JP2776219B2 - Method of controlling snake behavior of bogies of railway vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a snake for a rail car bogie capable of efficiently suppressing a snake behavior, which is an unstable phenomenon peculiar to a rail car bogie, and dramatically improving the stability limit speed of the rail car. It relates to a behavior control method.

[0002]

2. Description of the Related Art As shown in FIGS. 5A and 5B, the basic structure of a railcar bogie currently in use is composed of a bogie frame 1, an axle 2, wheels 3, an axle box 4, a primary spring 5, and a secondary spring 6. You. A conical wheel having a tread slope θ is used as the wheel 3 in order to facilitate passage on a curved road.

Due to the gradient of the tread surface, the radius of the tread surface varies depending on the position of the tread surface in contact with the rail, and the wheels become uneven due to wear during use. For these reasons, the left and right centers of the wheels roll at positions deviated from the center of the track. Therefore, on a straight road, as shown in FIG.
And the wheel set 7 composed of the axle box 4 tends to meander. Since the meandering wavelength L is a constant value determined by the gradient of the tread, the meandering frequency increases as the traveling speed increases, and resonance with the primary spring 5 occurs at a certain speed. As a result, the whole bogie will meander greatly,
Railway vehicles cannot maintain stable running. This is called a snake action, and the running speed at which the snake action occurs is called a stable limit speed.

[0004] As described above, the snake behavior is an essentially unavoidable phenomenon, but it is possible to improve the stability limit speed. Conventional methods for improving the stability limit speed include a method of increasing the resonance frequency by increasing the spring constant of the primary spring 5 and a method of increasing the resonance frequency as shown in FIG.
There is a method in which a yaw damper 9 is provided between the bogie frame 1 and the bogie frame 1 to attenuate the snake action.

Another invention aimed at improving the riding comfort of railway vehicles is a railway vehicle equipped with a wheel axle angle control device (Japanese Patent Laid-Open No. 3-258655). As shown in FIG. 8, the fluid actuator 1 is located between the bogie frame 1 and the wheel set.
0 is installed, and information on orbital irregularities and the like previously stored in the storage device 11 is transmitted from an external signal (speed signal, ATS).
(A signal, an abnormal signal, an emergency stop signal, etc.) as needed, a control input is calculated by the controller 12, and the calculated input is input to the fluid actuator 10.

[0006]

Of the above prior arts, the method of increasing the resonance frequency by increasing the spring constant of the primary spring and the method of using the yaw damper can be easily realized and have the effect of suppressing snake behavior. The track irregularity is easily transmitted to the bogie frame and the vehicle body as vibration, and the riding comfort during normal running is deteriorated. On the other hand, the "railroad vehicle with a wheel axle yaw angle control device" disclosed in Japanese Patent Application Laid-Open No. 3-258655 is effective in improving the riding comfort during normal running, but is effective in suppressing the snake behavior which is an unstable phenomenon. It cannot be said that. Further, since the resonance point due to the snake action wavelength L depends on the speed, the speed cannot be improved by a constant spring constant or a control method. Further, it is economically inefficient to set the spring system as needed in accordance with the speed. Therefore, there is a need for a method capable of suppressing the snake behavior occurring during high-speed running according to the speed and improving the stability limit speed without deteriorating the riding comfort during normal running.

In view of the present situation, as described above, in the prior art, there is no control device capable of suppressing the snake behavior while maintaining the riding comfort, and in view of the present situation, the riding comfort during normal running is not deteriorated. An object of the present invention is to provide a method of controlling a snake behavior of a bogie of a railway vehicle, which can suppress a snake behavior occurring at a high speed running and improve a stable limit speed.

[0008]

SUMMARY OF THE INVENTION In order to achieve the above object, a method for controlling snake behavior of a railway vehicle bogie according to the present invention comprises a fluid actuator installed between a bogie frame of a railway vehicle bogie and a wheel set, and a vibration of the wheel set. , A railway vehicle having a control device including a controller for controlling the fluid actuator based on a detection signal from the sensor, a resonance point at each speed in advance. A function group having an optimal frequency to reduce the frequency is obtained, and a corresponding function is extracted from the function group by a speed signal detected during traveling to perform vibration control of the vehicle body,
Improve the stability limit speed for snake behavior.

[0009]

In order to suppress and control the snake behavior of the bogie of the railway vehicle, it is necessary to detect the values of the vibration acceleration of the wheel axle, the bogie and the wheel axle, or the relative displacement between the bogie and the wheel axle by each sensor. Based on these values, the motion state of the wheel set or the bogie and the wheel set is specified, and the snake behavior is suppressed by performing an output for operating the fluid actuator installed between the bogie and the wheel set according to a control law in the controller. be able to.

Therefore, the control theory in the controller deals with multivariable inputs and multivariable outputs, and the control design quantitatively models the objects to be controlled (wheel set, bogie),
The control parameters are appropriately determined according to the target, and the data of the following A, B, and C matrices are obtained.

Therefore, when the kinetic characteristics (resonance point) of the object fluctuate with the speed, the above control parameters,
The data of the A, B, and C matrices deviate from the optimal data. Therefore, if the A, B, and C matrices corresponding to the respective speeds are calculated in advance using the optimum control parameters corresponding to the speed and stored in the controller, the optimum control according to the speed can be realized.

The resonance point can be calculated by the following equations (1) and (2). Here, L is the snake action wavelength, θ is the tread slope, r is the wheel radius, a is the distance between the front and rear axes / 2, f is the resonance frequency, v
Is the speed.

[0013]

(Equation 1)

By using the above equations (1) and (2), it is possible to prepare a control matrix optimal for a certain speed in advance. In the control method used here, the description of the controlled object model is performed by the following three equations and four equations relating to several state variables expressing the internal state of the controlled object.

[0015]

(Equation 2)

Here, u is a control input, x is a state variable, y
Are detection outputs, each of which is a multivariable vector. By using the state equation, a multi-input / output controlled object model can be easily described, and thus control design can be performed in consideration of interference between each input / output. Further, since the designed controller can also be expressed by the above-mentioned equation of state, it can be easily converted to digital software and incorporated in a microcomputer or the like. That is, a controller designed in the form of the state equation shown in Equations 3 and 4 and converted into digital software as shown in Equations 5 and 6 below is used as a controller. Where k is the digitized time.

Equation 5 x (k + 1) = A _D x (k) + B _D u (k) Equation 6 y (k) = C _D x (k)

Then, the following equation (7) is considered as the weight function W (S).

[0019]

(Equation 3)

In the equations (7), ω, 、 ₁ , ７ ₂ , α are control parameters, and there are optimum values depending on the control target. That is, gain diagram of a transfer function G at a certain speed (S), as shown in FIG. 3, g _2, and the by g ₁ multiplied intensively weighted resonance point, control effect such as g ₃ Appears, the snake action can be suppressed, and when the speed increases, g ₂ moves parallel to the right. According to this, g ₁ (W (S)) is translated in parallel, so that the optimal speed at that speed is obtained. Control can be performed.

The peak, which is the above resonance point, can be specified by calculation from the snake action wavelength, etc., and the optimum weight W (S) at each speed is specified in advance, so that it can be used for any speed. Optimized control and speed can be dramatically improved. For example, as shown in FIG. 4, the optimal A _D n for each rate, B _D n, C _D n keep a database of optimal A _D n in each speed by the speed signal, B _D n, C _D Extract n and perform control.

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to FIGS. The basic configuration is the same as that shown in FIGS. 5A and 5B. In a bogie in which a fluid actuator is installed between a bogie frame and a wheel set, accelerometers 13 and 16 are provided on each axle box 4 as sensors for detecting vibration of the wheel set 7. Is installed, and vibration accelerations a _F1, a _F2 , a _F3 , a _F4 ,
a _R1, is configured to detect _{a R2, a R3, a R4} . In the figure, 14 is a controller, and 15 is a control valve.

As shown in FIG. 2, the sensor outputs from the accelerometers 13 and 16 are converted into digital values by an A / D converter 17 and input to a control computer 18. In the control computer 18, first, a calculation is performed by the sensor output conversion unit 19, and the axle lateral vibration acceleration a _FL , a
_RL and axle yaw angular accelerations a _FY and a _RY are calculated. Then, using the above results, the control signal calculating section 20 calculates control signals u _F and u _R corresponding to the yaw direction control force generated on the wheel set 7.

Various optimum control theories can be applied to the design of the controller. Here, the application of the ^H∞ control theory will be described. The transfer function from the orbit disturbance to the yaw acceleration of the wheel set is G (S), and a controller satisfying the following equation (8) is obtained by the ^H∞ control design. 8 formula ‖W (S) · G (S ) ‖ _∞ <1, where, ‖A‖ _∞ in an amount called H ^∞ norm of A, |
A | corresponds to the maximum value. W (S) is a weight function. At this time, Equation 8 is equivalent to Equation 9 below, and G
(S) can be defined by W (S). 9 | G (S) | <| W (S) | ^-1

[0025]

According to the present invention, it is possible to optimally suppress the snake behavior that occurs during high-speed running according to the speed without deteriorating the riding comfort during normal running, and improve the stability limit speed.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing a control system of a bogie having a snake action control device for implementing a control method of the present invention.

FIG. 2 is a block diagram of control calculation according to the embodiment of the present invention.

FIG. 3 is a gain diagram of a transfer function G (s) at a certain speed.

FIG. 4 is a flowchart in a case where snake action control is performed by a speed signal.

FIG. 5 is an explanatory view showing a basic configuration of a bogie for a railway vehicle, where A is a plan view and B is a front view.

FIG. 6 is an explanatory diagram showing a snake behavior of a wheel set in a railway vehicle.

FIG. 7 is an explanatory diagram showing an arrangement of a yaw damper in a railway vehicle.

FIG. 8 is an explanatory diagram of a railway vehicle bogie having a conventional wheel axle yaw angle control device.

[Explanation of symbols]

 Reference Signs List 1 bogie frame 2 axle 3 wheel 4 axle box 5 primary spring 6 secondary spring 7 wheel axle 8 body 9 yaw damper 10 fluid actuator 11 storage device 12 controller 13 accelerometer 14 controller 15 control valve 16 accelerometer 17 A / D converter 18 Control Computer 19 Sensor Output Converter 20 Stabilization Control Calculator 21 D / A Converter

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-5-213194 (JP, A) JP-A-3-258655 (JP, A) JP-A-5-213195 (JP, A) JP-A-5-213195 213196 (JP, A) JP-A-6-107174 (JP, A) JP-B-7-5076 (JP, B2) (58) Fields investigated (Int. Cl. ⁶ , DB name) B61F 5/24

Claims (1)

(57) [Claims] 1. A fluid actuator installed between a bogie frame of a bogie of a railway vehicle and a wheel set, a sensor for detecting vibration of the wheel set, a sensor for detecting a speed of the vehicle, and a sensor for detecting a speed of the vehicle based on a detection signal from the sensor. In a railway vehicle having a control device including a controller that controls a fluid actuator, a function group of frequencies for lowering a resonance point at each speed is obtained in advance, and the function group is determined based on a speed signal detected during traveling. A snake action control method for a bogie of a railway vehicle, wherein a corresponding function is extracted from the inside, vibration control of the vehicle body is performed, and a stability limit speed for the snake action is improved.