CN109641597A - Rolling stock vibration absorber - Google Patents

Rolling stock vibration absorber Download PDF

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Publication number
CN109641597A
CN109641597A CN201780053685.8A CN201780053685A CN109641597A CN 109641597 A CN109641597 A CN 109641597A CN 201780053685 A CN201780053685 A CN 201780053685A CN 109641597 A CN109641597 A CN 109641597A
Authority
CN
China
Prior art keywords
actuator
rolling stock
target control
side room
control power
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201780053685.8A
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Chinese (zh)
Inventor
小川貴之
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KYB Corp
Original Assignee
Kayaba Industry Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kayaba Industry Co Ltd filed Critical Kayaba Industry Co Ltd
Publication of CN109641597A publication Critical patent/CN109641597A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
    • B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
    • B61F5/02—Arrangements permitting limited transverse relative movements between vehicle underframe or bolster and bogie; Connections between underframes and bogies
    • B61F5/22—Guiding of the vehicle underframes with respect to the bogies
    • B61F5/24—Means for damping or minimising the canting, skewing, pitching, or plunging movements of the underframes
    • B61F5/245—Means for damping or minimising the canting, skewing, pitching, or plunging movements of the underframes by active damping, i.e. with means to vary the damping characteristics in accordance with track or vehicle induced reactions, especially in high speed mode
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/002—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion characterised by the control method or circuitry
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/44—Means on or in the damper for manual or non-automatic adjustment; such means combined with temperature correction
    • F16F9/46—Means on or in the damper for manual or non-automatic adjustment; such means combined with temperature correction allowing control from a distance, i.e. location of means for control input being remote from site of valves, e.g. on damper external wall
    • F16F9/461—Means on or in the damper for manual or non-automatic adjustment; such means combined with temperature correction allowing control from a distance, i.e. location of means for control input being remote from site of valves, e.g. on damper external wall characterised by actuation means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20515—Electric motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • F15B2211/3058—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve having additional valves for interconnecting the fluid chambers of a double-acting actuator, e.g. for regeneration mode or for floating mode
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
    • F15B2211/31552—Directional control characterised by the connections of the valve or valves in the circuit being connected to an output member and a return line
    • F15B2211/31558—Directional control characterised by the connections of the valve or valves in the circuit being connected to an output member and a return line having a single output member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
    • F15B2211/50518—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using pressure relief valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6651—Control of the prime mover, e.g. control of the output torque or rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/755—Control of acceleration or deceleration of the output member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/76—Control of force or torque of the output member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/8616—Control during or prevention of abnormal conditions the abnormal condition being noise or vibration
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/10—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using liquid only; using a fluid of which the nature is immaterial
    • F16F9/14—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect
    • F16F9/16—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect involving only straight-line movement of the effective parts
    • F16F9/18—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect involving only straight-line movement of the effective parts with a closed cylinder and a piston separating two or more working spaces therein
    • F16F9/19—Devices with one or more members, e.g. pistons, vanes, moving to and fro in chambers and using throttling effect involving only straight-line movement of the effective parts with a closed cylinder and a piston separating two or more working spaces therein with a single cylinder and of single-tube type

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Fluid Mechanics (AREA)
  • Vehicle Body Suspensions (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

Rolling stock vibration absorber (1) of the invention has: actuator (A) is installed between the vehicle body (B) of rolling stock and vehicle frame (T) and can play control force；With controller (C), its be based on vehicle body (B) transverse acceleration (α) and find out the target control power (Fref) inhibited to the vibration of vehicle body (B), controller (C) is configured to bandpass filter (413) and correcting section (414), the bandpass filter (413) to as compared with the resonant frequency of vehicle body (B) and the low frequency control force (Flow) of lower frequency component extracts, the correcting section (414) is based on low frequency control force (Flow) and makes corrections to target control power (Fref).

Description

Rolling stock vibration absorber
Technical field
The present invention relates to a kind of improvement of rolling stock vibration absorber.
Background technique
It is provided with rolling stock vibration absorber on rolling stock, has and is installed in answering between vehicle body and vehicle frame Ejector half actuator and the controller that actuator is controlled, and relative to direction of travel and in the lateral direction to vehicle body Vibration is inhibited.Also, rolling stock vibration absorber is by the vehicle body left and right directions as detected by acceleration transducer Acceleration is input in controller, and is controlled by accelerator feedback actuator, so as to the left and right to vehicle body Vibration is inhibited.
However, in rolling stock traveling in the case where curve section, since effect has referred to as Constant Acceleration on vehicle body The centrifugal acceleration of degree, therefore in addition to being inputted from frame sides and making vehicle body to cross in acceleration detected by acceleration transducer It further include constant acceleration to except the acceleration of vibration.
The main reason for deteriorating feeling for taking, is the oscillation crosswise of vehicle body, constant for fighting when playing actuator When the power of acceleration, it has to so that actuator is played excessive power, to drive to the pump of the driving source as actuator Motor be applied with overload.Therefore, in rolling stock vibration absorber, for example, as disclosed in JP2012-245926A that Sample is being implemented to pass through acceleration after the processing for removing constant acceleration in acceleration detected by acceleration transducer It feeds back and actuator is controlled, to be inhibited the raising to realize feeling for taking to the vibration.
Summary of the invention
The frequency band of constant acceleration is 0.3Hz or so, it is however generally that, the resonance bands of vehicle body from 1Hz to 1.5Hz or so, The frequency band of the two is very close.For the cutoff frequency of the downside for the bandpass filter for removing constant acceleration, if too low The removal of constant acceleration can be made insufficient, the oscillating component of desired inhibition can also be removed to make effectiveness in vibration suppression if excessively high It reduces.The cutoff frequency of the bandpass filter can only be set at the frequency band of constant acceleration and the resonance frequency of vehicle body as a result, In the range of the limit between band.
Here, when rolling stock approached from line interval be arranged on it is slow between line interval and constant curve section When with curve section, effect has centrifugal acceleration on vehicle body.The frequency band of vibration is higher than constant song because of caused by centrifugal acceleration The frequency band of constant acceleration when line section travel but is below the resonance bands of vehicle body.
As in the setting of the cutoff frequency of filter, not removing easement curve section travel as described previously When centrifugal acceleration, therefore in existing rolling stock vibration absorber, implementation generates actuator to the CENTRIFUGAL ACCELERATING Spend the control of the control force inhibited.
As stated earlier, due in order to the power resisted centrifugal acceleration and vehicle body is pressed it is very big, because This must make actuator play biggish power, thus in existing rolling stock vibration absorber, in order to avoid the mistake of motor It loads and limiter is set, to limit control force.It, can not to original if limiting control force in this way The body vibrations wanting the slave vehicle frame inhibited and inputting are inhibited, to damage the feeling for taking of vehicle.
In addition, when the upper limit of the control force of actuator is set as larger, although as long as carrying out the enlargement of motor, But the cost of rolling stock vibration absorber can get higher and the mountability carried out to rolling stock can be made impaired.
The object of the present invention is to provide a kind of rolling stock vibration absorbers, can be in not damage cost and Xiang Tie In the case where the mountability that road vehicles carry out, the feeling for taking in easement curve section travel is improved.
Rolling stock of the invention has with vibration absorber: actuator, is installed in the vehicle body and vehicle frame of rolling stock Between and control force can be played；And controller, the transverse acceleration based on the vehicle body and find out to the vehicle body The target control power inhibited is vibrated, to control the actuator, the controller has filter and correction Portion, the filter in the target control power as the lower frequency component compared with the resonant frequency of the vehicle body Low frequency control force extract, the correcting section be based on the low frequency control force and make corrections to the target control power.
Detailed description of the invention
Fig. 1 shows the cross-sectional view of the rolling stock for the rolling stock vibration absorber being equipped in an embodiment.
Fig. 2 shows the detailed figures of actuator.
Fig. 3 shows the control block diagram of the controller in the rolling stock vibration absorber an of embodiment.
Fig. 4 shows the control block diagram of the correcting section in the rolling stock vibration absorber of first embodiment.
Fig. 5 shows the figure being illustrated to the variation of the value of correction gain.
Fig. 6 is the flow chart for illustrating that the processing sequence of controller of first embodiment.
Specific embodiment
Hereinafter, embodiment based on the figure and the present invention will be described.Railcar in one embodiment It is used as the vibration absorber of the automobile body B of rolling stock with vibration absorber 1, is installed in automobile body B in pairs as shown in Figure 1, having Actuator A between the vehicle frame T and controller C that actuator A is controlled.
Specifically, for rolling stock, actuator A is attached at the pin P to hang down below automobile body B On, and be mounted between automobile body B and vehicle frame T side by side in a pair wise manner.Vehicle frame T to wheel W in a way freely spinning way It is kept, between automobile body B and vehicle frame T, spring S, S is installed, allow automobile body B phase and being resiliently supported automobile body B For vehicle frame T to lateral movement.
Also, these actuators A is substantially carried out Active control, thus to automobile body B relative to vehicle traveling direction And vibration in the horizontal transverse direction is inhibited.Controller C carries out control to actuator A to the transverse direction to the automobile body B Vibration is inhibited.
In this example, controller C is in the control for implementing to inhibit the vibration of automobile body B, to automobile body B relative to vehicle Direction of travel and transverse acceleration α in the horizontal transverse direction are detected.Also, controller C is based on transverse acceleration α and asks The target control power Fref that actuator A should be generated out, and push away each actuator A generation as target control power Fref Power is to inhibit the lateral vibration of automobile body B.
Next, the specific structure to actuator A is illustrated.These actuators A is identical structure.Though in addition, So at the position of diagram, two actuator A are respectively set for vehicle frame T, but can also only be arranged one.In addition, can also A controller C is arranged very much to each actuator A.
In this example as shown in Fig. 2, actuator A is in addition to having and the Fang Lianjie in the automobile body B of rolling stock and vehicle frame T Cylinder body 2, the piston 3 being inserted in cylinder body 2 in a manner of sliding freely, the piston 3 and vehicle that are inserted in cylinder body 2 The bar 4 of another party's connection in body B and vehicle frame T has bar side room 5 and piston side room as made of the division of piston 3 in cylinder body 2 It 6 and is able to carry out other than flexible main body cylinder block Cy, is also equipped with the tank 7 stored to working oil, from tank 7 to bar side room 5 Suction operation oil and the pump 12 of working oil can be supplied, the motor 15 that pump 12 is driven, stretched to main body cylinder block Cy Switching and the hydraulic circuit HC that is controlled of thrust, also, actuator A is configured to the actuator of single rod type.
In addition, in this example, it is filled with working oil as working solution in the bar side room 5 and piston side room 6, and In tank 7, gas is also filled with other than working oil.In addition, not needed in tank 7 specially to gas in a manner of compressing And it is filled and becomes pressurized state.In addition, also can use other liquid as working solution other than working oil Body.
Hydraulic circuit HC has the midway for being arranged on the first passage 8 being connected to bar side room 5 with piston side room 6 First open and close valve 9 and be arranged on the second channel 10 that piston side room 6 is connected to tank 7 midway the second open and close valve 11。
Also, substantially, when by the first open and close valve 9 by first passage 8 be set as connected state and close second opening and closing Valve 11 and when being driven to pump 12, main body cylinder block Cy elongation, when by the second open and close valve 11 by 10 company of being set as of second channel When leading to state, and closing the first open and close valve 9 and drive to pump 12, main body cylinder block Cy is shunk.
Hereinafter, each portion to actuator A is described in detail.Cylinder body 2 is tubular, and the right end in Fig. 2 is sealed by lid 13, Left end in Fig. 2 is equipped with cricoid bar guide portion 14.In addition, being pacified in a manner of sliding freely in the bar guide portion 14 Equipped with bar 4, the bar 4 is inserted into cylinder body 2 in a manner of moving freely.One end of the bar 4 is prominent to outside cylinder body 2, and cylinder The other end in body 2 links with the piston 3 being inserted in cylinder body 2 in a manner of sliding freely.
In addition, sealed between the periphery and cylinder body 2 of bar guide portion 14 by the seal member that the illustration is omitted, by This, is maintained air-tight state in cylinder body 2.Also, by piston 3 in marked off in cylinder body 2 come bar side room 5 and piston Mode as previously described in side room 6 and be filled with working oil.
In addition, the area of section of bar 4 is set as two points of the area of section of piston 3 in the case where main body cylinder block Cy One of, to make the compression area of 5 side of bar side room of piston 3 as the half of the compression area of 6 side of piston side room.Cause This, is if in elongation movement and the pressure of bar side room 5 is set as identical when contractive action, the pushing away for generating by flexible both sides Power is equal, and work oil mass corresponding with the displacement of main body cylinder block Cy is also equal in flexible two sides.
Specifically, in the case where making main body cylinder block Cy carry out elongation movement, becoming makes bar side room 5 and piston side room 6 Connected state.Then, the pressure in bar side room 5 and piston side room 6 becomes equal, and actuator A generation passes through the bar in piston 3 The compression face product moment of 6 side of 5 side of side room and piston side room is superior with thrust obtained from the pressure.On the contrary, making cylinder body In the case that main body Cy carries out contractive action, become by the connection in bar side room 5 and piston side room 6 cut off and makes piston side room 6 and The state that tank 7 is connected to.Then, actuator A generates the compression face by making 5 side of bar side room of pressure and piston 3 in bar side room 5 Thrust obtained from product is multiplied.
To sum up, the generation thrust of actuator A becomes two points of area of section in piston 3 by flexible both sides One of on multiplied by bar side room 5 the obtained value of pressure.Therefore, in the case where the thrust to actuator A controls, only The pressure of bar side room 5 is controlled together with elongation movement, contractive action.In addition, in the actuator A of this example, Since the compression area of 5 side of bar side room of piston 3 is set as the half of the compression area of 6 side of piston side room, It is identical with the pressure of contraction side bar side room 5 in elongate sides in the case that flexible two sides generate identical thrust due to being, Control is set to become succinct.In addition to this, since the work oil mass relative to displacement also becomes identical, there are flexible two sides Responsiveness become identical advantage.In addition, even if the compression area of 5 side of bar side room of piston 3 is not set as piston In the case where the half of the compression area of 6 side of side room, it can be stretched by the pressure of bar side room 5 to actuator A This point that the thrust of two sides is controlled will not change.
For return, has between the left end in Fig. 2 of bar 4 and the lid 13 being sealed to the right end of cylinder body 2 and do not scheme The mounting portion shown, so as to which actuator A to be mounted between the automobile body B of rolling stock and vehicle frame T.
Also, bar side room 5 is connected to piston side room 6 by first passage 8, is provided in the midway of the first passage 8 First open and close valve 9.It, can also be by although the first passage 8 is connected to bar side room 5 with piston side room 6 cylinder body 2 is outer It is arranged in piston 3.
First open and close valve 9 is set as electromagnetic opening and closing valve, and having keeps first passage 8 open to bar side room 5 and piston The communicating position and first passage 8 is cut off to the connection disconnection for making bar side room 5 and piston side room 6 that side room 6 is connected to Off-position.Also, first open and close valve 9 uses communicating position when being powered, and off-position is used when non-energized.
Next, being connected to piston side room 6 with tank 7 by second channel 10, it is arranged in the midway of the second channel 10 There is the second open and close valve 11.Second open and close valve 11 is set as electromagnetic opening and closing valve, and having keeps second channel 10 open to work The communicating position and make the cutting of second channel 10 to make the connection in piston side room 6 Yu tank 7 that plug side room 6 and tank 7 are connected to The off-position of disconnection.Also, second open and close valve 11 uses communicating position when being powered, using cutting position when non-energized It sets.
Pump 12 is driven and by controller C is controlled and is rotated with scheduled revolving speed motor 15, and is set as Only to the pump of a direction discharge working oil.Also, pump 12 outlet be connected to by feed path 16 with bar side room 5 and Suction inlet is connected to tank 7, and pump 12 sucks working oil from tank 7 when being driven by motor 15 to supply working oil to bar side room 5.
As it was noted above, since the switching action of direction of rotation only may be not present in pump 12 to a direction discharge working oil, Therefore it is completely absent the problems such as discharge rate changes when rotating switching, so as to use relatively inexpensive gear pump Deng.Also, since the direction of rotation of pump 12 is always same direction, even as the driving source driven to pump 12 Motor 15, also do not require for rotation switching higher responsiveness, with regard to this, motor 15 is also able to use relatively inexpensive. Prevent working oil from bar side room 5 towards the check valve 17 of 12 adverse currents of pump in addition, being provided in the midway of feed path 16.
Also, the hydraulic circuit HC of this example is also equipped with and is attached to bar side room 5 and tank 7 other than above-mentioned structure Passing away 21, be arranged on passing away 21 midway can be to the variable pressure relief valve 22 that cracking pressure changes.
In this example, variable pressure relief valve 22 is set as ratio electromagnetic relief pressure valve, and can be according to the magnitude of current supplied And cracking pressure is adjusted, and keep cracking pressure minimum when the magnitude of current is set as maximum, when not supplying electric current, make out Valve pressure is maximum.
In this way, if being provided with passing away 21 and variable pressure relief valve 22, when making main body cylinder block Cy carry out expanding-contracting action Pressure in bar side room 5 can be adjusted to the cracking pressure of variable pressure relief valve 22, so as to by variable pressure relief valve 22 The magnitude of current of supply and the thrust of actuator A is controlled.If being provided with passing away 21 and variable pressure relief valve 22, it is not required to It to be adjusted and required sensor class, also not needed to adjust the delivery flow of pump 12 for the thrust to actuator A And motor 15 is controlled with high precision.Therefore, rolling stock vibration absorber 1 becomes more cheap, on hardware and soft Firm system can be built on part.
In addition, in the case where opening the first open and close valve 9 and closing the second open and close valve 11 or closing the first open and close valve 9 And in the case where opening the second open and close valve 11, actuator A independently can be only directed to from external force with the driving situation of pump 12 Vibration input and when one party in the elongation or contraction that carry out play damping force.Thus, for example, playing damping force It, can be not at this in the case that direction is become by the vibration of the vehicle frame T of rolling stock to the direction that automobile body B carries out plus shakes The mode of damping force is generated on the direction of sample and functions actuator A as the damper of single effect.Therefore, because Actuator A can be easily implemented the semi-active control of the theory of the skyhook damping based on Kano gram, therefore can be used as half Active vibration control device and function.
In addition, though carrying out cracking pressure proportionally using by the magnitude of current applied to variable pressure relief valve 22 When the ratio electromagnetic relief pressure valve of variation, the control of cracking pressure becomes simply, but as long as being that cracking pressure can be adjusted Variable pressure relief valve, then be not limited to ratio electromagnetic relief pressure valve.
Also, independently main body cylinder block Cy is being applied with the open and-shut mode of the first open and close valve 9 and the second open and close valve 11 Excessive input in telescopic direction, thus when making the pressure of bar side room 5 as being more than the state of cracking pressure, variable pressure relief valve 22 keep passing away 21 open.In this way, due to when the pressure of bar side room 5 become cracking pressure more than when variable pressure relief valve 22 make bar Pressure in side room 5 is discharged to tank 7, therefore can prevent the pressure in cylinder body 2 from becoming excessive so as to the whole of actuator A A system is protected.Therefore, if being provided with passing away 21 and variable pressure relief valve 22, it also can be realized the protection of system.
Also, the hydraulic circuit HC of the actuator A of this example, which has, only allows working oil from piston side room 6 towards bar side room 5 The rectification channel 18 of flowing and the suction passage 19 for only allowing the slave tank 7 of working oil to flow towards piston side room 6.Therefore, at this In the actuator A of example, when main body cylinder block Cy stretches in the state that the first open and close valve 9 and the second open and close valve 11 are valve closing When, working oil is pressed out out of cylinder body 2.Since variable pressure relief valve 22 applies the flowing for the working oil being discharged out of cylinder body 2 Add resistance, therefore in the state that the first open and close valve 9 and the second open and close valve 11 are valve closing, the actuator A of this example is as single stream The damper of type and function.
More specifically, rectification channel 18 is connected to piston side room 6 with bar side room 5, and is provided with unidirectionally halfway Valve 18a, and it is set to the current channel of the folk prescription for only allowing working oil to flow from piston side room 6 towards bar side room 5.Also, Suction passage 19 is connected to tank 7 with piston side room 6, and check valve 19a is provided with halfway, and is set to only allow work Make the channel that the folk prescription that oil circulates from tank 7 towards piston side room 6 passes through.In addition, rectification channel 18 can be by the first open and close valve 9 Off-position be set as being integrated into first passage 8 when check valve, also can be by the second open and close valve 11 about suction passage 19 Off-position be set as being integrated into second channel 10 when check valve.
In the actuator A constituted in the above described manner, even if the first open and close valve 9 and the second open and close valve 11 are set as cutting together Disconnected position, can also be made by rectification channel 18, suction passage 19 and passing away 21 bar side room 5, piston side room 6 and The connection of tank 7 becomes a string.In addition, rectification channel 18, suction passage 19 and passing away 21 are set to, folk prescription is current to be led to Road.Therefore, when making main body cylinder block Cy be stretched by external force, working oil will necessarily be made to be discharged and pass through from cylinder body 2 Tank 7 is returned to by passing away 21, and insufficient working oil is become by cylinder body 2 and is supplied via suction passage 19 from tank 7 It is given in cylinder body 2.The variable pressure relief valve 22 puts up a resistance to the flowing of the working oil and is adjusted to out the pressure in cylinder body 2 Valve pressure, thus actuator A as passively uniflow type damper and function.
In addition, when the energization with each machine of actuator A becomes unable to the failure carried out, the first open and close valve 9 and second Off-position is respectively adopted in open and close valve 11, and variable pressure relief valve 22 is fixed to maximum pressure-control valve as cracking pressure and sends out Wave function.Therefore, in such failure, actuator A is functioned as passive damper automatically.
Then, in the case where making actuator A generate the thrust on desired prolonging direction, controller C substantially makes Motor 15 carries out rotation to supply working oil into cylinder body 2 from pump 12, and the first open and close valve 9 is set as communicating position and is incited somebody to action Second open and close valve 11 is set as off-position.When being worked in this way, bar side room 5 and piston side room 6 become connected state State simultaneously supplies working oil from pump 12 to the two, and the left into Fig. 2 of piston 3 is pressed to play actuator A on prolonging direction Thrust.When the pressure in bar side room 5 and in piston side room 6 is more than the cracking pressure of variable pressure relief valve 22, decompression can be changed 22 valve opening of valve, to make working oil via passing away 21 and be discharged to tank 7.Therefore, in bar side room 5 and piston side room 6 The cracking pressure of variable pressure relief valve 22 that determines and be controlled as the magnitude of current by applying to variable pressure relief valve 22 of pressure.And And actuator A play prolonging direction thrust, the value of the thrust of the prolonging direction be piston 36 side of piston side room with The compression face product moment of 5 side of bar side room is superior in the bar side room 5 that is controlled by variable pressure relief valve 22 and piston side room 6 Obtained from interior pressure.
In contrast, in the case where making actuator A play the thrust of desired shrinkage direction, controller C makes motor 15 carry out rotation to supply working oil into bar side room 5 from pump 12, and the first open and close valve 9 are set as off-position, and will Second open and close valve 11 is set as communicating position.When being acted in this way, piston side room 6 and tank 7 become connected state simultaneously And working oil is supplied from pump 12 to bar side room 5, therefore the right into Fig. 2 of piston 3 is pressed that actuator A is made to play contraction side To thrust.Also, with it is described previously same, when the magnitude of current to variable pressure relief valve 22 is adjusted, actuator A, which is played, to be received The thrust in contracting direction, the value of the thrust of the shrinkage direction are to subtract the compression area of 5 side of bar side room of piston 3 with by variable Pressure valve 22 and by control bar side room 5 pressure be multiplied obtained from.
Here, in the case where actuator A does not carry out flexible automatically because external force is stretched, the pressure of bar side room 5 The upper limit of power is restricted to the discharge pressure for the pump 12 that motor 15 is driven.That is, in actuator A not because external force is stretched It contracts but is carried out in the case where stretching automatically, the upper limit of pressure of bar side room 5 is restricted to the maximum that motor 15 can export Torque.
In addition, actuator A is served not only as actuator and is functioned, also can with the driving situation of motor 15 without Ground is closed only to function by the opening and closing of the first open and close valve 9 and the second open and close valve 11 as damper.In addition, that will activate When device A is switched to damper from actuator, due to not with cumbersome and the first open and close valve 9 rapidly and the second open and close valve 11 Switching action, therefore it is capable of providing a kind of responsiveness and the higher system of reliability.
In addition, for the actuator A of this example, due to being set to single rod type, compared with the actuator of dual rod type, It is easy to ensure that stroke length, so that the overall length of actuator be made to shorten, and then improves the mountability carried out to rolling stock.
In addition, the working oil that the working oil from pump 12 of the actuator A of this example is supplied and formed by expanding-contracting action Flowing pass sequentially through bar side room 5, piston side room 6 and finally flow back to tank 7.Therefore, even if being mixed in bar side room 5 or piston side room 6 Gas is entered, since the expanding-contracting action by main body cylinder block Cy is automatically discharged to tank 7, when thrust can be prevented to generate Responsiveness deterioration.Therefore, in the manufacture of actuator A, due to not needing forcibly to carry out assembling cumbersome, in the oil Or the assembling under vacuum environment, do not need yet working oil height degassing, therefore can be improved productivity and reduce manufacture at This.Also, even if gas is mixed into bar side room 5 or piston side room 6, gas can also pass through the expanding-contracting action of main body cylinder block Cy And be discharged from trend tank 7, there is no need to frequently implement the maintenance for restorability, so as to mitigate the labor of maintenance aspect Dynamic and cost burden.
Then, as shown in figure 3, controller C has the acceleration sensing detected to the transverse acceleration α of figure automobile body B Device 40, the target control power operational part 41 for finding out the target control power Fref that actuator A should be exported, and it is based on target control Power Fref and the driving portion 42 that motor 15, the first open and close valve 9, the second open and close valve 11, variable pressure relief valve 22 are driven.
Acceleration transducer 40 in Fig. 1 become towards right side direction in the case where, using transverse acceleration α as just It is worth and is detected, on the contrary, is detected in the case where being in Fig. 1 as the direction towards left side as negative value.
As shown in figure 3, target control power operational part 41 is configured to, have: the band logical that transverse acceleration α is filtered Filter 411, the controller that the target control power Fref* inhibited to the vibration of automobile body B is found out by transverse acceleration α 412, the bandpass filter 413 that the target control power Fref* before correction is filtered, to target calculated by controller 412 Control force Fref* is maked corrections and exports the correcting section 414 and limiter 415 of final target control power Fref.
Bandpass filter 411 is filtered transverse acceleration α, so that rolling stock is worked as in removal from transverse acceleration α Constant acceleration, drift component or noise in curve section when driving, and to being input in controller 412.Bandpass filtering The frequency band that device 411 is penetrated for example is set to from 0.5Hz or so to 3Hz or so, to remove constant acceleration and can Sufficiently it is withdrawn as the component of acceleration of slave 0.7Hz to the 2Hz of the resonance bands of automobile body B.In this way, due to passing through bandpass filtering Device 411 and the constant acceleration when curve driving that will include in transverse acceleration α removes and is input into controller 412 In, therefore only the vibration for deteriorating feeling for taking can be inhibited.
Controller 412 is set as H ∞ controller, and the resonance of the transverse acceleration α extracted by bandpass filter 411 The component of frequency band and calculate the target control power Fref* inhibited to the lateral vibration of automobile body B.Bandpass filter 411 The component of the resonance bands of the transverse acceleration α extracted is the vibration acceleration of the lateral resonance bands of automobile body B.Cause This, the target control power Fref* before correction calculated by controller 412 is best suited for the inhibition of the lateral vibration of automobile body B.
In this example, bandpass filter 413 only extract it is larger compared with as the 0.3Hz of the frequency band of constant acceleration and With the frequency band of the relatively low range of 1Hz of the resonance bands as automobile body B.That is, before 413 pairs of bandpass filter corrections Target control power Fref* in include slave 0.3Hz to 1Hz frequency band component, i.e. low frequency control force Flow extracts.
As shown in figure 4, correcting section 414 is configured to, have: gain setting unit 4141 is based on passing through bandpass filter 413 and obtained low frequency control force Flow is filtered to target control power Fref* and the value of correction gain K is set It is fixed；Gain multiplies calculation portion 4142, by the target control power Fref* before correction multiplied by correction gain K and find out it is final Target control power Fref.
The low frequency control force Flow and threshold value Ft that gain setting unit 4141 exports bandpass filter 413 are compared. Also, gain setting unit 4141 reduces the value of correction gain K when low frequency control force Flow is threshold value Ft or more, in low frequency control Power Flow processed increases the value of correction gain K when being less than threshold value Ft.In this example, the upper limit value of correction gain K is 1, lower limit value 0.01 and to be increased and decreased with the value of benchmark above-mentioned.Specifically, gain setting unit 4141 is in low frequency control force Flow The time for meeting the condition is counted when threshold value Ft or more, and condition set up time in make make corrections gain K value by Gradually decline.Specifically, shown in Fig. 5, the value for predefining correction gain K, which is reduced from the 1 of upper limit value to the 0.01 of lower limit value, is Time T only.That is, predefining correction gain K's if the execution cycle of target control power Fref is set as t seconds Reduction amount β relative to execution cycle t.Therefore, the value of the correction gain K of last time is set as KPre in gain setting unit 4141, And low frequency control force Flow be threshold value Ft or more condition set up when, this correction gain K value by K=KPre- β × T carries out operation and finds out.On the other hand, gain setting unit 4141, should to meeting when low frequency control force Flow is less than threshold value Ft The time of condition is counted, and gradually increases the value of correction gain K within the time that condition is set up.In addition, correction gain K Value risen to from the 0.01 of lower limit value upper limit value 1 until time with reduce required for the time it is identical.That is, if The execution cycle of target control power Fref is set as t seconds, then is set the incrementss relative to execution cycle t for the gain K that makes corrections To be identical value with reduction amount β.Therefore, the value of previous correction gain K is set as KPre, and low frequency by gain setting unit 4141 When control force Flow is less than threshold value Ft, the value of this correction gain K is found out and carrying out operation to K=KPre+ β × t.Separately Outside, if correction gain K maximum limit decline and rise required for time T in a manner of being best suited for rolling stock into Row adjustment, for example, the period of centrifugal acceleration when being set to easement curve section travel from 1/4 to 1/2 or so.
As shown in solid lines in fig. 5, when from correction gain K value be 1 the case where begun to pass through low frequency control force Flow When the time T continuously set up for the condition of threshold value Ft or more, the value of correction gain K gradually proportionally subtracts since 1 with the time It is few, until 0.01.When the value for the gain K that makes corrections becomes 0.01, even if next low frequency control force Flow becomes threshold value Ft Above condition is set up, and above value will not decline again herein.On the other hand, correction gain K value become 0.01 it Afterwards, when condition of the low frequency control force Flow less than threshold value Ft is continuously set up and by time T, the value of correction gain K gradually with Time is proportionally increased up since 0.01 rise to 1 until.When the value for the gain K that makes corrections becomes 1, even if next low Condition of the frequency control force Flow less than threshold value Ft is set up, and above value will not rise again herein.Thus, for example, working as from correction The case where value of gain K is 1, low frequency control force Flow only continuously set up time T1 (so as the condition of threshold value Ft or more And 0 < T1 < T) when, the value of correction gain K becomes 1- β × (T1/t).Later, when low frequency control force Flow becomes smaller than threshold value When the condition of Ft continuously sets up time T1 or more, as shown in broken line in fig. 5, make corrections gain K value with time going by and It is gradually increasing and becomes 1.
In addition, in this example, the value of threshold value Ft is set to the upper limit for the target control power Fref that limiter 415 is limited The value of the half of value Flim.That is, being set as threshold value Ft=Flim/2.Upper limit value Flim is set to, even if causing Dynamic device A continuously plays the power of upper limit value Flim, and the value of loaded degree will not be excessively applied to motor 15.
Gain multiplies calculation portion 4142 and on the target control power Fref* before correction multiplied by by gain setting unit 4141 The correction gain K of setting exports so as to find out final target control power Fref and to driving portion 42.Therefore, because working as low frequency control When power Flow processed becomes threshold value Ft or more, correction gain K decline, therefore in the final target control power Fref after correction, The chance for reaching upper limit value Flim is reduced.
Driving portion 42, which has, drives motor 15, the first open and close valve 9, the second open and close valve 11 and variable pressure relief valve 22 Driving circuit.Motor 15, the first open and close valve 9, the second open and close valve 11 of the opposite actuator A according to control force F of driving portion 43 And the magnitude of current that variable pressure relief valve 22 supplies is controlled, so that actuator A be made to play as target control power Fref Thrust.
In addition, though do not illustrated to controller C as hardware resource, as long as but specifically, for example, by Be configured to have following device, that is, have: the A/D for obtaining the signal exported by acceleration transducer 40 is converted Device obtains transverse acceleration α and is stored with and is used in the program when controlling actuator A in required processing The storage devices such as ROM (Read Only Memory: read-only memory), the CPU for executing the processing based on described program Arithmetic units such as (Central Processing Unit: central processing unit), Xiang Suoshu CPU provide the RAM of storage region Storage devices such as (Random Access Memory: random access memory).Also, the structure of each section of controller C is logical Cross that CPU executes the program of the processing and implements for implementing.
The processing of controller C is illustrated using flow chart shown in fig. 6.Firstly, controller C acquisition laterally accelerates It spends α (step F1).Then, controller C finds out target control power Fref* (step F2) by transverse acceleration α.Then, it controls Device C carries out bandpass filter processing to target control power Fref* and obtains low frequency control force Flow (step F3).Also, it controls Device C is compared low frequency control force Flow and threshold value Ft, and to whether Flow >=Ft is judged (step F4).Also, it controls Device C processed makes the value of correction gain K reduce (step F5) in the case where Flow >=Ft.On the other hand, controller C is in Flow < The value of correction gain K is set to rise (step F6) in the case where Ft.Also, controller C passes through superior in target control power Fref* Final target control power Fref (step F7) is found out to make corrections gain K.Finally, controller C is based on control force F and to actuating The motor 15 of device A, the first open and close valve 9, the second open and close valve 11 and variable pressure relief valve 22 are driven, so that actuator A be made to send out Wave place thrust (step F8).
As shown above, rolling stock vibration absorber 1 has between the automobile body B for being installed in rolling stock and vehicle frame T And the vibration that can be played the actuator A of control force and the transverse acceleration α based on automobile body B and find out to automobile body B carries out The controller C of the target control power Fref of inhibition, also, controller C have to as compared with the resonant frequency of automobile body B and compared with Bandpass filter 413 that the low frequency control force Flow of low frequency component is extracted and based on low frequency control force Flow and to mesh The correcting section 414 that mark control force Fref* makes corrections.
As described above, it is arranged between line interval and constant curve section when rolling stock is approached from line interval Easement curve section when, effect has band domain higher centrifugal acceleration compared with the frequency band of constant acceleration in automobile body B. In the bandpass filter 411 being filtered to transverse acceleration α, CENTRIFUGAL ACCELERATING when easement curve section travel is not removed Degree.Therefore, rolling stock of the invention is mentioned from target control power Fref* with vibration absorber 1 by bandpass filter 413 It takes out for resistant function in the force component of the centrifugal acceleration in the automobile body B travelled in easement curve section.Also, due to It is maked corrections based on the low frequency control force Flow extracted by bandpass filter 413 to target control power Fref*, therefore Following situation can be inhibited, that is, because that can not be travelled in easement curve section by what bandpass filter 411 removed When centrifugal acceleration influence and make the situation of final target control power Fref surplus.
Also, although correcting section 414 is based on low frequency control force Flow and makes corrections to target control power Fref*, Also comprising the component that the vibration of automobile body B is inhibited next from the transmitting of the side vehicle frame T in target control power Fref*.Therefore, such as Target control power Fref after correction is restored to the upper limit value Flim limited by limiter 415 to fruit hereinafter, then actuator A institute The power of performance will be reduced, and will not be damaged to the component for the power that the vibration of automobile body B is inhibited, therefore can be improved and multiply Sit impression.Further, since making corrections to target control power Fref*, so as to become to final target control power Fref Superfluous situation is inhibited, therefore does not also need to utilize large-scale motor.
Therefore, rolling stock according to the present invention vibration absorber 1 will not make due to not needing large-scale motor Cost and the mountability carried out to rolling stock are impaired, further, it is possible to improve the feeling for taking in easement curve section travel.
In addition, though in this example, by bandpass filter 413 to the constant acceleration with target control power Fref* Frequency band compare and higher and lower frequency component extracts compared with the resonant frequency of automobile body B, but also being capable of benefit With allowing compared with the resonant frequency of automobile body B and low-pass filter that lower frequency component penetrates.Even if in this way and It, also can be according to the transverse acceleration α for eliminating constant acceleration component by bandpass filter 411 using low-pass filter To find out target control power Fref*.Therefore, because target control power Fref* will not be made to become because of the influence of constant acceleration Greatly, due to not generating the case where target control power Fref is maked corrections smaller in curve section travel, there is no losses.
In addition, this example rolling stock in vibration absorber 1, due to by correcting section 414 in low frequency control force It carries out making target control power Fref decline such correction when bis- threshold value Ft or more of Flow, therefore the mesh after correction can be reduced The chance that mark control force Fref is limited by limiter 415 promotes effect so as to play higher feeling for taking.
Also, it is in low frequency control force Flow by correcting section 414 in vibration absorber 1 in the rolling stock of this example When threshold value Ft or more by it is superior in target control power Fref* with upper limit value be 1 correction gain K below thus to target control Power Fref* processed makes corrections.Therefore in the rolling stock constituted in this way in vibration absorber 1, due to the mesh before correction Mark control force Fref* and the frequency of the target control power Fref after correction do not change, therefore can further improve The effect that the vibration for the automobile body B come from the transmitting of the side vehicle frame T is inhibited.Therefore, according to the railway of composition in this way Vehicular damper device 1 can further improve feeling for taking when easement curve section travel.
Also, in the rolling stock of this example in vibration absorber 1, by correcting section 414 in low frequency control force Flow bis- It gradually decreases correction gain K in a period of the threshold value Ft or more of position and increases correction when low frequency control force Flow is less than threshold value Ft Beneficial K rises.That is, this example rolling stock in vibration absorber 1, as it was noted above, the gain K that makes to make corrections is according to target Control force Fref* becomes the time after threshold value Ft or more and reduces, and increases according to the time after threshold value Ft is become smaller than Add.It is alleviated according to the rapidly variation of the rolling stock constituted in this way vibration absorber 1, the value for the gain K that makes corrections, thus The sudden turn of events of target control power Fref after making correction is also alleviated, therefore keeps feeling for taking better.
In addition, in previously described content, although correcting section 414 according to target control power Fref* become threshold value Ft with Time after upper and making gain K that makes corrections is reduced, but can also be more than upper limit value Flim according to target control power Fref* It measures and the value of correction gain K is changed.That is, change can be proceeded as follows, that is, target control power Fref* Amount more than upper limit value Flim is bigger, then makes the value of correction gain K smaller.Although in addition, making corrections in previously described content Portion 414 by multiplied by correction gain K and make corrections to target control power Fref*, as long as but target control power Fref* be Positive value then can also subtract fixed value from target control power Fref*, can be with as long as target control power Fref* is negative value It is maked corrections and adding fixed value on target control power Fref*.This before and after correction in this case, will not produce The variation of the frequency of raw target control power Fref.
Although the preferred embodiments of the present invention is described in detail above, as long as without departing from claim The range of book is then able to carry out transformation, deformation and change.
The application is based in the Japanese Patent Application 2016-176300 claims priority proposed to Japanese Patent Office on the 9th of September in 2016 Power, and in the present specification by referring to and by all the contents of the application combination.

Claims (4)

1. a kind of rolling stock vibration absorber, wherein have:
Actuator is installed between the vehicle body of rolling stock and vehicle frame and can play control force；With
Controller, the transverse acceleration based on the vehicle body and find out the target control inhibited to the vibration of the vehicle body Power simultaneously controls the actuator,
The controller includes
Filter extracts low frequency control force, the low frequency control force be in the target control power with the vehicle The resonant frequency of body is compared and lower frequency component；With
Correcting section makes corrections to the target control power based on the low frequency control force.
2. rolling stock vibration absorber according to claim 1, wherein
The correcting section is maked corrections when the low frequency control force is threshold value or more so that the target control power declines.
3. rolling stock vibration absorber according to claim 1, wherein
The correcting section the low frequency control force be threshold value more than when, be with upper limit value by superior in the target control power 1 correction gain below and make corrections to the target control power.
4. rolling stock vibration absorber according to claim 3, wherein
The correcting section is gradually reduced the correction gain in a period of low frequency control force is threshold value or more, and in institute Increase the correction gain.
CN201780053685.8A 2016-09-09 2017-04-19 Rolling stock vibration absorber Pending CN109641597A (en)

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JP2016176300A JP6231634B1 (en) 2016-09-09 2016-09-09 Vibration control device for railway vehicles
JP2016-176300 2016-09-09
PCT/JP2017/015737 WO2018047402A1 (en) 2016-09-09 2017-04-19 Railroad car vibration damping device

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Publication number Priority date Publication date Assignee Title
CN110539770A (en) * 2018-12-05 2019-12-06 中车长春轨道客车股份有限公司 train shock absorber damping control method and device
CN110155101A (en) * 2019-05-17 2019-08-23 中车青岛四方机车车辆股份有限公司 Laterally full active control vibration insulating system and the wherein control method of controller

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JP6231634B1 (en) 2017-11-15
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JP2018039451A (en) 2018-03-15

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Application publication date: 20190416