JP2005170334A - Car body inclination controlling method and device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To simplify the system constitution likely to become complicated very much according to the runaway preventive countermeasure of a CPU in the conventional car body inclination control. <P>SOLUTION: Controllers for controlling the car body inclination are installed one by one on cars S1, ..., Sn-1, Sn coupled together so that the place information and the speed information are acquired. The judging index for the car body inclination at the time of passing a curve is determined on the basis of those pieces of information obtained by the respective controllers. After determining the judging index, the obtained judging indices of the cars S1, ..., Sn-1, Sn are compared with one another to judge whether a failure exists in the cars S1, ..., Sn-1, Sn, and if any failure occures, the inclination controls of all cars compared are stopped. Accordingly the control for other cars is stopped in the event of failure occurrence, and controllers may be provided one on each car, and it is possible to perform the car body inclination control in a simple system constitution and with a high reliability. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a vehicle body inclination control method during driving, particularly when traveling through a curve, and to an inclination control device that implements the inclination control method.

  In a railway vehicle, riding comfort may deteriorate due to excessive centrifugal force when passing a curve. In particular, when the speed at the time of passing through the curve is high, the excess centrifugal force increases to cause further deterioration in riding comfort. Therefore, various types of vehicle body tilt control have been developed to suppress excessive centrifugal force and prevent deterioration of riding comfort by tilting the vehicle body when passing a curve.

  As a tilting method of the vehicle body, there are a tilting method by controlling the height of the air spring and a tilting method by a hydraulic cylinder arranged in parallel with the air spring. However, in order to obtain the point information, as shown in FIG. 3, the point detection is performed only by the specific vehicle, for example, the vehicle body tilt control device 1a of the leading vehicle S1.

  Then, based on the point information and the speed information, the target vehicle body inclination angle is obtained and the vehicle body of the head vehicle S1 is tilted. The vehicle body tilting device 1b of the other vehicles S2. By transmitting the value, the vehicle body of each vehicle S2... Sn was tilted.

In addition, in the above-mentioned vehicle body tilt control, in order to monitor controller malfunctions caused by CPU runaway, etc., a main controller as a main system and a sub controller as a sub system are installed in each vehicle. When the main controller detects an abnormality, the tilt target angle signal is sent from the main controller of the adjacent vehicle to the sub controller of the vehicle, and the sub controller continues the control.
Kei Sakagami et al. “Toward the Practical Use of the First Body Inclination System on the Shinkansen” JREA 2003 VOL46 No. 10

  However, the configuration in which the above-described controllers are installed twice can improve the reliability as a measure for preventing the CPU from running away, but increases the cost and makes the system configuration very complicated.

  The problem to be solved is that the system configuration becomes very complicated by the CPU runaway prevention measures in the conventional vehicle body tilt control.

The vehicle body tilt control method of the present invention simplifies the conventional complicated system configuration.
Obtain point information and speed information with each controller for vehicle body tilt control provided one for each connected vehicle, or obtain trajectory tilt information,
Obtained by each of these controllers, or based on the obtained information, after obtaining the judgment index of the vehicle body tilt when passing the curve,
(1) By comparing the obtained determination index of each vehicle with a plurality of vehicles, it is determined whether there is an abnormality in the inclination control in the vehicle, and when it is determined that there is an abnormality, the inclination control of all the compared vehicles is stopped. ,
Or
(2) Among the above-described determination indexes obtained for each vehicle, when the difference between the determination indexes of any two vehicles is smaller than a predetermined value, these values are determined to be normal, and these arbitrary two vehicles Determining that there is an abnormality when the difference between the determination index of any of the above and the determination index of another vehicle is greater than a predetermined value, and stopping the tilt control of the vehicle determined to be abnormal.
This is the main feature.

In the present invention of (1) above, the determination of the presence or absence of abnormality is specifically,
(A) It is determined that there is an abnormality when the difference between the determination indexes of any two vehicles among the determination indexes of the vehicle body inclination determined for each vehicle is larger than a predetermined value.
(B) One vehicle out of any two vehicles out of the vehicle body tilt determination index obtained for each vehicle compares the vehicle body tilt determination index of the other vehicle with a predetermined threshold, Judge that there is an abnormality when the threshold is exceeded,
(C) It is determined that there is an abnormality except when all the vehicle body tilt determination indexes obtained for each vehicle are within a predetermined threshold value.
By doing.

The vehicle body tilt control device of the present invention
A controller for vehicle body tilt control that is provided for each connected vehicle, obtains point information and speed information, or obtains track inclination information;
Obtained by each of these controllers, or after obtaining a judgment index for vehicle body inclination when passing a curve based on the obtained information, and comparing the obtained judgment indices for each vehicle with a plurality of vehicles. Equipped with a determinator for judging whether there is an abnormality in the vehicle,
It is most important that the inclination control device of each vehicle provided with these controllers and the determination device is connected by a circuit capable of stopping the compared vehicle inclination control when the determination device determines that there is an abnormality. It is a feature.

  In the above-described present invention, the vehicle body inclination determination index is not particularly limited as long as it is an index that can determine whether or not the vehicle body tilt control is normal. For example, the vehicle body target inclination angle or the target vehicle inclination is not limited. The curve radius R and cant C required for calculating the corner, or the current position being calculated may be used.

  According to the present invention, when an abnormality occurs, the other vehicle stops the control of the target vehicle, so that the controller of each vehicle can monitor each other only by installing one controller in each vehicle. As a result, a pseudo-double shape is formed, so that the vehicle body tilt control can be performed with a simple system configuration and high reliability.

The best mode for carrying out the present invention will be described below with reference to FIGS.
FIG. 1 is a diagram for explaining an example of the present invention, and FIG. 2 is a flow chart of operations in a vehicle body tilt control apparatus according to the present invention.

  In FIG. 1, reference numeral 11 denotes a vehicle body tilt control device having the same configuration installed in each vehicle S2... Sn-1, Sn including the leading vehicle S1, and these vehicle body tilt control devices 11 include, for example, point information and A controller that obtains speed information and a determiner that determines whether there is an abnormality in the vehicle when passing through a curve based on the information obtained by the controller.

  And in each inclination control apparatus 11 of each vehicle S1 ... Sn-1 and Sn provided with the controller and the determination device, a point information and speed information are obtained from the vehicle information control apparatus which controls vehicle information collectively, for example by a controller. The determination unit determines whether the vehicle body of each vehicle S1... Sn-1, Sn is compared with each inclination controller or the previously stored curve information (information such as the curve radius R and cant C at a certain point). For example, target inclination angles θ1... Θn−1, θn are calculated. The target inclination angles θ1... Θn−1 and θn calculated by these vehicles S1... Sn-1, Sn are put on a transmission line such as the vehicle information control device, and information is obtained by the vehicles S1. It is configured to receive.

Note that the target inclination angle θ is θ = (V ² / gR) − (C / G) from the vehicle speed V, curve radius R, gravitational acceleration g, cant C, and gauge G up to the maximum inclination angle of the vehicle. ).

  After receiving the target inclination angle θ of the other vehicle, each of the vehicles S1... Sn-1, Sn compares the target inclination angle θ of the own vehicle and the target inclination angle θ of the other vehicle with a determiner, and performs inclination control. Determine whether is normal or abnormal. And when it determines with it being abnormal, the inclination control of the own vehicle and other vehicles is stopped. FIG. 2 shows the flow of the above tilt control.

In the following, the case where it is determined whether the tilt control is normal or abnormal by comparing the target tilt angle θ of the host vehicle and the target tilt angle θ of the other vehicle will be described in more detail.
For example, the difference between the target inclination angles θ1 and θ2 of any two vehicles S1 and S2 among the target inclination angles θ1 to θn−1 and θn of the vehicle body determined for each of the vehicles S1. For example, if θ1-θ2 is larger than a predetermined value, for example, 0.2 degrees, it is determined that there is an abnormality. In this case, since it is difficult to determine which vehicle is correct, in the present invention, both the vehicles S1 and S2 stop the tilt control.

  Alternatively, instead of the above determination, of any two vehicles S1 and S2 among the target inclination angles θ1 to θn−1 and θn of the respective vehicle bodies obtained for the respective vehicles S1 to Sn−1 and Sn. One vehicle S1 compares the target vehicle body inclination angle θ2 of the other vehicle S2 with a predetermined threshold value β, for example, 2.0 degrees, and determines that there is an abnormality when it is larger than the threshold value. In this case as well, the tilt control is stopped for both the vehicles S1 and S2.

The above is an example in the case where the determination is made by comparing the target inclination angles of any two vehicles, but it goes without saying that the number of vehicles to be compared may be three or more.
For example, when comparing the n target inclination angles θ1... Θn−1, θn, nC2 results are obtained. Accordingly, in this case, it is determined that the vehicle body is normal only when all of the vehicle body target inclination angles θ1... Θn-1, θn obtained for all the vehicles S1... Sn-1, Sn are smaller than a predetermined threshold value α. Continue control. On the other hand, if even one is larger than the predetermined threshold value α, it is determined that there is an abnormality, and the inclination control of all the vehicles S1... Sn-1, Sn is stopped.

  Alternatively, instead of the above, the target inclination angle θ1, of any two vehicles S1, S2 among the target inclination angles θ1,..., Θn-1, θn of the vehicle body determined for each of the vehicles S1,. These values are determined to be normal when the difference θ1−θ2 of θ2 is smaller than a predetermined value γ.

  The target inclination angle θ1 or θ2 of any two vehicles S1, S2 determined to be normal and the target inclination angle θ3 of the other vehicles S3, Sn-1, Sn, θn-1, When the difference in θn is larger than a predetermined value γ, it is determined that there is an abnormality. In this case, unlike the above, the tilt control of only the vehicle determined to be abnormal is stopped.

  In the above example, the target inclination angle is used as the determination index of the vehicle body inclination. However, as described above, it is needless to say that the curve radius R, cant C, or the like may be used as the determination index.

  In the above example, the point information and the speed information are obtained from the vehicle information control device and the target inclination angle is determined. However, for example, the gyro sensor installed in each vehicle S2 ... Sn-1, Sn is used. Alternatively, the yaw direction speed value ω may be measured toward the vehicle traveling direction, and the target inclination angle may be determined using the curve radius R = V / ω obtained using the traveling speed V. In this case, these values can be compared for each vehicle using a transmission line of the vehicle or transmission between the vehicle body tilting devices.

  It goes without saying that the present invention is not limited to the above-described example, and the embodiments may be appropriately changed within the scope of the technical idea described in each claim of the present invention.

  The present invention described above is not limited to the one in which the vehicle body is inclined by controlling the height of the air spring or the one in which the vehicle body is inclined by a hydraulic cylinder arranged in parallel with the air spring, and the vehicle body is driven by various drive sources. It can also be applied to those that incline.

It is a figure explaining the vehicle body tilt control of this invention. It is a flowchart of the vehicle body tilt control of this invention. It is a figure explaining the conventional vehicle body tilt control.

Explanation of symbols

S1 ... Sn-1, Sn vehicle 11 body tilt control device

Claims (6)

A method for controlling the tilt of a vehicle body,
Obtain point information and speed information with each controller for vehicle body tilt control provided one for each connected vehicle, or obtain trajectory tilt information,
Based on the information obtained by each of these controllers or the obtained information, after obtaining the judgment index of the vehicle body tilt when passing the curve, the obtained judgment index of each vehicle is compared with a plurality of vehicles. Judge whether there is an abnormality in tilt control in the vehicle,
A vehicle body tilt control method characterized by stopping the tilt control of all the compared vehicles when it is determined to be abnormal.   The determination of the presence / absence of the abnormality is to determine that there is an abnormality when the difference between the determination indexes of any two vehicles among the determination indexes of the vehicle body inclination determined for each vehicle is larger than a predetermined value. The vehicle body tilt control method according to claim 1, wherein:   The determination of the presence / absence of the abnormality is performed by determining whether one of two arbitrary vehicles out of the vehicle body tilt determination indexes obtained for each vehicle has a vehicle body tilt determination index for the other vehicle and a predetermined threshold value. The vehicle body tilt control method according to claim 1, further comprising: determining that there is an abnormality when the threshold value is exceeded.   2. The vehicle body tilt control method according to claim 1, wherein the determination of the presence / absence of abnormality is determined as abnormal when all of the vehicle body tilt determination indexes obtained for each vehicle are not within a predetermined threshold. A method for controlling the tilt of a vehicle body,
Obtain point information and speed information with each controller for vehicle body tilt control provided one for each connected vehicle, or obtain trajectory tilt information,
Based on the information obtained or obtained by each of these controllers, any two vehicles out of the judgment indices obtained for each vehicle after obtaining a judgment index for vehicle body tilt when passing a curve These values are determined to be normal when the difference between the determination indices is smaller than a predetermined value, and the difference between any one of the two arbitrary vehicles and the determination index of the other vehicle is A vehicle body tilt control method comprising: judging that there is an abnormality when greater than a predetermined value, and stopping the vehicle tilt control that is judged to be abnormal. An apparatus for performing the vehicle body tilt control method according to any one of claims 1 to 5,
A controller for vehicle body tilt control that is provided for each connected vehicle to obtain point information and speed information, or to obtain track inclination information;
Based on the information obtained by each of these controllers or the obtained information, after obtaining the judgment index of the vehicle body tilt when passing the curve, the obtained judgment index of each vehicle is compared with a plurality of vehicles. Equipped with a determinator for judging whether there is an abnormality in the vehicle,
The vehicle tilt control device including the controller and the determination device is connected by a circuit capable of stopping the compared vehicle inclination control when the determination device determines that an abnormality has occurred. Body tilt control device.

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