JP2013127403A - Abnormality detection method and abnormality detection device for speed detection means and vibration detection means - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an abnormality detection method and an abnormality detection device for speed detection means and vibration detection means that have improved abnormality detection precision.SOLUTION: The abnormality detection method for speed detection means and vibration detection means for a railroad vehicle is configured to determine abnormality when at least one of a state in which a travel speed that the travel speed detection means detects is equal to or larger than a first threshold and vibration that the vibration detection means detects is less than a second threshold and a state in which the travel speed that the travel speed detection means detects is less than a third threshold and the vibration that the vibration detection means detects is equal to or larger than a fourth threshold, continues for a predetermined period or longer.

Description

  The present invention relates to an abnormality detection method and an abnormality detection device for detecting an abnormality in a traveling speed detection unit and a vibration detection unit of a railway vehicle.

2. Description of the Related Art In recent years, vibration control systems have been proposed for railway vehicles that control dampers, actuators, and the like based on travel speed to improve riding comfort.
For example, Patent Document 1 describes an example of such a vibration suppression control system.
In the technique described in Patent Literature 1, a fluid pressure operating mechanism installed between a vehicle body and a carriage is driven in accordance with vibration acceleration, traveling speed, and the like of the vehicle body in the vertical and horizontal directions, and pitching, yawing, and rolling vibration. We are trying to suppress this.

Japanese Patent Laid-Open No. 08-253143

In the vibration suppression control system as described above, an abnormality detection function is necessary to prevent the output of an incorrect control command when the detected value of the running speed or acceleration differs from the actual value due to a sensor failure or the like. It becomes.
Conventionally, there has been known a method for determining an abnormality when individual voltages of a traveling speed signal and an acceleration signal are not within a normal range (for example, excessively large).

However, such a method has a problem that even if an abnormal signal is within the normal voltage range, the abnormality cannot be detected.
In view of the above-described problems, an object of the present invention is to provide an abnormality detection method and an abnormality detection device for speed detection means and vibration detection means with improved abnormality detection accuracy.

In order to solve the above-mentioned problem, the abnormality detection method for the traveling speed detection means and the vibration detection means of the railway vehicle according to the present invention is such that the traveling speed detected by the traveling speed detection means is not less than a first threshold value and the vibration detection. The vibration detected by the means is less than a second threshold, the traveling speed detected by the traveling speed detecting means is less than a third threshold, and the vibration detected by the vibration detecting means is greater than or equal to a fourth threshold. When at least one of a certain state continues for a predetermined time or more, it is determined to be abnormal.
According to this, by distinguishing between normal and abnormal by the combination of travel speed and vibration, even if the travel speed signal and vibration signal are each within the normal range, the relationship with other signals When it is recognized as abnormal, it can be determined as abnormal, and the abnormality detection accuracy can be improved.

In addition, the abnormality detection method for the traveling speed detection means and the vibration detection means of the railway vehicle according to the present invention includes the traveling speed detected by the traveling speed detection means and the vibration detected by the vibration detection means. It is characterized in that it is sequentially determined whether the vibration is included in an abnormal area set in a partial area in the coordinate system having coordinate axes, and it is determined as abnormal when it remains in the abnormal area for a predetermined time or more.
Also by this, the effect substantially the same as the effect mentioned above can be acquired.

In the above-described invention, in the coordinate system, the abnormal region is provided in a part of a region where the travel speed and vibration trajectory acquired at normal time does not pass, and the normal region is provided in a region other than the abnormal region. It can be.
According to this, it is possible to appropriately set the abnormal area and ensure the abnormality detection accuracy.
In this case, in the coordinate system, the abnormal area may be set to a rectangular shape.
In this case, in the coordinate system, a boundary between the normal area and the abnormal area can be defined by a function.
In this case, the abnormal area may be set by combining a plurality of areas arranged in a lattice pattern.

  According to the abnormality detection device for the traveling speed detecting means and the vibration detecting means of the railway vehicle of the present invention, the traveling speed detected by the traveling speed detecting means is equal to or higher than a first threshold value, and the vibration detected by the vibration detecting means is the second. At least one of a state in which the travel speed detected by the travel speed detection means is less than a third threshold and the vibration detected by the vibration detection means is greater than or equal to a fourth threshold. It has an abnormality determining means for determining that it is abnormal when it continues for more than a time.

  Further, the abnormality detection apparatus for the traveling speed detection means and the vibration detection means of the railway vehicle according to the present invention provides the traveling speed detected by the traveling speed detection means and the vibration detected by the vibration detection means as the traveling speed and the It is characterized by having abnormality determination means for sequentially determining whether or not the vibration is included in an abnormal area set in a partial area in the coordinate system having coordinate axes, and determining that it is abnormal when staying in the abnormal area for a predetermined time or more. And

In the above-described invention, in the coordinate system, the abnormal region is provided in a part of a region where the travel speed and vibration trajectory acquired at normal time does not pass, and the normal region is provided in a region other than the abnormal region. It can be.
In this case, in the coordinate system, the abnormal area may be set to a rectangular shape.
In this case, in the coordinate system, a boundary between the normal area and the abnormal area can be defined by a function.
In this case, in the coordinate system, the abnormal area may be set by combining a plurality of areas arranged in a lattice pattern.

  As described above, according to the present invention, it is possible to provide an abnormality detection method and an abnormality detection device for speed detection means and vibration detection means with improved abnormality detection accuracy.

It is a schematic diagram which shows the structure of a railway vehicle provided with 1st Embodiment of the abnormality detection apparatus of the speed detection means and vibration detection means to which this invention is applied. It is a figure which shows an example of the locus | trajectory of the normal driving speed-pitching acceleration power plane in the rail vehicle of FIG. It is a figure which shows an example of the setting of the abnormal area | region in the abnormality detection apparatus of FIG. It is a flowchart which shows the abnormality detection logic of the abnormality detection apparatus of FIG. It is a figure which shows an example of the locus | trajectory of the running speed at the time of abnormality generation | occurrence | production in the rail vehicle of FIG. 1, and pitching acceleration power. It is a figure which shows an example of the time history of the running speed in the case of FIG. 5, pitching acceleration power, and abnormality determination. It is a figure which shows an example of the setting of the abnormal area | region in 2nd Embodiment of the abnormality detection apparatus of the speed detection means to which this invention is applied, and an acceleration detection means. It is a figure which shows an example of the setting of the abnormal area | region in 3rd Embodiment of the abnormality detection apparatus of the speed detection means to which this invention is applied, and an acceleration detection means.

Hereinafter, with reference to the drawings, abnormality detection methods and abnormality detection devices (hereinafter simply referred to as “abnormality detection methods” and “abnormality detection devices”) according to the first to third embodiments of the present invention. Will be described.
<First Embodiment>
First, the abnormality detection method and abnormality detection device of the first embodiment will be described.
The abnormality detection apparatus according to the first embodiment controls a damping force generation means such as a variable damping damper or an actuator provided in a pillow spring system, a shaft spring system, or the like, using, for example, the traveling speed and the vibration acceleration of the vehicle body. It is provided in a railway vehicle equipped with a vibration suppression control system, and executes the abnormality detection method of the first embodiment.

FIG. 1 is a schematic diagram of a railway vehicle having the abnormality detection device of the first embodiment.
The railway vehicle 1 is a bogie vehicle having a first carriage 20 and a second carriage 30 before and after a vehicle body 10.
The vehicle body 10 is formed in a substantially hexahedron shape by providing a side structure, a wife structure, a roof structure, and the like on the upper part of the frame that forms the floor.
The first and second carts 20 and 30 are each provided with two axles on a cart frame (not shown).

The railway vehicle 1 also includes a speed generator 40 and acceleration sensors 51 and 52 for detecting a traveling speed and vertical acceleration of the vehicle body used for control of a vibration suppression control system (not shown).
The speed generator 40 is a traveling speed detection means that is provided at the end of one wheel shaft of the first cart 20 and outputs a vehicle speed signal corresponding to the rotational speed of the wheel shaft.
The acceleration sensors 51 and 52 are disposed in the lower part of the vehicle body 10 so as to be separated in the front-rear direction between the first carriage 20 and the second carriage 30.
The acceleration sensors 51 and 52 detect vibration acceleration in the vertical direction of the vehicle body 10.

The railway vehicle 1 includes an abnormality detection device 100 that detects an abnormality in the speed generator 40 and the acceleration sensors 51 and 52 described above.
The abnormality detection device 100 includes, for example, information processing means such as a CPU, storage means such as RAM and ROM, an input / output interface, and the like, and outputs from the speed generator 40 and the acceleration sensors 51 and 52 are input. .
Such an abnormality detection device 100 may be configured integrally with a control device of the vibration suppression control system.

Next, the principle of abnormality detection in the abnormality detection apparatus 100 will be described.
FIG. 2 is a diagram showing a trajectory obtained by plotting the traveling speed V and the vehicle body pitching acceleration power α measured in a normal vehicle in a normal state on the V-α plane.
The vehicle body pitching acceleration power is obtained by calculating the vehicle body pitching acceleration from the vertical accelerations of the acceleration sensors 51 and 52 attached to the vehicle body 10, squaring it, and passing through a low-pass filter of 0.5 Hz, for example. is there. In order to match the phase delay, the traveling speed V was also passed through a low-pass filter of 0.5 Hz.
Furthermore, in order to grasp the average tendency, for example, a moving average of 5 seconds is taken for each of the traveling speed and the vehicle body pitching acceleration power.

In the first embodiment, an abnormal area is set in an area where the trajectory of the normal traveling speed V and the vehicle body pitching acceleration power α does not pass as shown in FIG. It is said.
FIG. 3 is a diagram illustrating the setting of the abnormal area in the first embodiment.
In FIG. 3, the abnormal region is shown with shading (the same applies to FIGS. 5, 7, and 8).
As shown in FIG. 3, in the first embodiment, a region where the traveling speed V is less than V ₁ and the acceleration power α is α ₂ or more, and the traveling speed V is V ₂ or more and the acceleration power α is less than α _1. Are set as abnormal areas.
Here, as an example, V ₁ = V ₂ = 10 km / h, α ₁ = 0.001 (m / s ² ) ² , and α ₂ = 0.01 (m / s ² ) ² .

Hereinafter, an abnormality detection method using the above-described abnormal region will be described.
FIG. 4 is a flowchart showing the abnormality detection logic in the first embodiment.
Hereinafter, the steps will be described step by step.

<Step S01: Acquire acceleration sensor signal and travel speed signal>
The abnormality detection device 100 acquires acceleration sensor signals from the acceleration sensors 51 and 52 and acquires a traveling speed signal from the speed generator 40.
Thereafter, the process proceeds to step S02.

<Step S02: Acceleration sensor signal calculation>
The abnormality detection apparatus 100 calculates the vehicle body pitching acceleration power α as a parameter correlated with the magnitude of vibration from the acceleration sensor signal.
Thereafter, the process proceeds to step S03.

<Step S03: Low-pass filter processing of travel speed V and acceleration power α>
The abnormality detection apparatus 100 passes the traveling speed V obtained based on the traveling speed signal and the vehicle body pitching acceleration power α obtained in step S02 through a low-pass filter.
Thereafter, the process proceeds to step S04.

<Step S04: Judgment in V-α Plane Abnormal Area>
If the traveling speed V and the vehicle body pitching acceleration power α after the low-pass filter processing obtained in step S03 are included in the abnormal area shown in FIG. 3, the abnormality detecting device 100 proceeds to step S05, and the normal area (abnormal area) If it is included, the process proceeds to step S07.

<Step S05: Determination of Abnormal Area Duration>
When the timer value obtained by counting the time during which the traveling speed V and the vehicle body pitching acceleration power α after the low-pass filter processing is in the abnormal region is equal to or greater than a preset threshold value T, the abnormality detection device 100 The process proceeds to step S06, and if the timer value is less than T, the process proceeds to step S07.

<Step S06: Output abnormality>
The abnormality detection device 100 determines that an abnormality such as a failure has occurred in at least one of the speed generator 40 and the acceleration sensors 51 and 52, and outputs an abnormality.
Thereafter, the series of processing is terminated (returned).

<Step S07: Output normal>
The abnormality detection device 100 determines that no abnormality is found in the speed generator 40 and the acceleration sensors 51 and 52, performs normality determination, and outputs a normal state.
Thereafter, the series of processing is terminated (returned).

Next, an example of abnormality detection in the first embodiment will be described.
FIG. 5 is a diagram showing the trajectory of the traveling speed V measured with the actual vehicle and the vehicle body pitching acceleration power α. Both the traveling speed V and the vehicle body pitching acceleration power α are passed through a low-pass filter of 0.5 Hz.
In FIG. 5, the thick solid line is the result of setting the traveling speed signal to 0 as a pseudo failure during traveling. A thin broken line indicates an actual locus.
As shown in FIG. 5, it can be seen that the trajectory of the traveling speed V and the vehicle body pitching acceleration power α has moved from the normal region to the abnormal region after the occurrence of the abnormality.

FIG. 6 is a diagram showing the time history of the data shown in FIG. Here, as an example, the threshold value T, which is the time from when an abnormality is entered to when an abnormality is detected, is set to 30 seconds.
After a running speed signal is a pseudo-0 at time 200 sec, the traveling speed V becomes V ₁ below and the acceleration power alpha is alpha ₂ or more, then since this state has continued for more than 30 seconds, after 30 seconds It turns out that it is determined to be abnormal at a certain time of 230 seconds.

According to the first embodiment described above, the traveling speed signal and the acceleration signal are each independently normal by determining that the traveling speed V and the locus of the pitching acceleration power α are abnormal based on the fact that they have entered the abnormal region. Even if it is within the range, if it is recognized that there is an abnormality in relation to other signals, an abnormality determination can be made, and the abnormality detection accuracy can be improved.
In addition, by performing abnormality determination only when the locus remains in the abnormality region for a predetermined time T or longer, for example, when the vibration temporarily increases due to passage through an irregular place of the track, or the traveling speed due to wheel slipping, sliding, etc. When the signal temporarily deviates from the actual traveling speed, erroneous detection can be prevented and reliability can be improved.

Second Embodiment
Next, the abnormality detection method and abnormality detection device of the second embodiment will be described.
In each of the embodiments described below, portions that are substantially the same as those in the previous embodiment are denoted by the same reference numerals, description thereof is omitted, and differences are mainly described.
FIG. 7 is a diagram illustrating an abnormal region set in the second embodiment.
In the second embodiment, the boundary between the normal region and the abnormal region is defined by a curve expressed by a combination of a plurality of functions.
According to the second embodiment described above, in addition to the effect substantially similar to the effect of the first embodiment described above, the abnormality detection with higher accuracy can be performed by increasing the degree of freedom of setting the abnormal region. Can do.

<Third Embodiment>
Next, the abnormality detection method and abnormality detection device of the third embodiment will be described.
FIG. 8 is a diagram illustrating an abnormal region set in the third embodiment.
In the third embodiment, the V-α plane is divided into lattice-shaped small areas, and abnormal areas are discretely defined by combinations of a plurality of small areas.
Also in the third embodiment described abnormally, it is possible to obtain substantially the same effect as the effects of the first and second embodiments described above.

(Other embodiments)
In addition, this invention is not limited only to each embodiment mentioned above, A various application and deformation | transformation can be considered.
For example, the following are also included in the technical scope of the present invention.
(1) The method for setting an abnormal region is not limited to that in each of the embodiments described above, and can be changed as appropriate.
(2) The vibration detection means is not limited to the acceleration sensor that detects the acceleration in the vertical translation direction as in each embodiment, but for example, the acceleration sensor that detects the acceleration in another direction such as the sleeper direction, or the direct pitching behavior is measured. A gyro sensor or the like can be used.
(3) In each embodiment, the pitching acceleration power of the vehicle body is used as the magnitude of vibration. However, other vibration modes such as vertical translation and roll may be used, and not only the acceleration power but also an absolute value may be used. Good. Moreover, not only acceleration but angular velocity etc. may be used.
Further, the vibration is not limited to the vibration of the vehicle body, but may be the vibration of a carriage.
(4) In each embodiment, the traveling speed detection means is a speed generator. However, the present invention is not limited to this, and any means may be used as long as the traveling speed can be output.

DESCRIPTION OF SYMBOLS 1 Railcar 10 Car body 20 1st trolley 30 2nd trolley 40 Speed generator 51 Acceleration sensor 52 Acceleration sensor 100 Abnormality detection device

Claims (12)

An abnormality detection method for travel speed detection means and vibration detection means of a railway vehicle,
A state in which the traveling speed detected by the traveling speed detecting means is equal to or higher than a first threshold and the vibration detected by the vibration detecting means is less than a second threshold, and the traveling speed detected by the traveling speed detecting means is A traveling speed detecting means characterized in that an abnormality is determined when at least one of a state where the vibration detected by the vibration detecting means is less than a third threshold and the vibration detected by the vibration detecting means is a fourth threshold or more continues for a predetermined time or more; Abnormality detection method for vibration detection means. An abnormality detection method for travel speed detection means and vibration detection means of a railway vehicle,
The travel speed detected by the travel speed detection means and the vibration detected by the vibration detection means are included in an abnormal area set as a partial area in the coordinate system using the travel speed and the vibration as coordinate axes, respectively. The abnormality detection method for the traveling speed detection means and the vibration detection means is characterized in that it is determined sequentially and it is determined that there is an abnormality when it remains in the abnormal region for a predetermined time or more. In the coordinate system, the abnormal region is provided in a part of a region through which a travel speed and a vibration trajectory acquired at normal time do not pass, and a normal region is provided in a region other than the abnormal region. Item 6. A method for detecting an abnormality of the traveling speed detecting means and the vibration detecting means according to Item 1. The abnormality detection method for travel speed detection means and vibration detection means according to claim 2 or 3, wherein the abnormal region is set in a rectangular shape in the coordinate system. The abnormality detection method of the traveling speed detection means and the vibration detection means according to claim 2 or 3, wherein a boundary between the normal area and the abnormal area is defined by a function in the coordinate system. The abnormality detection of the traveling speed detecting means and the vibration detecting means according to claim 2 or 3, wherein the abnormal area is set by combining a plurality of areas arranged in a grid pattern in the coordinate system. Method. An abnormality detection device for a traveling speed detection means and a vibration detection means of a railway vehicle,
A state in which the traveling speed detected by the traveling speed detecting means is equal to or higher than a first threshold and the vibration detected by the vibration detecting means is less than a second threshold, and the traveling speed detected by the traveling speed detecting means is And an abnormality determining unit that determines that an abnormality occurs when at least one of a state in which the vibration detected by the vibration detecting unit is less than a third threshold and the vibration detected by the vibration detecting unit is not less than a fourth threshold continues for a predetermined time or longer. Abnormality detection device for travel speed detection means and vibration detection means. An abnormality detection device for a traveling speed detection means and a vibration detection means of a railway vehicle,
The travel speed detected by the travel speed detection means and the vibration detected by the vibration detection means are included in an abnormal area set as a partial area in the coordinate system using the travel speed and the vibration as coordinate axes, respectively. An abnormality detection device for traveling speed detection means and vibration detection means, comprising: abnormality determination means for sequentially determining whether or not the abnormality region has been detected for a predetermined time or longer. In the coordinate system, the abnormal region is provided in a part of a region through which a travel speed and a vibration trajectory acquired at normal time do not pass, and a normal region is provided in a region other than the abnormal region. Item 9. The abnormality detection device for the traveling speed detection means and the vibration detection means according to Item 8. The abnormality detection device for travel speed detection means and vibration detection means according to claim 8 or 9, wherein the abnormal region is set in a rectangular shape in the coordinate system. The travel speed detecting means and vibration detecting means abnormality detecting device according to claim 8 or 9, wherein, in the coordinate system, a boundary between the normal area and the abnormal area is defined by a function. The abnormality detection of the traveling speed detection unit and the vibration detection unit according to claim 8 or 9, wherein the abnormal region is set by combining a plurality of regions arranged in a grid pattern in the coordinate system. apparatus.

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