CN110198877A - Shock absorber device for railway vehicle - Google Patents
Shock absorber device for railway vehicle Download PDFInfo
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- CN110198877A CN110198877A CN201880008215.4A CN201880008215A CN110198877A CN 110198877 A CN110198877 A CN 110198877A CN 201880008215 A CN201880008215 A CN 201880008215A CN 110198877 A CN110198877 A CN 110198877A
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- Prior art keywords
- side room
- actuator
- acceleration
- piston
- valve
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Classifications
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- 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
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- 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
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
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- 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
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
- F16F15/027—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means comprising control arrangements
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- 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
-
- 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
- F16F9/34—Special valve constructions; Shape or construction of throttling passages
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Vibration Prevention Devices (AREA)
- Vehicle Body Suspensions (AREA)
- Fluid-Damping Devices (AREA)
Abstract
Shock absorber device for railway vehicle (V) of the invention has: can during using motor (15) transfer tube (12) actuator (A) of off-load, be set on vehicle body (B) and detect vehicle body (B) left and right directions acceleration acceleration transducer (40) and according to the controller (C) of Acceleration Control actuator (A), during driving motor (15) and making actuator (A) off-load, the deviant of drift component contained in the output valve of acceleration transducer (40) is eliminated in measurement.
Description
Technical field
The present invention relates to the improvement of shock absorber device for railway vehicle.
Background technique
Shock absorber device for railway vehicle is sometimes provided on rolling stock, which, which has, is installed on
The acceleration transducer of acceleration before and after the actuator of double-acting between vehicle body and the trolley of front and back, detection vehicle body and
The controller of actuator is controlled, and inhibits the vibration of left and right directions relative to the direction of advance of vehicle body.
In such shock absorber device for railway vehicle, such as disclosed in JP2013-1304A, controller according to
The acceleration that acceleration transducer detects finds out the control force that actuator should generate, and plays actuator and inhibit body vibrations
Thrust to inhibit the vibration of vehicle body.
Summary of the invention
Actuator in above-mentioned shock absorber device for railway vehicle is electrohydraulic cylinder, by supplying from by the pump of motor drive
Expanding-contracting action is carried out to the pressure oil to cylinder body.
Equipped with the inverter for drive motor on such actuator, flowed through when due to motor drive inverse
Become the electric current of device under the influence of electromagnetic wave for generating etc., overlaps with noise in the output of acceleration transducer and generate drift
It moves.
The drift component as caused by the noise being overlapped in the output of acceleration transducer is therefore low frequency is usually adopted
The method for carrying out high-pass filtering processing with the output to acceleration transducer to remove drift component.
However, in the case where carrying out high-pass filtering processing, using acceleration transducer detection acceleration with it is actual
Acceleration is advanced compared to phase, also, needs the time until drift component is completely removed and exports and stablize.Therefore, exist
In the case where executing shockproof control when motor start-up, although actually not applying acceleration to vehicle body, controller is also according to upper
It states drift component to find out control force and drive actuator, thus there are problems that damping effect variation.
In contrast, the drift value of acceleration transducer when due to motor start-up can measure in advance, also taste
Examination sets it to deviant, eliminates the drift for including in the output of acceleration transducer using deviant in motor start-up
Move component.
As long as drift value is fixed always, still, drift value becomes because of aging of acceleration transducer etc. sometimes
Change, even if being corrected using the deviant secured in advance to the output of acceleration transducer, also still remain with it is actual
Acceleration leads to the problem of deviation and damping effect is caused to be deteriorated.
Therefore, the purpose of the present invention is to provide without detriment to damping effect can remove from the output of acceleration transducer
Remove the shock absorber device for railway vehicle of drift component.
Shock absorber device for railway vehicle of the invention has: can during using motor driven pump off-load actuating
Device, the left and right directions for being set on vehicle body and detecting vehicle body acceleration acceleration transducer and according to Acceleration Control
The controller of actuator, during driving motor and actuator is made to carry out off-load, measurement is eliminated in acceleration sensing
The deviant of drift component contained in the output valve of device.
Detailed description of the invention
Fig. 1 is the section of the rolling stock for the shock absorber device for railway vehicle being equipped in an embodiment.
Fig. 2 is the detail drawing of an example of actuator.
Fig. 3 is the control block diagram of the controller in the shock absorber device for railway vehicle of an embodiment.
Fig. 4 is the measurement for indicating deviant and the flow chart for determining step.
Specific embodiment
Hereinafter, the present invention will be described for embodiment shown in reference to the accompanying drawings.Rolling stock in one embodiment
It is used as the damping device of the automobile body B of rolling stock with damping device V, as shown in Figure 1, its composition includes: mounted in pairs in vehicle
The acceleration of the acceleration alpha of actuator A, the left and right directions for being set in automobile body B and detecting automobile body B between body B and trolley T passes
Sensor 40 and the controller C for controlling actuator A.Specifically, in the case where rolling stock, actuator A is connected to direction
On the bolt P to hang down below automobile body B, and arrangement is installed between automobile body B and trolley T in pairs.
Trolley T rotatably freely keeps wheel W, and the bearing spring S of referred to as pillow spring is equipped between automobile body B and trolley T,
To flexibly support automobile body B, allow automobile body B relative to trolley T transverse shifting as a result,.
Moreover, these actuators A inhibits automobile body B relative to vehicle basically by the active control carried out by controller C
The vibration of direction of advance in the horizontal transverse direction.
Horizontal cross of the controller C according to the automobile body B detected by acceleration transducer 40 relative to vehicle forward direction
Acceleration alpha, find out the control force F that actuator A should be generated, and issue to each actuator A and generate thrust corresponding with control force F
Instruction.In this way, shock absorber device for railway vehicle V makes actuator A play control force F, to inhibit the described lateral of automobile body B
Vibration.
Then, the specific structure of actuator A is illustrated.It should be noted that in the illustrated case, it is each to trolley T
There are two actuator A for setting, but can also only be arranged one.Alternatively, it is also possible to which a controller C is respectively arranged to each actuator A.
In this example, as shown in Fig. 2, actuator A has: the cylinder being connect with a side of the automobile body B of rolling stock and trolley T
Body 2；The piston 3 being sliding freely inserted into cylinder body 2；Be inserted into cylinder body 2 in and with another party and piston of automobile body B and trolley T 3
The bar 4 of connection；Store the cabinet 7 of working fluid；Working fluid can be sucked out from cabinet 7 and supply working fluid to bar side room 5
Pump 12；The motor 15 of transfer tube 12；And the hydraulic circuit HC of the flexible switching and thrust of control actuator A, and structure
Actuator as single lever-type.
In addition, in this example, filled with working oil as working fluid in above-mentioned bar side room 5 and piston side room 6, and
And gas is also filled with other than working oil in cabinet 7.In addition, do not needed in cabinet 7 especially by gas compression after
It fills and becomes pressurized state.In addition, working fluid can also utilize other liquid other than working oil.
Hydraulic circuit HC has: the first switch valve being set in the first passage 8 in connection bar side room 5 and piston side room 6
9；The second switch valve 11 being set in the second channel 10 of connection piston side room 6 and cabinet 7；And it is set to connecting rod side room
5 in the passing away 21 of cabinet 7 and variable overflow valve 22 that cracking pressure is variable.
Moreover, basically, when making first passage 8 become connected state using first switch valve 9, by second switch valve 11
It closes and when transfer tube 12, actuator A elongation, when making second channel 10 become connected state using second switch valve 11, by the
When one switch valve 9 closes simultaneously transfer tube 12, actuator A is shunk.
Hereinafter, each section of actuator A is described in detail.Cylinder body 2 is cylindrical in shape, and the right end in Fig. 2 is by 13 envelope of lid
It closes, the left end in Fig. 2 is equipped with cricoid bar guiding piece 14.In addition, the bar 4 being movably inserted into cylinder body 2 slides freely
Ground is inserted into above-mentioned bar guiding piece 14.Towards prominent outside cylinder body 2, the other end in cylinder body 2 is connected to sliding for one end of the bar 4
It is inserted on the piston 3 in cylinder body 2 freely.
In addition, being sealed between the periphery and cylinder body 2 of bar 14 by the seal member of illustration omitted, make cylinder body 2 as a result,
Inside it is maintained sealing state.Moreover, passing through in the bar side room 5 and piston side room 6 that piston 3 marks off in cylinder body 2, as described above
It is filled with working oil like that.
In addition, the sectional area of bar 4 is set as to the half of the sectional area of piston 3 in the case where actuator A, from
And make the half of the compression area of 6 side of compression area piston side room of 5 side of bar side room of piston 3.Therefore, if extending
When movement with make the pressure of bar side room 5 identical when contractive action, then the thrust generated in flexible the two is equal, relative to cause
The work oil mass of the displacement of dynamic device A is also identical in flexible two sides.
In details of the words, when making actuator A carry out elongation movement, become the shape for being connected to bar side room 5 with piston side room 6
State.Then, equal with the pressure in piston side room 6 in bar side room 5, actuator A generates 5 side of bar side room and the piston side of piston 3
The compression face product moment of 6 side of room is multiplied by thrust obtained from above-mentioned pressure.Conversely, when making actuator A carry out contractive action, by bar
The connection in side room 5 and piston side room 6 disconnects, and becomes the state that piston side room 6 is connected to cabinet 7.Then, actuator A generates bar
Thrust obtained from compression area of the pressure multiplied by 5 side of bar side room of piston 3 in side room 5.
In short, thrust caused by actuator A it is flexible be both the sectional area of piston 3 half multiplied by
It is worth obtained from the pressure of bar side room 5.Therefore, it in the case where controlling the thrust of actuator A, acts and shrinks dynamic in elongation
As long as being controlled the pressure of bar side room 5 in work.In addition, in the actuator A of this example, due to by the bar of piston 3
The compression area of 5 side of side room is set as the half of the compression area of 6 side of piston side room, therefore, generates phase in flexible two sides
It is identical in elongate sides and contraction side with the pressure of bar side room 5 when thrust, thus control becomes simple.Further, since relative to position
The work oil mass of shifting amount is also identical, therefore, have the advantages that responsiveness flexible two sides all it is identical this.In addition, even if will not
It, can in the case where the half for the compression area that the compression area of 5 side of bar side room of piston 3 is set as 6 side of piston side room
Thrust this point using the flexible two sides of the pressure control actuator A of bar side room 5 is also constant.
Before returning to, left end in Fig. 2 of bar 4 and the closed lid 13 of the right end of cylinder body 2 had into installation (not shown)
Actuator A can be installed between the automobile body B of rolling stock and trolley T by portion.
Moreover, bar side room 5 is connected to piston side room 6 by first passage 8, and set in the midway of the first passage 8
There is first switch valve 9.Bar side room 5 is connected to by the first passage 8 outside cylinder body 2 with piston side room 6, but also can be set in work
Plug 3.
First switch valve 9 is electromagnetic switch valve, has and opens first passage 8 and connect bar side room 5 with piston side room 6
Logical communicating position and first passage 8 is cut off and the off-position that disconnects the connection in bar side room 5 and piston side room 6.And
And the first switch valve 9 is located at communicating position when being powered, and off-position is located at when no power.
Then, piston side room 6 is connected to cabinet 7 by second channel 10, and is set in the midway of the second channel 10
There is second switch valve 11.Second switch valve 11 be electromagnetic switch valve, have second channel 10 is opened and make piston side room 6 with
The communicating position of the connection of cabinet 7 and the cutting position that second channel 10 is cut off to and made the connection disconnection of piston side room 6 and cabinet 7
It sets.Moreover, the second switch valve 11 is located at communicating position when being powered, off-position is located at when no power.
Pump 12 is only oriented towards by being driven under the control of controller C with the motor 15 that defined revolving speed rotates
One direction sprays the pump of working oil.Moreover, the ejiction opening of pump 12 is connected to by feed path 16 with bar side room 5, and suck
Mouth is connected to cabinet 7, so that pump 12 is sucked out working oil from cabinet 7 and supplies to bar side room 5 when being driven by motor 15
To working oil.
As described above, pump 12 only sprays working oil to a direction, there is no the switching action of direction of rotation, therefore, no
There are problems that spray volume changes this when rotation switching, is able to use cheap gear pump etc..In turn, due to the rotation side of pump 12
To being always same direction, therefore, it is not required to which the motor 15 of the driving source as transfer tube 12 has for rotation switching
Cheap motor also can be used in high responsiveness, correspondingly, motor 15.In addition, in the midway of feed path 16, if
There is the check-valves 17 for preventing working oil from flowing backwards from bar side room 5 towards pump 12.In addition, motor 15 controls not from by controller C
The inverter circuit of diagram receives power supply and is driven.
In turn, as described above, the hydraulic circuit HC of this example has the passing away 21 in connecting rod side room 5 and cabinet 7 and sets
It is placed in the variable variable overflow valve 22 of the midway of passing away 21 and cracking pressure.
In this example, can be changed overflow valve 22 is ratio electromagnetic relief valve, can adjust valve opening according to the magnitude of current being supplied to
Cracking pressure is set as minimum when the magnitude of current maximum by pressure, and cracking pressure is set as maximum when not supplying electric current.
In this way, passing away 21 being arranged and in the case where variable overflow valve 22, when making actuator A carry out expanding-contracting action
When, the pressure in bar side room 5 can be adjusted to the cracking pressure of variable overflow valve 22, so as to according to variable overflow valve
The thrust of the magnitude of current control actuator A of 22 supplies.In the case where passing away 21 and variable overflow valve 22 is arranged, do not need
Sensor needed for adjusting the thrust of actuator A etc highly controls electronic without in order to adjust the ejection flow of pump 12
Machine 15.Therefore, shock absorber device for railway vehicle V becomes inexpensively, and either hardware aspect or software aspects can construct securely
System.
In addition, in the case where opening first switch valve 9 and close second switch valve 11, or by first switch valve
9 close and by second switch valve 11 open in the case where, independent of pump 12 driving situation, can be for the vibration from external force
Input only plays damping force by actuator A in either elongation or contraction.Thus, for example the direction for playing damping force is to pass through
The vibration of the trolley T of rolling stock and make automobile body B vibrate direction in the case where, actuator A can be made as single effect
Damper plays a role, so as to not export damping force to the direction.Therefore, actuator A, which can be easily implemented, is based on
The semi- active control of the ceiling theory of Karnopp, thus can also be used as semi-active damper device and play a role.
In addition, using in variable overflow valve 22 can be such that cracking pressure proportionally changes according to the magnitude of current applied
When ratio electromagnetic relief valve, the control of cracking pressure becomes simply, but as long as being the variable overflow valve that can adjust cracking pressure,
Just it is not limited to ratio electromagnetic relief valve.
Moreover, it is unrelated with the switch state of first switch valve 9 and second switch valve 11, there is flexible side in actuator A
To excessive input, when becoming the pressure of bar side room 5 and being more than the state of cracking pressure, variable overflow valve 22 beats passing away 21
It opens.In this way, variable overflow valve 22 when the pressure of bar side room 5 reaches cracking pressure or more by the pressure in bar side room 5 towards case
Body 7 is discharged, it is thus possible to prevent the pressure in cylinder body 2 from becoming excessive, to protect the system of actuator A whole.Therefore, it is setting
In the case where setting passing away 21 and variable overflow valve 22, system can be also protected.
In addition, the hydraulic circuit HC in the actuator A of this example is also equipped with: only allowing working oil other than above-mentioned composition
The rectification channel 18 flowed from piston side room 6 towards bar side room 5 and only working oil is allowed to flow from cabinet 7 towards piston side room 6
Suction passage 19.Therefore, when making actuator A be stretched with the state of 11 valve closing of first switch valve 9 and second switch valve,
Working oil is extruded out of cylinder body 2.Moreover, because the flowing of variable working oil of the overflow valve 22 for being discharged out of cylinder body 2 is applied
Add resistance, therefore, in the state of first switch valve 9 and second switch 11 valve closing of valve, the actuator A of this example is as one-way flow
The damper of type plays a role.
For specifically, piston side room 6 is connected to by rectification channel 18 with bar side room 5, and check-valves is provided with halfway
18a, to be set to the half-duplex channel for only allowing working oil to flow from piston side room 6 to bar side room 5.In turn, suction passage
19 are connected to cabinet 7 with piston side room 6, and check-valves 19a is provided with halfway, to be set to only allow working oil from case
The half-duplex channel that body 7 is flowed to piston side room 6.In addition, the off-position of first switch valve 9 is being set as non-return by rectification channel 18
It can merge with first passage 8 when valve, the off-position of second switch valve 11 can also be set as check-valves by suction passage 19
When merge with second channel 10.
In thus configured actuator A, even if first switch valve 9 and second switch valve 11 are respectively positioned on off-position,
Bar side room 5, piston side room 6 and 7 bunchiness of cabinet are connected to by rectification channel 18, suction passage 19 and passing away 21.
In addition, rectification channel 18, suction passage 19 and passing away 21 are set to unidirectional channel.Therefore, when actuator A outside
When stretching under the action of power, working oil is inevitable to be discharged from cylinder body 2 and returns to cabinet 7 via drain passageway 21, is lacked in cylinder body 2
Working oil is supplied from cabinet 7 into cylinder body 2 via suction passage 19.Above-mentioned variable overflow valve 22 is relative to the working oil
Flowing becomes resistance, and the pressure in cylinder body 2 is adjusted to cracking pressure, and therefore, actuator A is as passively one-way flow ejector half
Damper plays a role.
In addition, when failure as being powered in each equipment of no normal direction actuator A, first switch valve 9 and second switch valve
11 are located at off-position, and variable overflow valve 22 is fixed as maximum pressure-control valve as cracking pressure and plays a role.Cause
This, in such failure, actuator A is used as passive damping device to play a role automatically.
Then, when making actuator A play the thrust of desired prolonging direction, controller C substantially makes motor 15
It rotates and supplies working oil into cylinder body 2 from pump 12, and first switch valve 9 is made to be located at communicating position, make 11, second switch valve
In off-position.Bar side room 5 and piston side room 6 become connected state as a result, working oil are supplied from pump 12 to the two, thus court
Left side into Fig. 2 pushes piston 3, and actuator A is made to play the thrust of prolonging direction.When in bar side room 5 and piston side room 6
When pressure is more than the cracking pressure of variable overflow valve 22, it can be changed overflow valve 22 and open, working oil is via drain passageway 21 towards case
Body 7 is discharged.Therefore, the pressure in bar side room 5 and piston side room 6 is controlled as basis and is applied to variable overflow valve 22
It can be changed the cracking pressure of overflow valve 22 determined by the magnitude of current.Moreover, actuator A plays 6 side of piston side room and the bar side of piston 3
The compression face product moment of 5 side of room is obtained multiplied by by can be changed the pressure in the bar side room 5 that overflow valve 22 controls and in piston side room 6
Value prolonging direction thrust.
In contrast, controller C revolves motor 15 when making actuator A play the thrust of desired shrinkage direction
Then working oil is supplied into bar side room 5 from pump 12, and first switch valve 9 is made to be located at off-position, make 11, second switch valve
In communicating position.Piston side room 6 and cabinet 7 become connected state as a result, and working oil is supplied from pump 12 to bar side room 5, because
This, pushes piston 3 towards the right side in Fig. 2, actuator A is thus made to play the thrust of shrinkage direction.Moreover, as described above
Ground, when adjusting the magnitude of current of variable overflow valve 22, the compression area that actuator A plays 5 side of bar side room of piston 3 can multiplied by quilt
Become the thrust of shrinkage direction obtained from the pressure in the bar side room 5 that overflow valve 22 controls.
Here, the upper limit of pressure of bar side room 5 is limited in actuator A automatic telescopic rather than when being shunk because of external force
It is made as the ejection pressure of the pump 12 driven by motor 15.That is, being shunk in actuator A automatic telescopic rather than because of external force
When, the upper limit of pressure of bar side room 5 is restricted to the peak torque that motor 15 can export.
In addition, actuator A plays a role not only as actuator, and can with the driving situation of motor 15 without
Ground is closed only to play a role by the switch of first switch valve 9 and second switch valve 11 as damper.In addition, by actuator
When A is switched to damper from actuator, the switching without carrying out complicated and violent first switch valve 9 and second switch valve 11 is dynamic
Make, it is thus possible to which the system of responsiveness and high reliablity is provided.
In turn, logical by first passage 8 and second when first switch valve 9 and second switch valve 11 are located at communicating position
Road 10 and so that bar side room 5 and piston side room 6 is connected to cabinet 7.In this state, actuator A becomes unloading condition, even if passing through
The pressure in 15 transfer tube 12 of motor, bar side room 5 and piston side room 6 is also always tank pressure, so that actuator A will not stretch
Contracting, will not play thrust.In addition, under unloading condition, actuator A with the driving of pump 12 and do not drive unrelated and pass through external force
When forcing flexible, almost stretch without resistance.
In addition, in the actuator A of this example, due to being set to single rod type, compared with the actuator of dual rod type
Compared with it is easy to ensure that length of stroke, the overall length of actuator shortens, and improves for the mountability of rolling stock.
In addition, the working oil supply of pump 12 in the actuator A from this example and the working oil based on expanding-contracting action
Flowing, passes sequentially through bar side room 5, piston side room 6 and finally returns to cabinet 7.Therefore, even if being mixed into bar side room 5 or piston side room 6
Gas is automatically drained out also by the expanding-contracting action of actuator A to cabinet 7, it is thus possible to the responsiveness for generating thrust be prevented to be deteriorated.
Therefore, when manufacturing actuator A, it will not force to carry out complicated assembling in the oil or be assembled under vacuum conditions,
The height degassing of working oil is not needed, it is thus possible to improve productivity and reduce manufacturing cost.In turn, even if bar side room 5 or living
Fill in entrained gas in side room 6, gas is automatically drained out also by the expanding-contracting action of actuator A to cabinet 7, because without frequently into
Row is used for the maintenance of restorability, can reduce labour and the cost burden of maintenance aspect.
Then, as shown in figure 3, the controller C of this example has: correction unit 41 exports acceleration transducer 40 defeated
Value is corrected out, finds out the acceleration alpha for acting on the horizontal cross of the vehicle forward direction relative to automobile body B in automobile body B；
Operational part 42 is controlled, the control force F that actuator A should be exported is found out according to acceleration alpha；And driving portion 43, according to control force F
Come drive motor 15, first switch valve 9, second switch valve 11, variable overflow valve 22.
Acceleration transducer 40 is set in automobile body B, is detected and is added relative to the horizontal cross of the vehicle forward direction of automobile body B
Speed is simultaneously exported to controller C.In addition, acceleration detection is by acceleration transducer 40 when towards the direction on right side in Fig. 1
Positive value, on the contrary negative value is detected as when towards the direction in left side in Fig. 1.
For correction unit 41 when motor 15 drives, the output valve exported from acceleration transducer 40 subtracts deviant, thus
Find out the acceleration alpha for acting on the horizontal cross of the vehicle forward direction relative to automobile body B in automobile body B.On the other hand, it corrects
When motor 15 does not drive without the correction based on deviant, the output valve that acceleration transducer 40 is exported is direct in portion 41
It is exported as acceleration alpha.
As shown in figure 4, deviant is determined by measurement.The measurement of deviant is configured by rolling stock in flat rail
It is carried out on road.Controller C makes first switch valve 9 and second switch valve 11 be located at connection position by 15 transfer tube 12 of motor
It sets, so that actuator A be made to become unloading condition (step ST1).When actuator A is in unloading condition, actuator A, which is not played, to be pushed away
Power, automobile body B are not vibrated, therefore, it should will not apply the acceleration of the horizontal cross relative to vehicle forward direction to automobile body B
Degree.But when in this state, when detecting the acceleration of automobile body B using acceleration transducer 40, acceleration transducer 40 it is defeated
Drift component caused by electromagnetic noise generated in the inverter circuit of drive motor 15 etc. is overlapped in value out.That is, in the shape
Under state, the output valve of acceleration transducer 40 is not to indicate that the acceleration for acting on automobile body B is 0 value, and detect towards left
Right either direction pushes the acceleration of the value of automobile body B, which is the component that drifts about caused by above-mentioned electromagnetic noise etc..Therefore, it controls
Device C makes first switch valve 9 and second switch valve 11 be located at communicating position by 15 transfer tube 12 of motor, becomes actuator A
For unloading condition, the output valve (step ST2) of acceleration transducer 40 is obtained, the output valve of acceleration transducer 40 is determined as
New deviant (step ST3), and deviant is updated to the deviant (step ST4) newly determined.
Deviant can also be determined by the sampling of an output valve, but having in the output valve of acceleration transducer 40 can
Therefore, in this example, deviant can be determined as described below also comprising other noise component(s)s.Controller C is with predetermined
Carry out the sampling of stipulated number defined sampling period to the output valve of acceleration transducer 40, and by the total of obtained output valve
Deviant is set as with the average value divided by the resulting output valve of the stipulated number.In addition, obtaining output valve just in each sampling
It is successively added, and after the sampling of stipulated number divided by stipulated number, as long as after keeping sampling always
Output valve summation value, so that the storage resource (not shown) in controller C will not be oppressed.That is, that will sample out
Whole output valves stored the summation of operation output valve again in the case where, need for the output valve of stipulated number to be stored in
In reservoir, but in the case where being every time added output valve, only the sum for the output valve that one is sampled out need to be stored in storage
In device.In this way, due to being that the average value of output valve is set as deviant, it is thus possible to which accurately obtaining can only will be electric
The deviant that drift component caused by noise when motivation 15 drives etc. removes.
In addition, when determining deviant the rolling average of the output valve of acceleration transducer 40 can also be found out, and partially
Shifting value uses the value.The obtained deviant is stored in the memory being stored in controller C, is measured, is determined partially every time
It is just updated when shifting value.
Then, correction unit 41 uses the defeated of acceleration transducer 40 of the newest deviant to the driving of motor 15 when always
Value is corrected out, to obtain acceleration alpha.Deviant is to remove the value of drift component when motor 15 drives, therefore,
When motor 15 does not drive, deviant will not be overlapped in the output valve of acceleration transducer 40.Therefore, correction unit 41 is electronic
Without the correction based on deviant when machine 15 does not drive, the output valve that acceleration transducer 40 is exported is directly as acceleration
α output.The value for the drift component being overlapped in the output valve of acceleration transducer 40 when being driven due to motor 15 can be because add
Aging of velocity sensor 40 etc. and as the time is slowly varying, therefore, as long as inspecting periodically progress by routine inspection etc.
The measurement and update of deviant, but can also each current check or operation before check when carry out deviant measurement and
It updates.
The stabilization when utilization of control operational part 42 is by the curve driving that the acceleration alpha found out by correction unit 41 is included adds
The bandpass filter that speed, drift component or noise remove is handled, the control force F that should be played so as to find out actuator A.
In this example, control operational part 42 is H ∞ controller, found out according to acceleration alpha indicate the vibration for inhibiting automobile body B and should be by
The control force F of the thrust of actuator A output.In addition, control force F is endowed positive and negative symbol according to direction, symbol indicates to cause
The direction for the thrust that dynamic device A should be exported.Operational part 42 is controlled after finding out control force F, to the output of driving portion 43 and control force F
Corresponding control instruction, so that actuator A exports control force F.
Driving portion 43 is after receiving control instruction, and the symbol of control force F according to indicated by control instruction is to first
Switch valve 9 and second switch valve 11 supply electric current or stop supply electric current, to drive first switch valve 9 and second switch valve
11 open or close.For specifically, by the prolonging direction of actuator A be set as just, shrinkage direction be set as negative in the case where,
Driving portion 43 is acted as follows.In the case where the symbol of control force F is positive, the thrust of actuator A plays direction
For prolonging direction, therefore, driving portion 43 makes first switch valve 9 be located at communicating position, and second switch valve 11 is made to be located at cutting position
It sets.Then, from pump 12 to both bar side room 5 and piston side room 6 supply working oil, so that actuator A be made to play prolonging direction
Thrust.On the other hand, in the case where the symbol of control force F is negative, it is shrinkage direction that the thrust of actuator A, which plays direction,
Therefore, driving portion 43 makes first switch valve 9 be located at off-position, and second switch valve 11 is made to be located at communicating position.Then, from pump
12 only supply working oil to bar side room 5 and are connected to bar side room 5 with cabinet 7, thus actuator A is made to play pushing away for shrinkage direction
Power.
In addition, in this example, controlling operational part 42 according only to acceleration alpha and finding out control force F.In contrast, can also be
The front and back of automobile body B is arranged acceleration transducer 40, and waves acceleration according to what the acceleration alpha of the front and back of automobile body B found out automobile body B
(sway acceleration) and beat acceleration (yaw acceleration), and accelerate according to acceleration and beat is waved
Degree finds out the control force waved for inhibiting automobile body B and inhibits the control force of beat.In thus configured situation, as long as will inhibit
The control force waved, which be added with the control force of inhibition beat, finds out control force F, and makes to be set to automobile body B and be configured at vehicle body
The actuator A between trolley T before and after B exports control force F respectively.
In addition, although not shown, but controller C specifically includes following composition as hardware resource, such as: for obtaining
The A/D converter for the signal for taking acceleration transducer 40 to export；Storage obtains the output valve of acceleration transducer 40 and controls cause
The storage device of the ROM (Read Only Memory: read-only memory) of program used in processing needed for dynamic device A etc.；It holds
The arithmetic unit of the CPU (Central Processing Unit: central processing unit) of processing of the row based on above procedure etc.；With
And the storage device of RAM (Random Only Memory: random access memory) of storage region etc. is provided to above-mentioned CPU,
Also, each portion in the control operational part 42 for realizing controller C and executing above procedure by CPU.
In this way, shock absorber device for railway vehicle V has: can be by supplying working solution from the pump 12 driven by motor 15
Body and stretched and can during using 15 transfer tube 12 of motor the actuator A of off-load, be set in automobile body B and examine
The acceleration transducer 40 of the acceleration of the left and right directions of automobile body B and the controller C according to Acceleration Control actuator A are surveyed,
Also, during making motor 15 drive and make actuator A off-load, institute in the output valve of acceleration transducer 40 is eliminated in measurement
The deviant of the drift component contained.Therefore, shock absorber device for railway vehicle V can also make actuator A when motor 15 drives
Off-load, so as to so that motor 15 drive and automobile body B will not be made to vibrate and measure acceleration biography in the state of safety
The drift component being overlapped in the output valve of sensor 40.Therefore, shock absorber device for railway vehicle V is not necessarily to acceleration transducer 40
Output carries out high-pass filtering processing, can update deviant by the measurement.As a result, according to shock absorber device for railway vehicle
Deviant can be maintained optimal value by V, not need execution removing because of the influence of the driving of motor 15 and in acceleration
The high-pass filtering for the drift component for including in the output valve of sensor 40 is handled, and also withouts waiting for the phase of the acceleration detected
Position deviates and stablizes, it is thus possible to keep damping effect well.Therefore, shock absorber device for railway vehicle V according to the present invention,
Can drift component without detriment to damping effect be removed from the output of acceleration transducer.
In addition, in the shock absorber device for railway vehicle V of this example, only when motor 15 drives according to deviant to output
Value is corrected.In this way, be switched to when motor 15 never drives and is switched to driving and from driving when not driving, it will not
The value that acceleration alpha used in control occurs significantlys change such state of affairs.Therefore, it is filled in the rolling stock of this example with damping
It sets in V, when motor 15 never drives and is switched to driving and motor 15 is switched to when not driving from driving, also can
Obtain good damping effect.The drift component being overlapped in the output valve of the driving brief acceleration sensor 40 of motor 15 passes through electricity
The switching of the on/off (drive/not driving) of motivation 15 and substep ground is added or subtracts each other with the output valve.Therefore, logical
Cross the switching of the on/off of motor 15 and switch deviant subtract each other it is effective and invalid when, from correction unit 41 export
The value of acceleration alpha is continuous and will not be changed according to the on/off of motor 15.Therefore, though carry out motor 15 starting/
It closes, damping performance will not be deteriorated, so as to not need the situation for driving motor 15 during rolling stock travels
Lower to close motor 15, thus, it is possible to inhibit the energy consumption of shock absorber device for railway vehicle V.
In turn, in the shock absorber device for railway vehicle V of this example, the electronic of the acceleration transducer 40 of stipulated number is measured
Output valve when machine 15 drives, and successively value after being added is set as divided by the resulting average value of stipulated number by obtained output valve
Deviant.In this way, the storage resource of controller C will not be oppressed, can be handled using the small memory of capacity, thus railway
Vehicle vibration damping device V becomes cheap.
In turn, the shock absorber device for railway vehicle V of this example has: cylinder body 2；Piston 3；Bar 4；Cabinet 7；It is supplied to bar side room 5
To the pump 12 of working oil；The motor 15 of transfer tube 12: it is set in the first passage 8 in connection bar side room 5 and piston side room 6
First switch valve 9；The second switch valve 11 being set in the second channel 10 of connection piston side room 6 and cabinet 7；It is set to connection
In the passing away 21 of bar side room 5 and cabinet 7 and variable overflow valve 22 that cracking pressure is variable；Only allow working oil from piston side
The rectification channel 18 that room 6 is flowed to bar side room 5；And the suction passage that only permission working oil is flowed from cabinet 7 to piston side room 6
19.In thus configured shock absorber device for railway vehicle V, even if pump 12 stops, actuator A is also used as ceiling semi-active damper
Device plays a role, and therefore, will not lose damping effect during pump 12 stops.
In addition, as long as actuator A can stretch and from working fluid is supplied by the pump of motor drive, and energy
Enough off-loads during using motor driven pump, are not limited to above-mentioned specific structure.
More than, better embodiment of the invention is illustrated in detail, but as long as not departing from claims
Range can be transformed, deforms and change.
This application claims the priority of the Patent 2017-014308 applied based on January 30th, 2017 to the Japanese Patent Room,
And by reference to all the elements of this application are introduced this specification.
Claims (4)
1. a kind of shock absorber device for railway vehicle, which is characterized in that have:
Actuator is installed between the vehicle body of rolling stock and trolley, and can be by supplying from by the pump of motor drive
It stretches to working fluid, and off-load during pumping described in the motor drive can utilized；
Acceleration transducer is set on the vehicle body, and detects the acceleration of the left and right directions of the vehicle body；And
Controller, according to actuator described in the Acceleration Control；
During using pump described in the motor drive and the actuator off-load, the acceleration transducer is eliminated in measurement
Output valve included in drift component deviant.
2. shock absorber device for railway vehicle as described in claim 1, which is characterized in that
The controller is only corrected the output valve using the deviant in the motor drive.
3. shock absorber device for railway vehicle as described in claim 1, which is characterized in that
During using pump described in the motor drive and the actuator off-load, the acceleration of stipulated number is measured
The output valve when motor drive of sensor, and by the obtained output valve successively value after being added divided by institute
It states the resulting average value of stipulated number and is set as the deviant.
4. shock absorber device for railway vehicle as described in claim 1, which is characterized in that
The actuator has:
Cylinder body；
Piston is sliding freely inserted into the cylinder body；
Bar is inserted into the cylinder body and connect with the piston；
Bar side room and piston side room, are divided in the cylinder body by the piston；
Cabinet；
The pump working fluid can be sucked out from the cabinet and supply working fluid to the bar side room；
The motor drives the pump；
First switch valve is set in the first passage for being connected to the bar side room with the piston side room；
Second switch valve is set in the second channel for being connected in the piston side room with the cabinet；
Variable overflow valve, is set in the passing away for connecting the bar side room and the cabinet；
Channel is rectified, only working oil is allowed to flow from the piston side room to the bar side room；And
Suction passage only allows working oil to flow from the cabinet to the piston side room.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017-014308 | 2017-01-30 | ||
| JP2017014308A JP6374999B2 (en) | 2017-01-30 | 2017-01-30 | Vibration control device for railway vehicles |
| PCT/JP2018/000751 WO2018139226A1 (en) | 2017-01-30 | 2018-01-15 | Railroad car vibration damping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110198877A true CN110198877A (en) | 2019-09-03 |
| CN110198877B CN110198877B (en) | 2020-11-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880008215.4A Active CN110198877B (en) | 2017-01-30 | 2018-01-15 | Damping device for railway vehicle |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6374999B2 (en) |
| CN (1) | CN110198877B (en) |
| WO (1) | WO2018139226A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7360355B2 (en) * | 2020-04-09 | 2023-10-12 | Ｋｙｂ株式会社 | cylinder device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013001304A (en) * | 2011-06-20 | 2013-01-07 | Kyb Co Ltd | Damper for railway rolling stock |
| CN103097225A (en) * | 2010-08-25 | 2013-05-08 | 新日铁住金株式会社 | System and method for estimating acceleration of vibration component in railcar |
| CN103608234A (en) * | 2011-06-20 | 2014-02-26 | 萱场工业株式会社 | Railcar damping device |
| CN103946095A (en) * | 2012-03-14 | 2014-07-23 | 萱场工业株式会社 | Vibration-suppression device for railway vehicle |
| JP2016028950A (en) * | 2015-08-24 | 2016-03-03 | Ｋｙｂ株式会社 | Vibration control device for railway vehicle |
| CN105865731A (en) * | 2016-03-30 | 2016-08-17 | 北京林业大学 | Real-time detection system of electric vehicle resonance speed and control method |
-
2017
- 2017-01-30 JP JP2017014308A patent/JP6374999B2/en active Active
-
2018
- 2018-01-15 CN CN201880008215.4A patent/CN110198877B/en active Active
- 2018-01-15 WO PCT/JP2018/000751 patent/WO2018139226A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103097225A (en) * | 2010-08-25 | 2013-05-08 | 新日铁住金株式会社 | System and method for estimating acceleration of vibration component in railcar |
| JP2013001304A (en) * | 2011-06-20 | 2013-01-07 | Kyb Co Ltd | Damper for railway rolling stock |
| CN103608234A (en) * | 2011-06-20 | 2014-02-26 | 萱场工业株式会社 | Railcar damping device |
| CN103946095A (en) * | 2012-03-14 | 2014-07-23 | 萱场工业株式会社 | Vibration-suppression device for railway vehicle |
| JP2016028950A (en) * | 2015-08-24 | 2016-03-03 | Ｋｙｂ株式会社 | Vibration control device for railway vehicle |
| CN105865731A (en) * | 2016-03-30 | 2016-08-17 | 北京林业大学 | Real-time detection system of electric vehicle resonance speed and control method |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6374999B2 (en) | 2018-08-15 |
| CN110198877B (en) | 2020-11-03 |
| JP2018122625A (en) | 2018-08-09 |
| WO2018139226A1 (en) | 2018-08-02 |
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