CN110316211A

CN110316211A - The judgment method of rail truck vibration absorber and rail truck vibration absorber

Info

Publication number: CN110316211A
Application number: CN201910235877.1A
Authority: CN
Inventors: 小川贵之
Original assignee: KYB Corp
Current assignee: KYB Corp
Priority date: 2018-03-30
Filing date: 2019-03-27
Publication date: 2019-10-11

Abstract

Whether each instruction and front side acceleration transducer (Sf) and rear side acceleration transducer (Sr) detected front side acceleration and rear side acceleration of the rail truck vibration absorber (v1) according to actuator (Af) on front side of making and rear side actuator (Ar) generation by vehicle body (B) towards the thrust for waving direction and the starting of oscillation of beat direction are correct come the installation site for judging front side actuator (Af) and rear side actuator (Ar).

Description

The judgment method of rail truck vibration absorber and rail truck vibration absorber

Technical field

The present invention relates to the judgment methods of rail truck vibration absorber and rail truck vibration absorber.

Technical background

On rail truck, equipped with double action type actuator, the detection vehicle body being mounted between vehicle body and trailing or leading bogie The controller of the front and rear acceleration sensor of fore-aft acceleration and control front and back actuator can also be equipped with rail truck with subtracting sometimes Vibrating device, for inhibiting the vibration of the left and right directions relative to rail truck driving direction.

In this rail truck vibration absorber, controller is according to the acceleration for using front and rear acceleration sensor to detect Degree waves acceleration and beat acceleration seek vehicle body, seeks forwards, backwards according to acceleration and beat acceleration is waved The instruction that actuator is issued.Moreover, for example, as disclosed in JP2013-1304A, forwards, backwards by controller Actuator issues instruction, front and back actuator is made to play the thrust for inhibiting vehicle body rocking vibration and beat to vibrate, and thus inhibits vehicle The vibration of body.

Summary of the invention

This rail truck vibration absorber, if the installation site for the actuator being arranged on trailing or leading bogie is incorrect, It is then difficult to inhibit body vibrations.For example, when the installation site of front side actuator is located at the left side of vehicle body, and the peace of rear side actuator When holding position is located on the right side of vehicle body, press same phase, carry out front and back actuator if stretching, can towards by vehicle body along vehicle body The beat direction starting of oscillation rotated around center.On the contrary, if so that front and back actuator is stretched with opposite phase, it can be by vehicle body court Left and right directions wave direction starting of oscillation.In contrast, the installation site of front side actuator and rear side actuator is located at a vehicle body left side When side or right side, by front and back actuator with identical phase come if stretching, vehicle body will be towards waving direction starting of oscillation；Cause front and back If dynamic device is stretched with opposite phase, vehicle body will be to the starting of oscillation of beat direction.

In this way, according to the different installation sites of front and back actuator, when front and back actuator stretches, the starting of oscillation mode of vehicle body It will become different, it, will can not be according to the control situation of controller side if the installation site of front and back actuator is incorrect To inhibit body vibrations.

All the time, whether front and back actuator has been set the confirmation work in correct installation site, by setting operation What personnel can only be carried out with estimation mode.In the confirmation operation carried out using estimation mode, when setting operating personnel has carelessness, Front and back actuator is possible in the installation site for being arranged on mistake.

Therefore, the purpose of the present invention is to provide a kind of not against estimation mode, its installation position of actuator before and after capable of judging Set whether the judgment method of correct rail truck vibration absorber and rail truck vibration absorber.

Rail truck of the present invention has with vibration absorber:

It is arranged between the vehicle body of rail truck and front side bogie, it can be by the front side of vehicle body front side starting of oscillation in the lateral direction Actuator；

It is arranged between vehicle body and rear side bogie, it can be by the rear side actuator of vehicle body back side starting of oscillation in the lateral direction；

It is arranged in vehicle body front side, the front side acceleration sensing of the front side acceleration to detect vehicle body front side left and right directions Device；

It is arranged in vehicle body back side, the rear side acceleration sensing of the rear side acceleration to detect vehicle body back side left and right directions Device；

Accelerated according to front side acceleration detected by front side acceleration transducer and rear side acceleration transducer and rear side Degree, to control the controller of front side actuator and rear side actuator,

Front side actuator and rear side actuator are generated based on controller, and vehicle body direction is waved into direction and beat direction The instruction of the thrust of vibration and front side acceleration and rear side acceleration, or according to required by front side acceleration and rear side acceleration Out wave displacement and beat displacement come judge front side actuator and rear side actuator installation site it is whether correct.

Detailed description of the invention

Fig. 1 is the top view of the rail truck equipped with rail truck vibration absorber of the present invention.

Fig. 2 be indicate for judge be located at embodiment one in rail truck vibration absorber on front and back actuator its One flowchart illustration of the whether correct processing mode of installation site.

Fig. 3 is to make vehicle body towards when waving direction starting of oscillation on rail truck vibration absorber in embodiment 1, Index is waved in front side and rear side waves the relation schematic diagram between index and each actuator installation site.

Fig. 4 is to make vehicle body towards when the starting of oscillation of beat direction on rail truck vibration absorber in embodiment 1, Relation schematic diagram between front side beat index and rear side beat index and each actuator installation site.

Fig. 5 is the installation indicated for judging the front and back actuator on the rail truck vibration absorber in embodiment two One flowchart illustration of the whether correct processing mode of the installation direction of position and front and rear acceleration sensor.

Fig. 6 is the installation site of front and back actuator and front and back on rail truck vibration absorber in the second embodiment The relation schematic diagram for instructing and waving between displacement is waved when the installation direction of acceleration sensor is correct.

Fig. 7 is the installation site of front and back actuator and front and back on rail truck vibration absorber in the second embodiment One correct in the installation direction of acceleration sensor and waving instruction and wave the relationship between displacement when another mistake Schematic diagram.

Fig. 8 is the installation site of front and back actuator and front and back on rail truck vibration absorber in the second embodiment Acceleration sensor installation direction it is correct when beat instruction beat displacement between relation schematic diagram.

Fig. 9 is the installation site of front and back actuator and front and back on rail truck vibration absorber in the second embodiment One correct in the installation direction of acceleration sensor and the relationship between beat instruction and beat displacement when another mistake Schematic diagram.

Figure 10 is the installation site of front and back actuator, front and back on rail truck vibration absorber in the second embodiment The installation direction of acceleration transducer, the relation schematic diagram for waving index and beat index.

Figure 11 is used to indicate that on rail truck vibration absorber in the second embodiment, judges the peace of front and back actuator One flowchart illustration of holding position and the whether correct specific processing mode of the installation direction of front and rear acceleration sensor.

Specific embodiment

Hereinafter, according to embodiment illustrated, the present invention will be described.In addition, in various realities described below The universal architecture in rail truck the vibration absorber V1, V2 in mode is applied, using identical symbol, and to avoid repeating saying It is bright, about rail truck vibration absorber V1 structure illustrated in embodiment 1, railway is saved in the second embodiment The detailed description of Vehicular damper device V2.

One > of < embodiment

As shown in Figure 1, rail truck vibration absorber V1 described in embodiment one has in structure:

Front side actuator Af between automobile body B and front side bogie Tf is set；

Rear side actuator Ar between automobile body B and rear side bogie Tr is set；

Detection front side acceleration, that is, be located at the front side acceleration transducer Sf of the horizontal cross acceleration on front side of automobile body B；Inspection Rear side acceleration is surveyed, that is, is located at the rear side acceleration transducer Sr of the horizontal cross acceleration on rear side of automobile body B；

Control the controller C of each actuator Af, Ar.

Diagram in detail is omitted, actuator Af, Ar are provided with cylinder body 1, are inserted into cylinder body 1, and it is freely slidable, it is not shown Piston and be inserted into cylinder body, the connecting rod 2 being connected with the piston, and form the actuator of single rod type.In addition, actuator Af, Ar can be set to dual rod type actuator.In addition, actuator Af, Ar, which have, supplies working fluid into cylinder body 1, and make to activate The fluid pressure source and fluid pressure circuit of device Af, Ar expanding-contracting action.Moreover, actuator Af, Ar for constituting in such a way Cylinder body 1 is connected with the pin P to hang down below rail truck vehicle body B, and connecting rod 2 is connected with bogie Tf, Tr, and is arranged in vehicle body Between B and bogie Tf, Tr.In addition, coming although not illustrating, fluid pressure source and fluid pressure circuit are mounted in cylinder On body 1, due to needing to connect the controller C being arranged in automobile body B with power supply (not shown) by the way of wiring, The cylinder body 1 that will not make to relatively move in the lateral direction compared with automobile body B is attached to automobile body B side.

More specifically, actuator Af in front side is arranged in the left side of rail truck driving direction relative to automobile body B, that is, In Fig. 1, it is disposed in the left side of pin P；And rear side actuator Ar is disposed in rail truck driving direction then relative to automobile body B Right side, that is, in Fig. 1, be disposed in the right side of pin P.Therefore, it is configured to, makes automobile body B when front side actuator Af elongation Right side into Fig. 1 is displaced；Right side of the automobile body B into Fig. 1 is displaced when rear side actuator Ar is shunk.

In above-mentioned arrangement, that is, installation site, when front side actuator Af extend, rear side actuator Ar with front side actuator When the identical speed of Af is shunk, the acceleration β that waves in Fig. 1 towards right side is acted in automobile body B.On the contrary, when front side activates Device Af is shunk, and when rear side actuator Ar is extended with speed identical with front side actuator Af, is added in Fig. 1 towards waving for left side Speed β is acted in automobile body B.If only being waved that is, front side actuator Af and rear side actuator Ar is flexible with opposite phase Acceleration β is acted in automobile body B.In addition, scheming when front side actuator Af and rear side actuator Ar are extended with identical phase In 1 centered on the G of vehicle body center, the beat acceleration ω rotated in the direction of the clock is acted in automobile body B.On the contrary, front side causes When dynamic device Af and rear side actuator Ar is shunk with identical phase, in Fig. 1 centered on the G of vehicle body center, by side counterclockwise It is acted in automobile body B to the beat acceleration ω of rotation.That is, front side actuator Af and rear side actuator Ar are with identical phase When flexible, only beat acceleration ω is acted in automobile body B.In this example, as described above, controller C driving front side actuator Af and rear side actuator Ar makes automobile body B respectively to waving direction and the starting of oscillation of beat direction.Therefore, above-mentioned front side shown in FIG. 1 causes The installation site of dynamic device Af and rear side actuator Ar becomes correct installation site.

Front side acceleration transducer Sf is arranged on the front side of automobile body B, and detects the railway carriage relative to vehicle foreside Bf The front side acceleration of the horizontal cross of driving direction.Rear side acceleration transducer Sr is arranged on the rear side of automobile body B, and detects The rear side acceleration of the horizontal cross of rail truck driving direction relative to body tail Br.In addition, front side acceleration sensing Device Sf and rear side acceleration transducer Sr has polarity on the direction of detection acceleration, and not for each sensor Sf, Sr The screwhole position of the shell of diagram and for being set on the pedestal in automobile body B is applied with the measure for preventing error from assembling, because This will be arranged in automobile body B with correct polarity.

Front side acceleration transducer Sf and rear side acceleration transducer Sr will be towards the front side of left direction in Fig. 1 and rear side Acceleration detection is positive value.On the contrary, by being negative value towards the front side of right direction in Fig. 1 and rear side acceleration detection.

In this example, controller C seeks waving acceleration β, the i.e. vehicle body of automobile body B according to the acceleration of front side and rear side The horizontal cross acceleration and beat acceleration ω of center G, i.e. the vehicle body center of the surface of bogie Tf, Tr of front and back G weeks The angular acceleration enclosed.Moreover, controller C sought also according to acceleration β and beat acceleration ω is waved should each actuator Af, The control force respectively generated on Ar.Specifically, controller C seeks inhibiting according to acceleration β and beat acceleration ω is waved Automobile body B waves the beat restraint of direction vibration waved restraint and inhibit the vibration of automobile body B beat direction.Moreover, controller C It is removed with 2 and added the value for waving restraint and beat restraint, thus seek the control force of front side actuator Af；And with 2 It removes from the value for having subtracted beat restraint in restraint is waved, thus seeks the control force of rear side actuator Ar.Controller C To make each actuator Af, Ar of front and back play the control force so found out, referred to according to the size of calculated control force to generate It enables, then each actuator Af, Ar output forwards, backwards.It is connected to front and back each actuator Af, Ar of instruction control indicated by instruction Power processed plays thrust, inhibits the automobile body B to wave the vibration in direction and the vibration in beat direction.Like this, controller C control front and back Each actuator Af, Ar.The instruction is set to, and when front and back each actuator Af, Ar being made to play the thrust of prolonging direction, is taken just Value；When front and back each actuator Af, Ar being made to play the thrust of shrinkage direction, negative value is taken.Eliminate numerical value and the control of command character The absolute value of power proportionally becomes larger.In addition, controller C to run through the axis of automobile body B central location in Fig. 1 as base along the vertical direction Standard will be detected as positive value towards the acceleration β that waves of left direction；Will be towards opposite side, i.e. right direction waves acceleration Degree β is detected as negative value.In addition, controller C will centered on the G of vehicle body center, the direction that rotates automobile body B counterclockwise Beat acceleration ω is detected as positive value, and by opposite to that direction, i.e., clockwise beat acceleration ω is detected as negative value.

Next, the peace to the front side actuator Af and rear side actuator Ar that judge on rail truck vibration absorber V1 The whether correct judgment method of holding position is illustrated.

As shown in Fig. 2, in the case where rail truck is in dead ship condition in the state that external force does not act on automobile body B, to vehicle When body B starting of oscillation carries out waving starting of oscillation, in order to only make to wave acceleration effect in automobile body B, controller C then with opposite phase, makes Actuator Af and rear side actuator Ar stretch by the signal wave of identical frequency, same-amplitude for front side, as step S1.By Automobile body B brought by rail truck vibration absorber V1 waves starting of oscillation since starting of oscillation, until passing through predetermined regulation It is lasting to carry out until time.The processing of the step S1 of controller C is to wave starting of oscillation step.

Next, controller C is sought, index S If is waved in front side and rear side waves index S Ir, as step S2.The control The processing of the step S2 of device C is to wave index calculation step.Specifically, as described above, controller C removes front side acceleration with 2 The sum for spending rear side acceleration detected by front side acceleration detected by sensor Sf and rear side acceleration transducer Sr, by This waves acceleration β to seek the vehicle body center G of automobile body B.It, will be towards the left direction in Fig. 1 striked by controller C The acceleration β that waves be set as positive value；And will be towards opposite direction, i.e. the acceleration β that waves on the right side in Fig. 1 is set as negative value.Control Device C seeks waving the product of acceleration β with the instruction issued to front side actuator Af, which is set as front side and waves index S If；And The product for seeking waving acceleration β with the instruction issued to rear side actuator Ar, is set as rear side for the value and waves index S Ir.

In waving self-oscillating, controller C issued to front side actuator Af and rear side actuator Ar it is each instruction be by The signal wave of opposite phase is come the instruction that keeps front side actuator Af and rear side actuator Ar flexible.Therefore, it is mutually reciprocal to become symbol The instruction of value obtained after turning.Instruction when each actuator Af, Ar elongation of front and back is set to become the instruction with positive value；Phase Instead, instruction when shrinking each actuator Af, Ar of front and back becomes the instruction with negative value.

In waving self-oscillating, in the case where again shrinking rear side actuator Ar after making front side actuator Af elongation, If the installation site of front and back actuator Af, Ar are correct arrangement as shown in Figure 1, front side acceleration and rear side acceleration are just It can become negative value, waving acceleration β is then negative value.Moreover, making the instruction positive value of front side actuator Af elongation.Therefore, front and back If the installation site of actuator Af, Ar are correct, then as shown in figure 3, index S If is waved in front side takes negative value.In addition, causing rear side The instruction that dynamic device Ar is shunk is negative value.Therefore, if the installation site of front and back actuator Af, Ar are correct, then as shown in figure 3, after It waves index S Ir and takes positive value in side.

It is preceding after shrinking front side actuator Af, then when making rear side actuator Ar elongation on the contrary, in waving self-oscillating If the installation site of actuator Af, Ar is correct afterwards, then front side acceleration and rear side acceleration are changing to positive value, wave acceleration Spend β band positive value.At this point, the instruction negative value for shrinking front side actuator Af.Therefore, the installation site of front and back actuator Af, Ar If correct, then as shown in figure 3, index S If is waved in front side takes negative value.In addition, the instruction of rear side actuator Ar elongation is made to be positive Value.Therefore, if the installation site of front and back actuator Af, Ar are correct, then as shown in figure 3, rear side, which waves index S Ir, takes positive value.

In front and back actuator Af, Ar, when wrong if there is one installation site, front and back actuator Af, Ar will Both relative to automobile body B, it is disposed in rail truck driving direction right side or left side.Therefore, before controller C is made with opposite phase Actuator Af, Ar is carried out after stretching afterwards, and automobile body B would not wave starting of oscillation, but carry out beat starting of oscillation.Therefore, in the case, Waving acceleration β is 0.Like this, theoretically, front side wave index S And if rear side to wave index S Ir be 0.But actually working as In, the response of the influence and front and back actuator Af, Ar that also will receive interference etc. influences.In addition, making the railway carriage in marshaling After starting of oscillation, the rail truck being not in self-oscillating can also vibrate, thus also can be to the rail truck in self-oscillating Vibration affects.For this purpose, waving acceleration β as shown in figure 3, taking 0 or very small value.Like this, front and back actuator Af, In Ar, as soon as the installation site having is wrong, index S If is waved in front side and rear side waves index S Ir and takes 0 or very small Value.

Front and back actuator Af, Ar the two installation site it is wrong when, front side actuator Af will be relative to automobile body B, quilt It is arranged in the right side of rail truck driving direction；Rear side actuator Ar will be disposed in rail truck traveling relative to automobile body B The left side in direction.At this point, controller C carries out waving starting of oscillation, after making front side actuator Af elongation, then shrink rear side actuator Ar When, front side acceleration and rear side acceleration are changing to positive value, and waving acceleration β becomes positive value.Moreover, making front side actuator Af The instruction of elongation is positive value.Therefore, at this point, index S If is waved as shown in figure 3, taking positive value in front side.In addition, making rear side actuator The instruction that Ar is shunk is negative value.Therefore, at this point, rear side waves index S Ir as shown in figure 3, taking negative value.In addition, on the contrary, waving In self-oscillating, after shrinking front side actuator Af, then when making rear side actuator Ar elongation, front side acceleration and rear side acceleration It is changing to negative value, waves acceleration β band negative value.At this point, the instruction negative value for shrinking front side actuator Af.Therefore, at this point, Index S If is waved as shown in figure 3, taking positive value in front side.In addition, making the instruction positive value of rear side actuator Ar elongation.Therefore, this When, rear side waves index S Ir as shown in figure 3, taking negative value.

As described above, controller C is with opposite phase, and cause front and back by the signal wave of identical frequency, same-amplitude Dynamic device Af, Ar are flexible, and when automobile body B being made to wave starting of oscillation, whether the installation site according to front and back actuator Af, Ar is correct, and front side is shaken Pendulum index S And if rear side wave index S Ir and become the following value.When the installation site of front and back actuator Af, Ar are correct, front side is shaken Pendulum index S If takes negative value；Rear side waves index S Ir and takes positive value.On the contrary, having one installation position in front and back actuator Af, Ar It is equipped with and mistakes, index S If is waved in front side and rear side waves index S Ir and will take 0 or very small value.Moreover, front and back activates Device Af, Ar the two installation site it is wrong when, index S If is waved in front side will take positive value；And rear side waves index S Ir and then takes Negative value.Therefore, actuator Af, Ar make automobile body B wave starting of oscillation before and after use, thus come seek front side wave index S And if after If index S Ir is waved in side, can judge whether the installation site of front and back actuator Af, Ar are correct.

It waves index S If specifically, controller C has found out front side and after rear side waves index S Ir, judges whether it is SIf- γ < 0 and SIr+ γ > 0, as step S3.Moreover, within the defined period, in SIf- γ < 0 and SIr+ γ > When 0, be judged as front and back actuator Af, Ar installation site be correctly, backward step S4 move.On the other hand, not When for SIf- γ < 0 and SIr+ γ > 0, it is identified as malfunctioning.At the appointed time, error number reaches defined count number When, the installation site for being judged as front and back actuator Af, Ar is wrong, as step S5.It like this, is not being SIf- γ < 0 And the state of SIr+ γ > 0 and at the appointed time, when being detected the exception of stipulated number, be judged as front and back actuator Af, The installation site of Ar is wrong.It is therefore possible to prevent becoming non-SIf- γ < 0 sporadicly due to the influence for the factors such as being disturbed And when the state of SIr+ γ > 0, installation site is mistaken for wrong.In addition, although judging the correctness of the installation site The required stipulated time and stipulated number can arbitrarily set.But in order to accomplish to prevent to judge by accident, may be set to by rule of thumb or It is the value found out by testing.

In addition, as described above, accelerating waving front side detected by the front side acceleration transducer Sf in self-oscillating Degree overlaps with interference on rear side acceleration detected by rear side acceleration transducer Sr.In addition, rail truck by group enter to It is the installation position that actuator Af, Ar of rail truck vibration absorber V1 are judged for every bogie when in marshaling It sets, and vibrating is from waving rail truck in starting of oscillation deterministic process to judging that the rail truck other than object is passed It broadcasts, therefore, front side acceleration and rear side acceleration will receive influence brought by the rail truck vibration judged other than object.This Sample one, in front side acceleration and rear side acceleration, just containing influences brought by interference and above-mentioned vibration.In this situation Under, index S If is waved in calculated front side and rear side waves the value of index S Ir also will appear centered on 0, elapse to vibratility This case.Therefore, described in present embodiment when waving starting of oscillation in judgment step, set positive deviant γ.In SIf- γ < 0 and when SIr+ γ > 0, be judged as front and back actuator Af, Ar installation site be it is correct, otherwise, be judged as front and back actuating The installation site of device Af, Ar are wrong.Like this, deviant γ is set, thus judges the installation site of front and back actuator Af, Ar It is whether correct, it can prevent from causing to activate front and back because being disturbed the influence with other rail trucks vibration in marshaling The erroneous judgement of the correcting errors property of device Af, Ar installation site.

In addition, controller C other than waving acceleration β, also seeks beat acceleration ω, and the exhausted of acceleration β will be waved To value | β | the absolute value with beat acceleration ω | ω | it is compared, as step S4, when | β | < | ω | when, it is judged as causing The installation site of dynamic device Af, Ar are wrong, as step S6.Specifically, controller C is as described above, to front side acceleration sensing The difference of rear side acceleration detected by front side acceleration detected by device Sf and rear side acceleration transducer Sr carries out operation, Seek the beat acceleration ω of the vehicle body center G of automobile body B.In step sl, it when carrying out waving starting of oscillation to automobile body B, only waves Acceleration β acts on automobile body B, therefore, if the installation site of actuator Af, Ar are correct, then the absolute value of beat acceleration ω It should will become smaller than the absolute value for waving acceleration β.Nevertheless, the absolute value ratio of beat acceleration ω waves acceleration When the absolute value of degree β wants big, the installation site with regard to being certainly actuator Af, Ar is wrong.Like this, in the present embodiment, i.e., Make the judgement according to step S3, being judged as installation site is correct, but the absolute value that will wave acceleration β | β | with beat plus The absolute value of speed omega | ω | it is compared, thus judges whether installation site is correct, therefore, can correctly judge installation site Correctness.Judgement when being treated as waving starting of oscillation in addition, in the present embodiment, from step S3 to step S6 Step.According to the judgement of step S4, if | β | > | ω |, then it is related to wave starting of oscillation processing terminate, backward step S7 move.

In addition, when waving starting of oscillation in judgment step, use that index S If is waved in front side and rear side waves index S Ir, When the installation site of front and back actuator Af, Ar are incorrect, the installation site of front and back actuator Af, Ar be it is how wrong, to this Index S If can be waved according to front side and rear side waves the value of index S Ir to judge.Index S If is waved in front side and rear side waves finger When the value for marking SIr is 0 or very small value, in front and back actuator Af, Ar, there is one installation site wrong；It shakes front side Pendulum index S If is positive value, and when the value that rear side waves index S Ir is negative, the two installation site of front and back actuator Af, Ar has Accidentally.Therefore, the judgement step when waving starting of oscillation is can also be how to have to the installation site of front and back actuator Af, Ar in judging Accidentally this problem is judged.

In addition, as described above, waving index S If by seeking front side and rear side waves index S Ir to judge installation site Correctness, but to front side actuator Af issue instruction and front side acceleration symbol it is different, to rear side actuator If the symbol of instruction and rear side acceleration that Ar is issued is consistent, then installation site is correct, is otherwise exactly wrong.Therefore, with regard to this Sample judgement.But use front side waves index S And if rear side waves index S Ir to judge whether installation site is correct Words, it is whether correct come the installation site that correctly judges can be conceived to the entire rocking vibration of automobile body B.

Next, whether the installation site that front and back actuator Af, Ar caused by starting of oscillation are waved in controller C judgement is correct Afterwards, then judge whether the installation site of front and back actuator Af, Ar caused by beat starting of oscillation are correct.

As shown in Fig. 2, that is, rail truck is under dead ship condition, to vehicle body in the state that external force does not act on automobile body B When B starting of oscillation carries out beat starting of oscillation, in order to only make beat acceleration ω act on automobile body B, controller C then with identical phase, Stretch front side actuator Af and rear side actuator Ar, as step S7 by the signal wave of identical frequency, same-amplitude.Railway The beat starting of oscillation of automobile body B brought by Vehicular damper device V1, since starting of oscillation, until passing through the predetermined stipulated time Until, it is lasting to carry out.The processing of the step S7 of controller C is beat starting of oscillation step.

Next, controller C seeks front side beat index YAnd if rear side beat index YIr, as step S8.The control The processing of the step S8 of device C is beat index calculation step.For beat acceleration ω, as described above, controller C is according to front side Acceleration and rear side acceleration seek the beat acceleration ω of the vehicle body center G of automobile body B.In Fig. 1, controller C is by automobile body B Centered on the G of vehicle body center, the beat acceleration ω in the direction rotated counterclockwise seeks that opposite direction will be belonged in Fig. 1 for positive value Clockwise beat acceleration ω seek as negative value.Controller C seek beat acceleration ω with to front side actuator Af Then the value is set as front side beat index YIf by the product of the instruction of sending；Seek beat acceleration ω with to rear side actuator Ar The product of the instruction of sending, and the value is set as rear side beat index YIr.

In beat self-oscillating, controller C issued to front side actuator Af and rear side actuator Ar it is each instruction be by The signal wave of same phase makes front side actuator Af and rear side actuator Ar carry out flexible instruction.Therefore, it is mutual to become symbol The instruction of consistent value.As above-mentioned, make instruction of the instruction with positive value when each actuator Af, Ar elongation of front and back, phase Instead, instruction of the instruction with negative value when shrinking each actuator Af, Ar of front and back.

In beat self-oscillating, when extending front side actuator Af and rear side actuator Ar, front and back actuator Af, Ar's If the mode of installation site correctly as shown in Figure 1 is arranged, vehicle foreside Bf is moved to the right in Fig. 1, body tail Br In Fig. 1, move to the left.Therefore, automobile body B is rotated in the direction of the clock centered on the G of vehicle body center.As described above, front side The acceleration for moving automobile body B to the left is detected front side acceleration as just, then in Fig. 1 by acceleration transducer Sf The acceleration for moving automobile body B to the right is detected rear side acceleration as just in Fig. 1 by side acceleration sensor Sf.This Outside, beat acceleration ω be by automobile body B centered on the G of vehicle body center, be allowed to the acceleration in direction rotated counterclockwise When, take positive value.Therefore, at this point, while front side acceleration becomes negative value, rear side acceleration becomes positive value, beat acceleration ω becomes negative value.Moreover, making the instruction positive value of front side actuator Af elongation, therefore, the installation site of front and back actuator Af, Ar If correct, then as shown in figure 4, front side beat index YIf takes negative value.In addition, the instruction of rear side actuator Ar elongation is made to be positive Value.Therefore, if the installation site of front and back actuator Af, Ar are correct, then as shown in figure 4, rear side beat index YIr takes negative value.

On the contrary, in beat self-oscillating, when shrinking front side actuator Af and rear side actuator Ar, front and back actuator If the installation site of Af, Ar are correct, then in Fig. 1, vehicle foreside Bf is moved to the left；In Fig. 1, body tail Br is to the right Side is mobile.Therefore, automobile body B rotates counterclockwise by centered on the G of vehicle body center.Therefore, at this point, in front side acceleration While becoming positive value, rear side acceleration becomes negative value, beat acceleration ω band positive value.At this point, shrinking front side actuator Af Instruction be negative value.Therefore, if the installation site of front and back actuator Af, Ar are correct, then as shown in figure 4, front side beat index YIf takes negative value.In addition, the instruction negative value for shrinking rear side actuator Ar.Therefore, the installation site of front and back actuator Af, Ar If correct, then as shown in figure 4, rear side beat index YIr takes negative value.

In front and back actuator Af, Ar, have one installation site it is wrong when, front and back actuator Af, Ar the two will Relative to automobile body B, it is disposed in the right side or left side of rail truck driving direction.Therefore, before controller C is made with identical phase When actuator Af, Ar is flexible afterwards, automobile body B just not beat starting of oscillation, but carry out waving starting of oscillation.Therefore, in the case, beat adds Speed omega is 0.Like this, theoretically, front side beat index YAnd if rear side beat index YIr is 0.But in practice, It will receive the influence of interference etc. and the influence of front and back actuator Af, Ar response.In addition, making the rail truck starting of oscillation in marshaling Afterwards, the rail truck being not in self-oscillating can also vibrate, thus also can be to the vibration of the rail truck in self-oscillating It is dynamic to affect.For this purpose, beat acceleration ω is as shown in figure 4, take 0 or very small value.Like this, front and back actuator Af, In Ar, when one installation site is wrong, front side beat index YAnd if rear side beat index YIr take 0 or very small Value.

Front and back actuator Af, Ar the two installation site it is wrong when, front side actuator Af is arranged relative to automobile body B On the right side of rail truck driving direction；Rear side actuator Ar is disposed in a left side for rail truck driving direction relative to automobile body B Side.At this point, controller C carries out beat starting of oscillation, after making front side actuator Af and rear side actuator Ar elongation, front side acceleration becomes Positive value.At the same time, rear side acceleration becomes negative value, and beat acceleration ω then becomes positive value.Moreover, making front side actuator Af The instruction of elongation is positive value.Therefore, at this point, front side beat index YIf is as shown in figure 4, take positive value.In addition, making rear side actuator The instruction of Ar elongation is positive value.Therefore, at this point, rear side beat index YIr is as shown in figure 4, take positive value.In addition, on the contrary, in beat In self-oscillating, when shrinking front side actuator Af and rear side actuator Ar, front side acceleration becomes negative value.At the same time, after Latax becomes positive value.Beat acceleration ω band negative value.At this point, the instruction negative value for shrinking front side actuator Af.Therefore, At this point, front side beat index YIf is as shown in figure 4, take positive value.In addition, the instruction negative value for shrinking rear side actuator Ar.Cause This, at this point, rear side beat index YIr is as shown in figure 4, take positive value.

As described above, controller C with identical phase, makes front and back actuator Af, Ar by identical frequency, same-amplitude Signal wave stretches, and when making automobile body B beat starting of oscillation, preceding according to the correctness of the installation site of front and back actuator Af, Ar LRO Lateral Runout index YAnd if rear side beat index YIr become the following value.It is preceding when the installation site of front and back actuator Af, Ar are correct LRO Lateral Runout index YAnd if rear side beat index YIr take negative value.In contrast, an installation in front and back actuator Af, Ar When position is wrong, front side beat index YAnd if rear side beat index YIr take 0 or very small value.Moreover, front and back actuator Af, Ar the two installation site it is wrong when, front side beat index YAnd if rear side beat index YIr take positive value.Therefore, make With actuator Af, Ar of front and back, make automobile body B beat starting of oscillation, and seeks front side beat index YIf's and rear side beat index YIr Words, can judge whether the installation site of front and back actuator Af, Ar are correct.

Specifically, judging whether it is after controller C has found out front side beat index YAnd if rear side beat index YIr YIf+ Δ < 0 and YIr+ Δ < 0, as step S9.Moreover, being YIf+ Δ < 0 and YIr+ Δ < 0 within the defined period When, judge front and back actuator Af, Ar installation site be it is correct, backward step S10 move.It on the other hand, is not YIf+ Δ < 0 and when YIr+ Δ < 0, is identified as malfunctioning, and at the appointed time, error number reach as defined in count number when, then It is judged as that the installation site of front and back actuator Af, Ar are wrong, as step S11.It like this, is not YIf+ Δ < 0 and YIr+ The state of Δ < 0 at the appointed time, if being detected stipulated number exception, is judged as the installation of front and back actuator Af, Ar Position is wrong.It is therefore possible to prevent becoming not is YIf+ Δ < 0 and YIr+ because of the influence for the factors such as being disturbed sporadicly When the state of Δ < 0, installation site is mistaken for wrong.In addition, although being used to judge whether the installation site correctly advises Fixing time can arbitrarily set with stipulated number, but in order to prevent from judging by accident, and may be set to by rule of thumb or by test come The value found out.

In addition, as described above, the front side detected by the front side acceleration transducer Sf in beat self-oscillating accelerates Degree overlaps with interference on rear side acceleration detected by rear side acceleration transducer Sr.In addition, rail truck by group enter to It is the installation position that actuator Af, Ar of rail truck vibration absorber V1 are judged for every bogie when in marshaling It sets, and vibrates from the rail truck in the beat starting of oscillation deterministic process to judging that the rail truck other than object is propagated, Therefore, front side acceleration and rear side acceleration will receive the influence for judging the vibration of the rail truck other than object.So, preceding In latax and rear side acceleration, if the influence containing interference and above-mentioned vibration, calculated front side beat index YAnd if The value of rear side beat index YIr also will appear centered on 0, elapse to vibratility this case.Therefore, sentence in beat starting of oscillation In disconnected step, positive offset value delta is set, as YIf+ Δ < 0 and YIr+ Δ < 0, is judged as the peace of front and back actuator Af, Ar Holding position is correctly, otherwise, to be judged as that the installation site of front and back actuator Af, Ar are wrong.Like this, offset value delta is set to sentence Whether the installation site of disconnected front and back actuator Af, Ar are correct, can prevent because being disturbed and other railway carriages in marshaling Vibration, and lead to the erroneous judgement of the correcting errors property of installation site to front and back actuator Af, Ar.In addition, deviant γ and offset Value Δ may be set to identical value, also may be set to different values.

In addition, the absolute value that controller C will wave acceleration β | β | the absolute value with beat acceleration ω | ω | compare Compared with as step S10.| ω | < | β | when, it is judged as that the installation site of actuator Af, Ar are wrong, as step S12.Another party Face, | ω | > | β | when, then judge that the installation site of actuator Af, Ar are correct, as step S13.Thus judge actuator Correctly whether processing terminate for the installation site of Af, Ar.When in the step s 7, due to carrying out beat starting of oscillation to automobile body B, only partially Pendulum acceleration ω acts on automobile body B.Therefore, if the installation site of actuator Af, Ar are correct, then the exhausted of acceleration β is waved Smaller than the absolute value of beat acceleration ω will be become to value.Nevertheless, waving the absolute value of acceleration β than beat acceleration When the absolute value of ω wants big, the installation site with regard to being certainly actuator Af, Ar is wrong.Like this, in the present embodiment, even if According to the judgement of step S9, it is judged as that installation site is correct, but also by the absolute value that will wave acceleration β | β | with beat The absolute value of acceleration ω | ω | it is compared to judge whether installation site is correct, therefore, can correctly judges installation site It is whether correct.In addition, in the present embodiment, judgment step when from step S9 to the processing of step S12 being beat starting of oscillation.Root According to the judgement of step S10, if | ω | > | β |, even being then related to beat starting of oscillation, the installation position of front and back actuator Af, Ar Set is also correctly, therefore, to be judged as that the installation site of front and back actuator Af, Ar are correct.

In addition, using front side beat index YAnd if rear side beat index YIr in beat starting of oscillation in judgment step. Therefore, how wrong is the installation site of front and back actuator Af, Ar when the installation site of front and back actuator Af, Ar are incorrect? it is right This problem can be judged according to the value of front side beat index YAnd if rear side beat index YIr.Front side beat index YIf is with after When the value of LRO Lateral Runout index YIr is 0 or very small value, in front and back actuator Af, Ar, there is one installation position to be equipped with Accidentally；The value of front side beat index YAnd if rear side beat index YIr are timing, the two installation site of front and back actuator Af, Ar It is wrong.It therefore, can also be how to have for the installation site of front and back actuator Af, Ar in beat starting of oscillation in judgment step Accidentally, judged.

In addition, in the above description, judging to install by seeking front side beat index YAnd if rear side beat index YIr Whether position is correct, can carry out following judgement, the i.e. symbol to the front side actuator Af instruction issued and front side acceleration Difference, to the rear side actuator Ar instruction issued and rear side acceleration symbol it is different if, installation site be exactly it is correct, it is no It then, is exactly wrong.But beat index YAnd if rear side beat index YIr judges whether installation site is correct on front side of use Words, the whole beat vibration that can be conceived to automobile body B correctly judge whether installation site is correct.

As described above, rail truck vibration absorber V1 has:

It is arranged between rail truck vehicle body B and the front side bogie Tf, it can be by the starting of oscillation in the lateral direction of the front side of automobile body B Front side actuator Af；

Be arranged between automobile body B and rear side bogie Tr, can by the rear side of automobile body B in the lateral direction starting of oscillation rear side activate Device Ar；

The front side of automobile body B is set, the front side acceleration transducer of the front side acceleration of left and right directions on front side of detection automobile body B Sf；

The rear side of automobile body B is set, the rear side acceleration transducer of the rear side acceleration of left and right directions on rear side of detection automobile body B Sr；

Added according to front side acceleration transducer Sf and rear side acceleration transducer Sr front side acceleration detected and rear side Speed come control front side actuator Af and rear side actuator Ar controller C,

Controller C is generated according to actuator Af on front side of making and rear side actuator Ar automobile body B direction being waved direction and beat Each instruction of the thrust of direction starting of oscillation and the front side front side detected acceleration transducer Sf and rear side acceleration transducer Sr Whether acceleration and rear side acceleration are correct come the installation site for judging front side actuator Af and rear side actuator Ar.

On front side of the vibration absorber V1 use of thus configured rail truck the instruction of actuator Af and rear side actuator Ar and Front side acceleration judges whether the installation site is correct with rear side acceleration.It therefore, can be not against estimation mode, before judgement Whether the installation site of side actuator Af and rear side actuator Ar are correct.In addition, operator is without passing through estimation mode Come confirm front side actuator Af and rear side actuator Ar installation site, therefore, the burden of operator can be mitigated.

In addition, controller C is made front side actuator Af in vibration absorber V1 by the rail truck described in present embodiment It generates the instruction to the thrust for waving direction starting of oscillation and waves acceleration β according to calculated by front side acceleration and rear side acceleration Product, be set as waving index S If；And rear side actuator Ar is set to generate the instruction to the thrust for waving direction starting of oscillation controller C With the product for waving acceleration β, it is set as rear side and waves index S Ir；It generates front side actuator Af to beat direction controller C to rise The instruction and the product of the beat acceleration ω according to calculated by front side acceleration and rear side acceleration of the thrust of vibration, are set as beat and refer to Mark YIf；Rear side actuator Ar is set to generate instruction to the thrust of beat direction starting of oscillation and beat acceleration ω controller C Product is set as rear side beat index YIr；According to these indexs, i.e. just whether SIf, SIr, YIf, YIr judge the installation site Really.When thus configured rail truck vibration absorber V1 is according to index S If, SIr for obtaining when starting of oscillation and beat starting of oscillation is waved Index YIf, YIr of acquisition judges whether the installation site is correct.For this purpose, can according to automobile body B when waving starting of oscillation relative to When the reaction and beat starting of oscillation of the driving of each actuator Af, Ar automobile body B relative to the driving of each actuator Af, Ar reaction this Two kinds of reactions are to judge whether the installation site of each actuator Af, Ar are correct.Therefore, whether can correctly judge the installation site Correctly.

Moreover, rail truck vibration absorber V1, controller C in present embodiment according to front side wave index S If, Rear side waves the symbol of index S Ir, front side beat index YAnd if rear side beat index YIr to judge the peace of each actuator Af, Ar Whether holding position is correct.Thus configured rail truck waves index S If according to front side with vibration absorber V1, rear side waves index Whether just the symbol of SIr, front side beat index YAnd if rear side beat index YIr judges the installation site of each actuator Af, Ar Really.Therefore, not based on the size of index, can correctly judge whether the installation site is correct.In addition, waving finger according to front side Mark SIf, rear side wave the symbol of index S Ir, front side beat index YAnd if rear side beat index YIr judge each actuator Af, When whether the installation site of Ar is correct, deviant γ is set, if Δ, to each cause caused by capable of preventing because of factors such as interference The erroneous judgement of the correcting errors property of the installation site of dynamic device Af, Ar.

In addition, rail truck in the present embodiment is in vibration absorber V1, index S If is waved in front side, rear side shakes Pendulum index S Ir, front side beat index YAnd if rear side beat index YIr show that the installation site of each actuator Af, Ar are wrong When, controller C just as error, counts error number, when malfunctioning number more than threshold value, is judged as each actuating The installation site of device Af, Ar are wrong.Thus configured rail truck vibration absorber V1, even if index S If, rear side are waved in front side Wave index S Ir, front side beat index YAnd if rear side beat index YIr it is sporadic show error, will not immediately will be each The installation site of actuator Af, Ar are judged as wrong, but after error number becomes stipulated number, just by the installation site It is judged as wrong.Therefore, rail truck formed according to this vibration absorber V1, will not occur correcting errors for related installation site The erroneous judgement of property, can correctly judge the installation site.

Moreover, the judgment method of the rail truck vibration absorber V1 in present embodiment has:

Driving front side actuator Af and rear side actuator Ar, makes to wave acceleration effect and waves starting of oscillation step in automobile body B；

Controller C makes front side actuator Af generate instruction to the thrust for waving direction starting of oscillation multiplied by according to front side acceleration With acceleration β is waved calculated by rear side acceleration, wave index S Ir to seek front side, and controller C makes rear side actuator Ar Instruction to the thrust for waving direction starting of oscillation is generated multiplied by waving acceleration β, waves index with seek that rear side waves index S Ir Calculation step；

Wave index S If according to front side and rear side wave index S Ir judge each actuator Af, Ar installation site whether Judgment step when correctly waving starting of oscillation；

Driving front side actuator Af and rear side actuator Ar, the beat starting of oscillation step of beat acceleration is generated to automobile body B；

Controller C makes front side actuator Af generate the instruction to the thrust of beat direction starting of oscillation multiplied by according to front side acceleration The beat acceleration ω found out with rear side acceleration seeks front side beat index YIf, and controller C makes rear side actuator Ar The instruction to the thrust of beat direction starting of oscillation is generated multiplied by beat acceleration ω, seeks the beat index of rear side beat index YIr Calculation step；

The whether correct beat of the installation site is judged according to front side beat index YAnd if rear side beat index YIr Judgment step when starting of oscillation.

The judgment method of rail truck formed according to this vibration absorber V1, then can be according to automobile body B when waving starting of oscillation When the reaction and beat starting of oscillation of the driving relative to each actuator Af, Ar automobile body B relative to each actuator Af, Ar driving it is anti- Answer both reactions to judge whether the installation site of each actuator Af, Ar are correct.Therefore, it can correctly judge the installation site It is whether correct.In addition, according to the setting of the correct installation site of each actuator Af, Ar, the instruction issued to each actuator Af, Ar The employing mode of symbol, each acceleration transducer Sf, Sr acceleration detected symbol employing mode, each actuator When Af, Ar have been set at correct installation site, value can be with above-mentioned embodiment party used by each index S If, SIr, YIf, YIr Formula is different.For example, the employing mode in instruction and acceleration symbol is same as described above, and front side actuator Af is in Fig. 1 It is disposed in the right side of pin P；And rear side actuator Ar is in Fig. 1 in the case where be disposed in the left side of pin P, when waving starting of oscillation The symbol that index S If is waved in front side is positive, if the symbol that rear side waves index S Ir becomes negative, the installation of each actuator Af, Ar Position be it is correct, the symbol of front side beat index YAnd if rear side beat index YIf when beat starting of oscillation become just, The installation site of each actuator Af, Ar are correct.Like this, though the setting of the correct installation site of each actuator Af, Ar, to The symbol of the employing mode of the symbol for the instruction that each actuator Af, Ar are issued, each acceleration transducer Sf, Sr acceleration detected Number employing mode and above embodiment it is different, if but holding to each actuator Af, Ar be set at correct peace in advance If the value of each index S If, SIr, YIf, YIr when holding position, whether just the installation site of each actuator Af, Ar can be judged Really.

< second embodiment >

Rail truck in second embodiment is filled with vibration absorber V2 and the rail truck in embodiment one with vibration damping It is the same to set V1, as shown in Figure 1, having in structure:

Rear side actuator Ar between automobile body B and rear side bogie Tr is set；Detection front side acceleration is located at automobile body B The front side acceleration transducer Sf of the horizontal cross acceleration of front side；

Detection rear side acceleration is the rear side acceleration transducer Sr for being located at the acceleration of the horizontal cross on rear side of automobile body B；

Control the controller C of each actuator Af, Ar.

More specifically, actuator Af in front side is disposed on the left of the driving direction of rail truck, i.e., relative to automobile body B The left side of pin P in Fig. 1；Rear side actuator Ar is disposed in the right side of rail truck driving direction, i.e. Fig. 1 relative to automobile body B In pin P right side.Therefore, actuator Af in front side is configured to, and is displaced right side of the automobile body B into Fig. 1 in elongation, Rear side actuator Ar is configured to, and the right side when shrinking by automobile body B into Fig. 1 is displaced.Front side actuator Af and rear side actuating The installation site of device Ar and the rail truck in embodiment one with vibration absorber V1 as, above-mentioned arrangement, that is, installation site is positive True installation site.

For this purpose, only waving acceleration β effect when front side actuator Af and rear side actuator Ar is flexible with opposite phase In automobile body B.In addition, when front side actuator Af and rear side actuator Ar are flexible with identical phase, in Fig. 1, only with vehicle The beat acceleration ω rotated centered on the G of body center acts on automobile body B.In this example, it is set to above-mentioned front side actuator Af and rear side actuator Ar are disposed in correct installation site, controller C driving front side actuator Af and rear side actuator Ar, respectively by automobile body B to waving direction and the starting of oscillation of beat direction.

Front side acceleration transducer Sf is arranged on the front side of automobile body B, detects the rail truck relative to vehicle foreside Bf Driving direction horizontal cross front side acceleration.Rear side acceleration transducer Sr is arranged on the rear side of automobile body B, detects phase For the rear side acceleration of the horizontal cross of the driving direction of the rail truck of body tail Br.In addition, front side acceleration sensing Device Sf and rear side acceleration transducer Sr has polarity on the direction of detection acceleration, if existing along the setting of correct installation direction It will be positive value towards the front side of left direction in Fig. 1 and rear side acceleration detection in automobile body B；On the contrary, will be towards in Fig. 1 The front side of right direction and rear side acceleration detection are negative value.In addition, although each sensor Sf, Sr shell (not shown) Screwhole position and for being set to the measure being applied on the pedestal not shown of automobile body B for preventing mistake from assembling, but embodiment party Other than the correcting errors of installation site of the rail truck vibration absorber V2 in addition to judging each actuator Af, Ar in formula two, also to judge Whether each sensor Sf, Sr have been set in automobile body B by correct direction, that is, installation direction.

The rail truck controller C on the vibration absorber V2 and rail truck vibration absorber V1 mono- in embodiment one Sample, according to front side acceleration and rear side acceleration detected by front side acceleration transducer Sf and rear side acceleration transducer Sr Acceleration β and beat acceleration ω are waved seek automobile body B, and seeks the control force that each actuator Af, Ar should be generated.Tool For body, controller C seeks the vibration for waving direction for inhibiting automobile body B according to acceleration β and beat acceleration ω is waved It is dynamic wave restraint and for inhibit automobile body B beat direction vibration beat restraint.Moreover, controller C is removed with 2 It added the value for waving restraint and beat restraint, thus seek the control force of front side actuator Af；It is removed with 2 from waving The value of beat restraint has been subtracted in restraint, thus seeks the control force of rear side actuator Ar.Controller C is in order to forwards, backwards Each actuator Af, Ar play the control force that finds out through the above way, generate corresponding with the size of calculated control force Instruction, and each actuator Af, Ar output forwards, backwards.Front and back each actuator Af, Ar after being connected to instruction is according to indicated by instruction Control force play thrust, to inhibit automobile body B to wave the vibration in direction and the vibration in beat direction.Like this, by controller C To control each actuator Af, Ar of front and back.The instruction is set as, and each actuator Af, Ar forwards, backwards plays pushing away for prolonging direction Positive value is taken when power；Each actuator Af, Ar forwards, backwards takes negative value when playing the thrust of shrinkage direction；Eliminate the number of command character The absolute value of value and control force proportionally becomes larger.In addition, controller C, to run through the axis of automobile body B central location in Fig. 1 as base Standard will be detected as positive value towards the acceleration β that waves of left direction；Acceleration β inspection will be waved towards opposite right direction Surveying is negative value.In addition, controller C adds the beat in the direction that automobile body B rotates counterclockwise to centered on the G of vehicle body center Speed omega detects the value being positive, and by opposite to that direction, i.e., clockwise beat acceleration ω is detected as negative value.

Next, the peace to the front side actuator Af and rear side actuator Ar that judge on rail truck vibration absorber V2 The whether correct judgment method of the installation direction of holding position and front side acceleration transducer Sf and rear side acceleration transducer Sr into Row explanation.

As shown in figure 5, in the state that rail truck is in dead ship condition and external force does not act on automobile body B, to automobile body B Starting of oscillation is i.e. when carrying out waving starting of oscillation, acts on automobile body B to only make to wave acceleration β, controller C then by with opposite phase, Front side actuator Af and rear side actuator Ar is set to stretch by the signal wave of identical frequency, same-amplitude, as step S21. Automobile body B brought by rail truck vibration absorber V2 waves starting of oscillation, up to passing through predetermined regulation since starting of oscillation It is lasting to carry out until time.The processing of the step S21 of controller C is to wave starting of oscillation step.

Next, being sought waving displacement X, as step S22 by controller C.Specifically, as described above, controller C After being removed with 2 detected by front side acceleration detected by the acceleration transducer Sf of front side and rear side acceleration transducer Sr Thus the sum of latax waves acceleration β to seek the vehicle body center G of automobile body B.Moreover, also by controller C come to waving Acceleration β carries out quadratic integral, thus waves displacement X to seek the horizontal cross displacement of the vehicle body center G of automobile body B.In addition, Controller C will be sought in Fig. 1 towards the displacement X that waves of left direction as positive value.By shaking towards right side in Fig. 1 of opposite direction Pendulum displacement X seeks as negative value.In addition, in the present embodiment, controller C is sought according to front side acceleration and rear side acceleration Wave acceleration β.Quadratic integral is carried out to acceleration β is waved, has thus found out and has waved displacement X.But respectively to front side acceleration Quadratic integral is carried out with rear side acceleration, after finding out the displacement on front side of automobile body B and the displacement of rear side, then seeks waving displacement X It can.In addition, low-pass filter processing mode can be used to carry out Integral Processing in controller C.

Moreover, being sought waving instruction Sc, as step S23 by controller C.In this example, controller C is waving starting of oscillation When, seek waving instruction Sc to front side actuator Af to rear side actuator Ar according to the instruction issued and the instruction issued.? It is to the right negative side displacement by automobile body B when front side actuator Af extends in present embodiment；It, will when rear side actuator Ar extends Automobile body B is positive side displacement to the left.Therefore, controller C removed with 2 subtracted from the instruction issued to rear side actuator Ar to Thus the value for the instruction that front side actuator Af is issued instructs Sc to seek waving.Like this, it has found out after waving instruction Sc, has shaken Symbol in pendulum instruction Sc will show that each actuator Af, Ar act on the direction for waving acceleration of automobile body B.Wave instruction The numerical value of Sc represents the size for waving acceleration that each actuator Af, Ar act on automobile body B.

Moreover, controller C seeks waving index S I, as step S24 also according to waving displacement X and waving instruction Sc. Processing from the step S22 to step S24 of controller C is that vehicle body waves index calculation step.Specifically, by controller C Come the product sought waving displacement X with wave instruction Sc, which is set as to wave index S I.

Next, being in rail truck under dead ship condition and in the state that external force does not act on automobile body B, to automobile body B When starting of oscillation carries out beat starting of oscillation, in order to only make beat acceleration ω act on automobile body B, controller C then will be with identical phase Front side actuator Af and rear side actuator Ar is set to stretch by the signal wave of identical frequency, same-amplitude, as step S25. Automobile body B beat starting of oscillation brought by rail truck vibration absorber V2 is since starting of oscillation, until when by predetermined regulation Between until, it is lasting to carry out.The processing of the step S25 of controller C is beat starting of oscillation step.

Next, seeking beat displacement Y, as step S26 by controller C.Specifically, as described above, controller C The front side acceleration detected by the preceding side acceleration sensor Sf is removed with 2 rear side acceleration transducer Sr has been subtracted detected The value of the rear side acceleration arrived, thus come seek automobile body B vehicle body center G beat acceleration ω.Moreover, controller C is to inclined It puts acceleration ω and carries out quadratic integral, be thus displaced to seek automobile body B with center for the swing offset i.e. beat of the horizontal cross of G Y.In addition, in Fig. 1, controller C by automobile body B centered on the G of vehicle body center, the beat in the direction rotated counterclockwise Acceleration ω seeks as positive value；Beat acceleration ω clockwise in Fig. 1 of opposite direction is sought as negative value.In this reality It applies in mode, controller C seeks beat acceleration ω according to front side acceleration and rear side acceleration.Accelerate despite to beat It spends ω and carries out quadratic integral, be thus displaced Y to seek beat.But secondary to front side acceleration and the progress of rear side acceleration respectively Integral, after finding out the displacement on front side of automobile body B and the displacement of rear side, then seeking beat displacement Y can also.In addition, controller C can be used Low-pass filter processing mode carries out Integral Processing.

Moreover, seeking beat instruction Yc, as step S27 by controller C.In this example, controller C is in beat starting of oscillation When, beat instruction Yc is sought according to the instruction issued to front side actuator Af and the instruction issued to rear side actuator Ar.Tool For body, since the beat acceleration ω that will rotate automobile body B counterclockwise around the G of vehicle body center is set as just.Therefore, As described above, removing the instruction issued to front side actuator Af and the instruction to rear side actuator Ar sending with -2 by controller C Sum, with seek beat instruction Yc.Like this, after finding out beat instruction Yc, the symbol in beat instruction Yc will be shown respectively Actuator Af, Ar act on the direction of the beat acceleration of automobile body B.The numerical value of beat instruction Yc represents each actuator Af, Ar Act on the size of the beat acceleration of automobile body B.

Moreover, controller C is displaced Y and beat instruction Yc according to beat to seek beat index YI, as step S28.It should Controller C slave step S26 to the processing of step S28 be vehicle body beat index calculation step.Specifically, by controller C Lai The product of beat displacement Y and beat instruction Yc are sought, and the value is set as beat index YI.

Next, controller C judges the installation position of front and back actuator Af, Ar according to index S I and beat index YI is waved Set whether correct and front and rear acceleration sensor Sf, Sr installation direction is correct, as step S29.

In waving self-oscillating, controller C issued to front side actuator Af and rear side actuator Ar it is each instruction be by The signal wave of opposite phase is come the instruction that keeps front side actuator Af and rear side actuator Ar flexible.Therefore, it is mutual to become symbol The instruction of value obtained after reversion.Make instruction of the instruction with positive value when each actuator Af, Ar elongation of front and back.On the contrary, Instruction of the instruction with negative value when shrinking each actuator Af, Ar of front and back.

Therefore, in waving self-oscillating, front side actuator Af elongation is made to make front side when shrinking rear side actuator Ar The instruction of actuator Af elongation is positive value；The instruction negative value for shrinking rear side actuator Ar waves instruction Sc and takes negative value.It is shaking Put self-oscillating in, make front side actuator Af shrink, make rear side actuator Ar elongation when, make front side actuator Af shrink instruction For negative value；The instruction positive value for making rear side actuator Ar elongation waves instruction Sc and takes positive value.

It is elastically supported under the action of bearing spring outside figure here, automobile body B is relative to bogie Tf, Tr.Vehicle After body B makees lateral displacement relative to bogie Tf, Tr, the bearing spring outside figure, which produces, makes automobile body B back to origin-location Elastic force.Therefore, when waving acceleration β by each actuator Af, Ar generation, automobile body B will be displaced to bearing spring according to automobile body B Lateral movement caused by the position balanced each other of elastic force.Therefore, it waves displacement X and the spring constant of bearing spring is set as K； If each actuator Af, Ar thrust for waving direction acted in automobile body B are set as F, if ignoring disturbance etc., F=K × X It sets up.Moreover, waving instruction Sc is the numerical value for waving direction and thrust size for indicating to act in automobile body B.Therefore, if ignoring Disturbance etc., and wave instruction Sc and take positive value, then it waves displacement X and takes positive value.If waving instruction Sc takes negative value, waves displacement X and answer This is to take negative value.

Therefore, instruction Sc will be waved as the longitudinal axis, displacement X will be waved as horizontal axis, to it is obtained wave instruct Sc with It is its corresponding to wave if displacement X drawn, will as shown in the dotted line in Fig. 6, can theoretically become across origin and Straight line with the gradient directly proportional to spring constant K.But in practice, each instruction needed for seeking waving instruction Sc To displacement X is waved, there are time delays.Therefore, it waves instruction to obtained within the identical operation period and Sc and waves position It moves if X drawn, instruction Sc will be waved and wave displacement X show with hysteresis as shown in solid in Fig. 6 Correlation.But generally, in Fig. 6, the correlation elapsed in first quartile and third quadrant is shown.

Therefore, the installation site of each actuator Af, Ar are correct, and the installation direction of each acceleration transducer Sf, Sr are correct When, if undisturbed and interference, become taking positive value as instruction Sc and the index S I that waves for the product for waving displacement X is waved.

On the other hand, in front side actuator Af and rear side actuator Ar, there is one installation site correct, and another Installation site it is wrong, but front and back each acceleration transducer Sf, Sr installation direction it is correct when, front and back actuator Af, Ar this two It is a to be disposed in the right side or left side of rail truck driving direction relative to automobile body B.Therefore, controller C is with opposite phase Position, when front and back actuator Af, Ar being made to stretch, automobile body B will not wave starting of oscillation, but carry out beat starting of oscillation.Therefore, in this situation Under, if the influence of undisturbed etc., theoretically, waving acceleration β becomes 0, and waving displacement X also becomes 0.Then, in theory On, waving index S I becomes 0.But in practice, also will receive interference etc. influence and front and back actuator Af, Ar response shadow It rings.In addition, the rail truck being not belonging in self-oscillating can also vibrate after making the rail truck starting of oscillation in marshaling, thus Also the vibration of the rail truck in self-oscillating can be affected.Therefore, it waves displacement X and takes 0 or very small value.With regard to this Sample in the installation site of front and back actuator Af, Ar, has that one is correct and another is wrong, but front and rear acceleration sensor Sf, When the installation direction of Sr is correct, waves index S I and take 0 or very small value.

In addition, front side actuator Af and rear side actuator Ar the two installation site it is wrong, but each acceleration in front and back When the installation direction of sensor Sf, Sr are correct, when controller C makes front and back actuator Af, Ar stretch with opposite phase, automobile body B Although starting of oscillation can be waved, with front side actuator Af and rear side actuator Ar the two installation site it is correct when the case where phase Than being oppositely starting of oscillation.Even making automobile body B to the instruction of the right teeter starting of oscillation of vehicle heading that is, waving instruction Sc, Also automobile body B can be made to vehicle heading left teeter starting of oscillation on the contrary.Therefore, if ignore from wave instruction Sc to wave displacement The response time of X, then waving instruction Sc is timing, and waving displacement X becomes negative.Instruction Sc is waved when being negative, waving displacement X becomes Just.Therefore, will wave instruction Sc be set as the longitudinal axis, will wave displacement X be set as horizontal axis come to it is obtained wave instruction Sc and and its Accordingly wave displacement X drawn if, will as shown by a dashed line in fig 7, theoretically can become across origin and tool There is the straight line of the gradient directly proportional to spring constant K.But in practice, from seek waving each instruction needed for instruction Sc to Displacement X is waved, there are time delays.Therefore, within the identical operation period, to it is obtained wave instruction Sc and wave displacement X , will be as shown in solid in Fig. 7 if being drawn, waving instruction Sc and waving displacement X can show with hysteresis Correlation.But generally, in Fig. 7, the correlation in the second quadrant and fourth quadrant passage is shown.Therefore, each actuating Device Af, Ar the two installation site it is wrong, but each acceleration transducer Sf, Sr installation direction it is correct when, if undisturbed and Interference then becomes taking negative value as the index S I that waves for waving the product for instructing Sc and waving displacement X.

Moreover, although the installation site of front side actuator Af and rear side actuator Ar are correctly, on front-rear direction In each acceleration transducer Sf, Sr, there is one installation direction correct, and when another is wrong, controller C is with opposite phase Position, when front and back actuator Af, Ar being made to stretch, each acceleration transducer Sf, Sr on front-rear direction become to detect mutually reverse Acceleration.Then, it is asked according to front side acceleration detected by front and back each acceleration transducer Sf, Sr and rear side acceleration It takes if waving acceleration β, if waving the influence of acceleration β undisturbed etc., theoretically becomes 0.Waving displacement X also becomes 0.Then, theoretically, 0 can be become by waving index S I.But in practice, there is also the influences for having interference etc. and front and back actuating The response of device Af, Ar influence.In addition, after making the rail truck starting of oscillation in marshaling, the railway carriage that is not in self-oscillating It can also vibrate, to can also be affected to the vibration of the rail truck in self-oscillating.Therefore, it waves displacement X and takes 0 Or very small value.Like this, the two installation site of front and back actuator Af, Ar is despite correct, but fore-aft acceleration In the installation direction of sensor Sf, Sr, it is correct there is one, and when another is wrong, 0 or very small will be taken by waving index S I Value.

In addition, front side actuator Af and rear side actuator Ar the two installation site it is correct, but each acceleration in front and back passes Sensor Sf, Sr the two installation direction it is wrong when, when controller C makes front and back actuator Af, Ar stretch with opposite phase, to the greatest extent Pipe automobile body B can wave starting of oscillation, but front and rear acceleration sensor Sf, Sr acceleration direction detected can become and actual acceleration It spends contrary.Therefore, it is sought waving acceleration β's according to acceleration detected by front and rear acceleration sensor Sf, Sr Words, will observe makes the contrary direction of automobile body B starting of oscillation wave acceleration with front and back actuator Af, Ar in reality β.Even making automobile body B to the instruction of vehicle heading right teeter starting of oscillation that is, waving instruction Sc, controller C can also be observed To make on the contrary automobile body B to vehicle heading left teeter starting of oscillation wave displacement X.Therefore, if ignore from wave instruction Sc To the response time for waving displacement X, then waving instruction Sc is timing, and waving displacement X becomes negative.Instruction Sc is waved when being negative, is shaken Pendulum displacement X becomes just.Therefore, instruction Sc will be waved and be set as the longitudinal axis, displacement X will be waved and be set as horizontal axis, wave finger to obtained Enable Sc and it is corresponding wave if displacement X drawn, can will become and wear as shown by a dashed line in fig 7, theoretically Cross origin and the straight line with the gradient directly proportional to spring constant K.But in practice, from seeking waving needed for instruction Sc It is each instruction to wave be displaced X there are time delays.Therefore, it waves instruction Sc to obtained within the identical operation period and shakes If pendulum displacement X is drawn, instruction Sc will be waved and wave displacement X show that there is lag as shown in solid in Fig. 7 The correlation of phenomenon, but generally, in Fig. 7, show the correlation in the second quadrant and fourth quadrant passage.Therefore, respectively Actuator Af, Ar the two installation site it is correct, but each acceleration transducer Sf, Sr installation direction it is wrong when, if unperturbed Dynamic and interference then becomes taking negative value as the index S I that waves for waving the product for instructing Sc and waving displacement X.

Moreover, front and back actuator Af, Ar the two installation site it is wrong.And front and rear acceleration sensor Sf, Sr this two When a installation direction is also wrong, then controller C is with opposite phase, when front and back actuator Af, Ar being made to stretch, although automobile body B Can wave starting of oscillation, but automobile body B and front side actuator Af and rear side actuator Ar the two installation site it is correct when the case where phase Than being oppositely starting of oscillation.But the installation direction of front and rear acceleration sensor Sf, Sr is also two wrong.Therefore, front and back accelerates Degree sensor Sf, Sr front side acceleration detected and rear side acceleration are also positive and negative to become opposite.Therefore, accelerated according to front side Acceleration β is waved calculated by degree and rear side acceleration and actually waves acceleration direction relative to automobile body B, becomes opposite.In Be, from controller C when to wave instruction Sc be the instruction for making automobile body B to vehicle heading right teeter starting of oscillation, in reality In the middle, make automobile body B to vehicle heading left teeter starting of oscillation, according to detected by front and rear acceleration sensor Sf, Sr before Acceleration β is waved calculated by post-acceleration to be become indicating to make automobile body B to the value of vehicle heading right teeter starting of oscillation.Phase Instead, from controller C when to wave instruction Sc be the instruction for making automobile body B to vehicle heading left teeter starting of oscillation, in reality In the middle, make automobile body B to vehicle heading right teeter starting of oscillation, according to detected by front and rear acceleration sensor Sf, Sr before What post-acceleration was found out, which waves acceleration β, becomes indicating to make automobile body B to the value of vehicle heading left teeter starting of oscillation.Therefore, If it is consistent with the displacement direction of X is waved to wave the direction for waving starting of oscillation indicated by instruction Sc without response time delay.Cause This, front and back actuator Af, Ar the two installation site it is wrong, and the two installation side of front and rear acceleration sensor Sf, Sr To it is also wrong when, with front and back actuator Af, Ar the two installation site it is correct, and front and rear acceleration sensor Sf, Sr this two The case where when a installation direction is also correct, is the same, if waving index S I undisturbed and interference, becomes taking positive value.

Here, inhibiting the control mode of body vibrations to think deeply controller C in this case.Since front and back accelerates The installation direction for spending sensor Sf, Sr is wrong, and therefore, if automobile body B is displaced to the right side of vehicle heading, controller C is just It can be found out according to the acceleration of the front and back detected by front and rear acceleration sensor Sf, Sr and wave acceleration β, then can known It is clipped to the left side that automobile body B has been displaced to vehicle heading.In this regard, each actuator Af, Ar sending of controller C forwards, backwards refer to It enables, to cancel automobile body B to the displacement on the left of vehicle heading, and makes automobile body B to displacement on the right side of vehicle heading.It is connected to this After instruction, front and back actuator Af, Ar are flexible, but the installation site of the two is wrong.Therefore, front and back actuator Af, Ar are just directed to Make automobile body B to the instruction of displacement on the right side of vehicle heading, plays automobile body B of sening as an envoy to and being pushed away to what vehicle heading left side was displaced Power.Automobile body B has been displaced to the right side of vehicle heading in practice.Because front and back actuator Af, Ar performance make automobile body B to The thrust being displaced on the left of vehicle heading, is able to suppress the displacement of automobile body B.Even if automobile body B is on the contrary to vehicle heading Left side displacement, also can thrust that equally actuator Af, Ar are played in front and back inhibit the displacement of automobile body B.Therefore, front and back Actuator Af, Ar the two installation site it is wrong, and front and rear acceleration sensor Sf, Sr the two installation direction it is also wrong When, it has no effect to the vibration suppression control of automobile body B.Therefore, in the case, with front and back actuator Af, Ar the two Installation site is correct, and front and rear acceleration sensor Sf, Sr the two installation direction it is also correct when the case where equally treat It can also.

Next, in beat self-oscillating, each finger that controller C is issued to front side actuator Af and rear side actuator Ar Order is the instruction for making front side actuator Af and rear side actuator Ar flexible by the signal wave of same phase.Therefore, become symbol The instruction of value consistent with each other.Instruction when each actuator Af, Ar elongation of front and back is set to become the instruction with positive value.On the contrary, making Instruction when each actuator Af, Ar of front and back are shunk becomes the instruction with negative value.

Therefore, in beat self-oscillating, when extending front side actuator Af and rear side actuator Ar, make front side actuator The instruction of Af and rear side actuator Ar elongation becomes positive value.Their sum is removed with -2, thus instructs Yc to seek beat.Cause This, beat instruction Yc takes negative value.In beat self-oscillating, when shrinking front side actuator Af and rear side actuator Ar, before making The instruction that side actuator Af and rear side actuator Ar are shunk becomes negative value.The sum that them are removed with -2, thus refers to seek beat Enable Yc.Therefore, beat instruction Yc takes positive value.

Here, automobile body B is relative to bogie Tf, Tr, bearing spring outside figure under the action of, is elastically supported.Vehicle body B with respect to bogie Tf, Tr to lateral displacement when, the bearing spring outside figure produces the elastic force that automobile body B is returned to origin-location. Therefore, when applying beat acceleration from each actuator Af, Ar, automobile body B is displaced to bearing spring according to automobile body B with vehicle body center G is the position that elastic force caused by rotation center balances each other.Therefore, it is displaced Y as beat, by the vehicle body rotation side of bearing spring To spring constant be set as Ky, when each actuator Af, Ar thrust acted on the beat direction of automobile body B are set as Fy, if neglect Slightly disturbance etc., then Fy=Ky × Y is set up.And beat instruction Yc is the beat starting of oscillation direction for indicating to act in automobile body B and pushes away The numerical value of power size.Therefore, if ignoring disturbance etc., and beat instruction Yc takes positive value, then beat displacement Y takes positive value.If beat refers to Yc is enabled to take negative value, it should be then to take negative value that beat, which is displaced Y,.

Therefore, by beat instruction Yc be set as the longitudinal axis, by beat displacement Y be set as horizontal axis, to beat obtained instruction Yc and If its corresponding beat displacement Y is drawn, will as indicated by the dotted lines in figure 8, can theoretically become across origin and Straight line with the gradient directly proportional to spring constant K.But in practice, each instruction needed for seeking beat instruction Yc It is displaced Y to beat, there are time delays.Therefore, Yc and beat position are instructed to beat obtained within the identical operation period , will be as shown in solid in Fig. 8 if shifting Y is drawn, beat instruction Yc and beat displacement Y are shown with hysteresis Correlation.But generally, in fig. 8 it is shown that going out the correlation elapsed in first quartile and third quadrant.

Therefore, the installation site of each actuator Af, Ar are correct, and the installation direction of each acceleration transducer Sf, Sr are also just When true, if undisturbed and interference, the beat index YI of the product as beat instruction Yc and beat displacement Y becomes taking positive value.

On the other hand, in front side actuator Af and rear side actuator Ar, there is one installation site correct, and another Installation site it is wrong, but front and back each acceleration transducer Sf, Sr installation direction it is correct when, front and back actuator Af, Ar this two On the right side of a driving direction that rail truck relative to automobile body B, will be disposed in or left side.Therefore, controller C is with identical phase Position, when front and back actuator Af, Ar being made to stretch, automobile body B will not beat starting of oscillation, but wave starting of oscillation.Therefore, in the case, if The influence of undisturbed etc., then theoretically, beat acceleration ω become 0.Beat displacement Y also becomes 0.Then, theoretically, partially Pendulum index YI becomes 0.But in practice, there is also the influences for having interference etc. and the response of front and back actuator Af, Ar influence.This Outside, after making the rail truck starting of oscillation in marshaling, the rail truck being not belonging in self-oscillating can also vibrate, thus also can be right The vibration of rail truck in self-oscillating affects.Therefore, beat displacement Y takes 0 or very small value.Like this, front and back In the installation site of actuator Af, Ar, it is correct there is one, and another is wrong, the installation of front and rear acceleration sensor Sf, Sr When in the right direction, beat index YI takes 0 or very small value.

In addition, front side actuator Af and rear side actuator Ar the two installation site it is wrong, but each acceleration in front and back passes When the installation direction of sensor Sf, Sr are correct, when controller C makes front and back actuator Af, Ar stretch with identical phase, automobile body B is most Pipe can beat starting of oscillation, but with front side actuator Af and rear side actuator Ar the two installation site it is correct when the case where compared with, Starting of oscillation mode is to rotate in reverse direction.Even making automobile body B to side counterclockwise that is, beat instructs Yc centered on the G of vehicle body center To the instruction of rotation, automobile body B can also be rotated clockwise centered on the G of vehicle body center on the contrary.Therefore, it is instructed if ignoring from beat Yc is to the response time of beat displacement Y, then beat instruction Yc is timing, and beat displacement Y becomes negative.When beat instruction Yc is negative, Beat displacement Y becomes just.Therefore, beat instruction Yc is set as the longitudinal axis, beat displacement Y is set as horizontal axis, to beat obtained If instruction Yc and its corresponding beat displacement Y is drawn, will just it become as shown by the broken line in fig. 9, theoretically Across origin and with the straight line of the gradient directly proportional to spring constant Ky.But in practice, from seek beat instruction Yc Required each instruction is displaced Y to beat, and there are time delays.Therefore, the beat obtained within the identical operation period is instructed , will as shown by the solid line in FIG 9 if Yc and beat displacement Y is drawn, beat instruction Yc and beat displacement Y show and provide There is the correlation of hysteresis.But generally, in Fig. 9, the correlation in the second quadrant and fourth quadrant passage is shown.Cause This, each actuator Af, Ar the two installation site it is wrong, but each acceleration transducer Sf, Sr installation direction it is correct when, if Undisturbed and interference, then the beat index YI as the product of beat instruction Yc and beat displacement Y becomes taking negative value.

Moreover, the installation site of front side actuator Af and rear side actuator Ar are correct, but each acceleration transducer Sf in front and back, In Sr, have one installation direction correct, when another is wrong, controller C with identical phase, make front and back actuator Af, When Ar stretches, each acceleration transducer Sf, Sr on front-rear direction will test mutually opposing acceleration.Then, according to front and back Front side acceleration detected by each acceleration transducer Sf, Sr and rear side acceleration are come if seeking beat acceleration ω, partially If putting the influence of acceleration ω undisturbed etc., theoretically become 0.Beat displacement Y also becomes 0.Then, theoretically, partially Pendulum index YI becomes 0.But in practice, there is also the influences for having interference etc. and the response of front and back actuator Af, Ar influence.This Outside, after making the rail truck starting of oscillation in marshaling, the rail truck being not in self-oscillating can also vibrate, thus also can be right The vibration of rail truck in self-oscillating affects.Therefore, beat displacement Y takes 0 or very small value.Like this, front and back Actuator Af, Ar the two installation site it is correct, but in the installation direction of front and rear acceleration sensor Sf, Sr, there is one Correctly, when and another is wrong, beat index YI takes 0 or very small value.

In addition, front side actuator Af and rear side actuator Ar the two installation site it is correct, but each acceleration in front and back passes Sensor Sf, Sr the two installation direction it is wrong when, controller C is with identical phase, when front and back actuator Af, Ar being made to stretch, Although automobile body B can beat starting of oscillation, the direction of front and rear acceleration sensor Sf, Sr acceleration detected can become with it is actual Acceleration is contrary.Therefore, beat acceleration is sought according to acceleration detected by front and rear acceleration sensor Sf, Sr If ω, it will observe that the direction for carrying out rotation body B centered on the G of vehicle body center with actual front and back actuator Af, Ar is anti- To beat acceleration ω.Even rotating automobile body B counterclockwise that is, beat instructs Yc centered on the G of vehicle body center Instruction, controller C can also observe the beat for centered on the G of vehicle body center, rotating automobile body B clockwise on the contrary It is displaced Y.Therefore, instruct Yc to the response time of beat displacement Y if ignoring from beat, it is timing, beat position that beat, which instructs Yc, Moving Y becomes negative；When beat instruction Yc is negative, beat displacement Y becomes just.Therefore, using beat instruction Yc as the longitudinal axis, by beat position Moving Y will be as in Fig. 9 if instructing Yc and its corresponding beat displacement Y to draw beat obtained as horizontal axis Dotted line shown in, theoretically, become across origin and with the gradient directly proportional to spring constant Ky straight line.In reality In the middle, each instruction needed for seeking beat instruction Yc is displaced Y to beat, and there are time delays.Therefore, in identical operation , will as shown by the solid line in FIG 9 if beat obtained instruction Yc and beat displacement Y is drawn in period, beat refers to Enable Yc and beat be displaced Y and show the correlation with hysteresis, but generally, in Fig. 9, show in the second quadrant and The correlation of fourth quadrant passage.Therefore, each actuator Af, Ar the two installation site it is wrong, but each acceleration transducer When the installation direction of Sf, Sr are correct, if undisturbed and interference, refer to as beat instruction Yc and the beat of the product of beat displacement Y Mark YI becomes taking negative value.

Moreover, front and back actuator Af, Ar the two installation site it is wrong, and front and rear acceleration sensor Sf, Sr this two When a installation direction is also wrong, controller C is with identical phase, and when front and back actuator Af, Ar being made to stretch, automobile body B is although meeting Beat starting of oscillation, but automobile body B with front side actuator Af and rear side actuator Ar the two installation site it is correct when the case where compared with, Oppositely rotate.But the installation direction of front and rear acceleration sensor Sf, Sr is also both wrong.Therefore, fore-aft acceleration Sensor Sf, Sr front side acceleration detected and rear side acceleration also become positive and negative opposite.Therefore, according to front side acceleration and Practical beat acceleration of the beat acceleration ω that rear side acceleration is found out relative to automobile body B, direction becomes opposite.Then, When beat instruction Yc from controller C is the instruction for rotating automobile body B counterclockwise around the G of vehicle body center, in practice, Automobile body B is rotated clockwise around the G of vehicle body center, the front and back according to detected by front and rear acceleration sensor Sf, Sr Beat acceleration ω calculated by acceleration becomes representing the beat that automobile body B rotates counterclockwise around the G of vehicle body center The value of starting of oscillation.On the contrary, the beat instruction Yc from controller C is to keep automobile body B right handed around the G of vehicle body center When instruction, in practice, automobile body B is rotated counterclockwise around the G of vehicle body center, according to front and rear acceleration sensor Sf, The beat acceleration ω that acceleration on front-rear direction detected by Sr is found out, which becomes, represents automobile body B along vehicle body center G weeks Enclose the value of right handed beat starting of oscillation.Therefore, if without response time delay, beat instructs beat indicated by Yc The direction of starting of oscillation is consistent with the beat displacement direction of Y.Therefore, front and back actuator Af, Ar the two installation site it is wrong and preceding Post-acceleration sensor Sf, Sr the two installation direction it is also wrong when, with the two installation site of front and back actuator Af, Ar Correctly, and front and rear acceleration sensor Sf, Sr the two installation direction it is also correct when the case where it is the same, if undisturbed and dry It disturbs, then beat index YI becomes taking positive value.

Here, inhibiting the control mode of the controller C of body vibrations to be thought deeply in this case.Fore-aft acceleration passes The installation direction of sensor Sf, Sr are wrong, therefore, if automobile body B rotates counterclockwise around the G of vehicle body center, controller C root Beat acceleration ω is sought according to the acceleration on the front-rear direction detected by front and rear acceleration sensor Sf, Sr, and is identified It is just rotated clockwise around the G of vehicle body center for automobile body B.In this regard, controller C is to cancel revolving clockwise along automobile body B The swing offset turned, and each actuator Af, Ar forwards, backwards issues instruction, makes automobile body B counter clockwise direction around the G of vehicle body center Swing offset.After being connected to the instruction, front and back actuator Af, Ar are flexible, but the installation site of the two is wrong.Therefore, front and back causes Dynamic device Af, Ar are just directed to the instruction for making automobile body B rotate counterclockwise displacement around the G of vehicle body center, play automobile body B edge of sening as an envoy to Right handed thrust around the G of vehicle body center.Automobile body B in practice, is counterclockwise revolved around the G of vehicle body center Indexing moves, and front and back actuator Af, Ar play the thrust for making automobile body B be rotated clockwise displacement around the G of vehicle body center, thus It can inhibit the displacement of automobile body B.Even if automobile body B is rotated clockwise displacement around the G of vehicle body center on the contrary, can also be similarly Inhibit the displacement of automobile body B using the thrust that front and back actuator Af, Ar are played.Therefore, front and back actuator Af, Ar the two Installation site is wrong, and front and rear acceleration sensor Sf, Sr the two installation direction it is also wrong when, the vibration of automobile body B is pressed down System control has no effect.Therefore, in the case, with front and back actuator Af, Ar the two installation site it is correct, and front and back Acceleration transducer Sf, Sr the two installation direction it is also correct when the case where equally come treat can also.

For whether correct and front and rear acceleration sensor Sf, Sr the installation side of installation site of front and back actuator Af, Ar What kind of relationship to whether correctly waving index S I and beat index YI have? in this regard, as shown in Figure 10 with matrix diagram come It indicates.

Therefore, controller C can judge front and back actuating according to the symbol and its numerical value that wave index S I and beat index YI Whether whether correct and front and rear acceleration sensor Sf, Sr the installation direction of the installation site of device Af, Ar is correct.For step The processing of controller C in S29, is handled with specific reference to flow chart shown in Figure 11.Judged to wave finger by controller C Whether mark SI meets this condition of SI+ ζ 1≤0, as step S31.Moreover, at the appointed time, when SI+ ζ 1≤0, to step S32 is mobile.In addition, even if the installation site of front and back actuator Af, Ar are correct, and the installation of front and rear acceleration sensor Sf, Sr Direction is also correct, and waving index S I also can be because disturbing and interfering or response time delay due to takes negative value.Therefore, value ζ 1 is to avoid The deviant judged by accident, and set by the judgement of step S31.The installation site of front and back actuator Af, Ar are correct, and front and back When the installation direction of acceleration transducer Sf, Sr are also correct, value ζ 1 can be set as being possible to take the minimum of negative value than waving index S I The slightly larger value of the absolute value of value.

On the other hand, it when being not SI+ ζ 1≤0, is identified as malfunctioning, at the appointed time, as defined in error number reaches When count number, the installation site of front and back actuator Af, Ar is wrong or the installation direction of front and rear acceleration sensor Sf, Sr It is wrong.Therefore, mobile to step S33.

In step S33, judged to wave by controller C index S I absolute value whether be | SI | < ε.ε is set as pole Small value, by the judgement of step S33, | SI | when < ε, wave that index S I takes is the value of 0 neighbour.Therefore, front and back actuator In Af, Ar, there is one installation site wrong.Or in the installation direction of front and rear acceleration sensor Sf, Sr, there is one It is wrong.It is the one of which in two kinds of situations.Therefore, at this point, it is mobile to step S34, it is judged as by controller C, front and back actuating In device Af, Ar, there is one installation site wrong or the installation direction of front and rear acceleration sensor Sf, Sr has one in the middle It is wrong, the one of which in both of these case.

By the judgement of step S33, | SI | it is mobile to step S35 when≤ε.At this time, it is believed that wave index S I and be negative Value.Therefore, in step s 35, be judged as by controller C, front and back actuator Af, Ar the two installation site it is wrong or preceding Post-acceleration sensor Sf, Sr the two installation direction it is wrong, the one of which in both of these case.

In step s 32, controller C judges whether beat index YI meets YI+ ζ 2≤0.Moreover, at the appointed time, When YI+ ζ 2≤0, it is judged as, the installation site of front and back actuator Af, Ar and the installation direction of front and rear acceleration sensor Sf, Sr Correctly, as step S36.In addition, even if the installation site of front and back actuator Af, Ar are correct, and front and rear acceleration sensor Sf, The installation direction of Sr is also correct, also sometimes because beat index YI also can be because disturbing and interfering or response time delay due to takes negative value. Therefore, value ζ 2 be to avoid being judged by accident according to the judgement of step S32, and set deviant.The peace of front and back actuator Af, Ar Holding position is correct, and front and rear acceleration sensor Sf, Sr installation direction it is also correct when, value ζ 2 may be set to than beat index YI It is possible that the value for taking the absolute value of the minimum value of negative value slightly larger.

On the other hand, it when being not YI+ ζ 2≤0, is identified as malfunctioning, at the appointed time, as defined in error number reaches When count number, the installation site of front and back actuator Af, Ar is wrong or the installation direction of front and rear acceleration sensor Sf, Sr It is wrong.Therefore, mobile to step S37.

Next, in step S37, by controller C judge beat index YI absolute value whether be | YI | < ε.Pass through The judgement of step S37, | YI | when < ε, what beat index YI took is the value of 0 neighbour.Therefore, in front and back actuator Af, Ar, have One installation site is wrong or the installation direction of front and rear acceleration sensor Sf, Sr in, have one it is wrong, both One of which in situation.Therefore, in the case, mobile to step S38, it is judged as by controller C, front and back actuator Af, In Ar, have one installation site wrong or the installation direction of front and rear acceleration sensor Sf, Sr in, there is one to have Accidentally, the one of which in both of these case.

By the judgement of step S37, | YI | it is mobile to step S39 when≤ε.At this time, it is believed that beat index YI is negative Value.Therefore, in step S39, controller C is judged as, front and back actuator Af, Ar the two installation site it is wrong or preceding Post-acceleration sensor Sf, Sr the two installation direction it is wrong, the one of which in both of these case.

Like this, whether just controller C judges the installation site of front and back actuator Af, Ar caused by waving starting of oscillation Really with the installation direction of front and rear acceleration sensor Sf, Sr it is whether correct after, judge front and back actuator caused by beat starting of oscillation Whether whether correct and front and rear acceleration sensor Sf, Sr the installation direction of the installation site of Af, Ar is correct.In addition, can also be into Row is as follows: carrying out seeking waving index after waving starting of oscillation, and judges the installation position of front and back actuator Af, Ar according to index is waved Set whether correct and front and rear acceleration sensor Sf, Sr installation direction is correct；Then, it is sought partially after carrying out beat starting of oscillation Index is put, and judge whether the installation site of front and back actuator Af, Ar correctly sense with fore-aft acceleration according to beat index Whether the installation direction of device Sf, Sr are correct.

As described above, the rail truck vibration absorber V2 in second embodiment has:

It is arranged between rail truck vehicle body B and front side bogie Tf, the starting of oscillation in the lateral direction of the front side of automobile body B can be made Front side actuator Af；

It is arranged between automobile body B and rear side bogie Tr, the rear side actuator of starting of oscillation in the lateral direction can be made on rear side of automobile body B Ar；

It is arranged on front side of automobile body B, the front side acceleration transducer of the front side acceleration on front side of detection automobile body B on left and right directions Sf；

It is arranged on rear side of automobile body B, the rear side acceleration transducer of the rear side acceleration on rear side of detection automobile body B on left and right directions Sr；

Added according to front side acceleration transducer Sf and rear side acceleration transducer Sr front side acceleration detected and rear side Speed come control front side actuator Af and rear side actuator Ar controller C.

Controller C is according to making front side actuator Af and rear side actuator Ar generation make automobile body B to waving direction and beat side To each instruction of the thrust of starting of oscillation and waving displacement X and beat displacement Y and judging front side actuator Af and rear side actuating for automobile body B Whether the installation site of device Ar is correct.

Thus configured rail truck is the instruction of actuator Af and rear side actuator Ar on front side of use with vibration absorber V2 And displacement X and beat displacement Y are waved to judge whether the installation site is correct.Therefore, estimation mode can not used In the case where, for the installation site of front side actuator Af and rear side actuator Ar, judge whether the installation site is correct.This Outside, operator confirms the installation site of front side actuator Af and rear side actuator Ar without estimation mode, therefore, behaviour The burden for making personnel can be mitigated.

In addition, rail truck in the present embodiment according to controller C in vibration absorber V2, making front side actuator Af and rear side actuator Ar generate find out each instruction of the automobile body B to the thrust for waving direction starting of oscillation wave instruction Sc and wave It is displaced the product of X, is set as waving index S I；And front side actuator Af and rear side actuator Ar generation will be made to make vehicle according to controller C Thrust from body B to the starting of oscillation of beat direction respectively instruct the beat found out instruction Yc and beat displacement Y product, be set as beat index YI, and judge according to index S I and beat index YI is waved the installation site of front side actuator Af and rear side actuator Ar and preceding Whether the installation direction of side acceleration sensor Sf and rear side acceleration transducer Sr are correct.Therefore, when can be according to starting of oscillation be waved Drive of the automobile body B relative to each actuator Af, Ar when reaction and beat starting of oscillation of the automobile body B relative to the driving of each actuator Af, Ar Both reactions of dynamic reaction are to judge the installation site of each actuator Af, Ar whether correct and each acceleration transducer Sf, Sr Installation direction it is whether correct.Therefore, can correctly judge whether the installation site and the installation direction are correct.

Moreover, the rail truck vibration absorber V2 in present embodiment, device C is controlled by it according to waving index S I and partially The installation site and the installation direction of each acceleration transducer Sf, Sr for putting the symbol of index YI to judge each actuator Af, Ar be It is no correct.Thus configured rail truck is judged respectively with vibration absorber V2 according to the symbol for waving index S I and beat index YI Whether the installation direction of the installation site of actuator Af, Ar whether correct and each acceleration transducer Sf, Sr are correct.Therefore, may be used Not based on the size of index, can correctly judge whether the installation site and the installation direction are correct.In addition, according to waving The symbol of index S I and beat index YI come judge each actuator Af, Ar installation site and each acceleration transducer Sf, Sr When whether installation direction is correct, if setting deviant ζ 1, ζ 2, to each actuator caused by capable of preventing because of factors such as interference The erroneous judgement of the correcting errors property of the installation direction of the installation site of Af, Ar and each acceleration transducer Sf, Sr.

In addition, the rail truck vibration absorber V2 in present embodiment, waves index S I and beat index YI is shown When the installation direction of the installation site of each actuator Af, Ar or each acceleration transducer Sf, Sr are wrong out, controller C can be by it As error, thus error number is counted, when malfunctioning number more than threshold value, is just judged as each actuator Af, Ar The installation direction of installation site or each acceleration transducer Sf, Sr are wrong.

For thus configured rail truck vibration absorber V2, even if waving index S I and beat index YI sporadicly Show error, it will not be immediately by the installation site of each actuator Af, Ar or the installation direction of each acceleration transducer Sf, Sr It is judged as wrong, after the number that malfunctions reaches defined number, the installation site or the installation direction is just judged as have Accidentally.Therefore, rail truck formed according to this vibration absorber V2, the correcting errors property of the installation site and the installation direction Aspect will not have erroneous judgement, can correctly judge the installation site and the installation direction.

Moreover, the judgment method of the rail truck vibration absorber V2 in present embodiment has:

Driving front side actuator Af and rear side actuator Ar, generated to automobile body B wave acceleration β wave starting of oscillation step；

Front side actuator Af is generated by automobile body B to after the instruction for the thrust for waving direction starting of oscillation and making according to controller C What side actuator Ar generated that instruction by from automobile body B to the thrust for waving direction starting of oscillation finds out wave instruction Sc is displaced X multiplied by waving, Index calculation step is waved to seek waving the vehicle body of index S I；

The installation site and the whether correct judgment step of the installation direction are judged according to index S I is waved；

Driving front side actuator Af and rear side actuator Ar, the beat starting of oscillation step of beat acceleration ω is generated to automobile body B；

Front side actuator Af generation is set to make automobile body B to after the instruction of the thrust of beat direction starting of oscillation and making according to controller C Side actuator Ar generates the beat instruction Yc for finding out instruction of the automobile body B to the thrust of beat direction starting of oscillation and is displaced Y multiplied by beat, To seek the vehicle body beat index calculation step of beat index YI；

The installation site and the whether correct judgment step of the installation site are judged according to beat index YI.

The judgment method of rail truck formed according to this vibration absorber V2, can be according to automobile body B phase when waving starting of oscillation For the driving of each actuator Af, Ar reaction and beat starting of oscillation when reaction of the automobile body B relative to the driving of each actuator Af, Ar Both reactions are to judge whether the installation site of each actuator Af, Ar are correct.Therefore, it can correctly judge the installation site It is whether correct.

In addition, according to the setting of the correct installation site of each actuator Af, Ar, to each actuator Af, ArThe instruction of sending The employing mode of the employing mode of symbol, each acceleration transducer Sf, Sr acceleration symbol detected, wave instruction Sc and partially The acquiring method of pendulum instruction Yc will be different.The setting of the correct installation site of each actuator Af, Ar, to each actuator Af, The use side of the employing mode of symbol of the instruction that Ar is issued, the symbol of each acceleration transducer Sf, Sr acceleration detected Even if formula is different with above embodiment, can also judge each actuator Af, Ar installation site and each acceleration sensing Whether the installation direction of device Sf, Sr are correct, this is natural.

Moreover, it is judged that each embodiment illustrate in front and back actuator Af, Ar whether installation site correct and front and back causes The installation site of dynamic device Af, Ar and the whether correct specific processing mode of the installation direction of front and rear acceleration sensor Sf, Sr, only It is an example.Sequence and the branch of its processing step can suitably be changed.

More than, the preferred embodiment of the present invention is illustrated in detail.But as long as without departing from scope of the claims, It can be transformed, modifications and changes.

This application claims based on the Japan Patent Patent 2018- applied on March 30th, 2018 to Japan's patent Room 069711 and in the preferential of the Japan Patent Patent 2018-162437 applied to Japan's patent Room on the 31st of August in 2018 Power, all the contents of the application are programmed into this specification, for reference.

Claims

1. a kind of rail truck vibration absorber, has:

Be arranged between the vehicle body and rear side bogie, can by the vehicle body back side in the lateral direction starting of oscillation rear side activate Device；

Setting is passed in the vehicle body front side to detect the front side acceleration of front side acceleration of the vehicle body front side left and right directions Sensor；

Setting is passed in the vehicle body back side to detect the rear side acceleration of rear side acceleration of the vehicle body back side left and right directions Sensor；

According to the front side acceleration detected by the front side acceleration transducer and the rear side acceleration transducer with The rear side acceleration, to control the controller of the front side actuator and the rear side actuator,

The controller be based on making the front side actuator and the rear side actuator generate by the vehicle body to wave direction and Each instruction of the thrust of beat direction starting of oscillation and the front side acceleration and the rear side acceleration, or according to before described The vehicle body calculated by latax and the rear side acceleration wave and beat, to judge the front side actuator and institute Whether the installation site for stating rear side actuator is correct.

2. rail truck vibration absorber according to claim 1, wherein the controller,

Generate the front side actuator by the vehicle body to the instruction for the thrust for waving direction starting of oscillation and according to the front side The product that acceleration is waved calculated by acceleration and the rear side acceleration is set as front side and waves index；

The instruction for generating the rear side actuator by the vehicle body to the thrust for waving direction starting of oscillation is waved into acceleration with described The product of degree is set as rear side and waves index；

It will make the instruction of thrust of the front side actuator generation by the vehicle body to the starting of oscillation of beat direction and according to the front side The product of beat acceleration calculated by acceleration and the rear side acceleration, is set as the beat index；

The instruction and beat acceleration that the rear side actuator will be made to generate the thrust by the vehicle body to the starting of oscillation of beat direction The product of degree is set as rear side beat index；

And judge whether the installation site is correct according to these each indexs.

3. rail truck vibration absorber according to claim 2, wherein the controller,

Index is waved according to the front side, the rear side waves index, the front side beat index and the rear side beat index Symbol judge whether the installation site correct.

4. rail truck vibration absorber according to claim 2, wherein

Index is waved in the front side, the rear side waves index, the front side beat index and the rear side beat index are shown When the installation site is wrong out, the controller counts error number then as error, and the error number exists When more than threshold value, it is judged as that the installation site is wrong.

5. rail truck vibration absorber according to claim 1, wherein the controller,

It will be according to generating the front side actuator and the rear side actuator by the vehicle body to the thrust for waving direction starting of oscillation Each instruction find out wave instruction and the product for waving displacement, be set as waving index；

The front side actuator and the rear side actuator is set to generate the thrust by the vehicle body to the starting of oscillation of beat direction basis Respectively instruct the beat found out instruction with the beat displacement product, be set as beat index；

According to it is described wave index and the beat index judge the installation site and the front side acceleration transducer and Whether the installation direction of the rear side acceleration transducer is correct.

6. rail truck vibration absorber according to claim 5, wherein the controller,

Index is waved and the beat refers to aiming symbol according to described, whether just to judge the installation site and the installation direction Really.

7. rail truck vibration absorber according to claim 5 or 6, wherein wave index and the beat described When index shows the installation site or the wrong installation direction, the controller is then used as error, and to the error time Number is counted, and when the error number is more than threshold value, is judged as that the installation site or the installation direction are wrong.

8. a kind of judgment method of rail truck vibration absorber, judges the front side actuator in rail truck vibration absorber It is whether correct with the installation site of rear side actuator, wherein the rail truck is included with vibration absorber

According to the front side acceleration detected by the front side acceleration transducer and the rear side acceleration transducer with The rear side acceleration controls the controller of the front side actuator and the rear side actuator,

The judgment method of the rail truck vibration absorber has:

The front side actuator and the rear side actuator are driven, makes to wave acceleration effect in the vehicle body and waves starting of oscillation step Suddenly；

The controller to making the front side actuator generate the instruction by the vehicle body to the thrust for waving direction starting of oscillation, multiplied by Acceleration is waved described according to calculated by the front side acceleration and the rear side acceleration, waves index to seek front side, And the controller to make the rear side actuator generate by instruction from the vehicle body to the thrust for waving direction starting of oscillation multiplied by It is described to wave acceleration, index calculation step is waved with seek that rear side waves index；

Index is waved according to the front side and the rear side waves index to judge whether the installation site has correctly waved Judgment step when vibration；

The front side actuator and the rear side actuator are driven, walks beat acceleration effect in the beat starting of oscillation of the vehicle body Suddenly；

Instruction of the controller to making the front side actuator generate the thrust by the vehicle body to the starting of oscillation of beat direction, multiplied by According to the beat acceleration calculated by the front side acceleration and the rear side acceleration, to seek front side beat index, And the controller to make the rear side actuator generate the instruction of thrust by from the vehicle body to the starting of oscillation of beat direction multiplied by The beat acceleration, to seek the beat index calculation step of rear side beat index；

Judge that the whether correct beat of the installation site rises according to the front side beat index and the rear side beat index Judgment step when vibration.

9. a kind of judgment method of rail truck vibration absorber, judges the front side actuator in rail truck vibration absorber It is whether correct with the installation site of rear side actuator, and the installation side of front side acceleration transducer and rear side acceleration transducer To whether correctly, wherein the rail truck is included with vibration absorber

The judgment method of the rail truck vibration absorber has:

The front side actuator is set to generate the instruction by the vehicle body to the thrust for waving direction starting of oscillation to according to the controller The rear side actuator is generated calculated by the instruction by the vehicle body to the thrust for waving direction starting of oscillation with the controller Instruction is waved, the displacement in direction is waved multiplied by the vehicle body according to calculated by the front side acceleration and the rear side acceleration Displacement is waved, waves index calculation step to seek waving the vehicle body of index；

It waves index according to described and judges the installation site and the whether correct judgment step of the installation direction；

Instruction to the thrust for generating the front side actuator by the vehicle body to the starting of oscillation of beat direction according to the controller Make calculated by the instruction of thrust of the rear side actuator generation by the vehicle body to the starting of oscillation of beat direction with the controller Beat instruction, multiplied by the displacement in the vehicle body beat direction according to calculated by the front side acceleration and the rear side acceleration I.e. beat is displaced, to seek the vehicle body beat index calculation step of beat index；

The installation site and the whether correct judgment step of the installation direction are judged according to the beat index.