EP2443014B1 - Control device and method for operating the same - Google Patents
Control device and method for operating the same Download PDFInfo
- Publication number
- EP2443014B1 EP2443014B1 EP10723106A EP10723106A EP2443014B1 EP 2443014 B1 EP2443014 B1 EP 2443014B1 EP 10723106 A EP10723106 A EP 10723106A EP 10723106 A EP10723106 A EP 10723106A EP 2443014 B1 EP2443014 B1 EP 2443014B1
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- European Patent Office
- Prior art keywords
- operator control
- operator
- operating mode
- operating
- adjustment angle
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- 238000000034 method Methods 0.000 title claims description 8
- 230000001419 dependent effect Effects 0.000 claims description 26
- 230000036962 time dependent Effects 0.000 claims description 18
- 230000003137 locomotive effect Effects 0.000 claims description 6
- 230000009849 deactivation Effects 0.000 claims 2
- 238000006073 displacement reaction Methods 0.000 description 10
- 230000008859 change Effects 0.000 description 9
- 230000008901 benefit Effects 0.000 description 5
- 239000012073 inactive phase Substances 0.000 description 4
- 108091026890 Coding region Proteins 0.000 description 3
- 230000004913 activation Effects 0.000 description 2
- 230000000415 inactivating effect Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000002779 inactivation Effects 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 230000007420 reactivation Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
- B61C17/12—Control gear; Arrangements for controlling locomotives from remote points in the train or when operating in multiple units
Definitions
- the invention relates to an operating device with a control lever for controlling a vehicle, in particular for controlling a locomotive or a traction vehicle.
- the EP 0 687 609 A1 describes a control lever, with both the brakes and the drive can be controlled simultaneously depending on its angular position.
- operating levers In rail vehicles, such as locomotives or locomotives, usually operating levers are used, in which by adjusting the deflection angle of the operating lever, the operating function to be performed is selected operator side. Deflection angle, which is associated with a specific operating function, are fixed in previously known control levers, for example by a locking disk.
- the invention has for its object to provide an operating device of the type mentioned, which is user-friendly than previous controls.
- the invention provides that the operating device has a control device which is a force-related operating mode, in which the operator is set a force on the operator side, which is to be applied to the vehicle, and a speed-related mode, set in the operator with the operating lever speed is to reach the vehicle allows, with the control device, a selection device connected to the operating mode or the speed-related operating mode of the operating device operator selectable, and the controller generates a control signal depending on the selected mode and the respective position of the operating lever on the output side indicating the respective operating command of the operating lever.
- a control device which is a force-related operating mode, in which the operator is set a force on the operator side, which is to be applied to the vehicle, and a speed-related mode, set in the operator with the operating lever speed is to reach the vehicle allows, with the control device, a selection device connected to the operating mode or the speed-related operating mode of the operating device operator selectable, and the controller generates a control signal depending on the selected mode and the respective position of the operating lever on the output side
- a significant advantage of the operating device according to the invention is the fact that it has a switchover, so that it is an operator, so usually the driver, is possible to control the vehicle either power related or speed related. Such a changeover allows a change in the operating philosophy, without requiring a replacement of the operating lever or other parts would be required.
- Another significant advantage of the operating device according to the invention is that a switchover is also possible while driving the vehicle and the driver thus depending on the driving situation has the ability to dynamically select that mode or that operating philosophy that best fits the particular driving situation ,
- the control device is designed such that it, after a user-side change of mode, the operating device for a given Time period inactive switches.
- Such inactive switching gives the driver the opportunity to check if the position of the operating lever is correct or desired, so that it can correct the position of the operating lever within the specified period of time in the event of a deviation; This makes it possible, for example, to prevent the vehicle from accelerating after switching the operating mode, although braking of the vehicle is necessary and previously set.
- the control device outputs a control signal which corresponds to the control signal at the time of the changeover of the operating mode; this ensures continuity in the handling of the vehicle.
- the control device is preferably configured such that it leaves the control signal unchanged after a user-side changeover of the operating mode for a predefined period of time.
- the operating device preferably has a display device which displays the respectively selected operating mode.
- the driver is always signaled which mode is currently active, and it is a misoperation avoided.
- the display device alternatively or additionally also displays the respectively selected operating command of the operating device.
- Such an indication of the present operating command makes the vehicle control particularly comfortable.
- the respective operating position can be determined particularly simply and thus advantageously when an angle measuring device for detecting the adjustment angle of the operating lever is in communication with the control device and the control device is adapted to generate the control signal with the detected angle value of the angle measuring device and the operating mode selected operating mode.
- an individual Verstellwinkel Colour is assigned to the operating lever for each operating command, and the control device checks, for example, which operating mode is selected and in which Verstellwinkel Geb the detected angle value falls, and generates in dependence on the determined Verstellwinkel Anlagen and the determined mode, the control signal.
- the operating lever has no detent position and is self-holding within the entire adjustment range of the operating lever.
- the operating lever provides a single detent position, namely a detenting zero position, and, moreover, operates detent-free and is self-holding within the entire remaining adjustment range of the operating lever.
- the latching zero position is preferably located in an axis of symmetry of the adjustment angle range or the operating device.
- the force-related operating mode and the speed-related operating mode can, for example, be position-dependent and / or time-dependent.
- a position-dependent operating mode is understood to mean that the operating command is determined by the respective position of the operating lever.
- a time-dependent mode of operation is understood to mean that the operating command depends, among other things, on how long the Control lever remains in a predetermined position: In the time-dependent mode, for example, be provided that the driving force of the drive is continuously increased, as long as the operating lever is in the position "increase the driving force", and is continuously reduced, as long as the operating lever in the Position "reduction of driving force" is located. Similarly, the braking force or the vehicle speed can be increased or reduced by adjusting corresponding positions of the operating lever for increasing or decreasing the braking force or the vehicle speed.
- the invention also relates to a method for generating a control signal indicating an operating command of an operating lever, in particular for controlling a locomotive or a traction vehicle, wherein it is checked whether a speed-related operating mode or a force-related operating mode has been selected by the operator, and in dependence the selected operating mode and the respective position of the operating lever on the output side, a control signal is generated which indicates the respective operating command of the operating lever.
- the invention provides that after a user-side switching the operating mode, the operating device is switched inactive for a predetermined period of time and in the predetermined period of inactivating a control signal is output to the control signal at the time Changing the operating mode corresponds.
- the operating device is switched inactive for a predetermined period of time and a control signal is output in the predetermined period of inactivation which corresponds to the control signal at the time of the changeover of the operating mode.
- the adjustment angle of the operating lever is measured, and the control signal is generated with the measured angle value, taking into account the operating mode selected operating mode.
- control lever for each operating command each an individual Verstellwinkel Scheme is specified and is checked which mode is selected and in which Verstellwinkel Scheme the detected angle value falls, and the control signal in dependence on the determined Verstellwinkel Geb and the determined operating mode is generated.
- FIG. 1 One sees a first embodiment of an operating device 10, which is equipped with an operating lever 20.
- the operating lever 20 is held pivotably within a swivel angle range or adjustment range ⁇ and can assume an arbitrary displacement angle ⁇ within the adjustment range ⁇ .
- the adjustment range ⁇ is configured symmetrically and has a central axis or axis of symmetry 30, which divides the adjustment into two large partial angle sections.
- the adjustment range In the area of the axis of symmetry 30 or center axis of the operating lever 20 is held detent, so that the center axis forms a latching zero position for the operating lever 20.
- the adjustment range is rest-free, wherein the operating lever is self-holding in any position outside the symmetry axis 30.
- Such a latching can be achieved for example by a corresponding friction of the operating lever 20.
- the operating device 10 For detecting the respective adjustment angle ⁇ of the operating lever 20, the operating device 10 has an angle measuring device 40 which measures the displacement angle ⁇ , generates a corresponding displacement angle value D ( ⁇ ) and emits this on the output side. Downstream of the angle device 40 is a control device 50 of the operating device 10.
- An exemplary embodiment for a speed-related position-dependent mode of operation is described below in connection with FIG. 2 explained.
- An embodiment of a force-related position-dependent mode of operation is described below in connection with the FIG. 3 explained.
- the selection device 60 therefore, it can be determined on the operator side whether the operating device is to be operated speed-related or force-related.
- the selector 60 is a separate component connected to the controller 50.
- the selection device 60 can also be arranged in or on the operating lever 20, in particular in or on the knob 70 of the operating lever 20.
- the operating device 10 has a display device 80, which is connected to the control device 50.
- the operating device 10 can be operated, for example, as follows:
- the control device 50 determines a control signal ST and outputs it on the output side.
- the respective operating command BF of the operating lever 20 is displayed or output. Since the operating command BF depends on the respective operating mode, the control signal ST is therefore always also a function of the value of BA; this is in the FIG. 1 indicated accordingly.
- control device 50 generates on the output side a display signal AZ, which arrives at the display device 80 and determines which display is to be displayed on the display device 80.
- the display signal AZ causes a display of the respectively current operating command BF and the current operating mode BA.
- BA position-dependent mode
- each angular value ⁇ is assigned a speed value v ( ⁇ ), so that by pivoting the operating lever 20, the speed can be adjusted.
- the resulting force-related operating command depends on which adjustment angle ⁇ of the operating lever 20 respectively.
- the drive of the vehicle should exert a positive driving force.
- the respective driving force value is determined by the respective displacement angle ⁇ within the adjustment angle range ⁇ 7. For example, the greater the displacement angle ⁇ of the operating lever, the greater the driving force is set.
- the braking force is adjusted by pivoting the operating lever 20 in the Verstellwinkel Scheme ⁇ 8, for example, a large displacement ⁇ - with respect to the axis of symmetry 30 - a large braking force and a small adjustment angle ⁇ has a small braking force.
- FIG. 4 It can be seen how an actuation of the selector 60 and generating a selection signal AS causes a change in the mode BA. However, if the selector 60 is activated and a selection signal with a logical "1" is generated, this does not directly result in a change in the mode; only when the selection signal AS is generated at least during a predetermined minimum period Tmin with a logical "one", a switching of the mode BA is caused.
- the operating device 10 Only after expiration of the time period Ts, the operating device 10 is again activated, so that the control signal ST again corresponds to the respective adjustment angle ⁇ of the operating lever 20 and the respectively selected mode BA.
- the reactivation of the operating device 10 after expiration of the inactive phase Ts is in the FIG. 2 symbolized by a return of the status Z from a logical "0" to a logical "1".
- a switching of the mode BA is caused when the actuation of the selector 60 and generating the selection signal AS with a logical 1 at least during the predetermined minimum time Tmin.
- switching of the operating mode BA can also take place under other conditions, for example when a selection signal AS with a predetermined binary or analog coding sequence is generated, for example in the form "short-long-long” or “short-short-long” or like.
- FIG. 5 one sees a second embodiment of an operating device; this is designated by the reference numeral 10 '.
- the operating device 10 ' also has an operating lever 20, which is held pivotably within a swivel angle range or adjustment range ⁇ and can assume an arbitrary displacement angle ⁇ within the adjustment range ⁇ .
- the set driving force or the set braking force thus depends on how long the operating lever 20 is in the driving force changing or braking force changing adjustment range ⁇ 1, ⁇ 3, ⁇ 4 and ⁇ 6.
- the driving force or the braking force remains unchanged or constant at their respective value.
- the activation of a new operating mode after switching the operating mode BA ' preferably takes place only after an inactive phase Ts (cf. FIG. 7 ).
- Ts inactive phase
- the switching of the operating mode BA ' can also take place under other conditions, for example if a selection signal AS is generated with a predetermined binary or analog coding sequence, for example in the form of "short-long-long” or "short-short-long” or similar.
- the operating device 10 is equipped with an operating lever 20, which is held pivotably within a swivel angle range or adjustment range ⁇ and can assume an arbitrary displacement angle ⁇ within the adjustment range ⁇ .
- the activation of a new operating mode after switching the operating mode preferably takes place only after an inactive phase Ts and preferably only when the selection device 60 is actuated and the selection signal AS is generated with a logical 1 for at least a predetermined minimum time Tmin (cf. Fig. 9 ).
- the mode of operation BA can also be switched under other conditions, for example when a selection signal AS with a predetermined binary or analog coding sequence is generated, for example in the form" short-long-long "or" short-short-long " or similar.
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Mechanical Control Devices (AREA)
Description
Die Erfindung bezieht sich auf eine Bedieneinrichtung mit einem Bedienhebel zum Steuern eines Fahrzeugs, insbesondere zum Steuern einer Lokomotive oder eines Triebfahrzeugs.The invention relates to an operating device with a control lever for controlling a vehicle, in particular for controlling a locomotive or a traction vehicle.
Die
Weitere Bedienhebel sind in der
In Schienenfahrzeugen, beispielsweise Lokomotiven oder Triebfahrzeugen, gelangen üblicherweise Bedienhebel zum Einsatz, bei denen durch ein Verstellen des Auslenkwinkels des Bedienhebels die durchzuführende Bedienfunktion bedienerseitig ausgewählt wird. Auslenkwinkel, denen eine bestimmte Bedienfunktion zugeordnet ist, werden bei vorbekannten Bedienhebeln beispielsweise durch eine Rastscheibe fixiert.In rail vehicles, such as locomotives or locomotives, usually operating levers are used, in which by adjusting the deflection angle of the operating lever, the operating function to be performed is selected operator side. Deflection angle, which is associated with a specific operating function, are fixed in previously known control levers, for example by a locking disk.
Der Erfindung liegt die Aufgabe zugrunde, eine Bedieneinrichtung der eingangs genannten Art anzugeben, die bedienerfreundlicher als bisherige Bedieneinrichtungen ist.The invention has for its object to provide an operating device of the type mentioned, which is user-friendly than previous controls.
Diese Aufgabe wird erfindungsgemäß durch eine Bedieneinrichtung mit den Merkmalen gemäß Patentanspruch 1 gelöst. Vorteilhafte Ausgestaltungen der erfindungsgemäßen Bedieneinrichtung sind in Unteransprüchen angegeben.This object is achieved by an operating device with the features of
Danach ist erfindungsgemäß vorgesehen, dass die Bedieneinrichtung eine Steuereinrichtung aufweist, die eine kraftbezogene Betriebsart, bei der mit dem Bedienhebel bedienerseitig eine Kraft eingestellt wird, die auf das Fahrzeug ausgeübt werden soll, und eine geschwindigkeitsbezogene Betriebsart, bei der mit dem Bedienhebel bedienerseitig die Geschwindigkeit eingestellt wird, die das Fahrzeug erreichen soll, ermöglicht, mit der Steuereinrichtung eine Auswahleinrichtung verbunden ist, mit der sich die kraftbezogene Betriebsart oder die geschwindigkeitsbezogene Betriebsart der Bedieneinrichtung bedienerseitig auswählen lässt, und die Steuereinrichtung in Abhängigkeit von der ausgewählten Betriebsart und der jeweiligen Stellung des Bedienhebels ausgangsseitig ein Steuersignal erzeugt, das den jeweiligen Bedienbefehl des Bedienhebels angibt.Thereafter, the invention provides that the operating device has a control device which is a force-related operating mode, in which the operator is set a force on the operator side, which is to be applied to the vehicle, and a speed-related mode, set in the operator with the operating lever speed is to reach the vehicle allows, with the control device, a selection device connected to the operating mode or the speed-related operating mode of the operating device operator selectable, and the controller generates a control signal depending on the selected mode and the respective position of the operating lever on the output side indicating the respective operating command of the operating lever.
Ein wesentlicher Vorteil der erfindungsgemäßen Bedieneinrichtung ist darin zu sehen, dass diese eine Umschaltmöglichkeit aufweist, so dass es einer Bedienperson, also üblicherweise dem Fahrzeugführer, ermöglicht wird, das Fahrzeug wahlweise kraftbezogen oder geschwindigkeitsbezogen zu steuern. Ein solches Umstellen ermöglicht eine Veränderung der Bedienphilosophie, ohne dass hierfür ein Austauschen des Bedienhebels oder anderer Teile erforderlich wäre.A significant advantage of the operating device according to the invention is the fact that it has a switchover, so that it is an operator, so usually the driver, is possible to control the vehicle either power related or speed related. Such a changeover allows a change in the operating philosophy, without requiring a replacement of the operating lever or other parts would be required.
Ein weiterer wesentlicher Vorteil der erfindungsgemäßen Bedieneinrichtung besteht darin, dass ein Umschalten auch während der Fahrt des Fahrzeugs möglich ist und der Fahrzeugführer somit je nach Fahrsituation die Möglichkeit hat, dynamisch diejenige Betriebsart bzw. diejenige Bedienphilosophie zu wählen, die am besten zu der jeweiligen Fahrsituation passt.Another significant advantage of the operating device according to the invention is that a switchover is also possible while driving the vehicle and the driver thus depending on the driving situation has the ability to dynamically select that mode or that operating philosophy that best fits the particular driving situation ,
Um zu vermeiden, dass es zu einer ungewünschten Veränderung des Fahrverhaltens, insbesondere des Antriebs- oder Bremsverhaltens des Fahrzeugs, kommt, wird es als vorteilhaft angesehen, wenn die Steuereinrichtung derart ausgestaltet ist, dass sie nach einem bedienerseitigen Umstellen der Betriebsart die Bedieneinrichtung für eine vorgegebene Zeitspanne inaktiv schaltet. Ein solches Inaktivschalten gibt dem Fahrzeugführer die Gelegenheit zu überprüfen, ob die Stellung des Bedienhebels korrekt bzw. wunschgemäß ist, so dass er im Falle einer Abweichung die Stellung des Bedienhebels innerhalb der vorgegebenen Zeitspanne korrigieren kann; dadurch lässt sich zum Beispiel verhindern, dass es nach einem Umschalten der Betriebsart zu einem Beschleunigen des Fahrzeugs kommt, obwohl ein Abbremsen des Fahrzeugs nötig ist und vorher eingestellt war.In order to avoid that there is an undesirable change in the driving behavior, in particular the drive or braking behavior of the vehicle, it is considered advantageous if the control device is designed such that it, after a user-side change of mode, the operating device for a given Time period inactive switches. Such inactive switching gives the driver the opportunity to check if the position of the operating lever is correct or desired, so that it can correct the position of the operating lever within the specified period of time in the event of a deviation; This makes it possible, for example, to prevent the vehicle from accelerating after switching the operating mode, although braking of the vehicle is necessary and previously set.
Vorzugsweise gibt die Steuereinrichtung in der vorgegebenen Zeitspanne des Inaktivschaltens ein Steuersignal aus, das dem Steuersignal zum Zeitpunkt des Umstellens der Betriebsart entspricht; dies stellt eine Kontinuität im Fahrverhalten des Fahrzeugs sicher. Mit anderen Worten ist die Steuereinrichtung vorzugsweise also derart ausgestaltet, dass sie nach einem bedienerseitigen Umstellen der Betriebsart für eine vorgegebene Zeitspanne das Steuersignal unverändert lässt.Preferably, in the predetermined time period of the inactive switching, the control device outputs a control signal which corresponds to the control signal at the time of the changeover of the operating mode; this ensures continuity in the handling of the vehicle. In other words, the control device is preferably configured such that it leaves the control signal unchanged after a user-side changeover of the operating mode for a predefined period of time.
Die Bedieneinrichtung weist vorzugsweise eine Anzeigeeinrichtung auf, die die jeweils ausgewählte Betriebsart anzeigt. Somit wird dem Fahrzeugführer stets signalisiert, welche Betriebsart aktuell aktiv ist, und es wird eine Fehlbedienung vermieden.The operating device preferably has a display device which displays the respectively selected operating mode. Thus, the driver is always signaled which mode is currently active, and it is a misoperation avoided.
Vorzugsweise zeigt die Anzeigeeinrichtung alternativ oder zusätzlich auch den jeweils ausgewählten Bedienbefehl der Bedieneinrichtung an. Eine solche Anzeige des anliegenden Bedienbefehls macht die Fahrzeugsteuerung besonders komfortabel.Preferably, the display device alternatively or additionally also displays the respectively selected operating command of the operating device. Such an indication of the present operating command makes the vehicle control particularly comfortable.
Besonders einfach und damit vorteilhaft lässt sich die jeweilige Bedienstellung ermitteln, wenn mit der Steuereinrichtung eine Winkelmesseinrichtung zum Erfassen des Verstellwinkels des Bedienhebels in Verbindung steht und die Steuereinrichtung geeignet ist, mit dem erfassten Winkelwert der Winkelmesseinrichtung und der bedienerseitig ausgewählten Betriebsart das Steuersignal zu erzeugen.The respective operating position can be determined particularly simply and thus advantageously when an angle measuring device for detecting the adjustment angle of the operating lever is in communication with the control device and the control device is adapted to generate the control signal with the detected angle value of the angle measuring device and the operating mode selected operating mode.
Vorzugsweise ist dem Bedienhebel für jeden Bedienbefehl jeweils ein individueller Verstellwinkelbereich zugeordnet, und die Steuereinrichtung prüft beispielsweise, welche Betriebsart gewählt ist und in welchen Verstellwinkelbereich der erfasste Winkelwert fällt, und erzeugt in Abhängigkeit von dem ermittelten Verstellwinkelbereich und der ermittelten Betriebsart das Steuersignal.Preferably, an individual Verstellwinkelbereich is assigned to the operating lever for each operating command, and the control device checks, for example, which operating mode is selected and in which Verstellwinkelbereich the detected angle value falls, and generates in dependence on the determined Verstellwinkelbereich and the determined mode, the control signal.
Um eine Doppelnutzung des Bedienhebels für die zwei unterschiedlichen Bedienphilosophien zu vereinfachen, wird es als vorteilhaft angesehen, wenn der Bedienhebel keine Raststellung aufweist und innerhalb des gesamten Verstellbereichs des Bedienhebels selbsthaltend ist.In order to simplify a double use of the operating lever for the two different operating philosophies, it is considered advantageous if the operating lever has no detent position and is self-holding within the entire adjustment range of the operating lever.
Alternativ kann vorgesehen sein, dass der Bedienhebel eine einzige Raststellung, nämlich eine rastende Nullstellung, bereitstellt sowie im Übrigen rastfrei arbeitet und innerhalb des gesamten übrigen Verstellbereichs des Bedienhebels selbsthaltend ist. Die rastende Nullstellung befindet sich vorzugsweise in einer Symmetrieachse des Verstellwinkelbereichs oder der Bedieneinrichtung.Alternatively, it can be provided that the operating lever provides a single detent position, namely a detenting zero position, and, moreover, operates detent-free and is self-holding within the entire remaining adjustment range of the operating lever. The latching zero position is preferably located in an axis of symmetry of the adjustment angle range or the operating device.
Die kraftbezogene Betriebsart und die geschwindigkeitsbezogene Betriebsart können beispielsweise stellungsabhängig und/oder zeitabhängig ausgeführt sein. Unter einer stellungsabhängigen Betriebsart wird verstanden, dass der Bedienbefehl von der jeweiligen Stellung des Bedienhebels bestimmt wird. Unter einer zeitabhängigen Betriebsart wird verstanden, dass der Bedienbefehl unter anderem davon abhängt, wie lange der Bedienhebel in einer vorgegebenen Stellung verbleibt: Bei der zeitabhängigen Betriebsart kann beispielsweise vorgesehen sein, dass die Antriebskraft des Antriebs kontinuierlich erhöht wird, solange sich der Bedienhebel in der Stellung "Erhöhen der Antriebskraft" befindet, und kontinuierlich reduziert wird, solange sich der Bedienhebel in der Stellung "Reduktion der Antriebskraft" befindet. In entsprechender Weise kann auch die Bremskraft oder die Fahrzeuggeschwindigkeit erhöht oder reduziert werden, indem entsprechende Stellungen des Bedienhebels zum Erhöhen oder Reduzieren der Bremskraft oder der Fahrzeuggeschwindigkeit eingestellt werden.The force-related operating mode and the speed-related operating mode can, for example, be position-dependent and / or time-dependent. A position-dependent operating mode is understood to mean that the operating command is determined by the respective position of the operating lever. A time-dependent mode of operation is understood to mean that the operating command depends, among other things, on how long the Control lever remains in a predetermined position: In the time-dependent mode, for example, be provided that the driving force of the drive is continuously increased, as long as the operating lever is in the position "increase the driving force", and is continuously reduced, as long as the operating lever in the Position "reduction of driving force" is located. Similarly, the braking force or the vehicle speed can be increased or reduced by adjusting corresponding positions of the operating lever for increasing or decreasing the braking force or the vehicle speed.
Die Erfindung bezieht sich außerdem auf ein Verfahren zum Erzeugen eines Steuersignals, das einen Bedienbefehl eines Bedienhebels anzeigt, insbesondere zum Steuern einer Lokomotive oder eines Triebfahrzeugs, wobei geprüft wird, ob eine geschwindigkeitsbezogene Betriebsart oder eine kraftbezogene Betriebsart bedienerseitig ausgewählt worden ist, und in Abhängigkeit von der ausgewählten Betriebsart und der jeweiligen Stellung des Bedienhebels ausgangsseitig ein Steuersignal erzeugt wird, das den jeweiligen Bedienbefehl des Bedienhebels angibt.The invention also relates to a method for generating a control signal indicating an operating command of an operating lever, in particular for controlling a locomotive or a traction vehicle, wherein it is checked whether a speed-related operating mode or a force-related operating mode has been selected by the operator, and in dependence the selected operating mode and the respective position of the operating lever on the output side, a control signal is generated which indicates the respective operating command of the operating lever.
Um einen möglichst großen Bedienkomfort beim Steuern des Fahrzeugs zu gewährleisten, ist erfindungsgemäß vorgesehen, dass nach einem bedienerseitigen Umstellen der Betriebsart die Bedieneinrichtung für eine vorgegebene Zeitspanne inaktiv geschaltet wird und in der vorgegebenen Zeitspanne des Inaktivschaltens ein Steuersignal ausgegeben wird, das dem Steuersignal zum Zeitpunkt des Umstellens der Betriebsart entspricht.In order to ensure the greatest possible ease of use when controlling the vehicle, the invention provides that after a user-side switching the operating mode, the operating device is switched inactive for a predetermined period of time and in the predetermined period of inactivating a control signal is output to the control signal at the time Changing the operating mode corresponds.
Bezüglich der Vorteile des erfindungsgemäßen Verfahrens sei auf die Vorteile der erfindungsgemäßen Bedieneinrichtung verwiesen, da die Vorteile des erfindungsgemäßen Verfahrens denen der erfindungsgemäßen Bedieneinrichtung im Wesentlichen entsprechen.With regard to the advantages of the method according to the invention, reference is made to the advantages of the operating device according to the invention, since the advantages of the method according to the invention essentially correspond to those of the operating device according to the invention.
Als vorteilhaft wird es angesehen, wenn nach einem bedienerseitigen Umstellen der Betriebsart die Bedieneinrichtung für eine vorgegebene Zeitspanne inaktiv geschaltet wird und in der vorgegebenen Zeitspanne des Inaktivschaltens ein Steuersignal ausgegeben wird, das dem Steuersignal zum Zeitpunkt des Umstellens der Betriebsart entspricht.It is considered advantageous if, after a user-side changeover of the operating mode, the operating device is switched inactive for a predetermined period of time and a control signal is output in the predetermined period of inactivation which corresponds to the control signal at the time of the changeover of the operating mode.
Vorzugsweise wird der Verstellwinkel des Bedienhebels gemessen, und mit dem gemessenen Winkelwert wird unter Berücksichtigung der bedienerseitig ausgewählten Betriebsart das Steuersignal erzeugt.Preferably, the adjustment angle of the operating lever is measured, and the control signal is generated with the measured angle value, taking into account the operating mode selected operating mode.
Gemäß einer besonders bevorzugten Ausgestaltung des Verfahrens ist vorgesehen, dass dem Bedienhebel für jeden Bedienbefehl jeweils ein individueller Verstellwinkelbereich vorgegeben ist und geprüft wird, welche Betriebsart gewählt ist und in welchen Verstellwinkelbereich der erfasste Winkelwert fällt, und das Steuersignal in Abhängigkeit von dem ermittelten Verstellwinkelbereich und der ermittelten Betriebsart erzeugt wird.According to a particularly preferred embodiment of the method is provided that the control lever for each operating command each an individual Verstellwinkelbereich is specified and is checked which mode is selected and in which Verstellwinkelbereich the detected angle value falls, and the control signal in dependence on the determined Verstellwinkelbereich and the determined operating mode is generated.
Die Erfindung wird nachfolgend anhand von Ausführungsbeispielen näher erläutert; dabei zeigen beispielhaft
Figur 1- ein Ausführungsbeispiel für eine erfindungsgemäße Bedieneinrichtung, anhand derer auch ein Ausführungsbeispiel für das erfindungsgemäße Verfahren erläutert wird,
Figur 2- die Aufteilung des Schwenkwinkelbereichs eines Bedienhebels der Bedieneinrichtung gemäß
in Verstellwinkelbereiche für eine geschwindigkeitsbezogene Bedienung,Figur 1 - Figur 3
- die Zuordnung von Verstellwinkelwerten des Bedienhebels zu Bedienbefehlen für eine stellungsabhängige kraftbezogene Betriebsart der Bedieneinrichtung gemäß
,Figur 1 - Figur 4
- die Funktionsweise einer Steuereinrichtung der Bedieneinrichtung gemäß
, wobei anhand von Zeitverläufen ein Inaktivschalten der Bedieneinrichtung im Falle eines Wechsels der Betriebsart erläutert wird,Figur 1 - Figur 5
- ein zweites Ausführungsbeispiel für eine erfindungsgemäße Bedieneinrichtung,
- Figur 6
- die Zuordnung von Verstellwinkelwerten des Bedienhebels zu Bedienbefehlen für eine zeitabhängige kraftbezogene Betriebsart der Bedieneinrichtung gemäß
Figur 5 , - Figur 7
- die Funktionsweise der Steuereinrichtung der Bedieneinrichtung gemäß
Figur 5 , - Figur 8
- ein drittes Ausführungsbeispiel für eine erfindungsgemäße Bedieneinrichtung und
- Figur 9
- die Funktionsweise der Steuereinrichtung der Bedieneinrichtung gemäß
Figur 8 .
- FIG. 1
- An exemplary embodiment of an operating device according to the invention, with reference to which an embodiment of the inventive method is explained,
- FIG. 2
- the division of the swivel angle range of an operating lever of the operating device according to
FIG. 1 in adjustment angle ranges for a speed-related operation, - FIG. 3
- the assignment of Verstellwinkelwerten the operating lever to operating commands for a position-dependent force-related operating mode of the operating device according to
FIG. 1 . - FIG. 4
- the operation of a control device of the operating device according to
FIG. 1 in which an inactive switching of the operating device in the case of a change of the operating mode is explained on the basis of time profiles, - FIG. 5
- A second embodiment of an operating device according to the invention,
- FIG. 6
- the assignment of Verstellwinkelwerten the operating lever to operating commands for a time-dependent power-related operating mode of the operating device according to
FIG. 5 . - FIG. 7
- the operation of the control device of the operating device according to
FIG. 5 . - FIG. 8
- a third embodiment of an inventive operating device and
- FIG. 9
- the operation of the control device of the operating device according to
FIG. 8 ,
In den Figuren werden der Übersicht halber für identische oder vergleichbare Komponenten stets dieselben Bezugszeichen verwendet.For the sake of clarity, the same reference numbers are always used in the figures for identical or comparable components.
In der
Wie sich in der
Zum Erfassen des jeweiligen Verstellwinkels α des Bedienhebels 20 weist die Bedieneinrichtung 10 eine Winkelmesseinrichtung 40 auf, die den Verstellwinkel α misst, einen entsprechenden Verstellwinkelwert D(α) erzeugt und diesen ausgangsseitig abgibt. Der Winkeleinrichtung 40 nachgeordnet ist eine Steuereinrichtung 50 der Bedieneinrichtung 10.For detecting the respective adjustment angle α of the operating
Ebenfalls mit der Steuereinrichtung 50 verbunden ist eine Auswahleinrichtung 60 der Bedieneinrichtung 10. Mit der Auswahleinrichtung 60 kann bedienerseitig bzw. fahrzeugführerseitig ausgewählt werden, mit welcher Betriebsart die Bedieneinrichtung 10 betrieben werden soll. Zur Auswahl stehen eine geschwindigkeitsbezogene stellungsabhängige Betriebsart BA, die in den
Unter einer geschwindigkeitsbezogenen stellungsabhängigen Betriebsart BA=1 wird verstanden, dass die Geschwindigkeit des Fahrzeugs von der jeweiligen Stellung des Bedienhebels abhängt und unabhängig davon ist, wie lange der Bedienhebel in der jeweiligen Position bereits verharrte. Ein Ausführungsbeispiel für eine geschwindigkeitsbezogene stellungsabhängige Betriebsart wird weiter unten im Zusammenhang mit der
Unter einer kraftbezogenen stellungsabhängigen Betriebsart BA=0 wird verstanden, dass die auf das Fahrzeug wirkende Kraft, also beispielsweise die Antriebs- oder Bremskraft, von der jeweiligen Stellung des Bedienhebels bestimmt wird und unabhängig davon ist, wie lange der Bedienhebel in der jeweiligen Position bereits verharrte. Ein Ausführungsbeispiel für eine kraftbezogene stellungsabhängige Betriebsart wird weiter unten im Zusammenhang mit der
Mit der Auswahleinrichtung 60 kann also bedienerseitig festgelegt werden, ob die Bedieneinrichtung geschwindigkeitsbezogen oder kraftbezogen betrieben werden soll. Bei dem Ausführungsbeispiel gemäß der
Wie sich der
Die Bedieneinrichtung 10 kann beispielsweise wie folgt betrieben werden:The operating
Die Steuereinrichtung 50 ermittelt mit den eingangsseitig anliegenden Signalen, also dem Verstellwinkelwert D(α) der Winkelmesseinrichtung 40 sowie dem Auswahlsignal AS der Auswahleinrichtung 60, ein Steuersignal ST und gibt dieses ausgangsseitig ab. Mit dem Steuersignal ST wird der jeweilige Bedienbefehl BF des Bedienhebels 20 angezeigt bzw. ausgegeben. Da der Bedienbefehl BF von der jeweiligen Betriebsart abhängt, ist das Steuersignal ST somit stets auch eine Funktion des Wertes von BA; dies ist in der
Außerdem erzeugt die Steuereinrichtung 50 ausgangsseitig ein Anzeigesignal AZ, das zur Anzeigeeinrichtung 80 gelangt und festlegt, welche Anzeige auf der Anzeigeeinrichtung 80 dargestellt werden soll. Vorzugsweise wird mit dem Anzeigesignal AZ eine Anzeige des jeweils aktuellen Bedienbefehls BF sowie der jeweils aktuellen Betriebsart BA hervorgerufen.In addition, the
Die
In der
Befindet sich der Bedienhebel 20 im Verstellwinkelbereich Δγ7, so soll der Antrieb des Fahrzeugs eine positive Antriebskraft ausüben. Der jeweilige Antriebskraftwert wird durch den jeweiligen Verstellwinkel α innerhalb des Verstellwinkelbereichs Δγ7 festgelegt: Beispielsweise wird die Antriebskraft umso größer eingestellt, je größer der Verstellwinkel α des Bedienhebels ist.If the operating
In entsprechender Weise wird die Bremskraft durch ein Verschwenken des Bedienhebels 20 in den Verstellwinkelbereich Δγ8 eingestellt, wobei beispielsweise ein großer Verstellwinkel α - bezogen auf die Symmetrieachse 30 - eine große Bremskraft und ein kleiner Verstellwinkel α eine kleine Bremskraft zur Folge hat.In a corresponding manner, the braking force is adjusted by pivoting the operating
Im Verstellwinkelbereich Δγ0 wird weder eine Antriebskraft noch eine Bremskraft erzeugt, so dass das Fahrzeug ungebremst und unbeschleunigt seinen Bewegungszustand - von Reibung, Luftwiderstand und sonstigen Einflüssen abgesehen - beibehält.In Verstellwinkelbereich Δγ0 neither a driving force nor a braking force is generated, so that the vehicle unrestrained and unaccelerated his state of motion - apart from friction, air resistance and other influences - retains.
Die Funktionsweise der Bedieneinrichtung 10 gemäß
In der
In der
In der
Durch das Inaktivschalten der Bedieneinrichtung 10 wird vermieden, dass nach einem Betriebsartwechsel, also einem Umschalten von BA = 0 auf BA = 1 bzw. einem Umschalten von BA = 1 auf BA = 0, eine unerwünschte Änderung des Fahrzeugzustandes erfolgen kann. Während der vorgegebenen Inaktivphase Ts hat nämlich der Fahrzeugführer bzw. die Bedienperson der Bedieneinrichtung die Möglichkeit, die jeweilige Stellung des Bedienhebels 20 mit dem Knauf 70 so einzustellen, wie es dem gewünschten Fahrzustand des Fahrzeugs in der jeweils neu eingestellten Betriebsart entspricht.By inactivating the operating
Bei dem Ausführungsbeispiel gemäß
In der
Im Unterschied zu der Bedieneinrichtung 10 gemäß
Die geschwindigkeitsbezogene stellungsabhängige Betriebsart BA'=1 entspricht der Betriebsart BA=1, wie sie im Zusammenhang mit der
Die
- Δγ0: Antriebskraft und Bremskraft = 0
- Δγ1: Antriebskraft wird kontinuierlich reduziert
- Δγ2: Antriebskraft bleibt konstant
- Δγ3: Antriebskraft wird kontinuierlich erhöht
- Δγ4: Bremskraft wird kontinuierlich reduziert
- Δγ5: Bremskraft bleibt konstant
- Δγ6: Bremskraft wird kontinuierlich erhöht.
- Δγ0: Driving force and braking force = 0
- Δγ1: Driving force is continuously reduced
- Δγ2: Driving force remains constant
- Δγ3: Driving force is continuously increased
- Δγ4: braking force is reduced continuously
- Δγ5: braking force remains constant
- Δγ6: Braking force is increased continuously.
Bei der kraftbezogenen zeitabhängigen Betriebsart BA'=2 hängt die eingestellte Antriebskraft bzw. die eingestellte Bremskraft also davon ab, wie lange sich der Bedienhebel 20 in dem antriebskraftändernden bzw. bremskraftändernden Verstellwinkelbereich Δγ1, Δγ3, Δγ4 und Δγ6 befindet. In den Verstellwinkelbereichen Δγ2 und Δγ5 bleibt die Antriebskraft bzw. die Bremskraft bei ihrem jeweiligen Wert unverändert bzw. konstant.In the force-related time-dependent operating mode BA '= 2, the set driving force or the set braking force thus depends on how long the operating
Auch bei dem zweiten Ausführungsbeispiel gemäß der
In der
Im Unterschied zu den Bedieneinrichtungen 10 und 10' gemäß den
Die geschwindigkeitsbezogene stellungsabhängige Betriebsart BA"=1 kann beispielsweise der Betriebsart BA=1 entsprechen, wie sie im Zusammenhang mit der
Die kraftbezogene zeitabhängige Betriebsart BA"=2 kann beispielsweise der Betriebsart BA'=2 entsprechen, wie sie im Zusammenhang mit der
Auch bei dem dritten Ausführungsbeispiel gemäß der
Bei dem obigen ersten, zweiten und dritten Ausführungsbeispiel wurde beispielhaft davon ausgegangen, dass die geschwindigkeitsbezogene Betriebsart jeweils eine stellungsabhängige Betriebsart ist; selbstverständlich kann alternativ oder zusätzlich auch eine geschwindigkeitsbezogene zeitabhängige Betriebsart eingesetzt werden. Es werden demgemäß auch folgenden Ausführungsformen als vorteilhaft angesehen:
- 3. Ausführungsbeispiel: Bedieneinrichtung mit zwei Betriebsarten, nämlich einer geschwindigkeitsbezogenen zeitabhängigen Betriebsart und einer kraftbezogenen zeitabhängigen Betriebsart.
- 4. Ausführungsbeispiel: Bedieneinrichtung mit zwei Betriebsarten, nämlich einer geschwindigkeitsbezogenen zeitabhängigen Betriebsart und einer kraftbezogenen stellungsabhängigen Betriebsart.
- 5. Ausführungsbeispiel: Bedieneinrichtung mit drei Betriebsarten, nämlich einer geschwindigkeitsbezogenen zeitabhängigen Betriebsart, einer kraftbezogenen stellungsabhängigen Betriebsart und einer kraftbezogenen zeitabhängigen Betriebsart.
- 6. Ausführungsbeispiel: Bedieneinrichtung mit vier Betriebsarten, nämlich einer geschwindigkeitsbezogenen zeitabhängigen Betriebsart, einer geschwindigkeitsbezogenen stellungsabhängigen Betriebsart, einer kraftbezogenen stellungsabhängigen Betriebsart und einer kraftbezogenen zeitabhängigen Betriebsart.
- 3rd embodiment: operating device with two operating modes, namely a speed-related time-dependent mode and a force-related time-dependent mode.
- 4th embodiment: operating device with two operating modes, namely a speed-related time-dependent mode and a force-related position-dependent mode.
- 5th embodiment: operating device with three operating modes, namely a speed-related time-dependent mode, a force-related position-dependent mode and a force-related time-dependent mode.
- 6th embodiment: operating device with four modes, namely a speed-related time-dependent mode, a speed-related position-dependent mode, a force-related position-dependent mode and a force-related time-dependent mode.
- 1010
- Bedieneinrichtungoperating device
- 10'10 '
- Bedieneinrichtungoperating device
- 10"10 "
- Bedieneinrichtungoperating device
- 2020
- Bedienhebeloperating lever
- 3030
- Symmetrieachseaxis of symmetry
- 4040
- WinkelmesseinrichtungAngle measuring device
- 5050
- Steuereinrichtungcontrol device
- 6060
- Auswahleinrichtungselector
- 7070
- Knaufknob
- 8080
- Anzeigeeinrichtungdisplay
- ASAS
- Auswahlsignalselect signal
- AZAZ
- Anzeigesignaldisplay signal
- BABA
- Betriebsartoperating mode
- BA'BA '
- Betriebsartoperating mode
- BA"BA "
- Betriebsartoperating mode
- BFBF
- Bedienbefehloperating command
- STST
- Steuersignalcontrol signal
- tt
- Zeitpunkttime
- t1t1
- Zeitpunkttime
- t2t2
- Zeitpunkttime
- Tsts
- ZeitspannePeriod of time
- TminTmin
- ZeitspannePeriod of time
- ZZ
- Statusstatus
- γγ
- Verstellbereichadjustment
- Δγ0 - Δγ8Δγ0 - Δγ8
- VerstellwinkelbereicheVerstellwinkelbereiche
- αα
- Verstellwinkeldisplacement
- D(α)D (α)
- VerstellwinkelwertVerstellwinkelwert
- vv
- Geschwindigkeitspeed
Claims (14)
- Operator control (10, 10', 10") having an operator control lever (20) for controlling a vehicle, in particular for controlling a locomotive or a traction unit,
characterized in that- the operator control has a control device (50) which permits- a force-related operating mode in which a force, which is to be applied to the vehicle, is set at the operator side with the operator control lever, and- a speed-related operating mode in which the speed which the vehicle is to reach is set at the operator side with the operator control lever,- a selector device (60) with which the force-related operating mode or the speed-related operating mode of the operator control device can be selected at the operator side, is connected to the control device, and- the control device generates at the output side, as a function of the selected operating mode (BA) and the respective position of the operator control lever, a control signal (ST) which specifies the respective operator control instruction of the operator control lever. - Operator control according to Claim 1,
characterized in that the control device is configured in such a way that after operator-side switching over of the operating mode for a predefined time period (Ts) said control device deactivates the operator control. - Operator control according to Claim 2,
characterized in that
in the predefined time period of deactivation the control device outputs a control signal which corresponds to the control signal at the time of the switching over of the operating mode. - Operator control according to one of the preceding claims,
characterized in that the control device is configured in such a way that after operator-side switching over of the operating mode for a predefined time period (Ts) said control device leaves the control signal unchanged. - Operator control according to one of the preceding claims, characterized in that the operator control has a display device (80) which indicates the respectively selected operating mode (BA).
- Operator control according to one of the preceding claims,
characterized in that the operator control has a display device (80) which displays the respectively selected operator control instruction (BF) of the operator control. - Operator control according to one of the preceding claims, characterized in that- an angle-measuring device (40) for sensing the adjustment angle (α) of the operator control lever is connected to the control device,- and the control device is suitable for generating the control signal with the sensed adjustment angle value (D(α)) of the angle-measuring device and the operating mode selected at the operator side.
- Operator control according to one of the preceding claims,
characterized in that- in each case a specific adjustment angle range or adjustment angle value is predefined to the operator control lever for each operator control instruction, and- the control device checks which operating mode is selected and in which adjustment angle range the sensed angle value occurs or to which predefined adjustment angle value the angle value is identical or similar, and generates the control signal as a function of the determined adjustment angle range or the determined adjustment angle value and as a function of the determined operating mode. - Operator control according to one of the preceding claims,
characterized in that
the operator control lever makes available a latching zero position and also operates free of latching and is self-locking within the entire remaining adjustment range of the operator control lever. - Operator control according to Claim 9,
characterized in that the latching zero position is arranged on an axis of symmetry of the adjustment angle range. - Operator control according to one of the preceding claims,
characterized in that the force-related operating mode and/or the speed-related operating mode are embodied in a position-dependent and/or time-dependent fashion. - Rail vehicle having an operator control according to one of Claims 1 to 11.
- Method for generating a control signal (ST) which indicates an operator control instruction (BF) of an operator control lever (20), in particular for controlling a locomotive or a traction unit, wherein- it is checked whether a speed-related operating mode or a force-related operating mode has been selected at the operator side, and- a control signal, which indicates the respective operator control instruction of the operator control lever, is generated at the output side as a function of the selected operating mode and the respective position of the operator control lever,characterized in that after operator-side switching over of the operating mode the operator control device is deactivated for a predefined time period (Ts), and in the predefined time period of deactivation a control signal is output which corresponds to the control signal at the time of switching over of the operating mode.
- Method according to Claim 13,
characterized in that- in each case an individual adjustment angle range or adjustment angle value is predefined to the operator control lever for each operator control instruction on an operating-mode-specific basis,- the adjustment angle of the operator control lever is measured, and- it is checked which operating mode is selected and in which adjustment angle range the sensed angle value occurs or to which adjustment angle value the measured angle value is identical or similar, and the control signal is generated as a function of the determined adjustment angle range or the adjustment angle value and as a function of the determined operating mode.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PL10723106T PL2443014T3 (en) | 2009-06-16 | 2010-06-03 | Control device and method for operating the same |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009025553A DE102009025553A1 (en) | 2009-06-16 | 2009-06-16 | Operating device and method for its operation |
PCT/EP2010/057767 WO2010145949A2 (en) | 2009-06-16 | 2010-06-03 | Control device and method for operating the same |
Publications (2)
Publication Number | Publication Date |
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EP2443014A2 EP2443014A2 (en) | 2012-04-25 |
EP2443014B1 true EP2443014B1 (en) | 2013-04-03 |
Family
ID=43086692
Family Applications (1)
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EP10723106A Active EP2443014B1 (en) | 2009-06-16 | 2010-06-03 | Control device and method for operating the same |
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EP (1) | EP2443014B1 (en) |
DE (1) | DE102009025553A1 (en) |
PL (1) | PL2443014T3 (en) |
WO (1) | WO2010145949A2 (en) |
Families Citing this family (7)
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CN102649436B (en) * | 2012-05-29 | 2014-10-22 | 南车株洲电力机车有限公司 | Electric locomotive shunting control method, device and system |
FR3057526B1 (en) * | 2016-10-17 | 2018-12-07 | Alstom Transport Technologies | TRACTION / BRAKE CONTROL DEVICE FOR RAILWAY VEHICLE WITH IMPROVED RELIABILITY |
DE102018115613A1 (en) | 2018-06-28 | 2020-01-02 | Bombardier Transportation Gmbh | Traction vehicle and group of vehicles and method for operating a motor vehicle and group of vehicles |
DE102018210926A1 (en) * | 2018-07-03 | 2020-01-09 | Siemens Aktiengesellschaft | Drive control of a rail vehicle |
FR3085929B1 (en) * | 2018-09-14 | 2020-12-04 | Alstom Transp Tech | PRECISE RAIL VEHICLE SPEED CONTROL DEVICE |
DE102019134583A1 (en) * | 2019-12-16 | 2021-06-17 | Bombardier Transportation Gmbh | METHOD FOR ASSISTANT IN THE CONTROL OF A SPEED OF A RAIL VEHICLE, METHOD FOR ASSISTED CONTROL OF A SPEED OF A RAIL VEHICLE AND THE ASSOCIATED RAIL VEHICLE |
CN114063277B (en) * | 2021-11-25 | 2022-11-18 | 广州市华粤行医疗科技有限公司 | Control device and method for micromanipulation |
Family Cites Families (3)
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FR2720993B1 (en) * | 1994-06-14 | 1996-07-19 | Gec Alsthom Transport Sa | Device for controlling the traction or braking of a vehicle, especially a railroad, and its method of implementation. |
GB0222044D0 (en) * | 2002-09-23 | 2002-10-30 | Bombardier Transp Gmbh | Drive controller for a rail vehicle |
DE102006034125B3 (en) * | 2006-07-20 | 2008-02-21 | Bombardier Transportation Gmbh | Control device and method for controlling a rail vehicle |
-
2009
- 2009-06-16 DE DE102009025553A patent/DE102009025553A1/en not_active Withdrawn
-
2010
- 2010-06-03 PL PL10723106T patent/PL2443014T3/en unknown
- 2010-06-03 EP EP10723106A patent/EP2443014B1/en active Active
- 2010-06-03 WO PCT/EP2010/057767 patent/WO2010145949A2/en active Application Filing
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WO2010145949A3 (en) | 2011-07-07 |
WO2010145949A2 (en) | 2010-12-23 |
PL2443014T3 (en) | 2013-09-30 |
DE102009025553A1 (en) | 2010-12-23 |
EP2443014A2 (en) | 2012-04-25 |
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