JP2650545B2 - Zero adjustment method for body motion control system of railway vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a control system for a vehicle body movement of a railway vehicle, which stores a reference posture of the vehicle body with respect to left-right vibration and up-down vibration in a computer.
The present invention relates to a method for adjusting a zero point of a vehicle body motion control system so as to stably suppress vibration.

[0002]

2. Description of the Related Art Railway vehicles move up and down due to irregular rails.
Subject to vibration acceleration of lateral movement, rolling and yawing. Conventional vibration control includes a spring and a damping force generating mechanism. As the damping force generating mechanism, an air spring, a throttle of an oil damper, or the like has been used. Further, as an improved vibration control device, there is known a system in which a drive-type pneumatic cylinder is driven by a pneumatic servo valve (Japanese Patent Laid-Open No. Sho.
No. 6-17754, JP-A-59-156860).

[0003] When the damping force is increased in the conventional vibration control device, the vibration suppression is improved in a low frequency range,
When the damping force is reduced in the high frequency range, the vibration suppression is improved in the high frequency range, but deteriorates in the low frequency range, and it is difficult to improve the low frequency range and the high frequency range simultaneously. Was.

[0004] Therefore, in controlling the vibration of a railway vehicle, it is essential to incorporate active control in order to dramatically improve the riding comfort. Therefore, the present applicant has previously invented a vibration control device (for example, Japanese Patent Application No. 3-89644) of a railway vehicle that has improved ride comfort in all frequency ranges.

[0005]

In the vehicle body motion control system for suppressing the vibration of a railway vehicle, a lateral displacement meter and a vertical displacement meter between the vehicle body and the bogie, a lateral accelerometer of the vehicle body, a vertical accelerometer, and an actuator Various sensors such as a pressure gauge are used. At the time of assembling the control system, it is necessary to accurately adjust the neutral position (zero point) of each sensor, especially the displacement meter, and to mount the sensor between the vehicle body and the bogie. However, this mounting operation requires skill and time, and is difficult to adjust. Further, in long-term use, a deviation of the sensor value from the initial setting state occurs, and the body posture to be converged by control may change. However, at present, mass production of a vehicle body motion control system in a railway vehicle has not been performed, and therefore, a method of setting a neutral position (zero point) such as a displacement meter has not been established.

In view of the above situation, the present invention provides a method for simply and quickly adjusting a zero point of a vehicle body motion control system in a railway vehicle in order to solve the conventional problems.

[0007]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention relates to a vehicle body motion control system having a control actuator which operates in a lateral direction between a bogie of a railway vehicle and a vehicle body. Is applied, the control force is reduced to zero, the position converged by the restoring force of the secondary spring, and the position converged by the restoring force of the secondary spring, after the yaw displacement in the opposite direction is applied, the control force is reduced to zero. This is an adjustment method for setting the original neutral point (zero point of displacement) of the vehicle body.

Further, in a vehicle body motion control system having a control actuator which operates vertically between a bogie of a railway vehicle and a vehicle body, disturbance is caused by the control actuator at two heights, an upper limit and a lower limit of a dead zone of a leveling valve of an air spring. To converge by the operation of the leveling valve,
This is an adjustment method for setting a neutral point of control (zero point of displacement) within the dead zone of the leveling valve from the heights of the two points.

[0009]

[Action]

A method for adjusting the zero point of the left-right displacement meter A left-right movement damper is provided between the bogie and the vehicle body in addition to the left-right movement actuator for controlling the left-right direction. Therefore, these generated forces are reduced as much as possible, and the secondary spring (air spring) is returned to the neutral position in the horizontal direction by the restoring force in the horizontal direction.

[0010] Therefore, after opening the valve of the double-acting left-right actuator and applying a yawing displacement in one direction,
In the zero control force up to the place, back by the restoring force in the lateral direction of the air springs to the neutral position C _1, stores the position at which the converged to C _1. Further, the above was added to yaw displacement in the opposite direction, in the zero control force up to the place, returned by the restoring force in the lateral direction of the air springs to the neutral position C _2. And C ₁
The average position of the C ₂ to the zero point position of the temporary and further the vehicle is yawing displaced lateral movement actuator, or the maximum stroke C of the actuator satisfies the set reference value Cmin, examined whether, the zero point if I satisfied The position is formally adopted and memorized.

A method of adjusting the zero point of the vertical displacement meter A motion control system in which a vertical movement actuator for controlling the vertical direction is provided between the carriage and the vehicle body in parallel with a secondary spring (air spring).

It is necessary that the center position of the dead zone of the height adjustment mechanism of the air spring (for example, a leveling valve) be the zero point of the vertical displacement meter, that is, the center of the vertical movement control by the vertical movement actuator, and the two are matched. Therefore, it is adjusted in the following procedure.

First, the leveling valve (hereinafter referred to as LV) is evacuated when the height of the air spring is high, and stops at the upper limit of the dead zone (up to 6 mm), and conversely, when the height of the air spring is low. Intake is performed and the lower limit of the dead zone (~ -6m
In m), the basic operation of stopping the intake is performed.

[0014] Thus, converges the height of the air spring 6 to the control force LV12 in the dead zone with zero vertical movement actuator 7 (FIG. 5), to the height and d _o 'zeros provisional (Figure 6a ). Then, four vertical actuators 7 in one vehicle are extended to keep the height of the air spring 6 high (FIG. 6).
b) The air spring internal pressure is reduced by the operation of the LV12.

Next, when the control force, that is, the extension force of the actuator is reduced to zero, the internal pressure of the air spring decreases, and the LV 12 starts to take air (FIG. 6C). When the LV 12 reaches the lower limit of the dead zone (〜−6 mm), the intake stops, and the height of the air spring 6 converges (FIG. 6D). Vertical displacement meter 9 at this time
The height of FIG. 5 is stored as d _l .

[0016] to reduce the height of the air spring 6 shortens the actuator from the state (Fig. 7 e). Then, LV1
By the operation of 2, air is supplied to the air spring, and the internal pressure of the air spring increases. When the control force of the actuator, that is, the contraction force, is reduced to zero, the air spring 6 rises, and the LV12
It begins to exhaust (Fig. 7 f). LV12 is the dead zone upper limit (~
Stops the exhaust to reach 6 mm), the height of the air spring 6 is converged (FIG. 7 g). The vertical displacement gauge 9 of height at this time is stored as d _u.

Notation of the height of the vertical displacement meter 9 obtained as described above
Guesswork d_lAnd d_uAnd the average, (d _l+ D_u) / 2 position
Is the zero point.

Since the above operation is performed simultaneously for the actuators corresponding to the four air springs in one vehicle, even if the dead zones of the respective LVs are slightly shifted, all the LVs are set to target values at stable positions within the dead zones. be able to.

[0019] As a method of verifying the zero point position of the displacement, and a method of providing the upper limit of the shift amount between the temporary zero point d _o ', zero point position whether there is sufficient stroke in the vertical direction by operating the vertical movement actuator What is necessary is just to judge whether it is recognized as.

[0020]

An embodiment of the present invention will be described with reference to the drawings. FIG. 5 shows the configuration of a vehicle body motion control system for implementing the zero point adjustment method of the displacement in the left-right direction and the up-down direction according to the present invention. A vehicle body 8 is provided with a left and right vibration accelerometer 1 and a pair of left and right vertical vibration accelerometers 2. Further, a lateral displacement meter 3, a lateral actuator 5 and a lateral damper 4 are provided between the bogie and the vehicle body, and a vertical actuator 7 and a vertical displacement meter 9 are provided on the left and right sides of the vehicle. Incidentally, reference numeral 6 in the drawing denotes an air spring.

FIGS. 1 and 2 show flowcharts in the case where the zero point adjustment of the lateral displacement meter is performed according to the embodiment of the present invention. Its operation is as described in the section of the action, by calculating the zero point position before bogie and rear bogie to the average position of the C ₁ and C ₂ the zero point position of the temporary, is further yawing of the vehicle body at lateral movement actuator It is determined whether or not the maximum stroke C satisfies a set reference value (minimum allowable set value) Cmin. If so, the zero point position is formally adopted and stored.

FIGS. 3 and 4 show the case where the zero point of the vertical displacement meter is adjusted. The operation in this case is also the same as described in the section of the action, the average value of the zero point of the height d _u of vertical displacement meter height d _l and deadband upper limit value of the vertical displacement meter in the dead zone lower limit value of the LV Position.

[0023]

As described above, the present invention can properly determine the zero point positions of the sensors of the vehicle body motion control system of the railway vehicle, particularly the right and left and vertical displacement meters, while maintaining consistency with the air spring system. Also, the mounting accuracy at the time of assembling is not strictly required, and within a certain range, individual differences after each assembling can be sufficiently absorbed and fine adjustment is not required. Further, even if the sensor value shifts due to long-term use, it can be corrected instantaneously, and control stability can be ensured for a long time.

[Brief description of the drawings]

FIG. 1 is a flowchart showing a first half of a control operation of zero adjustment of a lateral displacement meter according to an embodiment of the present invention.

FIG. 2 is a flowchart showing an end part of a control operation performed subsequently to the flowchart of FIG. 1;

FIG. 3 is a flowchart showing a first half of a control operation for zero adjustment of a vertical displacement meter according to an embodiment of the present invention.

FIG. 4 is a flowchart showing an end part of a control operation performed subsequently to the flowchart of FIG. 3;

FIG. 5 is an explanatory diagram showing a configuration of a vehicle body motion control system of a railway vehicle used for carrying out the present invention.

6A and 6B are explanatory views showing the first half of a method of adjusting the zero point of the vertical displacement meter according to the embodiment of the present invention, wherein FIG. 6A shows a state where the control force of the actuator is zero, FIG. 6B shows a state where the actuator is extended, and FIG. The state in which the control force of the actuator is reduced to zero after the LV is opened and the intake is performed, and FIG. D shows the state in which the intake is completed and the vehicle stops at the lower limit of the dead zone of the LV.

7 is an explanatory view showing a latter half of the method for adjusting the zero point of the vertical displacement meter shown in FIG. 6; FIG. 7E shows a state in which the actuator is contracted from the state shown in FIG. The state where the control force of the actuator is set to zero and the LV is opened to start the exhaust, and FIG. 15G is a state where the exhaust is completed and the LV is stopped at the upper limit of the dead zone of the LV.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Left-right vibration accelerometer 2 Vertical-vibration accelerometer 3 Left-right displacement meter 4 Left-right motion damper 5 Left-right motion actuator 6 Air spring 7 Vertical-motion actuator 8 Body 9 Vertical displacement meter

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Shuji Hamamoto 4-33, Kitahama, Chuo-ku, Osaka City, Osaka Prefecture Inside Sumitomo Metal Industries, Ltd. (72) Inventor Toshiaki Matsui 5-1-1 Shimaya, Konohana-ku, Osaka-shi, Osaka No. 109 Sumikin Design and Engineering Co., Ltd.

Claims (2)

(57) [Claims] In a vehicle body motion control system having a control actuator that operates in a left-right direction between a bogie of a railway vehicle and a vehicle body, a control actuator applies a yawing displacement to the vehicle body, sets a control force to zero, and restores a secondary spring. From the position converged by the force and the position converged by the restoring force of the secondary spring after zeroing the control force after applying the yawing displacement in the opposite direction to the above,
A method for adjusting a zero point of a vehicle body motion control system of a railway vehicle, wherein a neutral point (displacement zero point) of a vehicle body is set. 2. In a vehicle body motion control system having a control actuator that operates in a vertical direction between a bogie of a railway vehicle and a vehicle body, a disturbance is caused by the control actuator at two heights, an upper limit and a lower limit of a dead zone of a leveling valve of an air spring. And converging by the operation of the leveling valve, and setting the neutral point (displacement zero) of the control within the dead zone of the leveling valve from the height of the two points. Adjustment method.