CN1296225C - Train control system, communication network system and train control device - Google Patents
Train control system, communication network system and train control device Download PDFInfo
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- CN1296225C CN1296225C CNB2004100328506A CN200410032850A CN1296225C CN 1296225 C CN1296225 C CN 1296225C CN B2004100328506 A CNB2004100328506 A CN B2004100328506A CN 200410032850 A CN200410032850 A CN 200410032850A CN 1296225 C CN1296225 C CN 1296225C
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- 238000012545 processing Methods 0.000 description 16
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- E—FIXED CONSTRUCTIONS
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
To flexibly distribute torque in accordance with a condition by not predicting the distribution of the torque of each vehicle of the train. The train control unit 101 determines a torque command value of each vehicle driving gear 102 in accordance with a condition of each vehicle driving gear 102 collected through a communication network 103 on the vehicle. In the case of reducing the torque command value for a first vehicle driving gear 102, while determining the torque command value of the relevant vehicle driving gear 102 so that the concerned reduced torque quantity is distributed to a second vehicle driving gear 102 different from the first vehicle driving gear 102. The determined torque command value is transmitted to the vehicle driving gear 102 through the communication network 103.
Description
Technical field
The present invention relates to communications network system and train controller on train control system, the car.
Background technology
The present application can be applicable to the system of travelling by vehicle drive unit arbitrarily, but at this, is that example describes with the railway vehicle.
Railway vehicle vehicle of several to tens of on direct of travel connects.Usually, the actuating device that drives driving engine is set in several the vehicles therein, wheel revolutions advances by being rotated on the rail of wheel by this driving engine.
For example when rainy, friction force diminishes, the situation that wheel slipping is arranged, slides because rail becomes wet.Because easy more being affected of vehicle in direct of travel the place ahead, so in the prior art, what be provided with the torque of the vehicle in the place ahead relatively in advance is low.
But,, the situation that dallies, slides is arranged also even be provided with in this wise.Known following technology arranged at this: detect idle running, when sliding, the output characteristic that changes driving engine by each actuating device by oneself reduces torque, prevent idle running, slide, and revert to the torque (for example, opening flat 5-276606 communique) of regulation in time with reference to the spy.In this technology, according to actual measurement obtain data imaginations front vehicles idle running, slide, will give the vehicle at rear because of the idle running of imagination, the torque distribution that slides the front vehicles that reduces, make to obtain certain torque as the vehicle marshalling is whole.
But, the idle running of the regulation of the corresponding imagination of data that above-mentioned prior art can obtain according to actual measurement, slide, but in fact, also might produce idle running of being higher than its imagination situation, slide.Under the situation of rapid transit railways such as the Shinkansen, might produce the outer idle running of imagination because of speed is high, slide especially, might can not get the torque that its result should export.Consequently, for example begin to stopping the needed time and, having postponed due in to the next stop apart from elongated from brake.In the railroad section that requires the high density operation, the delay meeting of a part of due in has a significant impact all schedules.
Summary of the invention
In order to solve described problem, do not imagine the distribution of torque in advance, and according to state distribution of torque neatly.
So train controller of the present invention determines the torque instruction value of each vehicle drive unit according to the state of each vehicle drive unit of collecting via communication network on the car.Under the situation of the torque instruction value that reduces the 1st vehicle drive unit, determine the torque instruction value of each vehicle drive unit to make the amount of torque that will reduce distribute to 2nd vehicle drive unit different, via communication network on the car determined torque instruction value is sent to train controller simultaneously with the 1st vehicle drive unit.
Description of drawings
Fig. 1 has showed the torque distribution control of one embodiment of the present of invention.
Fig. 2 has showed the device block diagram of the train of one embodiment of the present of invention.
Fig. 3 has showed the device block diagram of the train of one embodiment of the present of invention.
Fig. 4 has showed the device block diagram of the train of one embodiment of the present of invention.
Fig. 5 has showed the pie graph of the control system of one embodiment of the present of invention.
Fig. 6 has showed the train controller in-to-in constructional drawing of Fig. 5.
Fig. 7 has showed the interior information of memory storage of Fig. 6.
Fig. 8 has showed the train performance database of Fig. 6.
Fig. 9 has showed the vehicle drive unit in-to-in pie graph of Fig. 5.
Figure 10 has showed the control flow chart of the train controller of Fig. 5.
Figure 11 has showed the situation of state information updating of the memory storage of Fig. 7.
Figure 12 has showed the output torque instruction decision diagram of circuit to train controller.
Figure 13 has showed the constructional drawing of the control system of an alternative embodiment of the invention.
Figure 14 has showed the train controller in-to-in constructional drawing of Figure 13.
Figure 15 has showed the interior information of memory storage of Figure 14.
Figure 16 has showed the vehicle drive unit in-to-in constructional drawing of Figure 13.
Figure 17 has showed the control flow chart of the train controller of Figure 13.
Figure 18 has showed the allocation proportion decision diagram of circuit to vehicle drive unit of the embodiment of Figure 13.
Figure 19 has showed the constructional drawing of the control system of an alternative embodiment of the invention.
Figure 20 has showed the example of pie graph of the vehicle fitting of Figure 19.
Figure 21 has showed the example of pie graph of the vehicle fitting of Figure 19.
Figure 22 has showed the control flow chart of the train central control unit of Figure 19.
Figure 23 showed one embodiment of the present of invention idle running, slide the detection filter.
Figure 24 showed one embodiment of the present of invention idle running, slide the detection filter.
Figure 25 showed one embodiment of the present of invention idle running, slide the detection filter.
Figure 26 has showed the reset speed data bank of one embodiment of the present of invention.
Figure 27 has showed the reset time data bank of one embodiment of the present of invention.
Figure 28 has showed the range data storehouse that resets of one embodiment of the present of invention.
The specific embodiment
As the system of travelling, be that example describes with the railway vehicle at this by a plurality of actuating devices.
Constitute in railway vehicle: several to tens vehicle couples together, and usually in several the vehicles therein the changer actuating device is set, and then 1 or 2 or 4 driving engines are parallel-connected on the changer actuating device.Each changer actuating device is accepted torque instruction from the rotating device the vehicle ahead, and the control driving engine makes the torque and instruction value unanimity of driving engine.
On railway, with car acceleration and deceleration ground operation on rail of iron.Because the friction coefficient of iron is little, so wheel becomes idle running, sliding state easily.In addition, the friction force of iron alters a great deal according to apparent condition and acceleration magnitude.When rainfall, so because the wet and slippery friction force of rail is little.Thereby, for the railway vehicle that travels on the circuit of regulation, its ahead vehicle be subjected to its influence easily than follow-up vehicle, dally, slide easily.
In service at railway vehicle in order to ensure maintenance efficiency and acceleration and deceleration performance, it is desirable to all vehicles are carried out identical control.But, as previously mentioned, when the rainy day or under the wet and slippery state of rail, the easy more influence that is subjected to rail cover of the vehicle in the place ahead is dallied, slided easily.So in existing railway vehicle, the vehicle in the place ahead is provided with torque low in advance.But, even, revert to the torque of regulation along with the time because the situation that such setting also has idle running, slides so each changer actuating device reduces torque by oneself, prevents idle running, slides.In addition, detect idle running, when sliding, each changer actuating device by the change driving engine output characteristic, the set torque that obtains.
The poorest condition of data imagination that existing railway vehicle obtains according to actual measurement, in order under this condition, not dally yet, to slide, and the torque in the high speed zone of reduction front vehicles, give the vehicle at rear with this torque distribution that reduces, as the vehicle whole certain torque that obtains of forming into columns.But, as mentioned above, because the poorest condition of existing railway vehicle imagination, so big to the torque distribution amount of front vehicle, even carry out such distribution in advance, also may dally, slide.
Under the situation that idle running has taken place, slided, each changer actuating device reduces torque by oneself, and prevent idle running, slide, and along with the time reverts to the torque of regulation, thereby reduced the torque of vehicle formation single-piece.Especially, under the situation of rapid transit railways such as the Shinkansen, the result who reduces the torque of vehicle formation single-piece can not guarantee sufficient torque, begins to stopping the needed time and distance is elongated from brake, postponed due in, the confusion of schedule has taken place to the next stop.Imagine this situation, common railway schedule can be set redundantly, but requiring at a high speed, in the circuit zone of high density operation, it is desirable to reduce this redundancy as far as possible, control in the time of can be with fine day the samely.
In addition, in the circuit zone that requires height, high density operation, because the restriction of time, so be difficult to according to switching distribution methods such as weather.So in the prior art, no matter be rainy day or fine day, train all travels with same distribution method.Therefore, can not realize the acceleration and deceleration of each vehicle equalization are distributed, the easy more generation of the vehicle at rear increases the fault that causes because of brake loss, load.
In addition, in the prior art, idle running is taking place, sliding under the situation, controlling because each vehicle is changed engine characteristics, so export under the not enough situation in the torque of each vehicle, not to its method of remedying, torque is low.In addition, in order to store engine characteristics, just high-capacity memory storage must be arranged.
In order to address the above problem, in the present embodiment, not imagine the distribution of torque in advance, but consider in real time and neatly distribution of torque of motoring condition and extraneous state ground.
Specifically, connect each vehicle, consider that the state ground of each vehicle dynamically changes torque by communication network.For example, in each vehicle drive unit, be provided with the state of monitor unit monitor unit, transmit the information of function for monitoring communication network, be used for train controller to each vehicle drive unit distribution of torque.The monitor unit that is arranged in each vehicle drive unit reads information from each vehicle drive unit, utilizes communication network etc., is sent to train controller.In train controller, the state of each vehicle drive unit that sends according to the amount of torque of each vehicle drive unit with from monitor unit determines the torque of this device.In addition, surpassed under the situation of allowed value, reduced the torque of this device, the reduction amount has been distributed to other vehicle drive units in the torque of each vehicle drive unit.The torque of each vehicle drive unit of having adjusted is transmitted to each vehicle drive unit via communication network, and each vehicle drive unit is according to controlling from the torque instruction of train controller.
Below, use accompanying drawing to describe.
Fig. 1 has showed the torque distribution control as an embodiment of the present invention.Fig. 1 (a) has showed with the vehicle to be that unit carries out torque distribution, and Fig. 1 (b) has showed with the car load to be that unit carries out torque distribution, and Fig. 1 (c) has showed with the axletree to be that unit carries out torque distribution.When vehicle becomes idling conditions and sliding state ahead, till the torque instruction value that is used for avoiding dallying and slides, reduce the torque instruction value of vehicle ahead, distribute to the 2nd later vehicle, keep as train single-piece amount of torque by the amount of torque that will reduce.That is, the reduction amount of torque instruction value that sends the vehicle drive unit of regulation to be send to other vehicle drive units torque instruction value recruitment and.Train controller uses method decision described later to reduce torque instruction value, to give the 2nd later vehicle with the torque distribution of which kind of degree with which kind of degree according to by the status information of vehicle network from the vehicle drive unit input of each vehicle.Train controller is by communication network, and output is based on the new torque instruction value of each vehicle drive unit of this determined torque distribution.Each vehicle drive unit drives driving engine, axletree according to this torque instruction value.
At this, for torque distribution to the 2nd later vehicle, showed the embodiment that the reduction mean allocation of the 1st torque is given the back vehicle, but must not make the torque distribution and the back vehicle equalization of the 2nd later vehicle, also can reduce the torque of vehicle ahead, and keep as various distribution methods such as vehicle single-piece amount of torque.For example, also can reduce by the 2nd sendout, decision torque distribution amount makes that vehicle sendout in back is big more.
Fig. 2, Fig. 3 and Fig. 4 are the device block diagrams of the train of one embodiment of the present of invention.By constituting with the lower part: the velocity information (not shown) that obtains according to speed calculation, from the gear instruction of driver's cab 2504, from the status information of each vehicle drive unit 102 by speed power generation machine or conv, decision is to the train controller 101 of the amount of torque of each vehicle drive unit 102; According to control information decision output torque amount, export the vehicle drive unit 102 of the status information of self in addition from train controller 101; And the communication network 103 of these control informations that intercom mutually.
That is, this train control system has: the vehicle drive unit 102 that drives each vehicle of train; Transmit the communication network 103 on the car of status data of each vehicle drive unit 102; The status data that input is transmitted by communication network 103, the train controller 101 of the torque instruction value that sends to each vehicle drive unit 102 according to this status data decision.Train controller is under the situation of the torque instruction value that reduces the 1st vehicle drive unit 102 (in the present embodiment for vehicle) ahead according to status data, determine the torque instruction value of each vehicle drive unit 102 to make the amount of torque that will reduce distribute to 2nd vehicle drive unit 102 (in the present embodiment be 2nd later vehicle drive unit 102) different with the 1st vehicle drive unit 102, the while is exported determined torque instruction value to communication network 103.Communication network 103 will send each vehicle drive unit 102 to by the torque instruction value of train controller 101 decisions.Vehicle drive unit 102 is according to the torque instruction value powered vehicle 2501 that sends.
Fig. 2 is the embodiment of all driving engines 2505 of a vehicle of a vehicle drive unit 102 controls, Fig. 3 is the embodiment of the driving engine 2505 of a railway carriage 2506 of a vehicle drive unit 102 controls, and Fig. 4 is the embodiment that a vehicle drive unit 102 (being expressed as " I " in Fig. 1) is controlled each driving engine 2505.
It is desirable to communication network 103 is above high-revolving, the high-capacity networks of 100Mbps.In order to be suitable for present embodiment, keep as train single-piece amount of torque, it is desirable to be input to train controller 101 from the status information of each vehicle drive unit 102 as early as possible, and the information that status information is preferably detailed makes train controller 101 can positively determine torque distribution.
In addition, the embodiment of Fig. 2 is corresponding with the embodiment of Fig. 1 (a), and the embodiment of Fig. 3 is corresponding with the embodiment of Fig. 1 (b), and the embodiment of Fig. 4 is corresponding with the embodiment of Fig. 1 (c).For example, even the embodiment of Fig. 2 if vehicle drive unit 102 can be controlled the amount of torque of each train or each axletree respectively, then also can be applicable to Fig. 2 Fig. 1 (b) and embodiment (c).Equally, also Fig. 3 can be applicable to Fig. 1 (a) and (c), Fig. 4 is applicable to Fig. 1 (a) and (b).
Below, be described in detail.
Fig. 5 is the parent map of the control system of one embodiment of the present of invention, has showed the flow direction of the control information in the control system.Promptly, by constituting with the lower part: the velocity information that obtains according to speed calculation, from the gear instruction of driver's cab, from the status information of each vehicle drive unit 102 by speed power generation machine or conv, decision is to the train controller 101 of the amount of torque of each vehicle drive unit; According to control information decision output torque amount, export the vehicle drive unit 102 of the status information of self in addition from controller of vehicle 101; And the communication network 103 of these control informations that intercom mutually.In addition, present embodiment is made of a train controller 101 and the vehicle drive unit more than 2 102 at least.
As shown in Figure 6, train controller 101 is made of memory storage 201, distribution determination device 202, input/output unit 203, train performance database 204 at least.Fig. 7 has showed the status information in the memory storage 201, and Fig. 8 has showed train performance database 204.
As shown in Figure 7, the status information in the above-mentioned memory storage 201 is by the output upper limit of the idling slide resume of each vehicle drive unit, state (fault, normal), each actuating device having or not of surpassing, constitute the torque distribution amount of each vehicle drive unit.About the idling slide resume of each vehicle drive unit,, represent situation about not having with 0 with 1 situation of representing to have the idling slide resume.In addition,, represent fault with 1, represent normal with 0 about the state of each vehicle drive unit.Equally,, represent to surpass, represent not surpass with 0 with 1 about having or not that the output upper limit of each actuating device surpasses.At last, about the torque distribution amount, show the output command amount of torque with 2 system numerical tables.In addition, guarantee to think necessary bit number.
In addition, also can be with in 1 and 0 of this expression opposite situation.In addition, show state, torque distribution amount with 2 system numerical tables, but, also can be used as continuous quantity and count preservation state with 10 systems for example except having or not at this.
And then, replace the command assignment amount, also can use tractive force, braking force, torque, acceleration-deceleration etc.
In addition, it is exactly to be set to that status information in the above-mentioned memory storage 101 is carried out initialization (resetting): the idling slide resume that do not have each vehicle drive unit, state is normal, not have the output upper limit above each actuating device, and is 0 to the torque distribution amount of each vehicle drive unit.
Train performance database 204 constitutes form shown in Figure 8, represents the torque of exporting by speed and gear.
Figure 10 is the control flow that is undertaken by train controller 101.Use Figure 10 explanation to handle by the output torque amount decision that train controller 101 carries out to each vehicle drive unit.
In step 501, check the reset instruction whether memory storage is arranged, advance to step 502 having under the situation of reset instruction, under situation about not having, advance to step 503.As the condition that produces reset instruction, can consider that certain hour internal torque sendout does not change, the torque distribution amount does not change during the certain distance that travels, train speed descends a certain speed, sent reset instruction etc. from chaufeur.
In step 502, the status information of train controller in-to-in memory storage 201 is carried out initialization.Then advance to step 503.
In step 503, inbound pacing information and from the instruction of the gear of operator's compartment with reference to train controller in-to-in train performance database 204, is obtained as the necessary amount of torque T of marshalling vehicle, calculates the amount of torque S that equalization is distributed to each vehicle drive unit.All vehicle drive units in establishing marshalling add up to M, the vehicle drive unit that fault has taken place is under the situation of X, calculates by following formula:
S＝T/(M-X)
Then, advance to step 504.
In step 504, receive the status information of each vehicle drive unit, upgrade the status information of each vehicle drive unit of above-mentioned memory storage 201.This more news will be described in detail in the back as shown in figure 11.Then advance to step 505.
In step 505,, calculate total amount of torque Pn to each vehicle drive unit according to the status information of memory storage 201.Then advance to step 506.
In step 506, the total amount of torque Pn that obtains according to the status information that is stored in each vehicle drive unit in the above-mentioned memory storage 201, in step 505, at the amount of torque S that step 504 calculates to each vehicle drive unit, decision is to the amount of torque of each vehicle.Figure 12 has showed the treatment scheme that this decision is handled, and will be described in detail in the back.Then advance to step 507.
In step 507, the amount of torque S1n to each vehicle drive unit (n represents the numbering of each vehicle drive unit) in the updated stored device 201.
As mentioned above, pass through to till the parking circulation and carry out above-mentioned processing, can carry out torque distribution to each vehicle expeditiously.
Figure 11 has showed the renewal of status information of each vehicle drive unit of the memory storage 201 that carries out in step 404.To shown in the record of step 401, when train is in the parking, is initial condition as above-mentioned.If train begins to travel, then exist with ... state of weather and landform, the output upper limit of the idling slide resume of each vehicle drive unit, state (fault, normal), each actuating device surpasses has or not, the ratio of the torque distribution of each vehicle drive unit is changed.After this variation continued for some time, state variation stopped.
Torque distribution to each vehicle drive unit is the torque that detects the actuating device of idling slide by reduction, and the amount of torque that reduces distributed to the actuating device that does not have the idling slide resume and not have to surpass the output upper limit of each vehicle drive unit, control the amount of torque that makes as the whole maintenance of marshalling appointment.Below, use Figure 12 to be described in detail.
In step 701, with reference to memory storage 201, the command torque amount Sn (n represents the numbering of each vehicle drive unit) that obtains according to state in order to following method to each vehicle drive unit from each vehicle drive unit, at the total amount of torque Pn that step 503 calculates to each vehicle drive unit, calculate torque distribution amount Hn (n represents the numbering of each vehicle drive unit).
Hn=Sn/Pn (n represents the numbering of each vehicle drive unit)
Wherein, owing to after memory storage 201 is reset, become Pn=0 at once, so become this moment:
Hn=initial moment sendout (n represents the numbering of each vehicle drive unit)
Then, advance to step 702.
In step 702, what the output upper limit of idling slide resume, state and each vehicle drive unit that obtains according to the status information from each vehicle drive unit surpassed has or not, obtain total number L, the regular event in each vehicle drive unit of the vehicle drive unit that does not have output upper limit idling slide resume and regular event, that do not have to surpass each vehicle drive unit and have the vehicle drive unit of idling slide resume total number Y, surpass the total number Z of vehicle drive unit of the output upper limit of each vehicle drive unit.In addition, below relation is set up.
M＝L+Y+Z+X
Then, advance to step 703.
In step 703, make the torque distribution amount Hn of vehicle drive unit regular event in each vehicle drive unit, that the vehicle drive unit of idling slide resume is arranged and surpassed the output upper limit of each vehicle drive unit reduce the value a of a certain decision.In addition, with following formula calculate regular event in each vehicle drive unit, the vehicle drive unit of idling slide resume is arranged and has surpassed the torque instruction amount S1n of vehicle drive unit of the output upper limit of each vehicle drive unit.
S1n＝(Hn-a)×S
Then, advance to step 704.
In step 704, increase do not have the idling slide resume, regular event and not have surpasses the torque distribution amount of vehicle drive unit of the output upper limit of each vehicle drive unit, makes the amount of torque that marshalling integral body obtains stipulating.That is, carry out following processing: with regular event and there is not to surpass the sum of vehicle drive unit of the output upper limit of each vehicle drive unit, the reduction that will calculate in step 703 is carried out equalization distribution.Thereby, calculate regular event and not have torque instruction amount S1n with following formula above the vehicle drive unit of the output upper limit of each vehicle drive unit.
b＝a×(Y+Z)/L
S1n＝(Hn+b)×S
By above processing, can obtain torque instruction amount S1n to each actuating device.The torque instruction amount S1n to each actuating device that obtains is sent to each actuating device, and each actuating device is controlled this torque instruction amount of observing that makes.In addition, used the torque instruction amount in the above-described embodiments, but also can use tractive force, braking force instruction, acceleration and deceleration instruction, torque instruction.In addition, in the above-described embodiments, when change torque instruction amount, the idling slide record information is judged as one, but also be can be used as the idling slide of each control cycle.In this case, memory storage 201 in-to-in information are exactly the idling slide information of each control cycle.In addition,, can further reduce deviation to the back vehicle actuating device by using the idling slide of each control cycle, but owing to the time till stopping to state variation is elongated, so stopping distance is prolonged a little.In addition, in the above-described embodiments, in each actuating device, detect the status information of idling slide, but also can carry out the idling slide detection of each actuating device by train controller.In this case, obtain the velocity information of each actuating device from the state monitoring apparatus of each actuating device.
Then, use Figure 13～Figure 18 that other embodiment are described.
Figure 13 is the parent map of the control system of one embodiment of the present of invention, has showed the flow direction of the control information in the control system.Promptly, by constituting with the lower part: the velocity information that obtains according to speed calculation, from the gear instruction of operator's compartment, from the status information of each vehicle drive unit 802 by speed power generation machine and conv, decision is to the train controller 801 of the allocation proportion of each vehicle drive unit; According to control information, determine the output torque amount, and export the vehicle drive unit 802 of the status information of self from train controller 801; The communication network 803 of these control informations mutually intercoms.
As shown in figure 14, train controller 901 is made of memory storage 901, distribution determination device 902, input/output unit 903 at least.Figure 15 has showed the status information in the memory storage 901.
As shown in figure 15, the status information in the above-mentioned memory storage 901 is by the output upper limit of the idling slide resume of each vehicle drive unit, state (fault, normal), each actuating device having or not of surpassing, to the torque distribution composition of proportions of each vehicle drive unit.About the idling slide resume of each vehicle drive unit,, represent situation about not having with 0 with 1 situation of representing to have the idling slide resume.In addition,, represent fault with 1, represent normal with 0 about the state of each vehicle drive unit.Equally,, represent to surpass, represent not surpass with 0 with 1 about having or not that the output upper limit of each actuating device surpasses.At last, about the torque distribution ratio, show with 2 system numerical tables, but for example also can count preservation state with 10 systems at this.
In addition, also can be with in 1 and 0 of this expression opposite situation.
In addition, it is exactly to be set to that status information in the above-mentioned memory storage 901 is carried out initialization (resetting): the idling slide resume that do not have each vehicle drive unit, state is normal, do not have to surpass the state of the output upper limit of each actuating device, and be 100 the allocation proportion of each vehicle drive unit.
Figure 17 is the control flow that is undertaken by train controller.Use Figure 17, the output torque amount decision processing of being undertaken by train controller 801 to each vehicle drive unit is described.
In step 1201, check the reset instruction whether memory storage is arranged, advance to step 1202 having under the situation of reset instruction, under situation about not having, advance to step 1203.As the condition that produces reset instruction, can consider that certain hour internal torque sendout does not change, the torque distribution amount does not change during the certain distance that travels, train speed descends a certain speed, sent reset instruction etc. from chaufeur.
In step 1202, the status information of train controller in-to-in memory storage 901 is carried out initialization.Then advance to step 1203.
In step 1203, receive the status information of each vehicle drive unit, upgrade the status information of each vehicle drive unit of above-mentioned memory storage 901.The processing of this renewal is the processing identical with above-mentioned Fig. 1.Then, advance to step 1204.
In step 1204, according to the status information that is stored in each vehicle drive unit in the above-mentioned memory storage 901, decision is to the allocation proportion of each vehicle drive unit.Figure 18 has showed the treatment scheme that this allocation proportion decision is handled, and will be described in detail in the back.Then, advance to step 1205.
In step 1205, the torque distribution amount H1n (n represents the numbering of each vehicle drive unit) in the updated stored device 201 to each vehicle drive unit.
As mentioned above, pass through to till the parking circulation and carry out above-mentioned processing, can carry out torque distribution to each vehicle expeditiously.
Torque distribution to each vehicle drive unit is the torque that detects the actuating device of idling slide by reduction, and the amount of torque that reduces distributed to the actuating device that does not have the idling slide resume and not have to surpass the output upper limit of each vehicle drive unit, control the amount of torque that makes as the whole maintenance of marshalling appointment.Below, use Figure 18 to be described in detail.
In step 1301, what the output upper limit of idling slide resume, state and each vehicle drive unit that obtains according to the status information from each vehicle drive unit surpassed has or not, obtain total number L, the regular event in each vehicle drive unit of the vehicle drive unit that does not have output upper limit idling slide resume and regular event, that do not have to surpass each vehicle drive unit and have the vehicle drive unit of idling slide resume total number Y, surpass the total number Z of vehicle drive unit of the output upper limit of each vehicle drive unit.In addition, below relation is set up.
M?＝L+Y+Z+X
Then, advance to step 1302.
In step 1302, make the torque distribution amount Hn of vehicle drive unit regular event in each vehicle drive unit, that the vehicle drive unit of idling slide resume is arranged and surpassed the output upper limit of each vehicle drive unit reduce the value a of a certain decision.In addition, with following formula calculate regular event in each vehicle drive unit, the vehicle drive unit of idling slide resume is arranged and has surpassed the allocation proportion S1n of vehicle drive unit of the output upper limit of each vehicle drive unit.
H1n＝Hn-a
Then, advance to step 1303.
In step 1303, increase do not have torque slide resume, regular event and do not have the torque distribution amount of the vehicle drive unit of the empty output upper limit that surpasses each vehicle drive unit, make the whole amount of torque that obtains stipulating of marshalling.That is, carry out following processing: with regular event and there is not to surpass the sum of vehicle drive unit of the output upper limit of each vehicle drive unit, the reduction that will calculate in step 1302 is carried out equalization distribution.Thereby, calculate regular event and not have allocation proportion H1n with following formula above the vehicle drive unit of the output upper limit of each vehicle drive unit.
b＝a×(Y+Z)/L
H1n＝Hn+b
By above processing, can obtain allocation proportion H1n to each actuating device.In addition, in the above-described embodiments, the idling slide record information is judged as one during allocation proportion, but also be can be used as the idling slide of each control cycle in change.In this case, memory storage 901 in-to-in information are exactly the idling slide information of each control cycle.In addition,, can further reduce deviation to the back vehicle actuating device by using the idling slide of each control cycle, but owing to the time till stopping to state variation is elongated, so stopping distance is prolonged a little.
To be sent to each actuating device by the torque distribution ratio H1n to each actuating device that above-mentioned processing is obtained, each actuating device determines amount of torque according to this torque distribution ratio, gear instruction and velocity information, and controls feasible this amount of torque of observing.In addition, in the above-described embodiments, in each actuating device, detect the status information of idling slide, but also can carry out the idling slide detection of each actuating device by train controller.In this case, obtain the velocity information of each actuating device from the state monitoring apparatus of each actuating device.
Then, use Figure 19～Figure 22 that other embodiment of the present invention are described.
Figure 19 is the parent map of control system of the present invention, has showed the flow direction of the control information in the control system.Promptly, by constituting with the lower part: the velocity information that obtains according to speed calculation, from the gear instruction of operator's compartment, from the status information of each vehicle drive unit 1502 by speed power generation machine and conv, decision is to the train central control unit 1501 of the allocation proportion of each vehicle drive unit; According to control information, determine the output torque amount, and export the vehicle fitting 1502 of the status information of self from train central control unit 1501; The communication network 1503 of these control informations mutually intercoms.
Structure as vehicle fitting 1502, as shown in figure 20, also can consider following formation: the velocity information that obtains according to speed calculation, from the command value of train central control unit 1501, from the status information of each vehicle drive unit 102 by speed power generation machine or conv, decision is to the train controller 101 of the amount of torque of each vehicle drive unit; According to control information decision output torque amount, export the vehicle drive unit 102 of the status information of self in addition from train controller 101; And the communication network 103 of these control informations that intercom mutually.The same with described in the embodiment 1 of train controller 101 described herein, vehicle drive unit 102 and communication network 103.In addition, as shown in figure 21, also can consider following formation: the velocity information that obtains according to speed calculation, from the command value of train central control unit 1501, from the status information of each vehicle drive unit 802 by speed power generation machine and conv, decision is to the train controller 801 of the allocation proportion of each vehicle drive unit; According to control information, determine the output torque amount, and export the vehicle drive unit 802 of the status information of self from train controller 801; The communication network 803 of these control informations mutually intercoms.The same with described in above-mentioned other embodiment of train controller 801 described herein, vehicle drive unit 802 and communication network 803.
Secondly, as the structure of train central control unit 1501, as shown in Figure 6, can consider following formation: constitute by memory storage 201, distribution determination device 202, input/output unit 203, train performance database 204.Memory storage 201 described herein, distribute the same with described in the embodiment 1 of determination device 202, input/output unit 203 and train performance database 204.In addition, as shown in figure 14, also can consider by memory storage 901, distribute determination device 902, input/output unit 903 to constitute.
Below, use Figure 22, describing vehicle fitting 1502 in detail is formations of Figure 20, train central control unit 1501 is processing of the train central control unit under the situation of formation of Fig. 6.
In step 1601, check the reset instruction whether memory storage in the train central control unit is arranged, advance to step 1602 having under the situation of reset instruction, under situation about not having, advance to step 1603.As the condition that produces reset instruction, can consider that certain hour internal torque sendout does not change, the torque distribution amount does not change during the certain distance that travels, train speed descends a certain speed, sent reset instruction etc. from chaufeur.
In step 1602, the status information of train central control unit in-to-in memory storage 201 is carried out initialization.Then advance to step 1603.
In step 1603, inbound pacing information and from the instruction of the gear of operator's compartment with reference to train controller in-to-in train performance database 204, is obtained as the necessary amount of torque T of marshalling vehicle, calculates the amount of torque S that equalization is distributed to each vehicle drive unit.All vehicle drive units in establishing marshalling add up to M, the vehicle drive unit that fault has taken place is under the situation of X, calculates by following formula:
S＝T/(M-X)
Then, advance to step 1604.
In step 1604, receive the status information of each vehicle drive unit, upgrade the status information of each vehicle drive unit of above-mentioned memory storage 201.This more news will be described in detail in the back as shown in Figure 2.Then advance to step 1605.
In step 1605,, calculate total amount of torque Pn to each vehicle drive unit according to the status information of memory storage 201.Then advance to step 1606.
In step 1606, the total amount of torque Pn that obtains according to the status information that is stored in each vehicle drive unit in the above-mentioned memory storage 201, in step 1605 to each vehicle drive unit, at the amount of torque S that step 1604 calculates, decision is to the amount of torque of each vehicle fitting 1502.Then advance to step 1607.
In step 1607, the amount of torque S1n to each vehicle fitting 1502 (n represents the numbering of each vehicle drive unit) in the updated stored device 201.
Above-mentioned processing is carried out in circulation till passing through to parking, can carry out torque distribution to each vehicle expeditiously.
Each vehicle fitting receives above-mentioned amount of torque, and decision is to the torque distribution amount of each actuating device.This sendout decision is handled with in the processing described in Figure 10, will be that above-mentioned amount of torque is identical from the gear instruction transformation of operator's compartment.
In the various embodiments described above, the idling slide record information is judged as one during allocation proportion in change, but also be can be used as the idling slide of each control cycle.In this case, memory storage 201 in-to-in information are exactly the idling slide information of each control cycle.In addition,, can further reduce deviation to the back vehicle actuating device by using the idling slide of each control cycle, but owing to the time till stopping to state variation is elongated, so stopping distance is prolonged a little.
To be sent to each actuating device by the torque distribution ratio H1n to each actuating device that above-mentioned processing is obtained, each actuating device determines amount of torque according to this torque distribution ratio, gear instruction and velocity information, and controls feasible this amount of torque of observing.In addition, in the above-described embodiments, in each actuating device, detect the status information of idling slide, but also can carry out the idling slide detection of each actuating device by train controller.In this case, obtain the velocity information of each actuating device from the state monitoring apparatus of each actuating device.
In addition, among the embodiment described herein, the instruction of establishing from operator's compartment all is the gear instruction, but torque instruction also can be realized by said system.
Below explanation is in the method for the detection of the idling slide described in the various embodiments described above.In addition, under being undertaken under the situation that idling slide detects by state monitoring apparatus and being carried out situation that the idling slide of each actuating device detects by train controller, this method all is the same.Figure 23～Figure 25 has showed that the idling slide of realizing said method detects filter.
In filter shown in Figure 23, to carrying out time average by each state monitoring apparatus or the detected idling slide detection of train controller information, if the above value of threshold value is then judged idling slide has taken place, if not then handling as idling slide not taking place.Then, in filter shown in Figure 24, carry out frequency resolution, judge whether it is the idling slide that takes place moment, under the situation of idling slide that is the moment generation, handle as idling slide does not take place according to idling slide detection information and vibration information.Then in filter as shown in figure 25, be stored in the location information of the seam moment generation idling slide of rail in advance, by the position that contrasts this location information and idling slide has taken place, judge whether it is the idling slide that takes place moment, under the situation of idling slide that is the moment generation,, handles idling slide as not taking place.In addition, also can judge the idling slide that moment takes place with the filter that has made up Figure 23～Figure 25.
Then, use the reset speed data bank of Figure 26, the reset time data bank of Figure 27, the range data storehouse that resets of Figure 28, the repositioning method of the described in the above-described embodiments torque distribution amount to each vehicle drive unit of supplemental instruction.As the condition that resets, consider following situation.
1. the speed V1 that is through with at torque distribution prepares to have defined the data bank of reset speed V2, if speed resets with next at V2.In addition, as the method for obtaining reset speed V2, for example use the following formula of obtaining desirable adhesion value μ:
μ=α * 13.6/ (85+V) ... (formula 1)
(α is determined by the ground-surface drying regime.If α=1 then be moistening, if α=2 then be drying regime.V is a train speed), the adhesion value μ 1 when obtaining speed V1 obtains and has determined to change speed V2 about β % according to μ 1.
As above-mentioned example, if obtained reset speed V2 under the situation of α=1, β=1, speed V1=255km/h, then μ 1=1 * 13.6/ (85+255)=0.04, promptly 4%.Obtain and changed 1% speed V2.Under situation about quickening, then adhesion value is low more owing to can consider to rise speed, so become from 4% to 3%.If use it to obtain reset speed V2, then be 0.03=1 * 13.6/ (85+V2), V2=368.333km/h.On the contrary, under the situation of slowing down, reduce that then adhesion value is high more owing to can consider speed, so become from 4% to 5%.If use it to obtain reset speed V2, then be 0.05=1 * 13.6/ (85+V2), V2=187km/h.
2. the speed V1 that is through with at torque distribution prepares to have defined the data bank of reset time T2, if after finishing from torque distribution through T2 then reset.In addition, as the method for obtaining reset time T2, for example can use (formula 1) of obtaining desirable adhesion value μ, the adhesion value μ 1 when obtaining speed V1, obtain the speed V2 that has changed about β % according to μ 1, and then calculate T2=| (V2-V1)/ω according to acceleration-deceleration ω |.
As above-mentioned example, if obtained in α=1, β=1, acceleration-deceleration ω=2.5km/h/s, the reset speed V2 under the situation of speed V1=255km/h, then μ 1=1 * 13.6/ (85+255)=0.04, promptly 4%.And obtain it and changed 1% speed V2.Under situation about quickening, then adhesion value is low more owing to can consider to rise speed, so become from 4% to 3%.If use it to obtain reset speed V2, then be 0.03=1 * 13.6/ (85+V2), V2=368.333km/h.Thus, T2=(368.333-255)/2.5=45.3 second.On the contrary, under the situation of slowing down, reduce that then adhesion value is high more owing to can consider speed, so become from 4% to 5%.If use it to obtain reset speed V2, then be 0.05=1 * 13.6/ (85+V2), V2=187km/h.Thus, T2=| (187-255)/2.5|=27.2 second.
3. the speed V1 that is through with at torque distribution prepares to have defined the data bank that resets apart from S2, if from having travelled S2 then reset after torque distribution finishes.In addition, as the method for obtaining reset time S2, for example can use (formula 1) of obtaining desirable adhesion value μ, adhesion value μ 1 when obtaining speed V1, obtain the speed V2 that has changed about β % according to μ 1, so according to acceleration-deceleration ω calculate S2=| (V2 * V2-V1 * V1)/7.2 * ω |.
As above-mentioned example, if obtained in α=1, β=1, acceleration-deceleration ω=2.5km/h/s, the reset speed V2 under the situation of speed V1=255km/h, then μ 1=1 * 13.6/ (85+255)=0.04, promptly 4%.And obtain it and changed 1% speed V2.Under situation about quickening, then adhesion value is low more owing to can consider to rise speed, so become from 4% to 3%.If use it to obtain reset speed V2, then be 0.03=1 * 13.6/ (85+V2), V2=368.333km/h.Thus, S2=(368.333 * 368.333-255 * 255)/(7.5 * 2.5)=3924.7m.On the contrary, under the situation of slowing down, reduce that then adhesion value is high more owing to can consider speed, so become from 4% to 5%.If use it to obtain reset speed V2, then be 0.05=1 * 13.6/ (85+V2), V2=187km/h.Thus, S2=(187 * 187-255 * 255)/(7.2 * 2.5)=1669.7m.
4. when the instruction of having changed from chaufeur, owing to changed with respect to ground-surface is bonding, so reset.
5. also can make up 1. above-mentioned～judgement 4. resets.
In addition, also can consider in order to the following value of method decision α: the method that determines as certain value according to the Weather information data bank; According to the idle running of wheel and the probability of occurrence that slides of wheel, the method for study ground change etc.
In addition, in the above description, prepare data bank in advance, but also can dynamically calculate, carry out reset processing by said method is installed in the train controller.
The inventor confirms: implement above-mentioned processing by simulation, in rainy day and the same acceleration and deceleration of fine realization, with under the situation of having carried out distribution in advance, the vehicle of vehicle drive unit that does not have the regular event of idling slide resume and do not have to surpass an output upper limit of each vehicle drive unit is necessary to increase about 7% relatively, under the situation of dynamically distributing, as long as increase about 3% just can, and can reduce deviation to vehicle drive unit.
Detect and failure message by idling slide, dynamically carry out the distribution of acceleration and deceleration performance, can control flexibly corresponding to weather and situation according to each actuating device.In addition, above-mentioned idling slide detects by carrying out time average, the comparison with location information, the filtration treatment of frequency analysis, can get rid of the idling slide in the moment that the seam of rail etc. is located to produce, and can prevent useless torque reallocation.On the other hand, distribute in advance and compare, can reduce sendout follow-up vehicle with the poorest condition of imagination.In addition, not taking place more than a certain condition under the situation of idling slide,, can reduce unnecessary distribution by the sendout that resets.Handle by these, can make each vehicle and train etc. be difficult to take place because of wearing and tearing and load increase the fault that causes, irrespectively carry out same acceleration and deceleration with dry wetability state.
When carrying out torque distribution in advance, by simulation and actual tests, obtain the torque distribution amount that pulls in when stopping to each vehicle drive unit, use it to distribute, can not produce idling slide ground thus, irrespectively carry out same acceleration and deceleration with dry wetability state.
Claims (13)
1. train control system is characterized in that comprising:
Drive the vehicle drive unit of each vehicle of train;
Transmit communication network on the car of status data of each vehicle drive unit; And
The status data that input is transmitted by communication network on the above-mentioned car, according to this status data, the train controller of the torque instruction value that decision is sent to each above-mentioned vehicle drive unit, wherein
Above-mentioned train controller is under the situation of the torque instruction value that reduces the 1st vehicle drive unit according to above-mentioned status data, determine the torque instruction value of each above-mentioned vehicle drive unit, make this amount of torque that has reduced is distributed to 2nd vehicle drive unit different with above-mentioned the 1st vehicle drive unit, simultaneously determined torque instruction value is outputed to communication network on the above-mentioned car
Communication network will be sent to each above-mentioned vehicle drive unit by the above-mentioned torque instruction value of above-mentioned train controller decision on the above-mentioned car,
Above-mentioned vehicle drive unit is according to the above-mentioned torque instruction value powered vehicle that sends.
2. train control system according to claim 1 is characterized in that:
Above-mentioned train controller the torque distribution amount kept the situation of specific time, situation, this torque distribution amount till the speed that this torque distribution amount is maintained to regulation kept regulation distance situation or changed under the situation from the instruction of chaufeur, make the control that the amount of torque that has reduced is distributed to 2nd vehicle drive unit different with above-mentioned the 1st vehicle drive unit return to the former state of this distributions control.
3. train control system according to claim 1 is characterized in that:
Above-mentioned vehicle drive unit has one or more state monitoring apparatus at least, by communication network on the above-mentioned car supervision result of this state monitoring apparatus is sent to above-mentioned train controller,
The sendout to the torque instruction value of each vehicle drive unit of above-mentioned train controller before according to the supervision result of above-mentioned state monitoring apparatus and control cycle, decision is to the sendout of the torque instruction value of each above-mentioned vehicle drive unit.
4. train control system according to claim 3 is characterized in that:
Above-mentioned train controller is saved in the supervision result of above-mentioned state monitoring apparatus in the memory storage.
5. train control system according to claim 3 is characterized in that:
Above-mentioned train controller will by above-mentioned state monitoring apparatus be judged as unusual above-mentioned vehicle drive unit from the above-mentioned car the communication network TURP from, simultaneously the torque of this vehicle drive unit output is distributed to normally and is surpassed other above-mentioned vehicle drive units of the output upper limit equably.
6. train control system according to claim 3 is characterized in that:
Above-mentioned state monitoring apparatus is judged wheel slipping or situation about sliding.
7. train control system according to claim 6 is characterized in that:
Under the idle running of having judged wheel or situation about sliding, calculate adhesion value according to present car speed and acceleration-deceleration.
8. train control system according to claim 6 is characterized in that:
Above-mentioned state monitoring apparatus, is judged as wheel and idle running has taken place or slides the idle running of wheel or detecting under the situation that number of times surpassed threshold value of sliding at per second.
9. train control system according to claim 6 is characterized in that:
Above-mentioned state monitoring apparatus is by to judging that idle running has taken place wheel or vibration information when sliding carries out frequency resolution, judges that wheel idle running takes place or slides.
10. train control system according to claim 6 is characterized in that:
The contrast of above-mentioned state monitoring apparatus is judged wheel the location database that idle running or the position of sliding, prediction wheel idle running take place or slide has been taken place, and judges that wheel idle running has taken place or slides.
11. train control system according to claim 10 is characterized in that:
Above-mentioned location database comprises Weather information.
12. communications network system on the car, be connected with the vehicle drive unit of each vehicle that drives train and the train controller of the torque instruction value of above-mentioned each vehicle drive unit of decision, send the status information of above-mentioned vehicle drive unit to above-mentioned train controller, send the torque instruction value of above-mentioned train controller to above-mentioned each vehicle drive unit, it is characterized in that:
The reduction amount that sends the above-mentioned torque instruction value of the 1st above-mentioned vehicle drive unit to be send to the above-mentioned vehicle drive unit different with above-mentioned the 1st vehicle drive unit above-mentioned torque instruction value recruitment and.
13. a train controller, via the status data of the vehicle drive unit of each vehicle of communication network input driving train on the car, according to this status data of input, decision is characterized in that the torque instruction value that each above-mentioned vehicle drive unit sends:
According to above-mentioned status data, reduce under the situation of torque instruction value of the 1st vehicle drive unit, determine the torque instruction value of each above-mentioned vehicle drive unit, make this amount of torque that has reduced is distributed to 2nd vehicle drive unit different with above-mentioned the 1st vehicle drive unit, via communication network on the above-mentioned car determined this torque instruction value is outputed to above-mentioned each vehicle drive unit simultaneously.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
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| JP2003105952 | 2003-04-10 | ||
| JP105952/2003 | 2003-04-10 | ||
| JP110617/2004 | 2004-04-05 | ||
| JP2004110617A JP4225233B2 (en) | 2003-04-10 | 2004-04-05 | Train control system, on-board communication network system, and train control device |
Publications (2)
| Publication Number | Publication Date |
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| CN1535862A CN1535862A (en) | 2004-10-13 |
| CN1296225C true CN1296225C (en) | 2007-01-24 |
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| CNB2004100328506A Expired - Fee Related CN1296225C (en) | 2003-04-10 | 2004-04-09 | Train control system, communication network system and train control device |
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| Country | Link |
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| JP (1) | JP4225233B2 (en) |
| KR (1) | KR100556224B1 (en) |
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| US9733625B2 (en) | 2006-03-20 | 2017-08-15 | General Electric Company | Trip optimization system and method for a train |
| US10569792B2 (en) | 2006-03-20 | 2020-02-25 | General Electric Company | Vehicle control system and method |
| US10308265B2 (en) | 2006-03-20 | 2019-06-04 | Ge Global Sourcing Llc | Vehicle control system and method |
| US9950722B2 (en) | 2003-01-06 | 2018-04-24 | General Electric Company | System and method for vehicle control |
| JP4703195B2 (en) * | 2005-01-18 | 2011-06-15 | 株式会社東芝 | Electric vehicle control device |
| JP4619185B2 (en) * | 2005-04-19 | 2011-01-26 | 株式会社日立製作所 | Train operation control system, overall control device and drive device |
| JP4882308B2 (en) * | 2005-08-12 | 2012-02-22 | 株式会社Ｉｈｉ | Vehicle control system |
| US9828010B2 (en) | 2006-03-20 | 2017-11-28 | General Electric Company | System, method and computer software code for determining a mission plan for a powered system using signal aspect information |
| US8370006B2 (en) * | 2006-03-20 | 2013-02-05 | General Electric Company | Method and apparatus for optimizing a train trip using signal information |
| US9156477B2 (en) | 2006-03-20 | 2015-10-13 | General Electric Company | Control system and method for remotely isolating powered units in a vehicle system |
| JP4865443B2 (en) * | 2006-08-02 | 2012-02-01 | 株式会社日立製作所 | Railway vehicle system |
| JP2009071917A (en) * | 2007-09-11 | 2009-04-02 | Toyo Electric Mfg Co Ltd | Electric vehicle control method |
| JP5060266B2 (en) * | 2007-12-14 | 2012-10-31 | 株式会社東芝 | Electric vehicle control device |
| US9834237B2 (en) | 2012-11-21 | 2017-12-05 | General Electric Company | Route examining system and method |
| JP5366667B2 (en) * | 2009-06-05 | 2013-12-11 | 株式会社東芝 | Train overall control system |
| US8843419B2 (en) * | 2010-10-12 | 2014-09-23 | General Electric Company | Method and system for rail vehicle reconfiguration |
| ZA201303703B (en) * | 2012-06-05 | 2015-06-24 | Gen Electric | Control system and method for remotely isolating powered units in a vehicle system |
| US9669851B2 (en) | 2012-11-21 | 2017-06-06 | General Electric Company | Route examination system and method |
| JP6115235B2 (en) * | 2013-03-26 | 2017-04-19 | 株式会社明電舎 | Control device for each wheel independent drive cart |
| JP2015033241A (en) * | 2013-08-02 | 2015-02-16 | 株式会社東芝 | Driving force permission command apparatus, inverter controller, vehicle controller, railway vehicle, and driving force permission command method |
| JP6564470B2 (en) * | 2015-12-09 | 2019-08-21 | 川崎重工業株式会社 | Railway vehicle control device, train formation and main motor control method |
| JP6841670B2 (en) * | 2017-01-19 | 2021-03-10 | 東洋電機製造株式会社 | Re-adhesion control device for electric cars |
| JP6479903B2 (en) * | 2017-07-10 | 2019-03-06 | 東芝インフラシステムズ株式会社 | Railway vehicle, inverter control device, and driving force permission command method |
| JP6931619B2 (en) * | 2018-01-31 | 2021-09-08 | 株式会社日立製作所 | Railroad vehicle drive system and drive method |
| CN113942399B (en) * | 2021-11-24 | 2023-08-04 | 中车大连机车车辆有限公司 | Control method for inhibiting locomotive from idling at low speed |
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Also Published As
| Publication number | Publication date |
|---|---|
| KR100556224B1 (en) | 2006-03-03 |
| JP4225233B2 (en) | 2009-02-18 |
| CN1535862A (en) | 2004-10-13 |
| JP2004328993A (en) | 2004-11-18 |
| KR20040089522A (en) | 2004-10-21 |
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