the noise etc. of frequency side that the frequency of pitching is low and unwanted signal than car body 2i.Phase compensator 52D, by LPF52B and HPF52C, when control frequency periphery can not get the phase propetry expected, improves phase propetry.

In addition, control setup 51i comprises water tank (tank) water level obtaining section 53, i car weight amount balancing algorithms portion 54i, i+1 car weight amount balancing algorithms portion 54i+1.Cistern water level obtaining section 53 is made up of AD changer etc., and to be connected on i car under water tank watermeter 55i, i car on water tank watermeter 56i, i+1 car water tank watermeter 56i+1 under water tank watermeter 55i+1, i+1 car.Cistern water level obtaining section 53 obtains the water yield Qai of the upper water tank of i car and the water yield Qbi of lower water tank, and obtains the water yield Qai+1 of the upper water tank of i+1 car and the water yield Qbi+1 of lower water tank.

I car weight amount balancing algorithms portion 54i is computing i car weight balancing based on water yield Qai, the Qbi of the water tank of i car, exports the signal corresponding with the weight of balancing inertia (balance inertia) and car body 2i.

I+1 car weight amount balancing algorithms portion 54i+1 is computing i+1 car weight balancing based on water yield Qai+1, the Qbi+1 of the water tank of i+1 car, exports the signal corresponding with the weight of balancing inertia and car body 2i+1.

Control setup 51i has the vibration control portion 57 identical with the vibration control portion 33 of the second embodiment.Therefore, vibration control portion 57 has i-th the body oscillating operational part 58i roughly the same with i-th of the second embodiment body oscillating operational part 34i, the i-th+1 body oscillating operational part 34i+1, control effort ordering calculation portion 35, the i-th+1 body oscillating operational part 58i+1, control effort ordering calculation portion 59.In addition, vibration control portion 57 has: memory device 60, store the ride gain GAi of multiple kind (such as M kind), i (1) ~ GAi, i (M), GAi, i+1 (1) ~ GAi, i+1 (M), GCi, i (1) ~ GCi, i (M), GCi, i+1 (1) ~ GCi, i+1 (M); Selecting parameter portion 61, based on the signal exported from weight balancing operational part 54i, 54i+1, from the ride gain GAi stored in memory device 60, i (1) ~ GAi, i (M), GAi, i+1 (1) ~ GAi, i+1 (M), GCi, i (1) ~ GCi, i (M), GCi, 1 kind is selected in i+1 (1) ~ GCi, i+1 (M).And, Selecting parameter portion 61 is by the ride gain GAi of a kind of selection, i (m), GAi, i+1 (m), GCi, i (m), GCi, i+1 (m) are as ride gain GAi, i, GAi, i+1, GCi, i, GCi, i+1 and be supplied to control effort ordering calculation portion 59.

Now, when in such as i car and i+1 car, i car is heavier in Selecting parameter portion 61, increase the ride gain GAi of heavy vehicle, i, reduces the ride gain GAi of light vehicle, i+1.In addition, when the inertia of Selecting parameter portion 61 pitch orientation of i car in i car and i+1 car is larger, increase the ride gain GCi of the luffing angle θ i for the large car body 2i of inertia, i, reduce the ride gain GCi of the luffing angle θ i for the little car body 2i of inertia, i+1.

In addition, the relation of weight and inertia and ride gain GAi, i, GAi, i+1, GCi, i, GCi, i+1 is not limited thereto, and based on the vibration of the car body 2i when making vehicle actual travel, determines the relation that can reduce the best of the vibration of car body 2i.In addition, for the ride gain GAi of the speed (dzBi/dt) of above-below direction, i, GAi, the species number of i+1 and the ride gain GCi for rate of pitch (d θ i/dt), i, GCi, the species number of i+1 needs not be identical number, also can be mutually different numbers.

Further, if the detected value of control effort ordering calculation portion 59 the past handling part 52 input acceleration ai, then use the ride gain selected by Selecting parameter portion 61, computing i-th bogie truck control effort instruction ui, and output to i-th bogie truck electric current efferent 14i.

Like this, in the 4th embodiment, also the action effect identical with the second embodiment can be obtained.

In addition, if premised on not changing under steam in conjunction with rigidity between the weight of car body 2i and car body 2i, then the ride gain GAi in the second embodiment, j, GBi, j, GCi, j, GDi, j becomes the fixed value of tuning (tuning) in advance.But, there is difference etc. due to the consumption of the loading fuel in internal-combustion engine vehicle, the changes in balance of the clean water/sewage in sleeper, the riding rate of each vehicle and the destroyed possibility of weight balancing.

Relative to this, in the 4th embodiment, prepare the ride gain GAi considering multiple kinds of the change of the weight balancing of vehicle, j (1) ~ GAi, j (M), GCi, j (1) ~ GCi, j (M), such as according to the difference of the car body weight of i car and i+1 car and switching controls gain G Ai, the ratio of i and ride gain GAi, i+1, or according to the difference of the inertia of i car and i+1 car and switching controls gain G Ci, the ratio of i and ride gain GCi, i+1.

Specifically, when i car is different from the car body weight of i+1 car, increase at the ride gain GAi beated for vehicle, i, GAi, the ride gain of the side that car weight is heavier in i+1.In addition, when i car is different from the inertia of the pitch orientation of i+1 car, at the ride gain GCi of the luffing angle θ i for vehicle, i, GCi, in i+1, increase the ride gain of the luffing angle θ i for large car body 2i, the 2i+1 of inertia.Thus, even when the weight of car body 2i and inertia change, also the ride gain GAi corresponding with this change can be selected, j, GCi, j, the vibration of car body 2i is suppressed.

In addition, also suitably can change and beat and the balance of balance, i.e. ride gain GAi, j ~ GDi, j of ride gain of pitching.

In addition, in the 4th embodiment, obtain water yield Qai, the Qai+1 of upper water tank and water yield Qbi, the Qbi+1 of lower water tank that are measured by upper water tank watermeter 55i, 55i+1 and lower water tank watermeter 56i, 56i+1, based on the balance of the clean water/sewage according to these water yields, the change of sense weight and inertia is as the change of the weight balancing of car body 2i.But the present invention is not limited thereto, the change case of weight balancing is as also detected by running time and fuel meter when the changes in weight based on consumption of fuel, and the difference of riding rate also can be detected by the initial displacement of pillow spring etc.In addition, weight and the inertia of car body 2i can also directly be measured.

In addition, be set to the structure comprising the vibration control portion 57 identical with the vibration control portion 33 of the second embodiment at the 4th embodiment, but also can apply the vibration control portion 11 of the first embodiment.In addition, the 4th embodiment also can combine with the 3rd embodiment.

Then, Figure 20 represents the 5th embodiment of the present invention.The feature of the 5th embodiment is, control setup is switching controls gain according to car speed.In addition, in the 5th embodiment, give identical label to the structural element identical with aforesaid 4th embodiment, the description thereof will be omitted.

The control setup 71i of the 5th embodiment comprises the pre-processing portion 52 of the 4th embodiment.In addition, control setup 71i comprises velocity information obtaining section 72.Velocity information obtaining section 72 is connected to the order wire 73 in such as vehicle, obtains car speed from order wire 73.In addition, velocity information obtaining section 72 is not limited to the signal from order wire 73, also can by such as from speed sensor etc. signal and obtain car speed.

Control setup 71i has the vibration control portion 74 identical with the vibration control portion 33 of the second embodiment.Therefore, vibration control portion 74 has i-th the body oscillating operational part 75i roughly the same with i-th of the second embodiment body oscillating operational part 34i, the i-th+1 body oscillating operational part 34i+1, control effort ordering calculation portion 35, the i-th+1 body oscillating operational part 75i+1, control effort ordering calculation portion 76.In addition, vibration control portion 74 has the memory device 77 roughly the same with the memory device 60 of the 4th embodiment, Selecting parameter portion 61, Selecting parameter portion 78.

Here, in memory device 77, store the ride gain GAi of multiple kind (such as M kind), i (1) ~ GAi, i (M), GAi, i+1 (1) ~ GAi, i+1 (M), GCi, i (1) ~ GCi, i (M), GCi, i+1 (1) ~ GCi, i+1 (M).Selecting parameter portion 78 is based on the signal exported from speed information acquiring section 72, from the ride gain GAi stored in memory device 77, i (1) ~ GAi, i (M), GAi, i+1 (1) ~ GAi, i+1 (M), GCi, i (1) ~ GCi, 1 kind is selected in i (M), GCi, i+1 (1) ~ GCi, i+1 (M).And, Selecting parameter portion 78 is by the ride gain GAi of selected a kind, i (m), GAi, i+1 (m), GCi, i (m), GCi, i+1 (m) are as ride gain GAi, i, GAi, i+1, GCi, i, GCi, i+1 and be supplied to control effort ordering calculation portion 76.

Now, Selecting parameter portion 78, such as when car speed is fast, increases ride gain GAi, i, GAi, i+1, GCi, i, GCi, i+1, when car speed is slow, reduces ride gain GAi, i, GAi, i+1, GCi, i, GCi, i+1.In addition, for the ride gain GAi of the speed (dzBi/dt) of above-below direction, i, GAi, the species number of i+1 and the ride gain GCi for rate of pitch (d θ i/dt), i, GCi, the species number of i+1 needs not be identical number, also can be mutually different numbers.

Further, if the detected value of control effort ordering calculation portion 76 the past handling part 52 input acceleration ai, then use the ride gain selected by Selecting parameter portion 78, computing i-th bogie truck control effort instruction ui, and output to i-th bogie truck electric current efferent 14i.

Like this, in the 5th embodiment, also the action effect identical with the second embodiment can be obtained.In addition, when the spatial frequency of being out of shape up and down of track does not have large peak value, the moving velocity along with vehicle accelerates and the taking sense of vehicle reduces.Now, in the 5th embodiment, owing to changing ride gain GAi according to car speed, i, GCi, i, so the reduction that can suppress the taking sense of the velocity variations along with vehicle.

In addition, be set to the structure comprising the vibration control portion 74 identical with the vibration control portion 33 of the second embodiment at the 5th embodiment, but also can apply the vibration control portion 11 of the first embodiment.In addition, the 5th embodiment also can combine with the 3rd to the 4th embodiment.

Then, Figure 21 represents the 6th embodiment of the present invention.The feature of the 6th embodiment is, control setup in the upward slope of vehicle or accelerate in switching controls gain.In addition, in the 6th embodiment, give identical label to the structural element identical with aforesaid 4th embodiment, the description thereof will be omitted.

The control setup 81i of the 6th embodiment comprises the pre-processing portion 52 of the 4th embodiment.In addition, control setup 81i comprises travel direction obtaining section 82, gradient angle obtaining section 83, fore-aft acceleration obtaining section 84.Travel direction obtaining section 82 is such as connected to the order wire 85 in vehicle, obtains the travel direction of vehicle from order wire 85.Gradient angle obtaining section 83 is connected to the angle gauge 86 of the gradient such as detecting vehicle, obtains the slope of vehicle.Fore-aft acceleration obtaining section 84 is connected to the acceleration pick-up 87 of such as fore-and-aft direction, obtains the acceleration/accel of fore-and-aft direction.

In addition, travel direction obtaining section 82 also can obtain travel direction by the speed sensor of vehicle.Gradient angle obtaining section 83 also based on the location information of the vehicle of the operation control center of GPS and vehicle etc., can obtain the slope of vehicle.Fore-aft acceleration obtaining section 84 also by carrying out differential process to the velocity information of vehicle, can obtain the acceleration/accel of fore-and-aft direction.

Control setup 81i has the vibration control portion 88 identical with the vibration control portion 33 of the second embodiment.Therefore, vibration control portion 88 has i-th the body oscillating operational part 89i roughly the same with i-th body oscillating operational part 34i, the i-th+1 body oscillating operational part 34i+1, control effort ordering calculation portion 35, the i-th+1 body oscillating operational part 89i+1, control effort ordering calculation portion 90.In addition, vibration control portion 88 has the memory device 91 roughly the same with the memory device 60 of the 4th embodiment, Selecting parameter portion 61, Selecting parameter portion 92.

Here, in memory device 91, store the ride gain GAi of multiple kind (such as M kind), i (1) ~ GAi, i (M), GAi, i+1 (1) ~ GAi, i+1 (M), GCi, i (1) ~ GCi, i (M), GCi, i+1 (1) ~ GCi, i+1 (M).Selecting parameter portion 92 is based on the signal exported from travel direction obtaining section 82, gradient angle obtaining section 83 and fore-aft acceleration obtaining section 84, from the ride gain GAi stored in memory device 91, i (1) ~ GAi, i (M), GAi, i+1 (1) ~ GAi, i+1 (M), GCi, i (1) ~ GCi, 1 kind is selected in i (M), GCi, i+1 (1) ~ GCi, i+1 (M).And, Selecting parameter portion 92 is by the ride gain GAi of selected a kind, i (m), GAi, i+1 (m), GCi, i (m), GCi, i+1 (m) are as ride gain GAi, i, GAi, i+1, GCi, i, GCi, i+1 and be supplied to control effort ordering calculation portion 90.

Here, in the first embodiment, suppose at the uniform velocity to travel on level land, be set to acceleration/accel (d2xBi/dt2)=0, i.e. Tzi=0 and separate equation of motion.But in the vehicle only driven by the traction of the locomotive in travel direction front as concentrated dynamical type vehicle, in upward slope or in accelerating, tractive force is as shown in the formula expression (with reference to Figure 22).

[several 29]

$T_i=-\left(\underset{k=i+1}{\overset{n}{\mathrm{\&Sigma;}}}{m}_k\right)({\stackrel{\&CenterDot;\&CenterDot;}{x}}_{\mathrm{Bi}}-g\sin {\mathrm{\&theta;}}_r)$

Wherein, in the formula of several 29, g represents acceleration due to gravity, and θ r is the gradient on road surface and is just set to when descending grade.As in the first embodiment describe, the z direction component Tzi of tractive force Ti as the aforementioned several 6 formula represent like that.

That is, mean that in upward slope or in accelerating, more close bogie truck foremost 40 vertical power Tzi of action when pitching is larger.This power when i car and the anti-phase pitching of i+1 car, along the direction action of pitching hindering car body 2i.Therefore, in upward slope or accelerate in, more close bogie truck foremost 40 pitch vibrations are fewer.

In view of this point, when Selecting parameter portion 92 is such as in vehicle is for upward slope or in accelerating, then more reduce the ride gain GCi of pitching close to connection bogie truck 41 ~ 4n foremost, i, GCi, i+1, obtains high by the band setting of the target being set to control setup 81i.Similarly, Selecting parameter portion 92 such as according to vehicle be whether go up a slope in or in accelerating, also switch the ride gain GAi beated, i, GAi, i+1.

In addition, for the ride gain GAi of the speed (dzBi/dt) of above-below direction, i, GAi, the species number of i+1 and the ride gain GCi for rate of pitch (d θ i/dt), i, GCi, the species number of i+1 needs not be with number, also can be mutually different numbers.

Further, if the detected value of control effort ordering calculation portion 90 the past handling part 52 input acceleration ai, then use the ride gain selected by Selecting parameter portion 92, computing i-th bogie truck control effort instruction ui, and output to i-th bogie truck electric current efferent 14i.

Like this, in the 6th embodiment, also the action effect identical with the second embodiment can be obtained.In addition, due to vehicle in going up a slope or in accelerating time, carry out switching controls gain G Ai according to these states, i, GAi, i+1, GCi, i, GCi, i+1, even so in upward slope or in accelerating, best taking sense also can be realized and controls.

In addition, because car body 2i each in the vehicle of disperse power type has power, between car body 2i, do not produce tractive force Ti, thus with upward slope or accelerates have nothing to do and become Tzi=0.In addition, when being equipped with brake in each bogie truck 4i, can with concentrated power/disperse power independently, slow down time be assumed to be Tzi=0.That is, only in the upward slope of concentrated dynamical type vehicle or in accelerating, the 6th embodiment is applied.

In addition, be set to the structure comprising the vibration control portion 88 identical with the vibration control portion 33 of the second embodiment at the 6th embodiment, but also can apply the vibration control portion 11 of the first embodiment.In addition, the 6th embodiment also can combine with the 3rd to the 5th embodiment.

Then, Figure 23 represents the 7th embodiment of the present invention.The feature of the 7th embodiment is, the ride gain of foremost bogie truck is set as the value different from the ride gain of other connection bogie truck by control setup.In addition, in the 7th embodiment, give identical label to the structural element identical with aforesaid second embodiment, the description thereof will be omitted.

In the railway vehicle 101 of the 7th embodiment, be pulled by locomotive 102 by the car body 21 ~ 2n connecting the n joint that bogie truck 41 ~ 4n-1 links.Now, the passenger vehicle (No. 1 car ~ n car) be made up of locomotive 102 and car body 21 ~ 2n etc. can disconnect.Therefore, the bogie truck foremost 40 of No. 1 car does not become connection bogie truck, is not positioned at the end (leading section) of car body 21.

Locomotive 102 and No. 1 car are rigidly connected in the longitudinal direction, but connect in the mode can carrying out the flexibility of relative displacement in the vertical direction.Now, the 0th bogie truck 40 supports 1/2 of the car weight of No. 1 car.On the other hand, because the 1st bogie truck 41 becomes connection bogie truck, so support 1/2 sum of the car weight of 1/2 and No. 2 car of the car weight of No. 1 car.That is, even if the situation that the distance between the attachment point considering the 0th bogie truck 40 and the 1st bogie truck 41 is short, the vertical power that the 0th bogie truck 40 applies is also little than other connection bogie truck 41 ~ 4n-1.

Therefore, railway vehicle 101 comprises the control setup 103i roughly the same with the control setup 32i of the second embodiment, but foremost bogie truck 40 with control setup 1030 by foremost bogie truck 40 with ride gain compared with other the ride gain connecting bogie truck 41 ~ 4n-1, set low.

In addition, identically with foremost bogie truck 40, the vertical power that most end bogie truck 4n applies is also little than other connection bogie truck 41 ~ 4n-1.Therefore, most end bogie truck 4n with control setup 103n compared with other the ride gain connecting bogie truck 41 ~ 4n-1, the ride gain of most end bogie truck 4n is set low.

Like this, in the 7th embodiment, also the action effect identical with the second embodiment can be obtained.In addition, due to the ride gain of foremost bogie truck 40 and most end bogie truck 4n is set lower than the ride gain of other connection bogie truck 41 ~ 4n-1, so control setup 1030,103n can computing control effort instruction u0, uns corresponding with the vertical power applied on bogie truck 40,4n, the taking sense of railway vehicle 101 can be improved.

In addition, in the 7th embodiment, be set to locomotive 102 and No. 1 car flexibly connects.But the present invention is not limited thereto, such as also can the railway vehicle 111 of the second variation as of fig. 24 such, locomotive 112 is connected in the mode can not carrying out the rigidity of relative displacement in the vertical direction with No. 1 car.

Now, on the 0th bogie truck 40, except the vertical power of the car body 21 of No. 1 car, also apply the vertical power of locomotive 112.Generally, the quality of locomotive 112 is larger than passenger vehicle.Therefore, the vertical power the 0th bogie truck 40 applied is larger than other bogie truck 41 ~ 4n.Consider this point, the railway vehicle 111 of the second variation comprises the control setup 113i roughly the same with the control setup 32i of the second embodiment.Now, foremost the ride gain of foremost bogie truck 40 sets high than the ride gain of other bogie truck 41 ~ 4n by the control setup 1130 of bogie truck 40.

In addition, in the 7th embodiment, be set to passenger vehicle No. 1 car and be connected to locomotive 102.But the present invention is not limited to this, such as also can the railway vehicle 121 of the 3rd variation as shown in figure 25 such, be applied to not by the vehicle of locomotive traction.

In the railway vehicle 121 of engine installation 122 decentralized configuration be made up of electrical motor etc. at each passenger vehicle, the bogie truck foremost 40 (the 0th bogie truck) of passenger vehicle becomes the bogie truck foremost of vehicle.Now, the 1/2,1st bogie truck 41 of the car weight of the 0th bogie truck 40 supports No. 1 car supports 1/2 sum of the car weight of 1/2 and No. 2 car of the car weight of No. 1 car.On the other hand, because foremost vehicle (No. 1 car) is configured operator platform, so the car body weight possibility different from other passenger vehicle with bogie truck spacing is high.Consider this point, in the railway vehicle 121 of the 3rd variation, comprise the control setup 123i roughly the same with the control setup 32i of the second embodiment.Now, foremost the control setup 1230 of bogie truck 40 considers these impacts, and the ride gain of foremost bogie truck 40 is set as the value different from the ride gain of other connection bogie truck 41 ~ 4n-1.

Such as, when the vertical power that the 0th bogie truck 40 applies is less than other connection bogie truck 41 ~ 4n-1, the ride gain of foremost bogie truck 40 is set low.On the contrary, by the impact of operator platform etc., when the vertical power that the 0th bogie truck 40 applies is larger than other connection bogie truck 41 ~ 4n-1, the ride gain of foremost bogie truck 40 is set low.

In addition, in the 7th embodiment, be set to the situation considering that the vertical power that applies on most end bogie truck 4n is less than other connection bogie truck 41 ~ 4n-1, the ride gain of most end bogie truck 4n is set low.But the present invention is not limited thereto, such as also can the railway vehicle 131 of the 4th variation as shown in figure 26 such, the ride gain of most end bogie truck 4n is set as different values.

When the vehicle of running at high speed, by the impact of Air Force external disturbance, the tendency that the taking sense that there is the vehicle at most end worsens.Consider this point, in the railway vehicle 131 of the 4th variation, the ride gain of most end bogie truck 4n also can be set as the value (such as, high value) different from the ride gain of other connection bogie truck 41 ~ 4n-1 by the control setup 132n in control setup 1320 ~ 132n.The value of concrete ride gain based on vibration when making vehicle actual travel etc. testing result and suitably set.Now, railway vehicle 131 also can be trailed vehicle by locomotive, also can be not by the vehicle of locomotive traction as the 3rd variation.

In addition, describe the situation that the 7th embodiment and the second ~ four variation are applied to the second embodiment, but also can be applied to the first embodiment.In addition, the 7th embodiment also can combine with the 3rd to the 6th embodiment.

Then, Figure 27 and Figure 28 represents the 8th embodiment of the present invention.The feature of the 8th embodiment is, control setup by the vibration of adjacent two car bodies based on the detected value of the sensor arranged around a car body and computing.In addition, in the 8th embodiment, give identical label for the structural element identical with aforesaid second embodiment, and the description thereof will be omitted.

With the railway vehicle 31 of the second embodiment substantially in the same manner, the railway vehicle 141 of the 8th embodiment comprises car body 2i, connecting part 3i, bogie truck 4i, vertical damper 7, acceleration pick-up 9i, control setup 143i etc.In addition, displacement pickup 142i between the car body comprising the relative displacement of the fore-and-aft direction detected between adjacent car body 2i and car body 2i+1.

Between car body, displacement pickup 1420 is arranged between the car body 21 of No. 1 car and the car body 22 of No. 2 cars, detects the relative displacement xb1 of the fore-and-aft direction between them, 2.Between car body, displacement pickup 142n-1 is arranged between the car body 2n of car body 2n-1 and n car (most end trailer) of n-1 car, detects the relative displacement xbn-1 of the fore-and-aft direction between them, n.Between these car bodies, displacement pickup 1420 ~ 142n-1 exports the relative displacement xbi with the fore-and-aft direction becoming adjacent car body spacing, the detection signal that i+1 is corresponding.Below, when displacement pickup 1420 ~ 142n-1 carries out general name between by car body, displacement pickup 142i between car body is called.Between car body, displacement pickup 142i is arranged on the position leaving distance h from the connecting part 3i upward direction of i car and i+1 car.

Control setup 143i comprises and obtains acceleration/accel ai-1, ai from the detection signal of acceleration pick-up 9i-1,9i and obtain relative displacement xbi, the pre-processing portion (not shown) of i+1 from the detection signal of displacement pickup 142i between car body.In addition, control setup 143i comprises the vibration control portion 144 exporting i-th the bogie truck control effort instruction ui corresponding with the command value of actuator 7A based on acceleration/accel ai-1, ai and relative displacement xbi, i+1.

Vibration control portion 144 comprises: i-th body oscillating operational part 145i, based on acceleration/accel ai-1, the ai of detected value becoming acceleration pick-up 9i-1,9i, and the vibration of computing car body 2i; The i-th+1 body oscillating operational part 145i+1, based on i-th body oscillating operational part 145i operation result and become the relative displacement xbi of detected value of displacement pickup 142i between car body, i+1, the vibration of computing car body 2i+1; Control effort ordering calculation portion 146, based on the vibration of car body 2i, 2i+1 of being calculated by these body oscillating operational part 145i, 145i+1, calculates i-th bogie truck control effort instruction ui of the vertical damper 7 for bogie truck 4i.Now, the control effort ordering calculation portion 35 of control effort ordering calculation portion 146 and the second embodiment is formed substantially in the same manner.

And, i-th the bogie truck control effort instruction ui calculated by control effort ordering calculation portion 146 is input to i-th bogie truck electric current efferent 14i, and the instruction current corresponding with i-th bogie truck control effort instruction ui is supplied to the actuator 7A of the vertical damper 7 of bogie truck 4i by i-th bogie truck electric current efferent 14i.Thus, pitching and the caused vibration of beating of car body 2i are attenuated, and can improve the taking sense of car body 2i.

Then, illustrate by i-th body oscillating operational part 145i and the i-th+1 body oscillating operational part 145i+1 and the operational method of the vibration of computing car body 2i, 2i+1.

Use the distance h between displacement pickup 142i and connecting part 3i between car body, be defined by displacement pickup 142i between car body as follows and the relative displacement xbi that detects, i+1.Now, relative displacement xbi, i+1 become 0 when luffing angle θ i, the θ i+1 of i car and i+1 car are equal.

[several 30]

x _bi，i+1＝sin(θ _i-θ _i+1)×h

Because luffing angle θ i, θ i+1 are little, so can be similar to as follows.

[several 31]

sin(θ _i-θ _i+1)≈θ _i-θ _i+1

Therefore, according to the output (relative displacement xbi, i+1) of displacement pickup 142i between car body, obtained the relative angle (θ i-θ i+1) of i car and i+1 car by following conversion formula.

[several 32]

${\mathrm{\&theta;}}_i-{\mathrm{\&theta;}}_{i+1}\&ap;\frac{x_{\mathrm{bi},i+1}}{h}$

In the present embodiment, pitch angle acceleration/accel (the d2 θ i/dt2) formula by several 33 of i car is obtained.

[several 33]

${\stackrel{\&CenterDot;\&CenterDot;}{\mathrm{\&theta;}}}_i=\frac{a_i-a_{i-1}}{L_i}$

Therefore, the pitch angle acceleration/accel (d2 θ i+1/dt2) of i+1 car is obtained as follows.

[several 34]

${\stackrel{\&CenterDot;\&CenterDot;}{\mathrm{\&theta;}}}_{i+1}\&ap;\frac{a_i-a_{i-1}}{L_i}-\frac{{\stackrel{\&CenterDot;\&CenterDot;}{x}}_{\mathrm{bi},i+1}}{h}$

In addition, the normal acceleration (d2zBi/dt2) of i car and i+1 car, (d2zBi+1/dt2), based on the acceleration/accel ai-1 obtained in acceleration pick-up 9i-1 and the acceleration/accel ai obtained in acceleration pick-up 9i, are obtained by following formula.

[several 35]

${\stackrel{\&CenterDot;\&CenterDot;}{z}}_{\mathrm{Bi}}=\frac{a_i+a_{i-1}}{2}$

[several 36]

${\stackrel{\&CenterDot;\&CenterDot;}{z}}_{\mathrm{Bi}+1}=a_i+\frac{L_{i+1}}{2}{\stackrel{\&CenterDot;\&CenterDot;}{\mathrm{\&theta;}}}_{i+1}$

By above computing, in the present embodiment, only according to displacement x bi, i+1 between the car body directly over acceleration/accel ai-1, ai of i car and i-th bogie truck 4i, just can obtain the pitching of i car and i+1 car and beat.Now, acceleration/accel ai can be represented by the normal acceleration (d2zBi/dt2) of i car and pitch angle acceleration/accel (d2 θ i/dt2).Therefore, i+1 car pitching and beat and by the pitching of i car and can to beat and between car body, displacement x bi, i+1 obtain.

Now, i-th body oscillating operational part 145i of acceleration pick-up 9i-1 and acceleration pick-up 9i and control setup 143i together forms the first vibration detection parts of the vibration detecting car body 2i.In addition, between the first vibration detection parts and car body, the i-th+1 body oscillating operational part 145i+1 of displacement pickup 142i and control setup 143i together forms the second vibration detection parts of the vibration detecting car body 2i+1.

In addition, the i-th+1 body oscillating operational part 145i+1 also can not use the detected value of the first vibration detection parts, and using acceleration/accel ai-1, the ai of the detected value as acceleration pick-up 9i-1, acceleration pick-up 9i and as the detected value of displacement pickup 142i between car body car body between displacement x bi, i+1 substitutes into the formula of several 34 and several 36, thus the vibration of computing car body 2i+1.

Like this, in the 8th embodiment, also the action effect identical with the second embodiment can be obtained.In addition, in the 8th embodiment, by means of only the wiring of the vehicle of oneself, just can carry out the control suppressing the car body 2i of oneself and the vibration of adjacent car body 2i+1 identically with the second embodiment.Therefore, the operand of control setup 143i is also few, can by the control effects of simpler structure acquisition close to the second embodiment.

In addition, in the 8th embodiment, be set to displacement pickup 142i between car body and detect the relative displacement xbi of fore-and-aft direction, i+1, calculate the relative angle (θ i-θ i+1) between car body.But the present invention is not limited thereto, between car body, displacement pickup also can relative angle (θ i-θ i+1) between direct-detection car body.

In addition, in the 8th embodiment, car body 2i is by being arranged on acceleration pick-up 9i-1,9i of leading section and rearward end and the vibration of car body 2i detecting pitching or to beat etc., but the position of acceleration pick-up 9i-1,9i or the detection side of acceleration/accel, to being not limited thereto, also can suitably change.

That is, in the 8th embodiment, if the motion of the relative angle that can detect in adjacent car body 2i and car body 2i+1 between them and a car body 2i, the motion of another car body 2i+1 can just be calculated, can the control of application of aforementioned.

In addition, the 8th embodiment also can combine with the 3rd to the 7th embodiment.

Then, Figure 29 represents the 9th embodiment of the present invention.The feature of the 9th embodiment is, control setup is the control effort of computing connection bogie truck based on the control effort of bogie truck during car body individualism.In addition, in the 9th embodiment, give identical label for the structural element identical with aforesaid second embodiment, and the description thereof will be omitted.

The control setup 151i of the 9th embodiment comprises the pre-processing portion (not shown) obtaining acceleration/accel ai-1, ai, ai+1 from the detection signal of acceleration pick-up 9i-1,9i, 9i+1.In addition, control setup 151i comprises the vibration control portion 152 exporting i-th the bogie truck control effort instruction ui corresponding with the command value of actuator 7A based on acceleration/accel ai-1, ai, ai+1.

Vibration control portion 152 has i-th body oscillating operational part 153i, the i-th+1 body oscillating operational part 153i+1, control effort ordering calculation portion 154.

I-th body oscillating operational part 34i of i-th body oscillating operational part 153i and the second embodiment is formed substantially in the same manner, based on becoming acceleration/accel ai-1, ai of detected value of acceleration pick-up 9i-1,9i and the vibration of computing car body 2i.I-th body oscillating operational part 34i+1 of the i-th+1 body oscillating operational part 153i+1 and the second embodiment is formed substantially in the same manner, based on becoming acceleration/accel ai, ai+1 of detected value of acceleration pick-up 9i, 9i+1 and the vibration of computing car body 2i+1.

Control effort ordering calculation portion 154 is based on the vibration of car body 2i, 2i+1 and computing i-th bogie truck control effort instruction ui.This control effort ordering calculation portion 154 has control effort ordering calculation portion 155i+1 on front side of i car control effort ordering calculation portion 155i, i+1 car, add portion 156.

Assume that the front and rear of car body 2i be provided with bogie truck 4iF, bogie truck 4iR disconnected independently vehicle time, i car control effort ordering calculation portion 155i calculates control effort instruction uiF, uiR of being used for being reduced the vibration of car body 2i by these bogie trucks 4iF, bogie truck 4iR.Specifically, i car control effort ordering calculation portion 155i based on the vibration of car body 2i, control effort instruction uiF on front side of the i car calculating the vertical damper 7 of the bogie truck 4iF that the front portion at car body 2i is arranged virtually.Similarly, i car control effort ordering calculation portion 155i based on the vibration of car body 2i, control effort instruction uiR on rear side of the i car calculating the vertical damper 7 of the bogie truck 4iR that the rear portion at car body 2i is arranged virtually.

Assume that the front and rear of car body 2i+1 be provided with bogie truck 4i+1F, bogie truck 4i+1R disconnected independently vehicle time, i+1 car control effort ordering calculation portion 155i+1 calculates control effort instruction ui+1F, ui+1R of being used for being reduced the vibration of car body 2i by these bogie trucks 4i+1F, bogie truck 4i+1R.Specifically, i+1 car control effort ordering calculation portion 155i+1 based on the vibration of car body 2i+1, control effort instruction ui+1F on front side of the i+1 car calculating the vertical damper 7 of the bogie truck 4i+1F that the front portion at car body 2i+1 is arranged virtually.Similarly, i+1 car control effort ordering calculation portion 155i+1 based on the vibration of car body 2i+1, control effort instruction ui+1R on rear side of the i+1 car calculating the vertical damper 7 of the bogie truck 4i+1R that the rear portion at car body 2i+1 is arranged virtually.

Control effort instruction ui+1F on front side of the i+1 car of control effort instruction uiR on rear side of the i car of i car control effort ordering calculation portion 155i and i+1 car control effort ordering calculation portion 155i+1 is added by the portion 156 that adds, and calculates i-th bogie truck control effort instruction ui of the vertical damper 7 for the connection bogie truck 4i arranged between i car and i+1 car.

And, i-th the bogie truck control effort instruction ui calculated by control effort ordering calculation portion 154 is input to i-th bogie truck electric current efferent 14i, and the instruction current corresponding with i-th bogie truck control effort instruction ui is supplied to the actuator 7A of the vertical damper 7 of bogie truck 4i by i-th bogie truck electric current efferent 14i.Thus, pitching and the caused vibration of beating of car body 2i are attenuated, and can improve the taking sense of car body 2i.

Then, the control law in control effort ordering calculation portion 154 is described.

First, consider that the taking sense of the car body 2i of i car controls.As shown in figure 30, be set to car body 2i individualism, and there is bogie truck 4iF, 4iR virtually at the front and rear of car body 2i, in anterior bogie truck 4iF and rear portion bogie truck 4iR, be separately installed with vertical damper 7, their control effort is set to uiF, uiR.

Now, i car control effort ordering calculation portion 155i, based on the upper and lower displacement zBi of the car body 2i of i car and luffing angle θ i, obtains the control effort uiR of the vertical damper 7 of the rear portion bogie truck 4iR of control effort uiF, i car of the vertical damper 7 of the anterior bogie truck 4iF of i car as follows.

[several 37]

$\left(\begin{array}{c}{u}_{\mathrm{iF}}\\ u_{\mathrm{iR}}\end{array}\right)=\left(\begin{array}{cccc}{A}_{\mathrm{iF}}& B_{\mathrm{iF}}& C_{\mathrm{iF}}& D_{\mathrm{iF}}\\ A_{\mathrm{iR}}& B_{\mathrm{iR}}& C_{\mathrm{iR}}& D_{\mathrm{iR}}\end{array}\right)\left(\begin{array}{c}{\stackrel{\&CenterDot;}{z}}_{\mathrm{Bi}}\\ z_{\mathrm{Bi}}\\ {\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_i\\ {\mathrm{\&theta;}}_i\end{array}\right)$

Here, gain A iF ~ DiF, AiR ~ DiR such as by for i car car body 2i pitching and the ceiling (skyhook) of beating controls or LQG controls etc. and determine.

Similarly, i+1 car control effort ordering calculation portion 155i+1 obtains the control effort ui+1R of the vertical damper 7 of the rear portion bogie truck 4i+1R of control effort ui+1F, i+1 car of the vertical damper 7 of the anterior bogie truck 4i+1F of i+1 car as follows.

[several 38]

$\left(\begin{array}{c}{u}_{i+1F}\\ u_{i+1R}\end{array}\right)=\left(\begin{array}{cccc}{A}_{i+1F}& B_{i+1F}& C_{i+1F}& D_{i+1F}\\ A_{i+1R}& B_{i+1R}& C_{i+1R}& D_{i+1R}\end{array}\right)\left(\begin{array}{c}{\stackrel{\&CenterDot;}{z}}_{\mathrm{Bi}+1}\\ z_{\mathrm{Bi}+1}\\ {\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_{i+1}\\ {\mathrm{\&theta;}}_{i+1}\end{array}\right)$

Here, in connection bogie truck 4i, the rear portion bogie truck 4iR of i car and the anterior bogie truck 4i+1F of i+1 car is doubled as.Therefore, shown in formula as following several 39, the portion that adds 156 in control effort ordering calculation portion 154, by the control effort ui+1F sum of the anterior bogie truck 4i+1F of control effort uiR and the i+1 car of the rear portion bogie truck 4iR of i car, obtains the control effort ui of i-th bogie truck 4i.

[several 39]

u _i＝u _iR+u _i+1F

If sum up the relation of the formula of several 37 above to several 39, then obtain the formula of following several 40.

[several 40]

$\begin{array}{c}{u}_i=A_{\mathrm{iR}}{\stackrel{\&CenterDot;}{z}}_{\mathrm{Bi}}+A_{i+1F}{\stackrel{\&CenterDot;}{z}}_{\mathrm{Bi}+1}+B_{\mathrm{iR}}{z}_{\mathrm{Bi}}+B_{i+1F}{z}_{\mathrm{Bi}+1}\\ +C_{\mathrm{iR}}{\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_i+C_{i+1F}{\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_{i+1}+D_{\mathrm{iR}}{\mathrm{\&theta;}}_i+D_{i+1F}{\mathrm{\&theta;}}_{i+1}\end{array}$

This formula of several 40 is the form identical with the recursion formula of several 28 of the second embodiment.That is, the 9th embodiment with by the ride gain GAi of the second embodiment, i, GAi, i+1, GBi, i, GBi, i+1, GCi, i, GCi, i+1, GDi, i, GDi, the mode of i+1 as following displacement is identical.

[several 41]

G _Ai，i＝A _iR，G _Ai，i+1＝A _i+1F

G _Bi，i＝B _iR，G _Bi，i+1＝B _i+1F

G _Ci，i＝C _iR，G _Ci，i+1＝C _i+1F

G _Di，i＝D _iR，G _Di，i+1＝D _i+1F

Therefore, in the 9th embodiment, the formula by several 39 and the control effort ui obtained, can obtain the vibration suppressioning effect close to the second embodiment.In addition, in the 9th embodiment, do not need the calculating of the best feedback of carrying out aforesaid high-order, just can determine controling parameters.

Like this, in the 9th embodiment, also the action effect identical with the second embodiment can be obtained.In addition, in the 9th embodiment, owing to not needing the calculating of the best feedback of carrying out high-order, so the operand of control setup 151i can be reduced.

In addition, the 9th embodiment also can combine with the 3rd to the 8th embodiment.

Then, Figure 31 and Figure 32 represents the tenth embodiment of the present invention.The feature of the tenth embodiment is, control setup is the control effort of computing connection bogie truck based on the vibration of the car body of 4 joint amounts.In addition, in the tenth embodiment, give identical label for the structural element identical with aforesaid second embodiment, and the description thereof will be omitted.

With the railway vehicle 31 of the second embodiment substantially in the same manner, the railway vehicle 161 of the tenth embodiment comprises car body 2i, connecting part 3i, bogie truck 4i, vertical damper 7, acceleration pick-up 9i, control setup 162i etc.

Control setup 162i comprises the pre-processing portion (not shown) obtaining acceleration/accel ai-2, ai-1, ai, ai+1, ai+2 from the detection signal of acceleration pick-up 9i-2,9i-1,9i, 9i+1,9i+2.In addition, control setup 162i comprises the vibration control portion 163 exporting i-th the bogie truck control effort instruction ui corresponding with the command value of actuator 7A based on acceleration/accel ai-2, ai-1, ai, ai+1, ai+2.

Vibration control portion 163 has the i-th-1 body oscillating operational part 164i-1, i-th body oscillating operational part 164i, the i-th+1 body oscillating operational part 164i+1, the i-th+2 body oscillating operational part 164i+2, control effort ordering calculation portion 165.

Now, i-th body oscillating operational part 12i of body oscillating operational part 164i-1,164i, 164i+1,164i+2 and the first embodiment is formed substantially in the same manner.Therefore, body oscillating operational part 164i-1,164i, 164i+1,164i+2 based on several 1 and several 2 formula, the vibration of computing car body 2i-1,2i, 2i+1,2i+2.Therefore, i-th body oscillating operational part 164i-1 is based on becoming acceleration/accel ai-2, ai-1 of detected value of acceleration pick-up 9i-2,9i-1 and the vibration of computing car body 2i-1.I-th body oscillating operational part 164i is based on becoming acceleration/accel ai-1, ai of detected value of acceleration pick-up 9i-1,9i and the vibration of computing car body 2i.The i-th+1 body oscillating operational part 164i+1 is based on becoming acceleration/accel ai, ai+1 of detected value of acceleration pick-up 9i, 9i+1 and the vibration of computing car body 2i+1.The i-th+2 body oscillating operational part 164i+2 are based on becoming acceleration/accel ai+1, ai+2 of detected value of acceleration pick-up 9i+1,9i+2 and the vibration of computing car body 2i+2.

Control effort ordering calculation portion 165, based on the vibration of car body 2i-1,2i, 2i+1,2i+2 of being calculated by these body oscillating operational part 164i-1,164i, 164i+1,164i+2, calculates i-th bogie truck control effort instruction ui of the vertical damper 7 for bogie truck 4i.And, i-th the bogie truck control effort instruction ui calculated by control effort ordering calculation portion 165 is input to i-th bogie truck electric current efferent 14i, and the instruction current corresponding with i-th bogie truck control effort instruction ui is supplied to the actuator 7A of the vertical damper 7 of bogie truck 4i by i-th bogie truck electric current efferent 14i.Thus, pitching and the caused vibration of beating of car body 2i are attenuated, and can improve the taking sense of car body 2i.

Then, illustrate in the railway vehicle 161 with aforesaid structure, based on the output of acceleration pick-up 9i-2,9i-1,9i, 9i+1,9i+2, control the control law during dumping force of the vertical damper 7 of each bogie truck 4i.

The control law of the tenth embodiment is substantially identical with the second embodiment.But, be with the difference of the second embodiment, as described below, feedback of status K be similar to.

[several 42]

K＝[G _A?G _B?G _C?G _D]

[several 43]

[several 44]

[several 45]

[several 46]

Now, the control effort ui produced in the vertical damper 7 of i-th bogie truck 4i is as the performance of following recursion formula.

[several 47]

$u_i=\begin{array}{c}{G}_{\mathrm{Ai},i-1}{\stackrel{\&CenterDot;}{z}}_{\mathrm{Bi}-1}+G_{\mathrm{Ai},i}{\stackrel{\&CenterDot;}{z}}_{\mathrm{Bi}}+G_{\mathrm{Ai},i+1}{\stackrel{\&CenterDot;}{z}}_{\mathrm{Bi}+1}+G_{\mathrm{Ai},i+2}{\stackrel{\&CenterDot;}{z}}_{\mathrm{Bi}+2}\\ +G_{\mathrm{Bi},i-1}{z}_{\mathrm{Bi}-1}+G_{\mathrm{Bi},i}{z}_{\mathrm{Bi}}+G_{\mathrm{Bi},i+1}{z}_{\mathrm{Bi}+1}+G_{\mathrm{Bi},i+2}{z}_{\mathrm{Bi}+2}\\ +G_{\mathrm{Ci},i-1}{\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_{i-1}+G_{\mathrm{Ci},i}{\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_i+G_{\mathrm{Ci},i+1}{\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_{i+1}+G_{\mathrm{Ci},i+2}{\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_{i+2}\\ +G_{\mathrm{Di},i-1}{\mathrm{\&theta;}}_{i-1}+G_{\mathrm{Di},i}{\mathrm{\&theta;}}_i+G_{\mathrm{Di},i+1}{\mathrm{\&theta;}}_{i+1}+G_{\mathrm{Di},i+2}{\mathrm{\&theta;}}_{i+2}\end{array}$

If pay close attention to above-mentioned recursion formula, then the control effort ui produced in the vertical damper 7 of i-th bogie truck 4i is only determined by the motion of i-1 car, i car, i+1 car and i+2 car.Namely, control setup 162i is configured closest to each shock absorber 7, control setup 162i is according to aforesaid recursion formula, according to self vehicle (car body 2i) and adjacent vehicle (car body 2i+1), two joint vehicle (the car body 2i-1 that are adjacent again, acceleration information 2i+2), determines control effort ui.Now, elongated at the line length of the wiring of railway vehicle 161 upward wiring is 4 joint amounts, but the performance of control setup 162i as in the first embodiment, becomes close to the performance when considering the vibration of rolling stock (car body 21 ~ 2n).

Like this, in the tenth embodiment, also the action effect identical with the second embodiment can be obtained.In addition, in the tenth embodiment, the vibration of car body 2i-1,2i, 2i+1,2i+2 of 4 joint amounts and the control effort ui of computing bogie truck 4i is amounted to, so can obtain close to the vibration suppressioning effect when considering the vibration of rolling stock (car body 21 ~ 2n) based on each 2 joints in the front and rear that clip bogie truck 4i.

In addition, in the tenth embodiment, based on the vibration of car body 2i-1,2i, 2i+1,2i+2 of 4 joint amounts and the computing control effort ui of bogie truck 4i.But the present invention is not limited thereto, such as also can based on the vibration of car body of 6 joint amounts the control effort ui of computing bogie truck 4i, also can measure the vibration of above car body and the control effort ui of computing bogie truck 4i based on 8 joints.In addition, the vibration of even number vehicle is not limited to, also can based on 3 joint above vibrations of odd number vehicle and the control effort ui of computing bogie truck 4i.That is, in the car body 21 ~ 2n of n joint, the vibration of the car body of at least 1 joint amount away from the bogie truck 4i becoming control object is omitted, the control effort ui of computing bogie truck 4i.Now, the car body be omitted in the computing of control effort ui, as the few car body of the impact of the control effort ui of bogie truck 4i, is preferentially positioned at the car body from the position away from bogie truck 4i.

In addition, the tenth embodiment also can combine with the 3rd to the 9th embodiment.

Then, Figure 33 and Figure 34 represents the 11 embodiment of the present invention.The feature of the 11 embodiment is, in connection bogie truck, between the car body and the car body at rear in front, arranges vertical damper separately.In addition, in the 11 embodiment, give identical label for the structural element identical with aforesaid second embodiment, and the description thereof will be omitted.

With the railway vehicle 31 of the second embodiment substantially in the same manner, the railway vehicle 171 of the 11 embodiment comprises car body 2i, connecting part 3i, bogie truck 4i, vertical damper 172iF, 172iR, acceleration pick-up 9i, control setup 173i etc.

Vertical damper 172iF forms cylinder unit, lays respectively at right side and left side, be arranged between car body 2i and bogie truck 4i in the front of bogie truck 4i.Vertical damper 172iF is formed identically with vertical damper 7, comprises actuator 7A.In the actuator 7A of vertical damper 172iF, provide the control signal (instruction current) corresponding with control effort instruction uiF on front side of i-th bogie truck by control setup 173i.Thus, the dumping force of vertical damper 172iF carries out variable control by control signal.

Vertical damper 172iR forms cylinder unit, lays respectively at right side and left side, be arranged between car body 2i+1 and bogie truck 4i at the rear of bogie truck 4i.Vertical damper 172iR is formed identically with vertical damper 7, comprises actuator 7A.In the actuator 7A of vertical damper 172iR, provide the control signal (instruction current) corresponding with control effort instruction uiR on rear side of i-th bogie truck by control setup 173i.Thus, the dumping force of vertical damper 172iF carries out variable control by control signal.

The control setup 32i of control setup 173i and the second embodiment is formed substantially in the same manner, involving vibrations control part 33.But control setup 173i comprises the separation unit 174 export from vibration control portion 33 i-th bogie truck control effort instruction ui being separated into control effort instruction uiR on rear side of control effort instruction uiF and i-th bogie truck on front side of i-th bogie truck.

Here, in the 11 embodiment, bogie truck 4i uses vertical damper 172iF, 172iR, directly supports the car body 2i of front side and the car body 2i+1 of rear side of bogie truck 4i respectively.Now, if vertical damper 172iF, 172iR export different control effortes respectively, then the moment making bogie truck 4i pitching is applied to bogie truck 4i, damage the landing of bogie truck 4i, there is the possibility that stopping distance is had an impact.

Therefore, preferably homogeneous control effort instruction is provided to vertical damper 172iF, 172iR of front side and rear side.In connection train, owing to being rigidly connected in the vertical direction between car body, so front side is roughly consistent with stroke (stroke) speed/amount of vertical damper 172iF, 172iR of rear side.Thus, if the mode becoming identical extinguishing coefficient with vertical damper 172iF, 172iR of front side and rear side provides instruction, then each shock absorber produces roughly the same dumping force.

Consider above aspect, control effort instruction uiF, uiR of providing vertical damper 172iF, 172iR of front side and rear side are set to the value of 1/2 of i-th bogie truck control effort instruction ui by separation unit 174 respectively.On front side of i-th bogie truck, control effort instruction uiF is input to electric current efferent 175iF on front side of i-th bogie truck, and on rear side of i-th bogie truck, control effort instruction uiR is input to electric current efferent 175iR on rear side of i-th bogie truck.The instruction current corresponding with control effort instruction uiF, uiR is supplied to vertical damper 172iF, 172iR of bogie truck 4i by these electric current efferents 175iF, 175iR.

Like this, in the 11 embodiment, also can obtain the action effect identical with the second embodiment.

In addition, in the 11 embodiment, be set to the structure that air bellow 5 is set between bogie truck 4i and connecting part 3i, but also can the railway vehicle 181 of the 5th variation as shown in figure 35 such, at bogie truck 4i and between car body 2i, 2i+1, air bellow 5 is set separately.

In addition, the 11 embodiment also can be applied to the first embodiment, also can combine with the 3rd to the tenth embodiment.

Then, Figure 36 represents the 12 embodiment of the present invention.The feature of the 12 embodiment is, control setup also carries out vibration suppression control to the rolling of car body.In addition, in the 12 embodiment, give identical label for the structural element identical with aforesaid second embodiment, and the description thereof will be omitted.

The control setup 191i of the 12 embodiment and the control setup 32i of the second embodiment is formed substantially in the same manner, involving vibrations control part 33.In addition, control setup 191i comprises: roll vibration control part 192, exports control effort instruction uirollL, the uirollR of the rolling for suppressing car body 2i, 2i+1; Left side control effort ordering calculation portion 193L, the control effort instruction uimixL on the left of computing i-th bogie truck based on i-th bogie truck control effort instruction ui and control effort instruction uirollL; Right side control effort ordering calculation portion 193R, the control effort instruction uimixR on the right side of computing i-th bogie truck based on i-th bogie truck control effort instruction ui and control effort instruction uirollR.Roll vibration control part 192 detects the rolling of car body 2i, 2i+1 by the acceleration pick-up (not shown) such as arranged in the both sides of the left and right directions of car body 2i, 2i+1.

Here, i-th bogie truck control effort instruction ui is the aggregate value of the control effort of the left side of bogie truck 4i and the vertical damper 7 on right side.Therefore, control effort ordering calculation portion 193L, 193R, based on following formula, to obtain on the left of i-th bogie truck for the vertical damper 7 in the left side of i-th bogie truck 4i control effort instruction uimixL and respectively for control effort instruction uimixR on the right side of i-th bogie truck of the vertical damper 7 on the right side of i-th bogie truck 4i.

[several 48]

$u_{\mathrm{imixL}}=u_{\mathrm{irollL}}+\frac{u_i}{2}$

[several 49]

$u_{\mathrm{imixR}}=u_{\mathrm{irollR}}+\frac{u_i}{2}$

On the left of i-th bogie truck, control effort instruction uimixL is input to i-th bogie truck left current efferent 194iL, and on the right side of i-th bogie truck, control effort instruction uimixR is input to i-th bogie truck right current efferent 194iR.The instruction current corresponding with control effort instruction uimixL, uimixR is supplied to the vertical damper 7 in the left side of bogie truck 4i and the vertical damper 7 on right side by these electric current efferents 194iL, 194iR respectively.

Like this, in the 12 embodiment, also can obtain the action effect identical with the second embodiment.In the 12 embodiment, except the pitching of car body 2i with except beating, the suppression of rolling can also be carried out.

In addition, in the 12 embodiment, in the formula of several 48 and several 49, rolling and upper and lower weight are set to roughly the same, but the weight of these additions also can suitably change.

In addition, in the 12 embodiment, control object is set to beat and pitching 2 degree of freedom vibration on add 3 degree of freedom of rolling, but the present invention is not limited thereto.Such as, also can to the rolling of additional car body or partially rail, bogie truck motion and the control object of equation of motion being carried out high order forms control setup, both can suppress the mode of vibration up and down, and can the present invention applied and control taking sense again.

In addition, the 12 embodiment also can be applied to the first embodiment, also can combine with the 3rd to the 11 embodiment.

In addition, in described each embodiment, car body 2i, 2i+1 that connection bogie truck 4i is arranged on 2 save carry out in the connecting part 3i linked.But the present invention is not limited thereto, such as also can the railway vehicle 201 of the 6th variation as shown in figure 37 such, the position different from connecting part 3i is arranged and connects bogie truck 202i.Now, connection bogie truck 202i is such as located at the rearward end as the car body 2i of adjacent car body 2i+1 side in car body 2i, is arranged on the downside of it, supports car body 2i etc. via the spring member of air bellow 5 grade.In addition, be set to connection bogie truck 4i and there are 4 wheels 6, but also as connection bogie truck 202i, 2 wheels 6 can be had.

In addition, in described each embodiment, to lift vertical damper 7 be the situation of semi-active damper is that example is illustrated, but also can replace, use active damper (in electric actuator, oil pressure actuator any one).When using active damper, more effectively taking sense can be improved.

In addition, in described each embodiment, be set to control setup 10,22,32i, 41i, 51i, 71i, 81i, 103i, 113i, 123i, 132i, 143i, 151i, 162i, 173i, 191i suppress as beated and the vibration of the above-below direction of car body 2i pitching, but also can suppress the vibration of the left and right directions of car body 2i.

Then, the invention comprised in described each embodiment is documented in.According to the present invention, the detected value of control setup based on the first vibration detection parts of the vibration of detection first car body and the detected value of the second vibration detection parts of the vibration of detection the second car body, the command value of calculating actuator.Therefore, even when by connecting bogie truck and multiple car bodies of connecting there is contact, also can consider the impact of the mutual vibration of car body and control the vertical damper of bogie truck.Its result, in the connection train entirety with multiple car body, can suppress the vibration of car body, can improve taking sense.

According to the present invention, on the first car body and/or the second car body, add further and link 1 or multiple stage car body, control setup saves the command value calculating actuator in the car body be added away from the vibration of at least 1 trolley body of connecting part.Therefore, such as, with the vibration based on whole car body and carry out the control vibrated situation compared with, can shorten various sensor or the length of cable that is connected between vertical damper with control setup, the reduction of simplification and the noise connected up can be realized.In addition, owing to taking sense control algorithm can be simplified, so the reduction of manufacturing cost can be realized.

According to the present invention, also be included in connect and arrange between bogie truck and the second car body and other cylinder unit of operational forces can be adjusted by other actuator, the command value of other actuator described in control setup calculates based on the detected value of the first vibration detection parts and the detected value of the second vibration detection parts.Thus, even the first car body and the second car body be connected independent cylinder unit is set between bogie truck respectively time, control setup also can adjust the operational forces of these cylinder units, improves the taking sense connecting train.

According to the present invention, control setup comprises and to remove beating and the high-pass filter of component that the resonance point of pitching is low of first, second car body of frequency ratio according to the detected value of the first vibration detection parts and the detected value of the second vibration detection parts.Therefore, such as, can from the component of the such acceleration change slowly of the change of the detected value of first, second vibration detection parts removing road gradient, only can provide control to pitching and the vibration of to beat etc.Its result, in uphill line and descending route, cylinder unit can not produce N/R operational forces, can improve the taking sense in uphill line etc.

According to the present invention, displacement pickup between the car body also comprising displacement between the car body between detection first car body and the second car body, the second vibration detection parts are based on the vibration of the second car body described in the detected value of displacement pickup between the detected value of the first vibration detection parts and described car body and computing.Therefore, by displacement pickup between the first vibration detection parts of arranging around the first car body and car body, the vibration of first, second car body can be detected.

Claims (10)

1. hang a control setup, link at least two car bodies and form, it is characterized in that, comprising:

Connecting part, by between the first car body adjoined each other and the second car body can the mode of transmission of drive force link;

Connect bogie truck, at least at described second car body side of described first car body, support via spring member;

Cylinder unit, is arranged between described connection bogie truck and described first car body, can adjusts operational forces by actuator;

Control setup, controls described actuator;

First vibration detection parts, detect the vibration of described first car body; And

Second vibration detection parts, detect the vibration of described second car body,

The detected value of described control setup based on described first vibration detection parts and the detected value of described second vibration detection parts, calculate the command value of described actuator.

2. hang control setup as claimed in claim 1,

On described first car body and/or described second car body, add link 1 or multiple stage car body further,

Described control setup is omitted in the vibration away from least 1 trolley body of described connecting part in the described car body be added, and calculates the command value of described actuator.

3. hang control setup as claimed in claim 1 or 2,

Also comprise:

Second cylinder unit, is arranged between described connection bogie truck and described second car body, can adjusts operational forces by the second actuator,

The detected value of described control setup based on described first vibration detection parts and the detected value of described second vibration detection parts, calculate the command value of described second actuator.

4. hang control setup as claimed in claim 1,

Described control setup comprises:

High-pass filter, from the detected value of described first vibration detection parts and the detected value of described second vibration detection parts, removing frequency beating and the component of resonant frequency of pitching lower than first, second car body described.

5. hang control setup as claimed in claim 2,

Described control setup comprises:

High-pass filter, from the detected value of described first vibration detection parts and the detected value of described second vibration detection parts, removing frequency beating and the component of resonant frequency of pitching lower than first, second car body described.

6. hang control setup as claimed in claim 3,

Described control setup comprises:

High-pass filter, from the detected value of described first vibration detection parts and the detected value of described second vibration detection parts, removing frequency beating and the component of resonant frequency of pitching lower than first, second car body described.

7. hang control setup as claimed in claim 1, also comprise:

Displacement pickup between car body, detects displacement between the car body between described first car body and described second car body,

Described second vibration detection parts based on the detected value of displacement pickup between the detected value of described first vibration detection parts and described car body, the vibration of the second car body described in computing.

8. hang control setup as claimed in claim 2, also comprise:

Displacement pickup between car body, detects displacement between the car body between described first car body and described second car body,

Described second vibration detection parts based on the detected value of displacement pickup between the detected value of described first vibration detection parts and described car body, the vibration of the second car body described in computing.

9. hang control setup as claimed in claim 3, also comprise:

Displacement pickup between car body, detects displacement between the car body between described first car body and described second car body,

Described second vibration detection parts based on the detected value of displacement pickup between the detected value of described first vibration detection parts and described car body, the vibration of the second car body described in computing.

10. hang control setup as claimed in claim 4, also comprise:

Displacement pickup between car body, detects displacement between the car body between described first car body and described second car body,

Described second vibration detection parts based on the detected value of displacement pickup between the detected value of described first vibration detection parts and described car body, the vibration of the second car body described in computing.