JP2003048538A - Adjustment quantity calculation method, adjustment quantity calculation device and computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an adjustment quantity calculation device capable of eliminating the inequality of wheel load of rolling stocks to improve traveling stability. SOLUTION: The diagonal difference between a first total value of values detected by sensors (pressure sensor, load sensor) provided on diagonal positions and a second total value of values detected by sensors provided in another diagonal positions is calculated (step S53). The height of each adjustment device is controlled until the calculated diagonal different is a predetermined threshold or less (step S54), and when the calculated diagonal different is the predetermined threshold or less, adjustment quantity is calculated on the basis of the height detected from each height sensor (step S58).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention reduces the imbalance in wheel load caused by twisting of a rigid body mounted on a bogie of a railway vehicle via a height adjusting device such as an air spring or a coil spring. Therefore, the present invention relates to an adjustment amount calculation method for calculating an adjustment amount of the height between a bogie and a rigid body, an adjustment amount calculation device used in the method, and a computer program for causing a computer to function as the adjustment amount calculation device.

[0002]

2. Description of the Related Art In recent years, railway vehicles have been developed so as to enable more stable traveling. In a railway vehicle having a height adjusting device such as an air spring or a coil spring, the running stability deteriorates as the wheel load of the railway vehicle in a stationary state increases. The unbalance of the wheel weights, which causes a bad influence on the running stability, is largely caused by the twist of the rigid body B of the vehicle body shown in FIG.

FIG. 15 is an explanatory view showing the concept of the twist of the rigid body B of the vehicle body. In the case of the ideal rigid body B of the vehicle body in which the direction of the dotted arrow in the figure is the traveling direction of the railway vehicle and there is no twist, FIG.
As shown in (a), the first and second positions of the front bogie and the third and fourth positions of the rear bogie all have the same height, and each position of a height adjusting device such as an air spring (not shown) provided below the rigid body B of the vehicle body. All pressures or loads are equal. However, when twisting occurs, the diagonal heights (1st and 4th) rise or fall in the same direction as shown in FIGS. The height (2nd and 3rd) also descends or rises in the same direction. Similarly, the pressure or load of the height adjusting device provided at the diagonal position between the 1st position and the 4th position is increased or decreased, while the pressure or load is adjusted at the 2nd position and the 3rd position provided at the other diagonal position.
Position or height adjustment device pressure or load is reduced or increased.

In order to remove the twist of the body rigid body, the body rigid body is completely removed, or a liner (shim) is inserted between the carriage and the body rigid body, and an appropriate amount of compressed air is supplied to and exhausted from the air spring. Alternatively, it is conceivable to adjust the length of the horizontal lever (LV lever) of the automatic height adjusting mechanism to eliminate the pseudo twist. However, since it is difficult to manufacture a large structure such as a rail car without twisting, a method of inserting a liner is generally used. The adjustment amount calculation method that has been conventionally performed will be described below.

FIG. 16 shows a front bogie 105F and a rear bogie 105R.
FIG. 3 is a schematic perspective view showing essential parts of the height adjusting devices 101 to 104 and the like. In the figure, 105F is a front bogie provided on the front side in the traveling direction of the railway vehicle, on which a first-position height adjusting device 101 and a second-position height adjusting device 102 such as an air spring or a coil spring are mounted. Rear trolley 10 on the opposite side
5R is provided, and a third-position height adjusting device 103 and a fourth-position height adjusting device 104 are provided respectively. The height adjusting devices 101 to 104 will be described below as air springs.

The height adjusting devices 101 to 104 are provided with automatic height adjusting mechanisms 101A to 104A (hereinafter represented by 101A) (102A and 104A are not shown). The automatic height adjusting mechanism 101A includes a vertical lever 101AV that is erected on a front carriage 105F and a vertical lever 101AV.
Horizontal lever 101A rotatably connected to the other end of AV
When the height adjusting device 101 is raised, that is, when the horizontal lever 101AH is
When it rises around the joint with the AV, air is exhausted from an exhaust port (not shown) of the automatic height adjusting mechanism 101A to mechanically lower the height. On the other hand, when the height adjusting device 101 descends, that is, when the horizontal lever 101AH descends around the joint with the vertical lever 101AV, air is supplied from the air reservoir (not shown) to the height adjusting device 101 to raise the height. The height of the height adjusting device 101 is mechanically increased.

FIG. 17 is a flowchart showing a conventional adjustment amount calculation method. First, the height adjusting devices 101 to 1
04 is raised from the punctured state to a predetermined reference height (step S1001). In this state, the vertical lever 101AV of the first automatic height adjusting mechanism 101A is removed and fixed so that the horizontal lever 101AH does not move (step S1002). And one height adjusting device 10
1 communicates with another height adjusting device 102 (step S
1003). “Communicating” means, for example, the height adjusting device 101.
And 102, exhaust valves (not shown) are connected by a hose or the like so that compressed air can move freely.

In this state, the other automatic height adjusting mechanisms 102A to 102A except the one automatic height adjusting mechanism 101A.
4A is operated to adjust the heights of the height adjusting devices 102 to 104 to the reference height again (step S1004). Then, the height of one height adjusting device 101 is obtained, and the difference between the obtained value and the reference height is used as the adjustment amount to be obtained (step S1005).

[0009]

However, even when a liner having a thickness corresponding to the adjustment amount calculated by the conventional method is inserted between the carriage and the rigid body of the vehicle, a large imbalance in wheel load still occurs. It was confirmed that the error was remarkable when the rigid body of the vehicle body had an eccentricity in the left-right direction. It is presumed that this is because the pressures of the height adjusting devices in communication converge to an equal value. Further, the conventional method uses an automatic height adjusting mechanism, but each automatic height adjusting mechanism has a different dead zone width depending on the product, and it is difficult to calculate an accurate adjustment amount. Therefore, at present, a rough adjustment amount is calculated by this method, and then an operator inserts or removes a liner having an arbitrary thickness, or a compressed air is appropriately supplied to a height adjusting device such as an air spring. By supplying and exhausting air, or by appropriately changing the length of the vertical lever of the automatic height adjustment mechanism, the imbalance in wheel load is reduced. Each adjustment is extremely difficult, and as a result, there remains a problem that the purpose of improving the wheel load imbalance and improving the running stability cannot be achieved.

Further, the air spring has a characteristic that the effective pressure receiving area (the area where the rigid body and the air spring are in contact with each other) varies depending on the controlled height. In other words, since the characteristics of the height adjustment device vary depending on the height, even when the adjustment amount is calculated, the height of the height adjustment device at the time of calculation and the height adjustment device when the railway vehicle is actually operating If the height is different, the adjustment amount to be calculated also has a different value, and the calculated adjustment amount has an inappropriate value.

The present invention has been made in view of the above circumstances, and an object thereof is to forcibly twist a rigid body of a vehicle body by a height adjusting device so that the diagonal differential pressure is equal to or less than a predetermined threshold value. By measuring the height of each person in the state,
An adjustment amount calculation method that can eliminate the wheel weight imbalance and improve running stability by calculating the optimal adjustment amount and inserting a liner based on this calculated value between the bogie and the rigid body Another object of the present invention is to provide an adjustment amount calculation device used in the method, and a computer program for causing a computer to function as the adjustment amount calculation device.

Another object of the present invention is to control the height adjusting device such as an air spring so that the height average value of each height adjusting device becomes a predetermined reference height.
It is to provide an adjustment amount calculation method capable of calculating a more accurate adjustment amount, an adjustment amount calculation device used in the method, and a computer program for causing a computer to function as the adjustment amount calculation device.

Further, as a result of the research conducted by the present applicant,
We found the following matters. FIG. 1 is a graph showing the pressure output from each sensor when the height of each height adjusting device is changed. The horizontal axis represents a first total height of heights detected by height sensors provided at diagonal positions and a second total height of heights detected by height sensors provided at different diagonal positions. It is the diagonal height difference which is the difference between On the other hand, the vertical axis represents the pressure output from each pressure sensor. Here, when the height is changed by performing pressurization control or pressure reduction control on each height adjusting device, when the body is an ideal vehicle rigid body without twist and without eccentricity,
As shown in FIG. 1 (a), the height adjusting devices of the respective positions are balanced at a diagonal height difference of 0 mm, which is a reference, and 150 kPa.

On the other hand, when the rigid body of the vehicle body is twisted and the rigid body of the vehicle is eccentric to the left and right, the graph shown in FIG. 1B can be obtained. Here, the coordinate value of the centroid of the figure (diamond in the figure) surrounded by each straight line (-5 mm, 150
kPa) is calculated. Then, it was found that the difference between the diagonal height difference (−5 mm in the figure) and the diagonal height difference 0 mm of the coordinate values is the adjustment amount to be obtained.

FIG. 1C is a graph showing the relationship between the diagonal height difference and the diagonal difference. The horizontal axis is the diagonal height difference, and the vertical axis is the difference from the first total value (for example, the total value of the 1st place sensor and the 4th place sensor) of the values output from the pressure sensors provided at the diagonal positions. Is a diagonal difference obtained by subtracting the second total value (for example, the total value of the 2nd-position sensor and the 3rd-position sensor) of the values output from the pressure sensors respectively provided at the diagonal positions. Control the height adjustment device to change the diagonal height difference,
The approximate line is generated by plotting a plurality of diagonal differences at that time.

In this case, the graph of FIG.
Since this is equivalent to (b), the applicant of the present invention
As in the case of (b), it was found that the diagonal height difference (-5.0 mm in the figure) when the diagonal difference is substantially zero is the adjustment amount to be obtained.

Further, the present invention was made on the basis of the above-mentioned findings, and an object thereof is to perform pressure control on the height adjusting device and sequentially change the height so as to adjust the pressure or load of each height adjusting device. By sequentially measuring and calculating the diagonal height difference detected from the height sensor and calculating the adjustment amount based on these data, the wheel weight imbalance can be eliminated by a simpler method, It is to provide an adjustment amount calculation method capable of improving stability, an adjustment amount calculation device used in the method, and a computer program for causing a computer to function as the adjustment amount calculation device.

[0018]

According to a first aspect of the present invention, there is provided an adjustment amount calculating method, wherein a height adjusting device capable of adjusting the height by pressure control is provided on each of the left and right sides of a front bogie and a rear bogie. It is provided together with a sensor for detecting the pressure or load of the height adjusting device, and the vehicle body rigid body is placed with the height adjusting device interposed on the front bogie and the rear bogie, and the height of each height adjusting device is adjusted. A method of calculating an adjustment amount of height between a bogie and a rigid body of a railway vehicle provided with a height sensor for detecting, the first value of a value detected by each sensor provided at a diagonal position. The diagonal difference between the one total value and the second total value of the values detected by the sensors respectively provided at different diagonal positions is calculated, and the calculated diagonal difference becomes equal to or less than a predetermined threshold value. Diagonal calculated by controlling the height of each height adjustment device up to There and calculates when it becomes less than a predetermined threshold value, the adjustment amount based on the height detected from the height sensor.

The adjustment amount calculating method according to a second aspect of the present invention is the same as the first aspect, further comprising calculating an average height based on the heights detected by the height sensors, and calculating the average height in advance. The height of each height adjusting device is controlled until it is a predetermined reference height and the calculated diagonal difference is equal to or less than a predetermined threshold value, and the calculated average height is predetermined. When the height is the reference height and the calculated diagonal difference is less than or equal to a predetermined threshold value, the adjustment amount is calculated based on the height output from the height sensor.

In the adjustment amount calculating device according to the third aspect of the invention, the rigid bodies are placed on the left and right sides of the front and rear bogies, respectively, with height adjusting devices interposed between the bogie and the rear bogie. An adjustment amount calculation device for calculating the adjustment amount of the height between the bogie and the rigid body of the railway vehicle, which is a sensor for detecting the pressure or load of each height adjustment device, and a diagonal position. Diagonal difference calculation for calculating the diagonal difference between the first total value of the values detected by the sensors respectively provided and the second total value of the values detected by the sensors provided at different diagonal positions Means, control means for controlling the height of each height adjustment device until the diagonal difference calculated by the diagonal difference calculation means becomes equal to or less than a predetermined threshold value, and the height of each height adjustment device When the height sensor for detecting and the control means control Characterized in that it comprises an adjusting amount calculating means for calculating an adjustment amount based on the height detected from the sensor.

The adjustment amount calculating device according to a fourth aspect of the present invention further comprises, in the third aspect, an average height calculating means for calculating an average height based on the heights detected by the height sensors. Means, the average height calculated by the average height calculation means is a predetermined reference height, and the diagonal difference calculated by the diagonal difference calculation means is less than or equal to a predetermined threshold value. It is characterized in that the height of each height adjusting device is controlled until that time.

An adjustment amount calculating device according to a fifth aspect of the present invention is the adjustment amount calculating device according to the third aspect or the fourth aspect, wherein the adjustment amount calculating means has a first height detected by height sensors provided at diagonal positions. It is characterized in that it is configured to calculate a difference between the total height and a second total height of heights detected by height sensors respectively provided at different diagonal positions.

In the computer program according to the sixth aspect of the present invention, a height adjusting device capable of adjusting the height by pressure control is provided on the left and right sides of the front bogie and the rear bogie, respectively. It is provided with a sensor for detecting, the rigid body is placed by interposing the height adjusting device on the front bogie and the rear bogie, and the height sensor for detecting the height of each height adjusting device is provided. Of a rail car,
A computer program for calculating an adjustment amount of height between a dolly and a rigid body, the first total value of values detected by sensors provided at diagonal positions in the computer, and another A diagonal difference calculating step of calculating a diagonal difference from a second total value of values detected by sensors respectively provided at diagonal positions; and a threshold value in which the calculated diagonal difference is predetermined by a computer. When the control step for controlling the height of each height adjusting device until the following is achieved, and when the computer is controlled by the control step,
And an adjustment amount calculation step of calculating an adjustment amount based on the height detected by each height sensor.

A computer program according to a seventh aspect of the present invention is the computer program according to the sixth aspect, further causing the computer to execute an average height calculating step for calculating an average height based on the heights detected by the height sensors. In the control step, the average height calculated in the average height calculation step is a predetermined reference height, and the diagonal difference calculated in the diagonal difference calculation step is preset in the computer. It is characterized in that the height of each height adjusting device is controlled until it becomes equal to or less than the threshold value.

A computer program according to an eighth invention is the computer program according to the sixth invention or the seventh invention, wherein the adjustment amount calculation step is the computer program of a height detected by height sensors provided at diagonal positions in the computer. 1 calculating a total height, causing a computer to calculate a second total height of heights detected by height sensors provided at different diagonal positions, and causing the computer to perform the calculation. And a step of calculating a difference between the first total height and the second total height.

In the adjustment amount calculating method according to the ninth aspect of the invention, a height adjusting device capable of adjusting the height by pressure control is provided on each of the left and right sides of the front bogie and the rear bogie. It is provided with a sensor that detects the load, and a height sensor that detects the height of each height adjustment device is provided while mounting the vehicle body rigid body by interposing the height adjustment device on the front bogie and the rear bogie. A method of calculating an adjustment amount of height between a bogie and a rigid body of a railroad vehicle provided,
A first total height of heights detected by height sensors respectively provided at diagonal positions and a second total height of heights detected by height sensors respectively provided at different diagonal positions. A diagonal height difference calculating step of calculating a diagonal height difference, which is a difference, and a value output from each sensor by controlling the height adjusting device, and a value calculated by the diagonal height calculating step. A step of storing in association with an angular height difference, a step of reading out a plurality of stored values output from each sensor and a corresponding diagonal height difference, and developing the two-dimensional coordinates
A step of calculating the coordinates of the centroid of the figure surrounded by the approximate straight line expanded on the two-dimensional coordinates, and a step of calculating the adjustment amount based on the calculated coordinate value of the diagonal height difference of the centroid. It is characterized by being provided.

In the adjustment amount calculating device according to the tenth aspect of the invention, the rigid bodies are placed on the left and right sides of the front bogie and the rear bogie with interposition of height adjusting devices capable of adjusting the height by pressure control. An adjustment amount calculation device for calculating an adjustment amount of height between a bogie and a rigid body of a railway vehicle, which includes a sensor for detecting pressure or load of each height adjustment device and each height adjustment device. A height sensor for detecting the height of the device, a first total height of heights detected by height sensors provided at diagonal positions, and a height sensor provided at different diagonal positions. Diagonal height difference calculating means for calculating a diagonal height difference, which is the difference between the detected height and the second total height, and the height of each height adjusting device are controlled to output from each sensor. A value corresponding to the diagonal height difference calculated by the diagonal height difference calculating means. Enclosed by means for storing, means for reading out a plurality of stored values output from each sensor and corresponding diagonal height differences, and developing on a two-dimensional coordinate, and an approximate straight line developed on the two-dimensional coordinate. It is characterized by comprising means for calculating the coordinates of the centroid of the figure, and means for calculating the adjustment amount based on the calculated coordinate value of the diagonal height difference of the centroid.

In the computer program according to the eleventh aspect of the invention, a height adjusting device capable of adjusting the height by pressure control adjusts the pressure or the load of the height adjusting device to the left and right of the front bogie and the rear bogie, respectively. A height sensor for detecting the height of each height adjusting device is provided together with the height adjusting device for mounting the rigid body of the vehicle by interposing the height adjusting device on the front bogie and the rear bogie. Of the railroad car,
A computer program for calculating an adjustment amount of height between a dolly and a rigid body, the first total height of heights detected by height sensors provided at diagonal positions in a computer, and , A diagonal height difference calculating step for calculating a diagonal height difference which is a difference between the heights detected by height sensors respectively provided at different diagonal positions and the second total height, and a computer, A step of controlling the height of each height adjustment device and storing the value output from each sensor in association with the diagonal height difference calculated in the diagonal height difference calculation step; The step of reading out a plurality of values output from each of the sensors and the corresponding diagonal height difference and developing them on two-dimensional coordinates, and surrounded by the approximate line developed on the computer by the computer Figure illustration A step of calculating the coordinates, the computer, characterized in that to execute a step of calculating an adjustment amount based on the coordinate values of the diagonal height difference centroid that has issued the calculated.

In the adjustment amount calculating method according to the twelfth aspect of the invention, a height adjusting device capable of adjusting the height by pressure control is provided on each of the left and right sides of the front bogie and the rear bogie. It is provided with a sensor that detects the load, and a height sensor that detects the height of each height adjustment device is provided while mounting the vehicle body rigid body by interposing the height adjustment device on the front bogie and the rear bogie. A method of calculating an adjustment amount of a height between a bogie and a rigid body of a railroad vehicle provided, which is different from a first total value of values detected by respective sensors provided at diagonal positions. Diagonal difference calculation step of calculating a diagonal difference from the second total value of the values detected by the sensors respectively provided at the diagonal positions, and the height difference sensor is provided by the height sensors respectively provided at the diagonal positions. First total height and another diagonal position A diagonal height difference calculating step of calculating a diagonal height difference, which is a difference between the height detected by the height sensor and the second total height, and controlling the height adjusting device. A step of storing the diagonal height difference calculated by the diagonal height difference calculation step and the diagonal difference calculated by the diagonal difference calculation step in association with each other, and a plurality of stored diagonal height differences. A step of reading the diagonal difference and generating an approximate straight line on the two-dimensional coordinates, and an adjustment amount based on the coordinate value of the diagonal height difference when the diagonal difference on the generated approximate straight line is substantially zero. And a step of calculating.

In the adjustment amount calculating device according to the thirteenth aspect of the invention, the rigid bodies are placed on the left and right sides of the front and rear bogies, respectively, with height adjusting devices interposing height controllable pressure controls. An adjustment amount calculation device for calculating an adjustment amount of height between a bogie and a rigid body of a railway vehicle,
A sensor that detects the pressure or load of each height adjustment device,
A height sensor for detecting the height of each height adjusting device, a first total value of values detected by sensors provided at diagonal positions, and a sensor provided at different diagonal positions. Diagonal difference calculation means for calculating the diagonal difference from the second total value of the measured values, the first total height of the heights detected by the height sensors respectively provided at the diagonal positions, and another pair. Controls the diagonal height difference calculating means for calculating a diagonal height difference which is a difference between the heights detected by the height sensors respectively provided at the angular positions and the second total height, and the height adjusting device. And a means for storing the diagonal height difference calculated by the diagonal height difference calculation means and the diagonal difference calculated by the diagonal difference calculation means in association with each other, and a plurality of stored diagonal heights. Means for reading out the difference and the diagonal difference to generate an approximate straight line on the two-dimensional coordinates, and the generated approximate straight line Definitive diagonal difference in the case of substantially zero, characterized in that it comprises a means for calculating the adjustment amount based on the coordinate values of the diagonal height difference.

In the computer program according to the fourteenth aspect of the invention, a height adjusting device capable of adjusting the height by pressure control adjusts the pressure or load of the height adjusting device to the left and right of the front bogie and the rear bogie, respectively. A height sensor for detecting the height of each height adjusting device is provided together with the height adjusting device for mounting the rigid body of the vehicle by interposing the height adjusting device on the front bogie and the rear bogie. A computer program for calculating an adjustment amount of height between a bogie and a rigid body of a railway vehicle, the computer program comprising: a first total value of values detected by sensors provided at diagonal positions in the computer; , A diagonal difference calculating step of calculating a diagonal difference between the second total value of the values detected by the sensors respectively provided at the different diagonal positions, and the computer providing the diagonal difference calculation step at the diagonal positions. Diagonal height which is the difference between the first total height of the heights detected by the height sensor and the second total height of the heights detected by the height sensors respectively provided at different diagonal positions. A diagonal height difference calculating step of calculating a difference; and controlling the height adjusting device by a computer,
A step of storing the diagonal height difference calculated in the diagonal height difference calculation step and the diagonal difference calculated in the diagonal difference calculation step in association with each other; A step of reading the difference and the diagonal difference and generating an approximate straight line on the two-dimensional coordinates;
And a step of calculating an adjustment amount based on the coordinate value of the diagonal height difference when the diagonal difference in the generated approximate straight line is substantially zero.

The basic principle of the first to eighth inventions will be described below. FIG. 2 is an explanatory diagram showing the basic principle of the adjustment amount calculation method according to the present invention. 1st to 4th in FIG.
Height adjusting devices 1A to 4A are provided at the respective positions of the positions, and a vehicle body rigid body B is placed thereon. It is assumed that the rigid body B has a downward twist at the 1st and 4th positions and an upward twist at the 2nd and 3rd positions, respectively. In such a case, when the twist component of the rigid body B is ΔPn, the pressures or loads (hereinafter represented by pressure) P1 to P4 of the height adjusting devices 1A to 4A can be expressed by the following formula 1. .

[0033]   P1 = P0 + ΔPn   P2 = P0-ΔPn   P3 = P0-ΔPn   P4 = P0 + ΔPn However, P0 = (P1 + P2 + P3 + P4) / 4 Equation 1

Therefore, the following expression 2 can be derived from the expression 1.

[0035] (P1 + P4)-(P2 + P3) = 4ΔPn Equation 2

Here, in the case of an ideal rigid body of a vehicle body having no twist, the twist component ΔPn (right side) is zero. Therefore,
Diagonal difference (left side) that is the difference between the total values of the diagonal positions shown in Equation 2
It can be understood that each height adjusting device may be controlled by pressure control so that the value becomes zero.

From these matters, in the first invention, the third invention, and the sixth invention, first, the first total value of the values detected by the sensors such as the pressure sensor or the load sensor provided at diagonal positions respectively. And a diagonal difference between the second total value of the values detected by the sensors respectively provided at different diagonal positions. Then, the respective height adjusting devices are pressure-controlled until the diagonal difference becomes equal to or less than a predetermined threshold value. Then, when the diagonal difference is less than or equal to a predetermined threshold value, the adjustment amount is calculated based on the height detected by each height sensor, so that the liner having the thickness calculated by this method is used. Compressed air is supplied to and exhausted from a height adjusting device such as an air spring, which is inserted between the carriage and the rigid body of the vehicle,
Alternatively, by appropriately changing the length of the vertical lever of the automatic height adjusting mechanism, the imbalance of the wheel weight can be reduced, and as a result, the running stability can be improved.

In the second, fourth, and seventh inventions, when the height adjusting device is an air spring, the effective pressure receiving area differs depending on the height, that is, the pressure characteristic differs depending on the height. Therefore, the average height is calculated based on the height detected by each height sensor. Then, the first is that this average height is a predetermined reference height.
The second condition is that the above-mentioned diagonal difference is less than or equal to a predetermined threshold value, and the pressure control is performed so that each of these conditions is satisfied by the AND condition. Control In this state, since the adjustment amount is calculated based on the height output from the height sensor, even if the height adjusting device changes its characteristics depending on the height like an air spring. By further controlling the average height, the adjustment amount can be calculated more accurately.

In the fifth invention and the eighth invention, after the above-mentioned control, the first total height of the heights detected by the height sensors respectively provided at the diagonal positions and the different diagonal positions. Since the difference between the height detected by each height sensor provided and the second total height is calculated, and this value is calculated as the adjustment amount, the adjustment amount can be easily grasped.

In the ninth invention to the eleventh invention, the heights of the respective height adjusting devices are controlled so that the first total height of the heights detected by the height sensors respectively provided at diagonal positions and , A diagonal height difference, which is the difference between the heights detected by the height sensors provided at different diagonal positions and the second total height, is calculated. At the same time, the calculated diagonal height difference and the value output from each sensor are stored in association with each other. In these processes, the height of each height adjusting device is sequentially changed, and the diagonal height difference and the value output from each sensor are sequentially stored and stored. Then, the value of each position and the corresponding diagonal height difference stored by sequentially changing the height are read out and developed on the two-dimensional coordinates having the value of each position and the diagonal height difference as each axis. Then, the coordinates of the centroid of the figure surrounded by the approximate straight line developed on the two-dimensional coordinates (see FIG. 1B) are calculated, and the coordinate value of the calculated diagonal height difference of the centroid is calculated as the adjustment amount. Since the adjustment amount can be calculated by a very simple method, the imbalance of the wheel load can be reduced by inserting the liner of the amount calculated by this method between the carriage and the rigid body of the vehicle body. As a result, driving stability can be improved.

In the twelfth invention to the fourteenth invention, from the first total value (for example, the total value of the 1st-position sensor and the 4th-position sensor) of the values output from the pressure sensors respectively provided at the diagonal positions, another pair is detected. The diagonal difference is calculated by subtracting the second total value (for example, the total value of the second-position sensor and the third-position sensor) of the values output from the pressure sensors respectively provided at the angular positions. Furthermore, a first total height of heights detected by height sensors provided at diagonal positions and a second total height of heights detected by height sensors provided at different diagonal positions, respectively. A diagonal height difference, which is the difference, is calculated.

Here, when the height of each height adjusting device is sequentially changed, the diagonal height difference and the diagonal difference are also changed, so that the sequentially changed diagonal height difference and diagonal difference are associated with each other. Let me remember. Then, the diagonal differences and the corresponding diagonal height differences that are stored by sequentially changing the heights are read out and developed on the two-dimensional coordinates having the diagonal differences and the diagonal height differences as respective axes. Then, in the approximate straight line developed on the two-dimensional coordinates (see FIG. 1C), the adjustment amount is calculated from the coordinate value of the diagonal height difference when the diagonal difference is substantially zero. The adjustment amount can be calculated by an extremely simple method. By inserting the liner of the amount calculated by this method between the bogie and the rigid body of the vehicle, the imbalance of the wheel weight is reduced, and as a result, the running stability is improved. It becomes possible.

[0043]

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described below in detail with reference to the drawings showing an embodiment. Embodiment 1 FIG. 3 is a schematic perspective view schematically showing the structure of an adjustment amount calculation device D according to the present invention. FIG. 4 is a block diagram showing the configuration of the adjustment amount calculation device D according to the present invention. Although the height adjusting devices 1A to 4A (hereinafter, represented by A in some cases) are described as air springs, the invention is not necessarily limited to this, and coil springs or the like controlled by hydraulic actuators may be used. Of course, it is also good.

As shown in FIG. 3, a front bogie F is provided on the front side in the traveling direction of the vehicle, and a rear bogie R is provided on the rear side in the traveling direction. A height adjusting device 2A and a third position height adjusting device 3A and a fourth position height adjusting device 4A are provided on the left and right of the rear carriage R, respectively. Then, the body rigid body B is placed on the height adjustment device A by being supported by the height adjustment device A. In addition, in the present embodiment, the case where the present invention is applied to the bolsterless truck is described. However, when the present invention is applied to the bolster truck,
(I) Bolster (not shown) on the front carriage F and the rear carriage R
Is mounted and the height adjusting device A and the rigid body are further mounted on the bolster, or (ii) the height adjusting device A is mounted on the front carriage F and the rear carriage R, and the height adjustment device A is mounted on the front carriage F and the rear carriage R. The bolster and the rigid body of the vehicle body will be further mounted on the adjusting device A. When controlling the height of the height adjusting device A, the air supply valves 1S to 4S (hereinafter, represented by S in some cases) and the exhaust valves 1E to 4E are instructed by the MPU 11 of the control unit 10.
The height is changed by controlling opening and closing (hereinafter, represented by E in some cases).

When the height is to be increased, the air supply valve S is opened and the exhaust valve E is closed to feed compressed air from the air reservoir R2 to the height adjusting device A through the pipe T.
On the other hand, when lowering the height, the air supply valve S is closed and
The exhaust valve E is controlled to open to release the compressed air in the height adjusting device A to the atmosphere. Further, each height adjusting device A is provided with height sensors 1H to 4H (hereinafter, represented by H in some cases) for detecting the height of the height adjusting device A, and a signal corresponding to the height is provided. Output to the control unit 10. When the height adjusting device A is a coil spring, a hydraulic actuator (not shown) provided adjacent to the height adjusting device A is used to control the hydraulic pressure to indirectly increase the height of the coil spring. The height of the adjusting device A is controlled. Also height sensor H
In addition to measuring the height of the height adjusting device A as described above, it measures the height between the carriage FR and the rigid body B, which is substantially equivalent to the height. Is also good.

Details of the control unit 10 will be described with reference to FIG. The bus 1 is connected to the MPU 11 in the control unit 10.
Storage unit 1 such as RAM 12 and hard disk via 7
5, a communication port 16 for transmitting / receiving information to / from each height adjusting device A, a display unit 13 such as a display, and an input unit 14 such as a keyboard, a mouse, or an operation panel are connected. The RAM 12 stores a storage unit 15, a display unit 13, an input unit 14, and a control program 12a for controlling the exhaust valve E or the air supply valve S of each height adjusting device A and the like.

The height adjusting device A is provided with sensors 1P to 4P (hereinafter represented by P in some cases), detects the pressure or load of each height adjusting device A, and detects the detected pressure or load. , To the control unit 10. Data regarding the pressure value or load value and height of each height adjusting device A output to the control unit 10 is transmitted via the communication port 16 to the MPU 11
Is written in the storage unit 15 according to the instruction of the above, the MPU 11 reads out these data as needed, and based on the program according to the adjustment amount calculation method of the present invention stored in the control program 12a, each height adjustment device A Calculate the amount of pressure to pressurize or depressurize. Then, the exhaust valve E and the air supply valve S of each height adjusting device A are controlled according to the calculated pressure amount. When the height adjusting device A is a coil spring, the sensor P uses a load sensor (not shown) for measuring the load of the coil spring. On the other hand, when the height adjusting device A is an air spring, the sensor P is a pressure sensor that measures the internal pressure of each air spring. Hereinafter, the sensor P will be described as the pressure sensor P.

The procedure of the adjustment amount calculation processing according to the present invention will be described below with reference to a flowchart. 5 and 6
3 is a flowchart showing a procedure of adjustment amount calculation processing according to the present invention. First, air is supplied to each height adjusting device A, and the reference height from the punctured state (about 30 depending on each trolley)
(about mm) (step S51). Value output from each pressure sensor P in this state (pressure value)
Is stored (step S52). Then, the first total value of the values detected by the pressure sensors P (for example, the first-position pressure sensor 1P and the fourth-position pressure sensor 4P) provided at the diagonal positions and the pressures provided at the different diagonal positions, respectively. A diagonal difference (diagonal differential pressure) between the second total value of the values detected by the sensor P (for example, the second-rank pressure sensor 2P and the third-rank pressure sensor 3P) is calculated (step S53). Needless to say, the diagonal difference may be obtained by summing the difference between the pressure at the first position and the pressure at the second position and the difference between the pressure at the third position and the pressure at the fourth position.

Subsequently, it is determined whether or not the calculated absolute value of the diagonal difference is less than or equal to the threshold value previously stored in the storage unit 15 (step S54). An appropriate value can be input as the threshold value from the input unit 14. Here, if it is not less than or equal to the threshold value (NO in step S54), the following control is performed.

First, it is determined whether or not the total value of the first place value and the fourth place value (first total value) is smaller than the total value of the second place value and the third place value (second total value). It is determined (step S55).
When the first total value is smaller than the second total value (YES in step S55), pressurization control is performed on the first and fourth height adjusting devices A, and the second and third height adjusting devices A are performed. Pressure reduction control is performed (step S61). As the control amount, for example, a value obtained by multiplying a value obtained by subtracting the threshold value from the absolute value of the diagonal difference by a predetermined gain G may be used as the control amount.

On the other hand, when the first total value is larger than the second total value (NO in step S55), the pressure reducing control is performed on the first and fourth height adjusting devices A, and the second and third heights are adjusted. Pressurization control is performed on the adjusting device A (step S6).
2). After the pressurization or depressurization control in step S61 or step S62, the process returns to step S52 and this process is repeated. By repeating the above control, when the absolute value of the diagonal difference becomes equal to or less than the threshold value in step S54 (YES in step S54), the height output from each height sensor H at that time is stored. It is stored in the unit 15.

The MPU 11 reads the stored height of each height sensor H, and the first height detected by the height sensors H (for example, 1st and 4th) provided at diagonal positions, respectively.
The total height is calculated (step S56). Furthermore, height sensors H (for example, 2
The second total height of the heights detected by the positions (3rd and 3rd) is calculated (step S57). Then, the difference between the calculated first total height and the second total height is calculated, and the calculated value is used as the adjustment amount (step S58). When the adjustment amount is obtained, there are the following three methods for adjusting the height between the rigid body B and the front carriage F (rear carriage R). Figure 7 shows liner L
It is a schematic diagram for demonstrating the insertion position of. As a first method, a liner L corresponding to the obtained adjustment amount is provided between the front bogie F (or the rear bogie R) having the wheel W and the air spring A, or between the air spring A and the rigid body B of the vehicle body. By inserting or removing. That is, by interposing a liner (shim) between the front bogie F and the air spring A or the like, the twisting and eccentricity of the rigid body B of the vehicle body can be eliminated in a pseudo manner, and the difference between the left and right wheel weights can be reduced. As a second method, a height adjusting device A which is an air spring for compressed air according to the obtained adjustment amount.
This is done by supplying and exhausting air. That is, an appropriate amount of compressed air is supplied / exhausted to virtually eliminate twisting and eccentricity of the rigid body B of the vehicle body, thereby reducing the difference in wheel load between the left and right wheels. Alternatively, when the height adjusting device A is a coil spring, the hydraulic pressure corresponding to the obtained adjustment amount is increased or decreased to artificially eliminate the twist and eccentricity of the rigid body B of the vehicle body, and the left and right wheel load differences are eliminated. To reduce. A third method is to adjust the length of a vertical lever that constitutes an automatic height adjusting mechanism (not shown) according to the calculated adjustment amount. That is, by appropriately changing the length of the vertical lever, the torsion and the eccentricity of the rigid body B of the vehicle body can be virtually eliminated, and the difference between the left and right wheel weights can be reduced. In the following, a method of inserting the liner L, which is the first method, will be described.

Here, the first height sensor 1H shown in FIG.
The sum of the height detected by the height sensor 4H and the height detected by the height sensor 4H at the 4th diagonal position is the first total value, and the height detected by the height sensor 2H at the 2nd position is The sum with the height detected by the height sensor 3H is set as the second total value. Then, the value obtained by subtracting the second total value from the first total value is defined as the adjustment amount as shown in Expression 3. Adjustment amount = (1st height + 4th height)-(2nd height + 3rd height) = First total value-Second total value Formula 3 Here, when the calculated adjustment amount is X, each The thickness of the liner L to be inserted into the site is determined according to Table 1 below.

[0054]

[Table 1]

The contents of Table 1 are stored in the storage unit 15 depending on the place where the liner L is inserted. For example, when inserting the liner L into all parts (Table 1 (a))
When X is positive, a liner L having a thickness obtained by dividing X by 4 is inserted at the 1st and 4th positions, and a liner L having a thickness obtained by dividing X by 4 is drawn at the 2nd and 3rd positions. On the other hand, when X is negative, on the contrary, as shown in Table 1, the liners L at the 1st and 4th positions are pulled out, and the liners L at the 2nd and 3rd positions are inserted.

In addition, when only the diagonal part, that is, only two parts are inserted (Table 1 (b)), when X is positive, a liner having a thickness obtained by dividing X at the 1st and 4th positions by 2 is used. Insert L. Alternatively, the liner L having a thickness obtained by dividing X by 2 at the second and third positions is removed. When X is negative, insertion and removal are opposite.

When the liner L is inserted or removed only at a part of the position (Table 1 (c)), when X is positive, the liner L having the thickness X is inserted only at the first position. Only the second place has thickness X
Remove the liner L. Liner L with thickness X only in 3rd place
To remove. Alternatively, the liner L having the thickness X is inserted only in the 4th position. When X is negative, insertion and removal are opposite. In the case of the above-described second method, the height adjusting devices 1A to 4A are pressed based on Table 1 so that the heights output from the height sensors 1H to 4H become the predetermined heights. Control decompression. For example, in the case of adjusting all parts (Table 1 (a)), when the adjustment amount X is positive, the height adjusting devices 1A and 4A are used until the heights of the 1st and 4th positions increase by X / 4. The pressure is controlled and the second and third heights are X.
The height adjustment devices 2A and 3A may be pressure-reduced until the height adjustment devices 2A and 3A descend. In the case of the third method, the length of the vertical lever (101AV in FIG. 14) of the automatic height adjusting mechanism is adjusted based on Table 1. For example, in the case of adjusting all parts (Table 1 (a)), when the adjustment amount X is positive, the lengths of the first and fourth vertical levers are increased by X / 4,
The length of the second and third vertical levers may be shortened by X / 4.

Second Embodiment In the second embodiment, in addition to the control performed in the first embodiment, the average height control of the heights of the height adjusting devices A is simultaneously performed. FIG. 8 is a flowchart showing the procedure of the adjustment amount calculation process of the present invention according to the second embodiment. Step S5
Since the processing from 1 to step S53 is the same, it will be omitted. After step S53, the average height is calculated based on the height output from each height sensor S (step S7).
1). Then, it is determined whether the calculated average height is substantially equal to the reference height and the absolute value of the diagonal difference is less than or equal to a predetermined threshold value (step S72). Note that the average height does not necessarily have to exactly match the reference height, and may match to some extent.

If NO in step S72, pressurization or depressurization control is performed by the processing described in steps S55, S61 and S62 (step S73). Along with this, average height control is performed by the processing described later (step S74). Note that the processing (steps S56 to S58) when YES is determined in step S72 has already been described, and will be omitted.

FIG. 9 is a flow chart showing the processing procedure of the average height control. First, it is determined whether or not the average value of the first height and the second height is larger than the reference height (step S81). Here, if it is larger than the reference height (YES in step S81), it is subsequently determined whether or not the first-ranked height is higher than the second-ranked height (step S82). If it is determined that the first place is high (YES in step S82), 1
Only the height adjusting device A is pressure-reduced (step S8).
3). The control amount is calculated by, for example, multiplying the absolute value of the value obtained by subtracting the reference height from the height of the first place by the exhaust gain GE of the exhaust valve E of the height adjusting device A. On the other hand, if it is determined that the height of the first place is lower than the height of the second place (step S
(NO in 82)) Only the second height adjusting device A is pressure-reduced (step S84). Note that the control amount is, for example, the absolute value of the value obtained by subtracting the reference height from the second height, and the height adjustment device A
It is calculated by multiplying the exhaust gain GE of the exhaust valve E of. If both the first height and the second height are higher than the reference height, both the first height adjusting device A and the second height adjusting device A may be pressure-reduced.

On the other hand, if the average heights of the first and second places are smaller than the reference height in step S81 (NO in step S81), then it is determined whether or not the first place height is lower than the second place height. It is determined (step S85). Here, if the height of the first place is lower than the height of the second place (YES in step S85).
S) Only the first height adjusting device A is pressure-controlled (step S86). The control amount is, for example, the absolute value of the value obtained by subtracting the reference height from the height of the first place, and the air supply valve S of the height adjusting device A.
It is calculated by multiplying the supply air gain GS of. on the other hand,
If it is determined that the height of the first place is higher than the height of the second place (NO in step S85), only the second height adjusting device A is pressure-controlled (step S84). The controlled variable is, for example,
It is calculated by multiplying the absolute value of the value obtained by subtracting the reference height from the second height by the air supply gain GS of the air supply valve S of the height adjusting device A. If both the first height and the second height are lower than the reference height, both the first height adjusting device A and the second height adjusting device A may be pressure-controlled.

The above control is similarly performed for the 3rd and 4th positions, and the height adjusting device A for the 3rd and 4th positions is pressurized or depressurized. Then, as shown in FIG. 8, the diagonal difference control (step S73) and the average height control (step S74) are performed on each height adjusting device, the process proceeds to step S52 again, and these processes are repeated to adjust the adjustment amount. To calculate. When the diagonal difference control (step S73) and the average height control (step S74) are performed at the same time, step S61 is performed.
And the control amount of each position related to the diagonal differential pressure control calculated in step S62 and the control amount of each position related to the average height control calculated in step S83, step S84, step S86 and step S87 are added, and the MPU 11 Based on the added control amount, the air supply valve S or the exhaust valve E is controlled to perform pressure increase or pressure decrease control.

The second embodiment is configured as described above, and since the other configurations and operations are the same as those of the first embodiment, corresponding parts are designated by the same reference numerals and detailed description thereof will be given. Omit it.

Third Embodiment FIG. 10 is a schematic diagram showing a hardware configuration for implementing the adjustment amount calculating device D according to the first and second embodiments.
The computer program for executing the adjustment amount calculation device D according to the first and second embodiments may be pre-installed and provided in the adjustment amount calculation device D as in the first and second embodiments, or the CD- It is also possible to provide it on a portable recording medium such as a ROM or MO. Further, the computer program can be provided by being propagated as a carrier wave via a line. The contents will be described below.

The adjustment amount calculating device D shown in FIG. 10 is caused to calculate the diagonal difference, calculate the average height, control the height, and calculate the first total height and the second total height. The recording medium 10a (CD that stores the program for calculating the adjustment amount)
-ROM, MO, DVD-ROM, etc.) is installed in the storage unit 15 of the adjustment amount calculation device D. Such a program is loaded into the RAM 12 of the adjustment amount calculation device D and executed. This functions as the adjustment amount calculation device D of the present invention as described above.

The third embodiment has the above-described configuration, and since the other configurations and operations are the same as those of the first and second embodiments, the corresponding parts are designated by the same reference numerals and the detailed description thereof will be omitted. The description is omitted.

Fourth Embodiment The fourth embodiment relates to a method for developing the detected height and pressure or load value on a two-dimensional coordinate and simply calculating the adjustment amount.

FIG. 11 is a flowchart showing the processing procedure of the adjustment amount calculation method according to the second embodiment. The processing procedure will be described below with reference to FIGS. 11 and 1. In the present embodiment, the reference height is set to 30 mm, and the pressure of each height adjusting device A at the time when the reference height of the ideal body rigid body B without twisting and eccentricity is 30 mm is 150 kPa.

First, the height of each height adjusting device A is controlled from the punctured state to the reference height of 30 mm by pressure control (step S101). And the height adjustment device A of each place
Is controlled by pressurizing or depressurizing (step S10
2), change the height. Then, the first total height of the heights detected by the height sensors H provided at the diagonal positions and the second total height of the heights detected by the height sensors H provided at the different diagonal positions, respectively. A diagonal height difference, which is the difference between the distance and the distance, is calculated (step S103). Then, the calculated diagonal height difference and the value output from each sensor P (pressure sensor) at that time are stored in the storage unit 15 in association with each other (step S104). The height of each height adjusting device A is sequentially changed to sequentially store data.

Then, the stored data is read out, and as shown in FIG. 1, the value (kP
Data is developed on a two-dimensional coordinate with a) as the vertical axis and diagonal height difference (mm) as the horizontal axis (step S105). Then, an approximate straight line is calculated on the basis of the plotted points at each position to obtain the graph shown in FIG. 1B (step S106). Then, the coordinates of the centroid of the figure surrounded by these four approximate straight lines are calculated (step S107). Then, the horizontal axis value of the coordinates of the centroid, that is, the value of the diagonal height difference is set as the adjustment amount to be obtained (step S108). The thickness of the liner L to be actually inserted is the same as in Table 1 of the first embodiment, and therefore its description is omitted. In step S102, pressure control or pressure reduction control was arbitrarily performed on each height adjustment device A.
It is easy to collect data as follows. An example is shown below.

First, the height of the first to fourth height adjusting devices A is controlled to a reference height of 30 mm. Then, only the first height adjusting device 1A is changed by pressure control. In this case, the height of the height adjusting device A from the second place to the fourth place is the reference height 3
It remains 0 mm (of course, you may freely control and collect data). Then, when the height of the first place is changed, the pressure value output from each pressure sensor P is sequentially stored in the storage unit 15 in correspondence with the difference in diagonal height.

Then, as shown in FIG. 1, the diagonal height difference (m
m) is the horizontal axis, and the pressure (kPa) at each position is the vertical axis,
The pressure at each position corresponding to the diagonal height difference read from the storage unit 15 is expanded on the two-dimensional coordinates. Then, an approximate straight line is calculated based on the plotted points of each position. It should be noted that there may be at least two or more plot points (that is,
It is also possible to change the condition twice to obtain the diagonal height difference and the pressure at each position.) To calculate the adjustment amount with high accuracy, perform more measurements and obtain the adjustment amount from many plot points. Is preferred. If there are two plot points, a linear line determined from the coordinate values of the two points is generated instead of the approximate straight line. Here, the centroid of the figure surrounded by the four approximate straight lines is calculated. Then, the calculated diagonal height difference coordinate value of the centroid is set as the adjustment amount to be obtained.

The fourth embodiment is configured as described above, and other configurations and operations are similar to those of the first to third embodiments, and therefore, corresponding parts are designated by the same reference numerals and detailed description thereof will be given. The description is omitted.

Fifth Embodiment FIG. 12 is a schematic diagram showing a hardware configuration for implementing an adjustment amount calculating device D according to the fifth embodiment. The computer program for executing the adjustment amount calculation device D according to the fifth embodiment may be pre-installed and provided in the adjustment amount calculation device D as in the fifth embodiment, or may be a CD-ROM, MO, or the like. It is also possible to provide it with a portable recording medium. Further, the computer program can be provided by being propagated as a carrier wave via a line. The contents will be described below.

The adjustment amount calculating device D shown in FIG. 12 calculates the diagonal height difference by changing the height of the height adjusting device A, and stores the diagonal height difference and the output value of each position. The recording medium 10b (CD-R which stores a program for developing the two-dimensional coordinate, calculating the centroid coordinate, and calculating the adjustment amount
OM, MO, DVD-ROM, etc.) is an adjustment amount calculation device D
Is installed in the storage unit 15. Such a program is loaded into the RAM 12 of the adjustment amount calculation device D and executed. This functions as the adjustment amount calculation device D of the present invention as described above.

The fifth embodiment has the above-described structure, and since the other structures and operations are the same as those of the first to fourth embodiments, the corresponding parts are designated by the same reference numerals and the detailed description thereof will be omitted. The description is omitted.

Sixth Embodiment A sixth embodiment relates to a method for easily calculating the adjustment amount by expanding the diagonal height difference and the diagonal difference on a two-dimensional coordinate.

FIG. 13 is a flowchart showing the processing procedure of the adjustment amount calculating method according to the sixth embodiment. The processing procedure will be described below with reference to FIGS. 13 and 1C.

First, the height of each height adjusting device A is controlled from the punctured state to the reference height of 30 mm (step S13).
1). Then, the height is changed by controlling pressurization or depressurization of each height adjusting device A (step S132). Then, the first total height of the heights detected by the height sensors H provided at the diagonal positions and the second total height of the heights detected by the height sensors H provided at the different diagonal positions, respectively. A diagonal height difference, which is the difference between the distance and the distance, is calculated (step S133). At the same time each pressure sensor P
Is received (step S134).

The control unit 10 substitutes the received pressure value into the equation 2 to calculate the diagonal difference (step S135). Then, the calculated diagonal height difference and the diagonal difference at that time are associated with each other and stored in the storage unit 15 (step S13).
6). Through the above processing, the height of each height adjusting device A is sequentially changed, and the data is sequentially stored.

Then, the stored data is read out, and as shown in FIG. 1C, the diagonal difference (kPa) is plotted on the ordinate and the diagonal height difference (mm) is plotted on the abscissa on the two-dimensional coordinates. The data is expanded (step S137). Then, an approximate straight line is generated on the basis of the plotted points at each position, and the graph shown in FIG. 1C is obtained (step S138). It should be noted that there may be at least two plot points (that is, the condition may be changed twice to obtain the diagonal height difference and the diagonal difference), but in order to calculate the adjustment amount with high accuracy. It is preferable to measure more and obtain the adjustment amount from many plot points. If there are two plot points, a linear line determined from the coordinate values of the two points is generated instead of the approximate straight line.

Then, the coordinate value of the diagonal height difference (-5.0 mm in the figure) when the diagonal difference of this approximate straight line is substantially zero is extracted (step S139). In other words, the diagonal height difference when the diagonal pressure difference is zero is calculated. Finally, the horizontal axis value of the coordinates of the centroid, that is, the value of the diagonal height difference is set as the adjustment amount to be obtained (step S1310). The thickness of the liner L to be actually inserted is the same as in Table 1 of the first embodiment, and therefore its description is omitted.

The sixth embodiment is configured as described above, and the other configurations and operations are the same as those of the first to fifth embodiments. Therefore, corresponding parts are designated by the same reference numerals and detailed description thereof will be given. The description is omitted.

Seventh Embodiment FIG. 14 is a schematic diagram showing a hardware configuration for implementing the adjustment amount calculating device D according to the seventh embodiment. The computer program for executing the adjustment amount calculation device D according to the seventh embodiment may be pre-installed and provided in the adjustment amount calculation device D as in the seventh embodiment, or may be a CD-ROM, MO or the like. It is also possible to provide it with a portable recording medium. Further, the computer program can be provided by being propagated as a carrier wave via a line. The contents will be described below.

The adjustment amount calculating device D shown in FIG. 14 is caused to calculate a diagonal difference, calculate a diagonal height difference, store the diagonal height difference and the diagonal difference, and generate a recent straight line. The recording medium 10c (CD-R that stores a program for calculating the adjustment amount)
OM, MO, DVD-ROM, etc.) is an adjustment amount calculation device D
Is installed in the storage unit 15. Such a program is loaded into the RAM 12 of the adjustment amount calculation device D and executed. This functions as the adjustment amount calculation device D of the present invention as described above.

The seventh embodiment is configured as described above, and other configurations and operations are similar to those of the first to sixth embodiments, and therefore, corresponding parts are designated by the same reference numerals and detailed description thereof will be given. The description is omitted.

Below, the effect of the present invention will be examined by actually inserting the liner L corresponding to the adjustment amount calculated by the adjustment amount calculating method according to the present invention.

(A) The liner L is not inserted at all, (b) The liner L obtained by the conventional adjustment amount calculation method is inserted, and (c) The liner obtained by the method according to the second embodiment. An experiment was conducted for each of the cases where L was inserted. The results are shown in Table 2.

[0089]

[Table 2]

The liner L was not inserted at all, and each height adjusting device A was raised from the punctured state to the reference height of 30 mm ± 2 mm and the pressure of each position was measured. 1 as shown in Table 2 (a)
The first place is 180 kPa, the second place is 195 kPa, and the third place is 185.
kPa, 4th place is 130 kPa, and diagonal pressure difference is -70
It became kPa. In this case, the wheel weight imbalance of the front bogie F and the rear bogie R was evaluated by the evaluation criteria shown in the following Expression 4. Front bogie evaluation value (%) = | pressure value of first-rank pressure sensor (kPa) −pressure value of second-rank pressure sensor (kPa) | ÷ (pressure value of first-rank pressure sensor (kPa) + pressure value of second-rank pressure sensor (KPa)) × 100 Rear bogie evaluation value (%) = | Pressure value of the third-rank pressure sensor (kPa) -Pressure value of the fourth-rank pressure sensor (kPa) | ÷ (Pressure value of the third-rank pressure sensor (kPa) +4 Value of pressure sensor (kPa)) × 100 Equation 4 The results are shown in Table 3 (a).

[0091]

[Table 3]

By substituting the respective pressure values in Table 2 into the equation 4, the front bogie evaluation value and the rear bogie evaluation value were respectively obtained. As shown in Table 3 (a), the first rank was -4.0%. Second place is 4.
0%, 3rd place was 17.5%, and 4th place was -17.5%. As is apparent from the test results, a pressure difference is generated especially in the rear bogie R, and as a result, it has a great influence on the wheel load, and when the liner L is not inserted at each position, it passes through the relaxation curve. Sometimes it can be said that running stability is low.

Next, a test was carried out for the case (b) in which the liner L relating to the adjustment amount obtained by the conventional method was inserted. Using the conventional method, calculate the adjustment amount of 13.5 mm, and the liner L of 13.5 mm for each of the first and fourth positions.
And the pressure output from the sensor P was measured.
As a result, as shown in Table 2 (b), each pressure is 1
07kPa, 2nd 168kPa, 3rd 158kPa, 4
It became 157 kPa. In this case, the diagonal pressure difference is 38k
The result was Pa.

By substituting the respective pressure values in Table 2 (b) into the equation 4, the front bogie evaluation value and the rear bogie evaluation value were respectively obtained. As shown in Table 3 (b), the first place was 10. 4%, 2
The rank is -10.4%, the third is 0.3%, and the fourth is -0.3%.
The result was. As is clear from the test results, the improvement effect can be seen, but it can be said that the running stability is low because a pressure difference occurs especially in the front bogie F.

Next, a test was carried out for the case (c) in which the liner L obtained by the adjustment amount calculation method according to the second embodiment was inserted. As described in the second embodiment, control is performed so that the average height is about 30 mm ± 2 mm, which is the reference height, and the diagonal difference is equal to or less than the predetermined 6 kPa, and as a result, the adjustment amount is calculated to be 9 mm. Therefore, a liner L having a liner amount of 9 mm was inserted at the 1st and 4th positions and the pressure output from the sensor P at each position was measured. As a result, as shown in Table 2 (c), the first pressure was 199 kPa, the second was 176 kPa,
The third place was 166 kPa, the fourth place was 149 kPa, and the diagonal difference was 6 kPa. In addition, liner L to be inserted at each position
Should be inserted according to the criteria in Table 1.

By substituting the respective pressure values in Table 2 (c) into the equation 4 to obtain the front bogie evaluation value and the rear bogie evaluation value respectively, as shown in Table 3 (c), the first place is 6. 1%, 2nd place was -6.1%, 3rd place was 5.4%, and 4th place was -5.4%. As is clear from the test results, the pressure difference is kept low and the running stability is extremely high. The pressure difference is not completely zero because the diagonal pressure difference is below a predetermined threshold (6 kPa or below in this test), and the average height has some margin from the reference height. (± 2 mm in this test), and when the diagonal pressure difference is zero and the average height is strictly controlled so as to match the reference height, the pressure difference between the left and right theoretically becomes zero.

Although the test result according to the second embodiment has been described as above, almost the same adjustment amount can be calculated by other adjustment amount calculation methods, and thus detailed description of the test result will be omitted. . Further, although the height adjusting device A is described as an air spring in the present embodiment, other means such as a coil spring may be used, and the height is controlled by compressed air. It goes without saying that other means such as controlling with a fluid substance such as hydraulic pressure by using can be used. Further, although the case where the present invention is applied to the bolsterless truck has been described in the present embodiment, it may be applied to the bolster truck as described above.

[0098]

As described above in detail, in the first, third, and sixth inventions, first, the values detected by the sensors such as the pressure sensor or the load sensor provided at the diagonal positions are measured. The diagonal difference between the first total value and the second total value of the values detected by the sensors respectively provided at the different diagonal positions is calculated. Then, the respective height adjusting devices are pressure-controlled until the diagonal difference becomes equal to or less than a predetermined threshold value. Then, when the diagonal difference is less than or equal to a predetermined threshold value, the adjustment amount is calculated based on the height detected by each height sensor, so that the liner having the thickness calculated by this method is used. Wheels can be inserted between the bogie and the rigid body of the vehicle by supplying and exhausting compressed air to a height adjusting device such as an air spring, or by changing the length of the vertical lever of the automatic height adjusting mechanism. The weight imbalance is reduced, and as a result, driving stability can be improved.

In the second invention, the fourth invention, and the seventh invention, when the height adjusting device is an air spring, the effective pressure receiving area is different depending on the height, that is, the pressure characteristic is different depending on the height. Therefore, the average height is calculated based on the height detected by each height sensor. Then, the first is that this average height is a predetermined reference height.
The second condition is that the above-mentioned diagonal difference is less than or equal to a predetermined threshold value, and the pressure control is performed so that each of these conditions is satisfied by the AND condition. Control In this state, since the adjustment amount is calculated based on the height output from the height sensor, even if the height adjusting device changes its characteristics depending on the height like an air spring. By further controlling the average height, the adjustment amount can be calculated more accurately.

In the fifth invention and the eighth invention, after the above-mentioned control, the first total height of the heights detected by the height sensors respectively provided at the diagonal positions and the different diagonal positions. Since the difference between the height detected by each height sensor provided and the second total height is calculated, and this value is calculated as the adjustment amount, the adjustment amount can be easily grasped.

In the ninth invention to the eleventh invention, the height of each height adjusting device is controlled so that the first total height of the heights detected by the height sensors provided at diagonal positions and , A diagonal height difference, which is the difference between the heights detected by the height sensors provided at different diagonal positions and the second total height, is calculated. At the same time, the calculated diagonal height difference and the value output from each sensor are stored in association with each other. In these processes, the height of each height adjusting device is sequentially changed, and the diagonal height difference and the value output from each sensor are sequentially stored and stored. Then, the value of each position and the corresponding diagonal height difference stored by sequentially changing the height are read out and developed on the two-dimensional coordinates having the value of each position and the diagonal height difference as each axis. Then, the coordinates of the centroid of the figure surrounded by the approximate straight line developed on the two-dimensional coordinates (see FIG. 1) are calculated, and the coordinate value of the calculated diagonal height difference of the centroid is calculated as the adjustment amount. Therefore, it is possible to calculate the adjustment amount by an extremely simple method, and by inserting a liner of the amount calculated by this method between the bogie and the rigid body of the vehicle, etc., the wheel load imbalance is reduced, resulting in stable running. It is possible to improve the property.

In the twelfth invention to the fourteenth invention, from the first total value of the values output from the pressure sensors respectively provided at the diagonal positions, the value output from the pressure sensors respectively provided at the other diagonal positions. The diagonal difference is calculated by subtracting the second total value of. Further, a first total height of heights detected by height sensors provided at diagonal positions respectively,
A diagonal height difference, which is the difference between the heights detected by the height sensors provided at different diagonal positions and the second total height, is calculated.

Here, when the height of each height adjusting device is sequentially changed, the diagonal height difference and the diagonal difference are also changed. Therefore, the sequentially changed diagonal height difference and diagonal difference are associated with each other. Let me remember. Then, the diagonal differences and the corresponding diagonal height differences that are stored by sequentially changing the heights are read out and developed on the two-dimensional coordinates having the diagonal differences and the diagonal height differences as respective axes. Then, the adjustment amount is calculated from the coordinate value of the diagonal height difference when the diagonal difference is substantially zero on the approximate straight line developed on the two-dimensional coordinates, so the adjustment amount can be calculated by an extremely simple method. It is possible to calculate, by inserting a liner of the amount calculated by this method between the bogie and the rigid body of the vehicle, the imbalance of wheel load is reduced, and as a result, it becomes possible to improve running stability, etc. The present invention can exert excellent effects.

[Brief description of drawings]

FIG. 1 is a graph showing pressure output from each sensor when the height of each height adjusting device is changed.

FIG. 2 is an explanatory diagram showing a basic principle of an adjustment amount calculation method according to the present invention.

FIG. 3 is a schematic perspective view schematically showing the structure of an adjustment amount calculation device according to the present invention.

FIG. 4 is a block diagram showing a configuration of an adjustment amount calculation device according to the present invention.

FIG. 5 is a flowchart showing a procedure of adjustment amount calculation processing according to the present invention.

FIG. 6 is a flowchart showing a procedure of adjustment amount calculation processing according to the present invention.

FIG. 7 is a schematic diagram for explaining an insertion position of a liner.

FIG. 8 is a flowchart showing a procedure of adjustment amount calculation processing according to the second embodiment of the present invention.

FIG. 9 is a flowchart showing a processing procedure of average height control.

FIG. 10 is a schematic diagram showing a hardware configuration for implementing the adjustment amount calculation device according to the first and second embodiments.

FIG. 11 is a flowchart showing a processing procedure of an adjustment amount calculation method according to the second embodiment.

FIG. 12 is a schematic diagram showing a hardware configuration for implementing an adjustment amount calculation device according to a fifth embodiment.

FIG. 13 is a flowchart showing a processing procedure of an adjustment amount calculation method according to the sixth embodiment.

FIG. 14 is a schematic diagram showing a hardware configuration for implementing an adjustment amount calculation device according to a seventh embodiment.

FIG. 15 is an explanatory diagram showing the concept of twisting of a rigid body.

FIG. 16 is a schematic perspective view showing main parts such as a front bogie, a rear bogie, and a height adjusting device.

FIG. 17 is a flowchart showing a conventional adjustment amount calculation method.

[Explanation of symbols]

10 Control unit 12 RAM 15 memory 10a recording medium 10b recording medium 10c recording medium B body rigid body D adjustment amount calculation device F front bogie R rear bogie L liner 1A-4A height adjustment device 1E to 4E exhaust valve 1H to 4H height sensor 1P-4P sensor (pressure sensor or load sensor) 1S-4S Air supply valve

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Masao Tomeoka             3-19-6 Higashi-Ueno, Taito-ku, Tokyo Imperial City             High-speed transportation headquarters (72) Inventor Tomohisa Ogino             3-19-6 Higashi-Ueno, Taito-ku, Tokyo Imperial City             High-speed transportation headquarters (72) Inventor Naoshi Negoro             5-109 Shimaya, Konohana-ku, Osaka City, Osaka Prefecture               Sumitomo Metal Industries, Ltd. Kansai Works Steelmaking             In the office (72) Inventor Osamu Goto             5-109 Shimaya, Konohana-ku, Osaka City, Osaka Prefecture               Sumitomo Metal Industries, Ltd. Kansai Works Steelmaking             In the office (72) Inventor Toshiaki Matsui             5-109 Shimaya, Konohana-ku, Osaka City, Osaka Prefecture               Sumikin Design Engineering Co., Ltd. (72) Inventor Machi Nakata             5-109 Shimaya, Konohana-ku, Osaka City, Osaka Prefecture               Sumitomo Metal Industries, Ltd. Kansai Works Steelmaking             In the office

Claims (14)

[Claims] 1. The right and left sides of the front and rear bogies, respectively.
A height adjusting device capable of adjusting the height by pressure control is provided together with a sensor for detecting the pressure or load of the height adjusting device, and the height adjusting device is provided on the front bogie and the rear bogie. In addition to placing the rigid body of the vehicle, a method of calculating the amount of adjustment of the height between the bogie and the rigid body of the railway vehicle, which is provided with a height sensor that detects the height of each height adjusting device, Then, the diagonal difference between the first total value of the values detected by the sensors respectively provided at the diagonal positions and the second total value of the values detected by the sensors respectively provided at the other diagonal positions. When the calculated diagonal difference is less than or equal to a predetermined threshold value, the height of each height adjustment device is controlled until the calculated diagonal difference is less than or equal to a predetermined threshold value. In addition, the adjustment amount is calculated based on the height detected by each height sensor. Adjustment amount calculation method characterized by Rukoto. 2. The average height is further calculated based on the heights detected by the height sensors, and the calculated average height is a predetermined reference height, and the calculated average height is calculated. The height of each height adjusting device is controlled until the diagonal difference becomes equal to or less than a predetermined threshold value, and the calculated average height is a predetermined reference height,
The adjustment amount according to claim 1, wherein the adjustment amount is calculated based on the height output from the height sensor when the calculated diagonal difference is less than or equal to a predetermined threshold value. Calculation method. 3. The left and right sides of the front and rear bogies, respectively.
Amount of adjustment to calculate the amount of height adjustment between the bogie and the rigid body of the railway vehicle on which the rigid body is placed with a height adjusting device that can adjust the height by pressure control. A calculation device, which includes a sensor for detecting pressure or load of each height adjustment device, a first total value of values detected by sensors provided at diagonal positions, and a diagonal position provided at different diagonal positions. And a diagonal difference calculating means for calculating a diagonal difference from the second total value detected by the sensor, and the diagonal difference calculated by the diagonal difference calculating means is equal to or less than a predetermined threshold value. Up to a control means for controlling the height of each height adjusting device, a height sensor for detecting the height of each height adjusting device, and a height detected by each height sensor when controlled by the control means Adjustment amount calculation means for calculating the adjustment amount based on Adjustment amount calculation device, characterized in that. 4. An average height calculation means for calculating an average height based on the heights detected by the height sensors, wherein the control means is an average calculated by the average height calculation means. The height is a predetermined reference height, and the height of each height adjusting device is controlled until the diagonal difference calculated by the diagonal difference calculating means becomes less than or equal to a predetermined threshold value. The adjustment amount calculation device according to claim 3, wherein the adjustment amount calculation device is configured. 5. The adjustment amount calculating means includes a first total height of heights detected by height sensors provided at diagonal positions and a height sensor provided at different diagonal positions. The adjustment amount calculation device according to claim 3, wherein the adjustment amount calculation device is configured to calculate a difference between the detected height and the second total height. 6. The right and left sides of the front and rear bogies, respectively.
A height adjusting device capable of adjusting the height by pressure control is provided together with a sensor for detecting the pressure or load of the height adjusting device, and the height adjusting device is provided on the front bogie and the rear bogie. In order to calculate the amount of adjustment of the height between the bogie and the rigid body of the railway vehicle, which is mounted with the rigid body of the vehicle and is equipped with a height sensor that detects the height of each height adjusting device. A computer program, comprising: a computer, a first total of values detected by sensors provided at diagonal positions, and a second total of values detected by sensors provided at different diagonal positions. A step of calculating a diagonal difference from the value, a control step of causing the computer to control the height of each height adjustment device until the calculated diagonal difference becomes equal to or less than a predetermined threshold value, The When is controlled by control step, the computer program characterized by executing the adjustment amount calculation step of calculating an adjustment amount based on the height detected by the height sensor. 7. The computer further executes an average height calculation step of calculating an average height based on the heights detected by the height sensors, and the control step causes the computer to calculate the average height. The average height calculated by the step is a predetermined reference height, and the diagonal difference calculated by the diagonal difference calculating step is equal to or less than a predetermined threshold value of each height adjusting device. The computer program according to claim 6, which controls the height. 8. The adjustment amount calculating step includes causing the computer to calculate a first total height of heights detected by height sensors provided at diagonal positions, and causing the computer to perform another pair of height adjustments. Calculating a second total height of the heights detected by height sensors provided at the respective angular positions; and causing a computer to calculate a difference between the calculated first total height and the second total height. Computer program according to claim 6 or 7, characterized in that it comprises steps. 9. The front and rear bogies on the left and right respectively,
A height adjusting device capable of adjusting the height by pressure control is provided together with a sensor for detecting the pressure or load of the height adjusting device, and the height adjusting device is provided on the front bogie and the rear bogie. In addition to placing the rigid body of the vehicle, a method of calculating the amount of adjustment of the height between the bogie and the rigid body of the railway vehicle, which is provided with a height sensor that detects the height of each height adjusting device, Then, the first total height of the heights detected by the height sensors respectively provided at the diagonal positions, and the second total height of the heights detected by the height sensors respectively provided at different diagonal positions. A diagonal height difference calculating step of calculating a diagonal height difference, which is a difference from the height, and a value output from each sensor by controlling the height adjusting device, and calculating a value by the diagonal height calculating step. The step of storing in correspondence with the diagonal height difference A step of reading out a plurality of values output from each of the sensors and the corresponding diagonal height differences and developing them on two-dimensional coordinates; And a step of calculating an adjustment amount based on the calculated coordinate value of the diagonal height difference of the centroid. 10. A bogie of a railroad vehicle in which rigid body bodies are mounted on the left and right sides of the front bogie and the rear bogie, respectively, with height adjusting devices capable of adjusting the height by pressure control interposed therebetween. An adjustment amount calculation device for calculating an adjustment amount of height with respect to a rigid body, a sensor for detecting pressure or load of each height adjustment device, and a height for detecting the height of each height adjustment device. A first total of the heights detected by the sensor and the height sensors respectively provided at diagonal positions, and a second total of the heights detected by the height sensors respectively provided at different diagonal positions. A diagonal height difference calculating means for calculating a diagonal height difference, which is a difference from the height, and a value output from each sensor by controlling the height of each height adjusting device, A means for storing in association with the diagonal height difference calculated by the difference calculating means; Means for reading out a plurality of values output from the sensor and corresponding diagonal height differences and developing them on the two-dimensional coordinates, and calculating coordinates of the centroid of the figure surrounded by the approximate line developed on the two-dimensional coordinates. An adjustment amount calculation device, comprising: a means for performing the adjustment; and a means for calculating the adjustment amount based on the calculated coordinate value of the diagonal height difference of the centroid. 11. A height adjusting device capable of adjusting the height by pressure control is provided on each of the left and right sides of the front bogie and the rear bogie together with a sensor for detecting a pressure or a load of the height adjusting device. And mounting the rigid body with the height adjusting device interposed on the front bogie and the rear bogie,
A computer program for calculating an adjustment amount of height between a bogie and a rigid body of a railway vehicle equipped with a height sensor for detecting the height of each height adjusting device, the computer program comprising: Difference between a first total height of heights detected by height sensors respectively provided at the angular positions and a second total height of heights detected by height sensors respectively provided at the other diagonal positions. The diagonal height difference calculating step for calculating the diagonal height difference, and the computer controlling the height of each height adjusting device, and the value output from each sensor is calculated as the diagonal height difference calculating step. And a step of storing the value in correspondence with the diagonal height difference calculated by the method, and causing the computer to read out a plurality of stored values output from the respective sensors and the corresponding diagonal height difference, and display the two-dimensional coordinates. The steps to deploy and the compilation A step of causing the computer to calculate the coordinates of the centroid of the figure surrounded by the approximate straight line expanded on the two-dimensional coordinates, and the computer based on the calculated coordinate value of the difference in the diagonal height of the centroid. And a step of calculating an adjustment amount. 12. A height adjusting device capable of adjusting the height by pressure control is provided on each of the left and right sides of the front bogie and the rear bogie together with a sensor for detecting a pressure or a load of the height adjusting device. And mounting the rigid body with the height adjusting device interposed on the front bogie and the rear bogie,
A method for calculating the amount of height adjustment between a bogie and a rigid body of a railway vehicle equipped with a height sensor for detecting the height of each height adjusting device, which is provided at each diagonal position. A diagonal difference calculation step of calculating a diagonal difference between a first total value of the values detected by the sensor and a second total value of the values detected by the sensors respectively provided at different diagonal positions, A first total height of heights detected by height sensors respectively provided at diagonal positions and a second total height of heights detected by height sensors respectively provided at different diagonal positions. A diagonal height difference calculation step of calculating a diagonal height difference, which is a difference; and a diagonal height difference and a diagonal difference calculated by the diagonal height difference calculation step by controlling the height adjusting device. And a step of storing the diagonal difference calculated by the calculation step in association with each other. A step of reading the stored plural diagonal height differences and diagonal differences and generating an approximate straight line on the two-dimensional coordinate; and a diagonal height when the diagonal difference in the generated approximate straight line is substantially zero And a step of calculating an adjustment amount based on the coordinate value of the difference. 13. A bogie of a railroad vehicle in which rigid body bodies are mounted via a height adjusting device capable of adjusting the height by pressure control on each of the left and right sides of the front bogie and the rear bogie. An adjustment amount calculation device for calculating an adjustment amount of height with respect to a rigid body, a sensor for detecting pressure or load of each height adjustment device, and a height for detecting the height of each height adjustment device. Diagonal difference between the sensor and the first total value of the values detected by the sensors provided at the diagonal positions and the second total value of the values detected by the sensors provided at the different diagonal positions, respectively. And a first total height of heights detected by height sensors provided at diagonal positions and height sensors provided at different diagonal positions, respectively. Calculate the diagonal height difference that is the difference between the second total height And a diagonal height difference calculated by the diagonal height difference calculating means and a diagonal difference calculated by the diagonal difference calculating means. And a means for storing a plurality of diagonal height differences and a diagonal difference stored therein to generate an approximate straight line on a two-dimensional coordinate, and a diagonal difference in the generated approximate straight line And a means for calculating the adjustment amount based on the coordinate value of the diagonal height difference in the case of zero. 14. A height adjusting device capable of adjusting the height by pressure control is provided on each of the left and right sides of the front bogie and the rear bogie together with a sensor for detecting a pressure or a load of the height adjusting device. And mounting the rigid body with the height adjusting device interposed on the front bogie and the rear bogie,
A computer program for calculating a height adjustment amount between a bogie and a rigid body of a railway vehicle provided with a height sensor for detecting the height of each height adjusting device, the diagonal position Diagonal difference for calculating the diagonal difference between the first total value of the values detected by the sensors respectively provided in the and the second total value of the values detected by the sensors provided at different diagonal positions The calculating step, the first total height of the heights detected by the height sensors provided at the diagonal positions of the computer, and the height detected by the height sensors provided at the different diagonal positions of the computer. A diagonal height difference calculating step for calculating a diagonal height difference which is a difference from the second total height of the second total height, and a diagonal height difference calculating step for controlling the height adjusting device by a computer. Diagonal height difference and diagonal A step of storing the diagonal differences calculated in the calculating step in association with each other; and a step of causing the computer to read the plurality of stored diagonal height differences and diagonal differences and generate an approximate straight line on the two-dimensional coordinates And a step of causing a computer to calculate an adjustment amount based on the coordinate value of the diagonal height difference when the diagonal difference in the generated approximate straight line is substantially zero.