JP2592060B2 - Vehicle control device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a vehicle, and more particularly, to a control device for a vehicle which is provided with the same type of control device in a plurality of vehicles and is controlled in a distributed manner.

[Conventional technology]

2. Description of the Related Art In general, a vehicle control device by distributed control for controlling a vehicle drive device provided in a plurality of vehicles for each vehicle is well known. In this type of conventional technology, each control device controls a drive device of an individual vehicle that is a control target of the control device. Each control device transmits and receives control information and the like between the control devices. There is no known prior art relating to a similar vehicle control device of the present invention in which the device controls the vehicle with reference to such information.

[Problems to be solved by the invention]

A vehicle drive device such as a VVVF inverter device is arranged in a plurality of vehicles, and these are controlled by individual control devices.A conventional control device of a vehicle by distributed control has an individual control device that has a control range of the control device. In such a case, optimal control is performed within the vehicle, and no consideration is given to cooperation or coordination with other control devices of the same type that are operating at the same time. For this reason, in the prior art, for example, when ATO or the like is performing a constant deceleration control, the condition of the tread is deteriorated due to the adhesion of oil, dust, etc. In other cases, the other vehicle will compensate for the reduced torque of the vehicle with the slid wheels.
There was a problem that the command torque from the ATO increased and the wheels of other vehicles also slid simultaneously. That is, in the case described above, the control device of the vehicle that is not running is AT
Without knowing whether or not the increase in the command torque from O was caused by the sliding of another vehicle, the only way to increase the torque was to follow the command.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems of the prior art and to provide a vehicle control device capable of improving the running performance of a vehicle as a whole vehicle formation.

[Means for solving the problem]

According to the present invention, the object is to provide a vehicle control device in which a control device provided for each vehicle receives the same control command generated from the command generation device and controls the vehicle. The control device provided for each
Torque command output means for outputting a torque command based on an output from the command generation device, motor control means for controlling an electric vehicle driving motor based on the torque command, and idling for detecting idling / sliding of the own vehicle And / or transmitting the output of the slip / skid detection means or the torque command to a control device of another vehicle constituting the train set, and detecting the slip / skid of the vehicle from another vehicle. And an information transmission means for receiving a torque command, wherein the information transmission means is based on an output of a slip / skid detection means from a control device of another vehicle or the torque command. The torque command output means reduces the generated torque command, and the idling / sliding detection means determines that the torque command output means reduces the generated torque command based on the output. Ri is achieved.

(Operation)

Individual control devices provided in each of the distributed vehicles independently control output according to a command value from a command generation device, and also provide information on the slip / sliding of another vehicle exchanged between the control devices. Alternatively, the content of the control, that is, the torque command can be reduced in accordance with the control situation of the control device of another vehicle according to the torque command.

With this, the control device of each vehicle increases the torque command simply by following the command even when the increase in the command torque from the command generation device is caused by the sliding of another vehicle. Instead, the torque command can be reduced to prevent idling / sliding of the vehicle, and optimal control can be performed for the entire vehicle set.

〔Example〕

Hereinafter, an embodiment of a vehicle control method according to the present invention will be described in detail with reference to the drawings.

FIG. 1 is a block diagram of one embodiment of a control device to which the present invention is applied, and FIG. 2 is a vehicle composition diagram showing interconnection of control devices installed in each of two vehicles. 1 and 2, reference numeral 1 denotes a target pattern generator, 2 denotes a phase controller, 3 denotes an idle running controller, 4 denotes a thyristor controller, 5 denotes a motor, 6 denotes a rotation sensor, 7 denotes a command target value, 8 is a target value, 9 is a control current value, 10 is a control command line, 11 is an information transmission system, 12 is an information transmission terminal, 13 is a slipping / sliding control value, 14 is a motor circuit value, 15 is a thyristor phase control angle, 16 Is a command generator, 17 is a controller, and 18 is a current sensor.

FIG. 2, the two vehicles M _1, M ₂ each to the control device 17 is provided, shows a vehicle knitting these controllers is to control the drive of each vehicle, the vehicle M ₁ the control device M ₂ is command generating device provided in the cab of the vehicle M ₁ 16
Are connected to a command generating device 16 by a control command line 10 for receiving a control command from the PC, and are mutually connected by an information transmission system 11 for exchanging information between the control devices. As shown in FIG. 1, a control device 17 provided in each of the vehicles M ₁ and M ₂ receives a control command from a command generation device 16 and generates a torque target value 7 which is a torque command. Target pattern generator 1 as output means
A phase controller 2 for controlling a thyristor controller 4 for driving the motor 5, and a rotation value of the motor 5 by a rotation sensor 6.
In response to the information 14, information is exchanged between the slipping / sliding control unit 3, which is a slipping / sliding detecting unit that outputs a slipping / sliding control value 13, and a control device of another vehicle, and is transmitted from a control device of another vehicle. It comprises an information transmission terminal 12 which is information transmission means for providing information to the target pattern generation unit 1. In the above description, the phase controller 2 and the thyristor controller 4 constitute a motor control unit.

The target pattern generator 1 in the controller 17 receives a control command from the command generator 16 via the control command line 10 and generates a specific command target value 7 of the own vehicle. This command target value 7
Is calculated by adding / subtracting the slip / slide control value 13 from the slip / slide control unit 3 to obtain a target value 8, further obtaining a deviation from the control current value 9 detected by the current sensor 18, and providing the deviation to the phase controller 2. . The phase controller 2 controls the thyristor phase control angle 15 with respect to the thyristor controller 4 by this, and makes the control current value 9 of the motor 5 coincide with the target value 8 so that the aforementioned deviation becomes zero. The idling slide control unit 3 includes a rotation sensor 6
The rotation value 14 of the motor 5 is monitored, and the slipping state of the wheel is detected from the change in the rotation acceleration and the like, and the slipping control value 13 is output. The slippage control value 13 is used for correcting the command target value 7 as described above.

On the other hand, the information transmission terminal 12 in the angle control device transmits information in its own control device, in this example, a command target value 7, a target value 8, a control current value 9, a slipping / sliding control value 13, a motor rotation value 14, a thyristor. Information such as the phase control angle 15 is collected, and the information is transmitted to another control device, and the same type of information is received from another control device. For example, the controller 17 of the vehicle M ₂ is thereby
Obtain various information of the same type in the control unit for the vehicle M ₁ and the vehicle M ₃ or later (not shown) vehicle, based on the information,
An instruction to change or correct the control command can be given to the target pattern generation unit 1.
Is not only based on the control command from the command generator 16, but also
An optimal command target value can be set according to the control situation of another vehicle.

For example, with respect to the sliding of another vehicle during constant deceleration, a decrease in the output current, a sharp decrease in the rotational acceleration, a decrease in the target torque, etc. in the vehicle in which the sliding occurs should be observed. Knowing such a control situation of the car, in advance,
Or, in parallel, control suitable for such a situation can be performed on the host vehicle.

That is, based on the motor rotation value 14 and the idling / sliding control value 13 from the other control devices, it is possible to detect the slipping of the wheels during power running of the vehicle or the sliding of the wheels at the time of deceleration. Irrespective of the control command from the command generator 16, the torque command can be reduced to prevent the idle rotation of the wheels of the own vehicle in advance, and the control for weakening the braking force can be performed so that the sliding of the own vehicle can be performed. Can be prevented.

Further, according to the above-described embodiment of the present invention, if the control current values 9 from all the other control devices are monitored, it is possible to correct the load balance of each vehicle during normal traveling.

As described above, the control device 17 optimally controls the own vehicle according to information from the other control device. However, the control according to the information from the other control device is simply performed by using the information from the other control device. Is not used as it is, but a correction such as changing the weight of the use is performed based on the result of the control history within a certain period of time in the own control device.

According to the above-described embodiment, the respective control devices distributed in the rolling-stock set mutually control the own vehicle by transmitting / receiving information on the slip / skid detected in the control device or the torque command. Therefore, it is possible to perform optimal control as a vehicle set.

〔The invention's effect〕

As described above, according to the present invention, it is possible to improve the running performance of a vehicle as a whole of a vehicle set.

[Brief description of the drawings]

FIG. 1 is a block diagram of one embodiment of a control device to which the present invention is applied, and FIG. 2 is a vehicle composition diagram showing interconnection of control devices installed in each of two vehicles. 1. Target pattern generation unit 2. Phase controller 3, 3.
Slipper / sliding controller, 4 thyristor controller, 5 motor, 6 rotation sensor, 7 command target value, 8 target value, 9 control current value, 10 control command line, 11 ... information transmission system, 12 ... information transmission terminal, 13 ... idle sliding control value,
14: Motor rotation value, 15: Thyristor phase control angle, 16
…… Command generator, 17… Control device, 18 …… Current sensor.

Claims (1)

(57) [Claims] 1. A control device provided for each vehicle, and a command generation device provided in a driver's cab, wherein each of the control devices provided for each vehicle has the same configuration as that generated by the command generation device. In a vehicle control device that controls a vehicle in response to a control command, a control device provided for each vehicle includes a torque command output unit that outputs a torque command based on an output from the command generation device; An electric motor control means for controlling an electric motor for driving the electric vehicle based on the instruction, an idling / sliding detecting means for detecting the idling / sliding of the vehicle, and an output of the idling / sliding detecting means or the torque command, Information transmitting means for transmitting to the control device of another vehicle constituting the formation and receiving an output of the idling / sliding detecting means of the vehicle from the other vehicle or a torque command. The information transmission means reduces the generated torque command to the torque command output means based on an output of the slip / slide detection means from a control device of another vehicle or a torque command, and the slip / slide detection means Is
A control device for a vehicle, wherein the torque command output means reduces the generated torque command based on the output.