EP0271592A1 - Procédé et dispositif de réglage de l'inclinaison - Google Patents

Procédé et dispositif de réglage de l'inclinaison Download PDF

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Publication number
EP0271592A1
EP0271592A1 EP86117409A EP86117409A EP0271592A1 EP 0271592 A1 EP0271592 A1 EP 0271592A1 EP 86117409 A EP86117409 A EP 86117409A EP 86117409 A EP86117409 A EP 86117409A EP 0271592 A1 EP0271592 A1 EP 0271592A1
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EP
European Patent Office
Prior art keywords
route
vehicle
location
memory
route data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP86117409A
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German (de)
English (en)
Other versions
EP0271592B1 (fr
Inventor
Klaus Dipl.-Ing. Hänsel
Franz Schupp
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honeywell Regelsysteme GmbH
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Honeywell Regelsysteme GmbH
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Filing date
Publication date
Application filed by Honeywell Regelsysteme GmbH filed Critical Honeywell Regelsysteme GmbH
Priority to EP19860117409 priority Critical patent/EP0271592B1/fr
Priority to DE8686117409T priority patent/DE3663500D1/de
Publication of EP0271592A1 publication Critical patent/EP0271592A1/fr
Application granted granted Critical
Publication of EP0271592B1 publication Critical patent/EP0271592B1/fr
Expired legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
    • B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
    • B61F5/02—Arrangements permitting limited transverse relative movements between vehicle underframe or bolster and bogie; Connections between underframes and bogies
    • B61F5/22—Guiding of the vehicle underframes with respect to the bogies

Definitions

  • the present invention relates to a method for tilt control according to the preamble of claim 1 and to an apparatus for performing this method.
  • the control signals can then be generated in a timely manner by a corresponding delay.
  • the difficulty with This method consists in determining exactly where the train is at the route so that the computer can output the correct data for this position. It is possible to determine the speed of the train in different ways and also the location of the train by integration; With such an incremental measuring method, however, the errors add up over the length of the distance, so that it is necessary to correct them at certain distances by means of beacons.
  • the object of the present invention is to design this method in such a way that the stored route section traveled by the vehicle can be determined exactly at any time without the need for auxiliary means on the route, such as e.g. Beacons are required.
  • the route window is not only predetermined by its position and length, but also by values determined and calculated by measurement technology, such as curve radius and curve height for certain segments within the window. This allows the route data correlated to the route window to be found easily and securely in the memory. By addressing the route data in advance in the memory, it is possible to take into account a corresponding speed of the vehicle and a delay-free route to the route section just passed be adjusted inclination control.
  • the 1 shows a car body 12 which is inclined relative to a bogie 10 by the angle ⁇ .
  • the angle ⁇ depends on the curve radius R of the distance traveled and the lateral acceleration b on the bogie 10.
  • the curve increase ⁇ i.e. the angle at which the track plane is inclined against the horizontal plane is fixed when the line is built.
  • a train consisting of a locomotive 16 and three carriages 18, 18 ⁇ and 18 ⁇ is shown in the upper part of the drawing.
  • a Route window 20 is predetermined, which is divided into segments or steps of one meter, for example.
  • the locomotive 16 is provided with a measuring device on the front and rear bogies.
  • the measuring device comprises a gyroscope for measuring the angular velocity ⁇ g in the yaw plane, an acceleration sensor for detecting the lateral acceleration b on the bogie and a sensor for detecting the speed v and the direction of movement (forward / backward).
  • a computer to be described on the locomotive 16 determines the curve radius R of the track and the track elevation ⁇ from these values.
  • a corresponding memory map 22 is shown below the route window 20.
  • the track radius R and the track elevation ⁇ are coded by a corresponding bit pattern under each address provided per step size and identifying the vehicle location.
  • FIG. 3 essentially shows the block diagram of a central computer 25 which is installed on the locomotive. This computer is primarily used to determine the variable route window and the specification of target values for the control of the car body inclination in the trailing cars.
  • the signals supplied by sensors are a central processor CPU-28 supplied, the program stored in a read-only memory ROM-30 the data for the track window is continuously calculated and stored in a random access memory RAM-38.
  • the length of the train or the number of carriages can be specified via an operating and display device 32, a selection switch 34 and an operating logic 36 to the central processor CPU-28 so that it calculates a correspondingly wide route window.
  • Another RAM-40 random access memory serves as the main memory.
  • a large capacity storage 42 e.g. A CD read-only memory with 540 M bytes contains an image of the entire route to be traveled by the train, the track radius R and the curve elevation ⁇ being stored under a corresponding address for each meter of the route.
  • the data for the track radius R and the curve elevation ⁇ are specified, for example, by the measured distance.
  • a coprocessor 44 continually compares the contents of the memory 38 with the contents of the mass storage 42 to find a correlating section in the mass storage 42.
  • a correlating data window in the mass storage 42 is shifted forward in dependence on the speed of the train in the mass storage 42, this corresponding leading window being read out from the mass storage 42.
  • This work is carried out by a further coprocessor 46.
  • the leading window is then processed by the central processor 28 in order to subsequently output setpoints for the inclination ⁇ i and for the actuating speed ⁇ i via a serial input / output connection 48 to the trailing wagons.
  • a further serial input / output connection 50 conducts signals reported back from the carriages via the operating logic 36 and a further selection switch 52 to the operating and display unit 32. All components of the central computer 25 are connected to one another via a bus 54 connected. The trailing wagons are controlled with the digital setpoints via a 2-wire bus 56. This bus 56 also takes over the feedback of certain signals. A separate line 58 is provided for the feedback "carriage in zero position". A voltage supply 60 serves to operate the components within the central computer 25.
  • a block diagram of a control device 62 provided in each car is shown.
  • the control device 62 is double in terms of its digital processing components, i.e. realized redundantly.
  • the choice between a first controller 64 and a second controller 66 is made via a logic 68 which, in addition to the controller switchover, also serves for bus monitoring and bus switchover. This logic 68 also monitors a voltage supply 70 and switches it off in the event of a fault.
  • the controllers 64 and 66 are implemented digitally as processors, and in the usual way they include a central processor CPU-72, a working memory RAM-74, a program memory ROM-76, an analog / digital converter and multiplexer 78 as well as serial inputs / Output connectors 80 include.
  • the second controller 66 has the same components, these components being provided with the same reference number but with a comma.
  • This actuating device must then be provided with a corresponding digital / analog converter and the actual actuators of an electrical or hydraulic type.
  • the positioning speed ⁇ is also regulated.
  • the speed control loop is subordinate to the position control loop.
  • the positioning speed of the car body is taken into account as a special control variable in order to achieve a delay-free positioning process adapted to the transition arches.
  • each car is provided with a display and control console 88, for example, by means of which the control can be switched off and certain values can be displayed.
  • Figure 5 shows the arrangement of the essential elements within the train set. It can be seen that the locomotive 16 is provided with measuring devices 24 on the front and rear bogies and has the central computer 25. The carriages 18, 18 ⁇ ... are equipped with the redundant control device 62 and, per bogie, with the sensors 84 and the actuators 86. Train and car are connected to each other via the serial data bus 56 and the additional line 58 is used to report the zero position.
  • switch-on and switch-off procedures are defined, which are of great importance for the safety of vehicle users, for operational safety and for the flexibility of the chosen working principle.
  • the switch-on procedure begins with the query of the car according to the number with subsequent wagon addressing, specification of the respective wagon length and definition of the train length and definition of the route window.
  • the inclination control can be put into operation.
  • the train driver receives feedback about the proper functioning of the wagons and the train composition, and he will acknowledge the correctness of the information in a trouble-free state. Only now is the release for unrestricted commissioning of the inclination control.
  • the switch-off procedure begins with an error query, e.g. whether a controller has switched to the second processor in order to be able to initiate replacement work, whereby the error display is retained even after the system is switched off. Then there is a query for correct zero positioning of the individual car bodies and acknowledgment when the zero infeed has been completed. The individual wagons are now switched off and, after being properly switched off, the central computer on the locomotive can also be switched off.
  • the measuring device which supplies the data to be processed by the computer, to be arranged on the bogie of the locomotive.
  • this measuring device can be located anywhere within the train set; it is then only necessary to know the train length in front of and behind the measuring device so that the computer takes this into account accordingly when determining the route window.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
EP19860117409 1986-12-15 1986-12-15 Procédé et dispositif de réglage de l'inclinaison Expired EP0271592B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP19860117409 EP0271592B1 (fr) 1986-12-15 1986-12-15 Procédé et dispositif de réglage de l'inclinaison
DE8686117409T DE3663500D1 (en) 1986-12-15 1986-12-15 Method and device for the regulation of tilting

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP19860117409 EP0271592B1 (fr) 1986-12-15 1986-12-15 Procédé et dispositif de réglage de l'inclinaison

Publications (2)

Publication Number Publication Date
EP0271592A1 true EP0271592A1 (fr) 1988-06-22
EP0271592B1 EP0271592B1 (fr) 1989-05-24

Family

ID=8195646

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19860117409 Expired EP0271592B1 (fr) 1986-12-15 1986-12-15 Procédé et dispositif de réglage de l'inclinaison

Country Status (2)

Country Link
EP (1) EP0271592B1 (fr)
DE (1) DE3663500D1 (fr)

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2245874A (en) * 1990-07-09 1992-01-15 Gec Alsthom Ltd Damping arrangements for railway vehicles
EP0615890A1 (fr) * 1993-03-19 1994-09-21 FIAT FERROVIARIA S.p.A. Suspension active latérale inclinable pour véhicules ferroviaires
EP0647553A2 (fr) * 1994-12-05 1995-04-12 SIG Schweizerische Industrie-Gesellschaft Système de guidage et méthode pour la commande de la pente latérale d'un véhicule ferroviaire
WO1996002027A1 (fr) * 1994-07-11 1996-01-25 Siemens Aktiengesellschaft Procede et dispositif de regulation de l'inclinaison par rapport a la terre de la caisse de wagon de vehicules sur rails
WO1997003858A1 (fr) * 1995-07-20 1997-02-06 Walkers Limited Ensemble de commande de pantographe
GB2307061A (en) * 1995-11-07 1997-05-14 Const Y Aux Ferrocarriles Sa Guided vehicle position detector
GB2306932A (en) * 1995-11-07 1997-05-14 Const Y Aux Ferrocarriles Sa Tilting train control system - uses stored track model data and absolute position sensing
DE19542369A1 (de) * 1995-11-07 1997-05-15 Const Y Aux Ferrocarriles Sa Pendelsystem für Schienenfahrzeuge
US5787815A (en) * 1994-05-25 1998-08-04 Asea Brown Boveri Ab Storage of track data in a position-controlled tilt system
DE19707175C2 (de) * 1997-02-22 1999-09-02 Tzn Forschung & Entwicklung Verfahren und Vorrichtung zur Ermittlung eines Winkels um die Fahrzeuglängsachse in einer Kurvenfahrt
EP0952064A2 (fr) 1998-04-24 1999-10-27 FIAT-SIG Schienenfahrzeuge AG Dispositif d'inclinaison transversale pour véhicules ferroviaires
WO1999065751A1 (fr) * 1998-06-13 1999-12-23 Daimlerchrysler Ag Procede de reconnaissance de courbes et d'alignement d'essieux pour vehicules sur rails
DE19912640A1 (de) * 1999-03-20 2000-09-21 Alstom Lhb Gmbh Neigungs-Steuerung für einen Wagenkasten eines spurgebundenen Fahrzeuges
FR2794707A1 (fr) * 1999-06-11 2000-12-15 Alstom Procede et dispositif de commande de l'inclinaison d'un vehicule ferroviaire pendulaire
JP2002249043A (ja) * 2001-02-22 2002-09-03 Fuji Heavy Ind Ltd 鉄道車両用振子台車およびその台車の振子制御方法

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109823364B (zh) * 2019-03-01 2021-01-26 中铁二院工程集团有限责任公司 提高悬挂式单轨列车乘坐舒适度的控制系统及实现方法

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2126783A5 (fr) * 1971-02-09 1972-10-06 Fiat Spa

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2126783A5 (fr) * 1971-02-09 1972-10-06 Fiat Spa

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PROCEEDINGS IECON '85, San Francisco, California, 18.-22. November 1985, Band 1, Seiten 96-100, IEEE, US; I. OKAMOTO et al.: "The control of an active car body tilting in Japanese national railways" *

Cited By (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2245874B (en) * 1990-07-09 1995-02-01 Gec Alsthom Ltd Damping arrangements
GB2245874A (en) * 1990-07-09 1992-01-15 Gec Alsthom Ltd Damping arrangements for railway vehicles
EP0615890A1 (fr) * 1993-03-19 1994-09-21 FIAT FERROVIARIA S.p.A. Suspension active latérale inclinable pour véhicules ferroviaires
US5454329A (en) * 1993-03-19 1995-10-03 Fiat Ferroviaria Spa Anticentrifugal active lateral suspension for railway vehicles
US5787815A (en) * 1994-05-25 1998-08-04 Asea Brown Boveri Ab Storage of track data in a position-controlled tilt system
WO1996002027A1 (fr) * 1994-07-11 1996-01-25 Siemens Aktiengesellschaft Procede et dispositif de regulation de l'inclinaison par rapport a la terre de la caisse de wagon de vehicules sur rails
US5784969A (en) * 1994-07-11 1998-07-28 Siemens Aktiengesellschaft Process and device for regulating the earth-related inclination of railroad vehicle boxes
US5775230A (en) * 1994-12-05 1998-07-07 Fiat-Sig Schienenfahrzeuge Ag Guidance system and process for controlling the lateral inclination on a rail vehicle
EP0647553A2 (fr) * 1994-12-05 1995-04-12 SIG Schweizerische Industrie-Gesellschaft Système de guidage et méthode pour la commande de la pente latérale d'un véhicule ferroviaire
EP0647553A3 (fr) * 1994-12-05 1995-06-28 Sig Schweiz Industrieges Système de guidage et méthode pour la commande de la pente latérale d'un véhicule ferroviaire.
WO1996017761A1 (fr) * 1994-12-05 1996-06-13 Sig Schweizerische Industrie-Gesellschaft Systeme de guidage et procede de regulation de l'inclinaison laterale d'un vehicule sur rails
AU698963B2 (en) * 1994-12-05 1998-11-12 Fiat-Sig Schienenfahrzeuge Ag Guiding system and process for controlling the lateral inclination of a rail vehicle
WO1997003858A1 (fr) * 1995-07-20 1997-02-06 Walkers Limited Ensemble de commande de pantographe
DE19542369C2 (de) * 1995-11-07 2000-02-10 Const Y Aux Ferrocarriles Sa Pendelsystem für Schienenfahrzeuge
FR2741026A1 (fr) * 1995-11-07 1997-05-16 Const Y Aux Ferrocarriles Sa Systeme de basculement pour vehicule ferroviaire
DE19542369A1 (de) * 1995-11-07 1997-05-15 Const Y Aux Ferrocarriles Sa Pendelsystem für Schienenfahrzeuge
GB2306932A (en) * 1995-11-07 1997-05-14 Const Y Aux Ferrocarriles Sa Tilting train control system - uses stored track model data and absolute position sensing
GB2307061A (en) * 1995-11-07 1997-05-14 Const Y Aux Ferrocarriles Sa Guided vehicle position detector
FR2741027A1 (fr) * 1995-11-07 1997-05-16 Const Y Aux Ferrocarriles Sa Systeme detecteur de position pour vehicules guides
GB2307061B (en) * 1995-11-07 1999-09-15 Const Y Aux Ferrocarriles Sa Position detector system for guided vehicles
GB2306932B (en) * 1995-11-07 2000-02-23 Const Y Aux Ferrocarriles Sa Tilting system for railway rolling stock
DE19707175C2 (de) * 1997-02-22 1999-09-02 Tzn Forschung & Entwicklung Verfahren und Vorrichtung zur Ermittlung eines Winkels um die Fahrzeuglängsachse in einer Kurvenfahrt
DE19818223C1 (de) * 1998-04-24 1999-10-28 Fiat Sig Schienenfahrzeuge Ag Querneigeeinrichtung für Schienenfahrzeuge
EP0952064A2 (fr) 1998-04-24 1999-10-27 FIAT-SIG Schienenfahrzeuge AG Dispositif d'inclinaison transversale pour véhicules ferroviaires
WO1999065751A1 (fr) * 1998-06-13 1999-12-23 Daimlerchrysler Ag Procede de reconnaissance de courbes et d'alignement d'essieux pour vehicules sur rails
US6571178B1 (en) 1998-06-13 2003-05-27 Daimlerchrysler Ab Method for curve recognition and axle alignment in rail vehicles
DE19912640A1 (de) * 1999-03-20 2000-09-21 Alstom Lhb Gmbh Neigungs-Steuerung für einen Wagenkasten eines spurgebundenen Fahrzeuges
EP1038749A1 (fr) * 1999-03-20 2000-09-27 ALSTOM LHB GmbH Commande de l'inclinaison de la caisse d'un véhicule sur rails
FR2794707A1 (fr) * 1999-06-11 2000-12-15 Alstom Procede et dispositif de commande de l'inclinaison d'un vehicule ferroviaire pendulaire
WO2000076827A1 (fr) * 1999-06-11 2000-12-21 Alstom Procede et dispositif de commande d'elements pilotes d'un vehicule ferroviaire
US6484074B1 (en) 1999-06-11 2002-11-19 Alstom Method of and device for controlling controlled elements of a rail vehicle
AU760480B2 (en) * 1999-06-11 2003-05-15 Alstom Transport Technologies Method and device for controlling a railway vehicle steered elements
JP2002249043A (ja) * 2001-02-22 2002-09-03 Fuji Heavy Ind Ltd 鉄道車両用振子台車およびその台車の振子制御方法
JP4668434B2 (ja) * 2001-02-22 2011-04-13 新潟トランシス株式会社 鉄道車両用振子台車およびその台車の振子制御方法

Also Published As

Publication number Publication date
DE3663500D1 (en) 1989-06-29
EP0271592B1 (fr) 1989-05-24

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