JP2010223677A - Device and method for behavior simulation of railroad vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device and method for behavior simulation of a railroad vehicle, wherein calculation loads are reduced. <P>SOLUTION: The behavior simulation device 1 for the railroad vehicle has vehicle body support devices 111, 112 for connecting structures such as a vehicle body 110 and carriage frames 121, 122 through a spring element and a damper element includes. The device includes: a vehicle body behavior calculation means 33 calculating the behavior or the like of the vehicle body using a distributed model of the vehicle body; structure behavior calculation means 31, 32 calculating the behavior of the structure using the distributed model of the structure; information integrating means 201, 202 calculating action force from the vehicle body support device to the structure on the basis of reaction force of the spring element and damping force of the damper element of the vehicle body support device calculated by the vehicle body behavior calculation means and providing it to the structure behavior calculation means; and information distribution means 201, 202 calculating displacement and velocity about attachment parts of the plurality of vehicle body support devices on the basis of a state quantity of the structure calculated by the structure behavior calculation means and providing them to the vehicle body behavior calculation means. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a railway vehicle behavior simulation apparatus and behavior simulation method, and more particularly to a simulation of the behavior of an arbitrary vehicle that is running in a knitted vehicle by an on-vehicle stand test.

Conventionally, it has been proposed to analyze the behavior of an arbitrary vehicle among a plurality of vehicles traveling in a knitted state by a motion simulation using a computer. In this case, in order to verify the validity of the calculation result, it is necessary to compare and verify the data with the actual vehicle.
However, since there are almost no dedicated test lines for railway vehicles, in many cases such actual vehicle tests must be performed using commercial lines, making it difficult to perform tests under critical conditions. However, the verification may be insufficient.

On the other hand, it is also known to use a bench vehicle test bench that can perform vibration or the like imitating input from a track using an actual vehicle. For example, the bench vehicle test bench simulates a traveling state by replacing a rail with a rotating disk and placing a vehicle restrained in the front-rear direction on the rail.
In such a bench vehicle test stand, it is possible to evaluate the motion characteristics of an actual vehicle in a single vehicle state, but it is difficult to grasp the motion characteristics during traveling in the knitted state.

On the other hand, the inventor of the present invention constructed a HILS (Hardware In the Loop Simulation) system for executing real-time simulation by combining a simulator by software and hardware to be evaluated, and a test closer to actual driving. We propose to realize the environment.
This HILS system aims to faithfully reproduce the actual running including the formation vehicle using the bench vehicle test stand, and is a virtual vehicle that is connected back and forth with respect to the real vehicle installed on the stand. The motion of the vehicle is simulated, and the simulation result is linked to the inter-body motion simulation device provided on the bench vehicle test stand. When the HILS system is used, since at least a part of the object is handled with the real object, the cost and man-hours required for modeling and verifying the real part are reduced. In addition, when developing and testing a plurality of prototypes, it is sufficient to prepare the necessary number of actual products.
Conventionally, for example, Non-Patent Document 1 describes an HILS system in which an inter-body motion simulator that reproduces input from a virtual vehicle calculated by a real-time simulator is provided at both ends of a real vehicle installed on a vehicle test bench. ing.

“Application of HILS System to Railway Vehicle Research” by Kimiaki Sasaki Railway Research Institute Report Vol. 20, no. 6 June 2006 Published by Railway Technical Research Institute

In order to realize the HILS system as described above, it is necessary to perform a real-time simulation of the behavior of the virtual vehicle reproduced by the inter-body motion simulator. However, since the number of elements such as structures, spring elements, and dampers included in the railway vehicle is large and the correlation thereof is complicated, the calculation load of the real-time simulation becomes very large.
In view of the above-described problems, an object of the present invention is to provide a railway vehicle behavior simulation apparatus and a behavior simulation method with a reduced calculation load.

In order to solve the above problems, a behavior simulation apparatus for a railway vehicle according to the present invention includes a vehicle body, a structure that is mounted on the track side so as to be relatively displaceable on the track side, and the vehicle body and the structure that are spring elements. And a railroad vehicle behavior simulation device having a damper element and a support device connected via a damper element, wherein the vehicle body behavior, the reaction force of the spring element of the support device, and the damper using a dispersion model of the vehicle body Vehicle body behavior calculating means for calculating the damping force of the element, structure behavior calculating means for calculating the behavior of the structure using a dispersion model of the structure, and the support device calculated by the vehicle body behavior calculating means An information aggregating means for calculating an acting force from the vehicle body support device to the structure based on a reaction force of a spring element and a damping force of the damper element and providing the structure behavior calculating means; Information distribution means for calculating displacements and velocities related to the mounting portions of the plurality of support devices based on the state quantities of the structure calculated by the means and providing them to the vehicle body behavior calculation means, To do.
According to this, by distributing the vehicle motion model above and below the structure, it is possible to reduce the calculation load of the node that executes the calculation of each distributed model. In addition, the amount of data exchanged between the vehicle body behavior calculation means and the structure behavior calculation means is aggregated into the action force with respect to the center of gravity from the vehicle body side to the structure and the state quantity related to the center of gravity of the structure. Communication load can be reduced.

In this case, the structure is a bogie frame that supports a plurality of wheel shafts via a plurality of spring elements and damper elements, and the support device is a vehicle body support device that is provided on a vehicle body and to which the bogie frame is attached. It can be.
Furthermore, in this case, the information aggregating unit provides the structure behavior calculating unit with a translational force and a moment input from the vehicle body support device to the center of gravity of the bogie frame, and the information distributing unit Based on the displacement and speed of the center of gravity, the displacement and speed relating to the mounting portions of the plurality of vehicle body support devices can be calculated and provided to the vehicle body behavior calculation means.
In the present invention, the vehicle body behavior calculation means and the structure behavior calculation means each have a central processing unit and a storage means, and can be connected to each other via a broadband communication means.

Further, in the present invention, an actual vehicle on-board test apparatus that reproduces a running state by installing an actual vehicle on a rail wheel that can be vibrated according to track data prepared in advance, and the actual on-vehicle test apparatus. The vehicle behavior calculation means comprises: an inter-vehicle motion simulation device that is connected to the actual vehicle and reproduces the behavior in the connection portion of the virtual vehicle calculated by the vehicle behavior calculation means, and detects an input from the actual vehicle side. The calculation can be made in real time using the input from the actual vehicle obtained from the inter-vehicle motion simulation device.
According to this, by configuring the HILS system in which the actual vehicle is incorporated, it is possible to realize a test environment closer to actual driving.

In this case, the vehicle is provided with recording means for accumulating behavior history data of the connected virtual vehicle connected to the opposite side to the actual vehicle of the virtual vehicle, which is statically calculated in advance, and the vehicle body behavior calculation means is stored in the recording means. It can be set as the structure which calculates using the input from the connection virtual vehicle based on the performed behavior history data.
According to this, since there is no enormous computational load for real-time simulation of the entire knitting, it is possible to simulate the behavior of a long knitting with a relatively simple device configuration.

  The railroad vehicle behavior simulation method according to the present invention includes a vehicle body, a structure that is mounted on the vehicle body so as to be relatively displaceable on the track side, and the vehicle body and the structure that have spring elements and damper elements interposed therebetween. A motion simulation method for a railway vehicle having a support device connected to the vehicle, wherein the vehicle motion model is dispersed into a plurality of dispersion models including at least a dispersion model of the vehicle body and a dispersion model of the structure A model creation step, a vehicle body behavior calculation step for calculating a behavior of the vehicle body, a reaction force of the spring element of the support device, and a damping force of the damper element using a dispersion model of the vehicle body, and a dispersion model of the structure A structure behavior calculating step for calculating the behavior of the structure using the above-mentioned, a reaction force of the spring element of the support device calculated by the vehicle body behavior calculating means, and a damper element An information aggregating step of calculating an action force applied to the structure from the vehicle body behavior calculating means based on a decay force and providing it to the structure behavior calculating means, and a state of the structure calculated by the structure behavior calculating means And an information distribution step of calculating displacements and velocities related to the mounting portions of the plurality of support devices based on the amounts and providing the calculated displacements and velocities to the vehicle body behavior calculation means.

  As described above, according to the present invention, it is possible to provide a behavior simulation apparatus and behavior simulation method for a railway vehicle with a reduced calculation load.

It is a figure which shows the HILS structure in embodiment of the behavior simulation apparatus and behavior simulation method of a railway vehicle to which this invention is applied. It is a figure which shows the model and the structure of a library in embodiment. It is a figure which shows the basic structure of the structure block in the example of the wheel shaft of embodiment. It is a figure which shows the basic structure of the functional block in the example of the axial spring of embodiment. It is a figure which shows the vehicle motion model (1 model) in embodiment. It is a figure which shows the vehicle motion model distributed using the aggregation block in embodiment. It is a figure which shows the basic structure of the aggregation block in embodiment. It is a schematic diagram which shows the system configuration | structure of the railway vehicle behavior simulation apparatus in this Embodiment. It is a graph which shows the behavior of the real vehicle at the time of HILS organization in an embodiment. It is a schematic diagram which shows the HILS structure in the case of long organization.

Hereinafter, a railway vehicle behavior simulation apparatus and behavior simulation method according to an embodiment of the present invention will be described with reference to the drawings.
In the present embodiment, the behavior of each vehicle in railcar organization is simulated by HILS (Hardware In the Loop Simulation).
FIG. 1 is a diagram showing a HILS configuration in the present embodiment.
In the present embodiment, for example, the behavior of the M-car train having the first, second, third,. And the behavior simulation was performed using the actual vehicle installed on the test stand as the N car being organized, and the virtual car No. 1 to the virtual N-1 car and the virtual N + 1 car to the virtual M car used the vehicle motion model. The behavior is calculated by simulation.

  In the simulation of the virtual vehicle, if all the virtual vehicles are calculated in real time, the calculation load becomes extremely high. Therefore, only the behaviors of the virtual N-1 car and the virtual N + 1 car directly connected to the N car are real time. The other vehicle behaviors that have been calculated are calculated in advance by an existing static simulation using static behavior simulation means (not shown).

Hereinafter, the construction of the vehicle motion model for HILS in the present embodiment will be described.
In order to execute the vehicle motion simulation in real time, a large computing power is required. With the current computing power, it is difficult to load the motion calculation of one model by one CPU. Therefore, in the present embodiment, a configuration is adopted in which a calculation load is distributed by linking a plurality of simulators with a broadband optical cable.

In order to apply such a distributed configuration, it is required that one model can be easily divided into units such as a vehicle body, a carriage, and a wheel shaft. In addition, by dividing individual component parts such as air springs and dampers into a library, verification with more vehicle parts can be easily realized.
Therefore, in the present embodiment, the above-described divided elements are divided and managed as a simulation program (hereinafter referred to as a block) having input / output functions and dynamic characteristics.

FIG. 2 is a diagram illustrating a configuration of a model and a library in the embodiment.
As shown in FIG. 2, a vehicle 100 to be modeled includes a vehicle body 110, a first bogie frame 121, a second bogie frame 122, wheel shafts 131 to 134, and the like. And a plurality of springs and damper elements are provided between the bogie frames 121 and 122 and the wheel shafts 131 to 134.
A library is provided for each element such as the vehicle body, the damper, the bogie frame, and the wheel shaft.

Further, in the present embodiment, the vehicle using Matlab / Simulink that satisfies the requirements for building a vehicle model for HILS and takes into account the corresponding situation on the hardware side used as a simulator, is characterized by programming in a block diagram format. An exercise model was built.
One of the features of Matlab / Simulink is that the operation contents for the output signal can be described in a block diagram, and the user can freely collect them in block units for each processing function. In addition, it is possible to automatically generate a C language program, and it is easy to mount a model on a simulator.

In the present embodiment, when configuring the vehicle model in units of blocks, the following types are set for each function.
(1) Structure block A structure means an element having a mass and an inertia moment, such as a vehicle body, a bogie frame, and a wheel shaft, and receiving a translational force and a rotational moment from each applied force point. In the structure block, a force generated from each external functional block is converted into a translational force and moment with respect to the center of gravity of each structure, and a 6 × 6 coefficient matrix (hereinafter referred to as an “influence matrix”), from the force Mass gain block for calculating the acceleration of the mass point, integrator, 12 × 12 coefficient matrix for calculating the displacement and speed of each force point based on the dimensional information from the displacement and speed of the center of gravity (hereinafter referred to as “point conversion matrix”) Etc.).
FIG. 3 is a diagram showing a basic structure of a structure block in an example of a wheel shaft.

(2) Function block The function block is a block that combines elements such as springs and dampers and generates internal force in response to displacement / speed input.
FIG. 4 is a diagram illustrating a basic structure of a functional block in an example of a shaft spring. As shown in FIG. 4, the block has a stiffness matrix, an attenuation matrix, and the like.
Note that the creep force generated between the wheel and the rail is also included in this functional block.

(3) Disturbance block The disturbance block is obtained by blocking elements that act as external forces on the structure block such as centrifugal force and gravity restoring force.

  The vehicle motion model is configured by the combination of the blocks described above, and includes displacements (x, y, z, φ, θ, ψ) with six degrees of freedom, velocity vectors (dx / dt, dy / dt, dz / dt, dφ). / Dt, dθ / dt, dψ / dt), six translational forces (Fx, Fy, Fz), and moment (Mx, My, Mz) vectors flow in each model.

In the present embodiment, as an example of a vehicle model for HILS, a model for a conventional line test vehicle is used. In this model, the springs and dampers of each part are constituted by a linear model that has been used in a conventional simulation model.
FIG. 5 is a diagram showing a vehicle motion model (one-car model).
Table 1 shows the degree of freedom symbols used in FIG. In order to faithfully reproduce the movement of the actual vehicle, the degree of freedom is configured with a vehicle body 6 degrees of freedom, a carriage frame 6 degrees of freedom, and a wheel shaft 3 degrees of freedom.

The vehicle 100 is installed on a rail wheel corresponding to a rail, and the vehicle body 110 is fixed to a vehicle body motion simulation device 20 (described later) fixed to the ground side in the front-rear direction via a coupler.
Such a model of the vehicle 100 is configured by connecting each functional block of a spring, a damper, a creep force, and a disturbance block of a gravity restoring force to each structural block of a vehicle body, a bogie frame, and a wheel shaft.

When the vehicle behavior is simulated using the vehicle model described above, for example, 256 vectors flow in the simulator, and the calculation load becomes extremely large when a real-time simulation is performed in the HILS system.
On the other hand, even when the vehicle model is divided into, for example, a vehicle body and a carriage and distributed processing is performed, a communication load between simulators (nodes) that simulate the vehicle body and the carriage is increased.
Therefore, in the present embodiment, the aggregation blocks described below are used to aggregate vectors exchanged between nodes to reduce the computation load and the communication load between nodes.

FIG. 6 is a diagram illustrating a vehicle motion model distributed using aggregate blocks.
FIG. 7 is a diagram illustrating a basic structure of an aggregate block.
The first aggregation block 201 aggregates each vector transmitted between the first body support device 111 provided at the lower portion of the vehicle body 110 and the first carriage frame 121.
The second aggregation block 202 aggregates each vector transmitted between the second-place vehicle body support device 112 provided at the lower part of the vehicle body 110 and the second-stage carriage frame 122.
These aggregation blocks function as information aggregation means and information distribution means according to the present invention. The functions of each information aggregation unit and information distribution unit are appropriately assigned to first to third simulators 31 to 33 described later.

As shown in FIG. 7, the collective blocks 201 and 202 are the left and right motion dampers 1, the left and right motion damper 2, the yaw damper 1, the yaw damper 2, the air spring 1, and the air spring, which are functional elements provided in the vehicle body support devices 111 and 112. 2. The translational force and moment acting on the center of gravity of the carriage frames 121 and 122 are calculated using the spring force and damper force of the traction device and the 6 × 6 influence matrix.
Further, the aggregation blocks 201 and 202 calculate the landing displacement and speed of each spring and damper described above using the displacement and speed of the center of gravity of the carriage frames 121 and 122 and the 12 × 12 landing conversion matrix.

  As a result, as shown in FIG. 6, in the present embodiment, the translation force from the aggregate block to the center of gravity of the bogie frame that is transmitted to the center of gravity of the bogie frame, six moments, and the bogie that is transmitted from the center of gravity of the bogie frame to the aggregate block The displacement and speed of the frame center of gravity are 12 vectors, and it is possible to aggregate information exchanged between each node up to 18 vectors per vehicle and 36 vectors per vehicle.

FIG. 8 is a schematic diagram showing a system configuration of the behavior simulator. In FIG. 8, only the configuration on the front side in the advancing direction of the virtual knitting from the actual vehicle is illustrated, but a substantially similar configuration is also provided on the rear side of the actual vehicle.
The behavior simulation apparatus 1 includes a bench test apparatus 10 on which a vehicle 100 is installed, an inter-vehicle motion simulation apparatus 20 connected to a connection part (wife part) of the vehicle 100, a first simulator 31, a second simulator 32, and a third. A simulator 33, a console PC 40, a hub 50, and the like are provided.

  The bench test apparatus 10 is an apparatus that simulates the traveling state of the vehicle 100 on the track using an actual vehicle. The bench test apparatus 10 includes rail wheels on which the wheel shafts 131 to 134 of the vehicle 100 are respectively mounted. The rail wheel is rotated at a speed according to the traveling speed of the vehicle, and is generated in the vertical and horizontal directions and in the roll direction based on, for example, track irregularity data generated by collecting data on actual business lines and accumulated in advance. Each can be excited.

In addition, the bench test apparatus 10 is provided with a switchboard 11 and a track data server 12.
The switchboard 11 comprehensively controls the power supplied to the various actuators that drive the bench test apparatus 10.
The trajectory data server 12 includes a database storing trajectory irregularity data, storage means such as a shared memory, an input / output interface including a D / A converter and an A / D converter, and the like.

The inter-vehicle motion simulation device (inter-vehicle motion simulation device) 20 is a device that simulates the behavior of the vehicle body mating surface of the front vehicle in the traveling direction at the connecting portion.
The inter-vehicle motion simulation device 20 includes a connecting portion that is connected to the connecting portion of the vehicle 100. The connecting portion is supported by a link mechanism or the like so as to be displaceable with respect to the fixedly installed base, and is connected to the vehicle 100 using a connector, an inter-vehicle yaw damper, or the like in the same manner as the connecting portion of the knitting by an actual vehicle. It is connected.
The inter-vehicle motion simulation device 20 is driven by a plurality of actuators so as to reproduce the displacement and speed of the connecting portion of the virtual vehicle based on the vehicle behavior of the virtual vehicle calculated by the third simulator 33 in real time. As a result, the vehicle 100 receives the same input as in the case where the vehicle 100 is arranged during knitting with an actual vehicle.
The inter-vehicle motion simulation device 20 includes a sensor that detects a translational force and a moment input from the vehicle 100 to the connecting portion.

  In addition, the inter-body motion simulation device 20 includes a controller 21 that comprehensively controls the device. The controller 21 includes an information processing device such as a CPU, a storage device such as a shared memory, an input / output interface including a D / A converter and an A / D converter, and the like.

The first simulator 31, the second simulator 32, and the third simulator 33 are distributed real-time simulators that calculate a distributed model of the first cart, the second cart, and the vehicle body in real time, respectively. Each of these includes an information processing device such as a CPU, a storage device such as a main memory and a shared memory, and the like.
Each of the first simulator 31, the second simulator 32, and the third simulator 33 functions as a node that calculates a distributed vehicle motion model.

The console PC 40 functions as an input console through which an operator inputs an operation of the behavior simulator 1.
The hub 50 is an Ethernet (registered trademark of Fuji Xerox Co., Ltd.) capable of broadband communication with the above-described trajectory data server 12, the controller 21 of the inter-body motion simulator 20, the first to third simulators 31 to 33, the console PC 40, and the like. ) To enable mutual communication.

Hereinafter, effects of the above-described embodiment will be described.
FIG. 9 is a graph showing the behavior of the actual vehicle during HILS knitting.
In this case, the virtual knitting is a two-car knitting, and the second car, which is a rear vehicle, is simulated using a real car. In addition, vehicle behavior simulation is performed when traveling on this track at a traveling speed of 130 km / h using data acquired on the actual business line of the conventional line as the track irregularity data.
In FIG. 9, the vertical axis of each graph indicates the vehicle body roll angle, the vehicle body yaw angle, and the street irregularity from the top, and the horizontal axis indicates time. In addition, data for a two-car train using HILS is indicated by a solid line, and data for a single vehicle having only a real vehicle is indicated by a broken line.
As shown in FIG. 9, according to the present embodiment, a difference in behavior from the single vehicle state due to the incorporation of the actual vehicle during the formation is scattered, and the vehicle behavior unique to the formation different from the single vehicle condition is simulated. It turns out that it is possible.

Next, a method for simulating the vehicle behavior of a virtual knitting of three or more cars using this HILS system will be described.
For example, using a real vehicle as any one of the 16-car trains on the Shinkansen and simulating the behavior of all the other 15 cars by real-time simulation is currently a virtual vehicle 1 from the viewpoint of computation load and communication load between nodes. Three simulators are required for each vehicle, which is expensive.
Therefore, in the present embodiment, only the N-1 car and the N + 1 car immediately before and after the actual vehicle (car N) are simulated in real time using the real-time simulator described above, and the vehicles before and after the car (car 1). Car No. 2 to No. 2 and Car No. N + 2 to Car No. M (Rail Car) use vehicle simulation data obtained in advance by a static solution.
FIG. 10 is a schematic diagram showing a HILS configuration in the case of long knitting.

In this case, the vehicle behavior is first simulated in advance by static simulation for the entire formation from Car 1 to Car M, and the history is accumulated.
And the behavior of the N-1 car side connection part of the N-2 car and the behavior of the N + 1 car side connection part of the N + 2 car obtained by such a static solution are respectively shown in the body of the N-1 car and the N + 1 car. The behavior is given to a real-time simulator, and the behavior is simulated by HILS as described above.

As described above, according to the present embodiment, the motion model of the railway vehicle is distributed between the vehicle body support device and the carriage frame, and the information exchanged between the nodes is translated into the center of gravity of the carriage frame and By integrating the moment and calculating the displacement and speed related to the mounting parts of the plurality of body support devices based on the displacement and speed of the center of gravity of the bogie frame, and providing this to the body behavior calculation means, While reducing the calculation load of each node which calculates a model and a trolley model, the communication load between these nodes can also be reduced.
In addition, only some of the virtual vehicles connected before and after the real vehicle simulate the vehicle behavior by real-time simulation, and the behavior of the virtual vehicles connected before and after that is calculated using a static solution in advance. Even in the case of organization, the computation load and the communication load between nodes can be reduced.

(Other embodiments)
The present invention is not limited to the above-described embodiment, and various applications and modifications are possible. For example, each of the following embodiments to which the above embodiment is applied can be implemented.
(1) The detailed configuration of the vehicle motion model and the division position and number in the case of dispersion are not limited to the above-described embodiment, and can be changed as appropriate.
(2) The detailed configuration of the vehicle behavior simulator can be changed as appropriate. For example, the inter-body motion simulation device is not limited to one using a link mechanism, and can be appropriately changed, for example, one having a six-axis motion base.
(3) In the configuration of the present embodiment, one real vehicle is used, and one virtual vehicle before and after the real vehicle is simulated in real time. However, if the apparatus has sufficient capacity, for example, two or more real vehicles are used. You may make it incorporate in a HILS system as hardware, or may simulate the behavior of a plurality of vehicles before and after an actual vehicle by real-time simulation. Further, the location where the actual vehicle is used during formation is not limited to the intermediate vehicle as in the embodiment, and for example, the leading vehicle and the trailing vehicle may be simulated by the actual vehicle.
(4) In the present embodiment, each node constituting the real-time simulator is connected by a broadband optical fiber channel. However, the present invention is not limited to such a configuration. Alternatively, a hyper transport (trademark of AMD) or the like in which the main memory is connected by a point-to-point type link having a dedicated up / down lane that covers a broadband signal may be used.

DESCRIPTION OF SYMBOLS 1 Behavior simulation apparatus 10 Bench test apparatus 11 Distribution board 12 Trajectory data server 20 Inter-vehicle motion simulation apparatus 21 Controller 31 1st simulator 32 2nd simulator 33 3rd simulator 40 Console PC
DESCRIPTION OF SYMBOLS 50 Hub 100 Vehicle 110 Car body 111 1st-position body support apparatus 112 2nd-position body support apparatus 121 1st-position bogie frame 122 2nd-position bogie frame 131-134 Wheel shaft 201 1st aggregation block 202 2nd aggregation block

Claims (7)

The car body,
A structure mounted so as to be relatively displaceable on the track side with respect to the vehicle body;
A railway vehicle behavior simulation device comprising: a support device for connecting the vehicle body and the structure with a spring element and a damper element interposed therebetween,
Vehicle body behavior calculating means for calculating the behavior of the vehicle body and the reaction force of the spring element of the support device and the damping force of the damper element using the dispersion model of the vehicle body;
A structure behavior calculating means for calculating the behavior of the structure using a dispersion model of the structure;
The structure behavior calculation means by calculating an action force from the vehicle body support device to the structure based on the reaction force of the spring element of the support device and the damping force of the damper element calculated by the vehicle body behavior calculation means. Information aggregation means to provide to,
Information distribution means for calculating displacements and velocities relating to the attachment portions of the plurality of support devices based on the state quantities of the structure calculated by the structure behavior calculation means and providing the calculated values to the vehicle behavior calculation means; An apparatus for simulating the behavior of a railway vehicle, comprising: The structure is a bogie frame that supports a plurality of wheel shafts with a plurality of spring elements and damper elements interposed therebetween,
The railway vehicle behavior simulation device according to claim 1, wherein the support device is a vehicle body support device provided on a vehicle body to which the bogie frame is attached. The information aggregating means provides the structure behavior calculating means with a translational force and a moment input from the vehicle body support device to the center of gravity of the carriage frame,
The information distribution means calculates displacements and speeds related to mounting portions of the plurality of vehicle body support devices based on displacements and speeds of the center of gravity of the bogie frame, and provides them to the vehicle body behavior calculation means. The railway vehicle behavior simulation device according to claim 2. The vehicle body behavior calculation means and the structure behavior calculation means each have a central processing unit and a storage means, and are connected to each other via a broadband communication means. The railway vehicle behavior simulator according to any one of the preceding claims. An actual on-car test device that reproduces the running state by installing an actual vehicle on a rail wheel that can be vibrated according to track data prepared in advance;
Inter-vehicle motion simulation device that is connected to the actual vehicle installed in the actual vehicle stand test device, reproduces the behavior of the connecting portion of the virtual vehicle calculated by the vehicle behavior calculation means, and detects the input from the actual vehicle side And
The said vehicle body behavior calculating means performs a calculation in real time using the input from the said real vehicle side acquired from the said vehicle body motion simulation apparatus. The one of the Claims 1-4 characterized by the above-mentioned. Railway vehicle behavior simulator. Comprising a recording means for accumulating behavior history data of a connected virtual vehicle connected to the opposite side of the virtual vehicle of the virtual vehicle calculated statically in advance;
The railway vehicle behavior simulation apparatus according to claim 5, wherein the vehicle body behavior calculation means performs calculation using an input from a connected virtual vehicle based on behavior history data accumulated in the recording means. The car body,
A structure mounted so as to be relatively displaceable on the track side with respect to the vehicle body;
A method of simulating the behavior of a railway vehicle, comprising: a support device that connects the vehicle body and the structure with a spring element and a damper element interposed therebetween,
A decentralized model creating step of decentralizing the vehicle motion model into a plurality of decentralized models including at least a decentralized model of the vehicle body and a decentralized model of the structure;
A vehicle body behavior calculation step for calculating the behavior of the vehicle body and the reaction force of the spring element of the support device and the damping force of the damper element using the dispersion model of the vehicle body;
A structure behavior calculation step of calculating the behavior of the structure using a dispersion model of the structure;
Based on the reaction force of the spring element of the support device and the damping force of the damper element calculated by the vehicle body behavior calculation means, the acting force from the vehicle body behavior calculation means to the structure is calculated to calculate the structure behavior. An information aggregating step to provide to the means;
An information distribution step of calculating displacements and velocities related to the mounting portions of the plurality of support devices based on the state quantities of the structure calculated by the structure behavior calculating means and providing the calculated values to the vehicle behavior calculating means. A method for simulating the behavior of a railway vehicle, comprising:

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