JP2812607B2 - Speed pattern generator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed pattern generator used for automatic operation of a train.

[0002]

2. Description of the Related Art FIG. 10 shows, for example, Japanese Patent Publication No. 57-1658.
FIG. 9 is a block diagram showing a conventional speed pattern generator shown in No. 9; In the figure, 21 is a speed reference setter, 2
2 is a speed command value, 23 and 25 are comparators, 24 is an acceleration / deceleration limiter, 26 is an acceleration / deceleration change rate limiter, and 27 and 29.
Is an integrator and 30 is a speed pattern.

[0003] This apparatus creates a speed pattern with respect to time so that the acceleration / deceleration of the speed pattern 30 and the rate of change of the acceleration / deceleration are within the limit values when the speed command value 22 is set from the speed reference setter 21. , So that the ride comfort of the vehicle is not impaired.

Next, the operation will be described. When the speed command value 22 is input from the speed reference setter 21, a deviation from the speed pattern 30 is input to the acceleration / deceleration limiter 24, and is converted into an acceleration / deceleration command 31 within the limit value. Next, the acceleration / deceleration change rate is limited by the acceleration / deceleration change rate limiter 26 according to the difference between the acceleration / deceleration command 31 and the acceleration / deceleration pattern 28. The rate of change in acceleration / deceleration is integrated by an integrator 27 to obtain an acceleration pattern 28, and further integrated by an integrator 29 to obtain a speed pattern 30. The speed pattern 30 thus created is created such that the acceleration / deceleration and the rate of change of the acceleration / deceleration become the limit values, and is a speed pattern with a good riding comfort.

Normally, the speed reference setter 21 and the speed pattern generator below it are separate devices, and the speed reference setter 2
Reference numeral 1 is incorporated in the operation management device, and the remaining components are incorporated in the automatic operation control device. Therefore, the speed reference setting device 2
The speed information commanded from 1 is designed to be as simple as possible and to reduce the amount of data to be transmitted. At present, as a speed command method that has been considered, a method of transferring data (train position, speed) at each acceleration / deceleration change point is influential.

Under such a speed command method, the command acceleration / deceleration between data is not always constant, and the set value of the acceleration / deceleration limiter 24 must be obtained and set for each section.
Also, the speed reference setting side considers that the acceleration / deceleration between data is constant, but the speed pattern generation unit performs limiter calculation to improve riding comfort, so when the speed reference changes, the acceleration / deceleration limiter characteristics Acceleration / deceleration may fluctuate.

[0007]

Since the conventional speed pattern generator is constituted by the limiter as described above,
It is necessary to set the set value of the acceleration / deceleration limiter for each speed reference data, and there is a problem that the acceleration / deceleration near the speed reference change point may fluctuate due to the characteristics of the acceleration / deceleration limiter.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and has as its object to obtain a simple speed pattern generator having a simple structure and no adjustment elements.

[0009]

A speed pattern generator according to the present invention obtains an acceleration / deceleration from speed data between two points, limits an acceleration / deceleration change rate only in the vicinity of an acceleration / deceleration change point, and integrates this. This is for obtaining a speed pattern.

Further, the speed pattern generator according to the present invention obtains the acceleration / deceleration of the section based on the train position and the speed at two successive acceleration / deceleration change points, and calculates the acceleration / deceleration near the acceleration / deceleration change point. The rate of change is set, the acceleration / deceleration is determined, and this is integrated to generate a speed pattern.

[0011]

The speed pattern generator according to the present invention generates a speed pattern in consideration of riding comfort from speed data at each acceleration / deceleration change point.

Further, the speed pattern generator according to the present invention obtains the acceleration / deceleration of the section based on the train position and the speed at the acceleration / deceleration change point, and sets the acceleration / deceleration change rate near the acceleration / deceleration change point. Since the acceleration / deceleration is determined, a speed pattern with a comfortable ride can be generated.

[0013]

[Embodiment 1] Hereinafter, the configuration of the first embodiment of the present invention will be described with reference to FIG. FIG. 1 is a block diagram showing Embodiment 1 of the present invention.

In FIG. 1, 1 is a speed reference setter, 2 is a speed reference, 3 is an acceleration / deceleration calculator, 4 is an acceleration / deceleration pattern (1), 5 is an acceleration / deceleration change rate limiter, and 6 is an acceleration / deceleration change rate. Acceleration / deceleration patterns after processing (2), 7, 9 are integrators, 8 is a speed pattern, 10 is a distance, 11 is a position calculator for calculating a position based on the distance, 12 is a position, and 13 is an acceleration / deceleration. This is a rate-of-change limit start point calculator.

Next, the operation of the first embodiment will be described with reference to FIGS. FIG. 2 is a timing chart showing the operation of the first embodiment of the present invention. FIG. 3 is an enlarged view showing the acceleration / deceleration of the first embodiment of the present invention.

The speed reference 2 provided from the speed reference setting device 1 is speed data corresponding to a position at each acceleration / deceleration change point. FIG. 2 is a graph showing the relationship between speed and acceleration / deceleration. 2A shows the speed reference 2, and FIG. 2B shows the acceleration / deceleration. Since the information for limiting the rate of change of the acceleration / deceleration is not added to the speed command (speed reference) given from the speed reference setter 1, if the speed pattern is reproduced as it is, the rate of change of the rate of acceleration / deceleration becomes a large power. The result is an uncomfortable speed pattern. Therefore, a process for limiting the rate of change at the point of change in acceleration / deceleration is required.

Hereinafter, a specific calculation method will be described. When the speed reference 2 is given, first, the acceleration / deceleration calculator 3
Then, the acceleration / deceleration corresponding to FIG. The acceleration / deceleration is calculated by the following equation (1) from the position and speed between two points.

Α _n = (v ² _{n + 1} −v ² _n ) / {2 (x _{n + 1} −x _n )} Equation (1)

Here, α _n = acceleration / deceleration in the _n -th section v _{n + 1} = speed at position x _{n + 1} v _n = speed at position x _n x _{n + 1} = n + 1-th data position x _n = n-th Data location

Next, the acceleration / deceleration change rate limiter 5 suppresses the acceleration / deceleration change to the set acceleration / deceleration change rate, and obtains the acceleration / deceleration shown in FIG. 2 (c). FIG. 3 shows an enlarged view of the acceleration / deceleration. Assuming that the acceleration / deceleration rate-of-change limit value is γ (km / s ² ), the acceleration / deceleration is the time tγ (se
Change in c).

Tγ = (α _{n + 1} −αn) / γ Expression (2)

In FIG. 3, in order to match the speed at time t ₃ with the original speed reference, it is necessary to set the same time between t ₁ -t ₂ and t ₂ -t ₃ .

Therefore, t ₁ -t ₂ = t ₃ -t ₂ = tγ / 2.

Next, in order to create a speed pattern, the integrator 7 integrates the acceleration pattern 6 in which the rate of change of the acceleration / deceleration at the acceleration change point is limited. In this case, since the acceleration / deceleration pattern is a function of the position, the change timing of the acceleration / deceleration needs to be held as position data.
Distance between t ₁ -t ₂ x ₁₂ is obtained by the following equation (3).

X ₁₂ = 1/48 · (α _{n + 1} + 5α _n ) tγ ² + 1/2 · v ₀ tγ (3) where v ₀ is the speed at time t ₁ .

Therefore, when integrating the acceleration / deceleration and calculating the speed pattern, the acceleration / deceleration change point _xn is used as a reference.
The acceleration / deceleration change processing is started when the distance reaches the distance calculated by the equation (3). The acceleration / deceleration pattern obtained in this manner is as shown in FIG. 2C, and the speed pattern obtained by integrating the acceleration / deceleration pattern is a speed pattern having a comfortable ride.

The first embodiment of the present invention, as described above,
An object of the present invention is to generate a speed pattern 8 with good riding comfort using only the speed reference 2 corresponding to the acceleration / deceleration change point.
Therefore, an acceleration / deceleration calculator 3 for calculating the acceleration / deceleration from the speed between two points, an acceleration / deceleration change rate limiter 5 for alleviating the rate of change of the acceleration / deceleration change point, and an output from the acceleration / deceleration change rate limiter 5 An integrator 7 for calculating a speed pattern 8 by integrating the acceleration / deceleration 6 obtained, and an integrator 9 for integrating the speed
And a position calculator 11 for calculating a position from the integrated distance
It consists of. As a result, there is an effect that a stable speed pattern 8 can be obtained by a simple method.

In the first embodiment, the speed reference setting device 1
Although the command 2 is the position and the speed, the acceleration / deceleration between them may also be commanded. In this case, the processing for calculating the acceleration / deceleration by the automatic operation control device becomes unnecessary.

Embodiment 2 FIG. Hereinafter, the configuration of the second embodiment of the present invention will be described with reference to FIG. FIG. 4 is a block diagram showing Embodiment 2 of the present invention.

In FIG. 4, 1 is a speed reference setter, 2 is a train position and a speed signal at each acceleration / deceleration change point, 3 is an acceleration / deceleration calculator, 4 is a first acceleration / deceleration pattern, and 5A is an acceleration / deceleration setter. , 6 is a second acceleration / deceleration pattern, 7 and 9 are integrators, 8 is a speed pattern, 10 is a train travel distance, 11 is a position calculator for calculating a train position based on the travel distance, and 12 is a train position. is there.

Next, the operation of the second embodiment will be described with reference to FIGS. FIG. 5 and FIG.
6 is a timing chart showing the operation of the second embodiment of the present invention.

The train position and the speed signal 2 corresponding to each acceleration / deceleration change point are input from the speed reference setter 1 to the acceleration / deceleration calculator 3. FIG. 5A shows an example of the train position and the speed signal 2. In terms of train position x _n, acceleration is changed, but the speed of the point is expressed to be a v _n. Based on the signal 2, the acceleration / deceleration in the section between two consecutive acceleration / deceleration change points in the acceleration / deceleration calculator 3 is considered to be constant,
Is calculated. Specifically, the acceleration / deceleration α _{n in} the section between x _n and x _{n + 1} is calculated by Expression (1). As a result, the first acceleration / deceleration pattern 4 is as shown in FIG.
(B) is obtained.

The first acceleration / deceleration pattern 4 calculated as described above is input to the acceleration / deceleration setting device 5A. In the acceleration / deceleration setting device 5A, the first acceleration / deceleration pattern 4, the train position and speed signal 2 at the acceleration / deceleration change point, and the train position 12
, A second acceleration / deceleration pattern 6 is calculated in consideration of the riding comfort by setting an acceleration / deceleration change rate.

Specifically, as shown in FIG. 2C, an acceleration / deceleration change rate _Jn is set for each acceleration / deceleration change point, and the acceleration / deceleration is changed from α _{n −1} to α _n according to this change rate. Migrate.
_Assuming that J _n is a constant value, the transition time t from α _{n -1} to α _n
n is calculated by the following equation (4).

T _n = (α _n −α _n-1 ) / J _n Expression (4)

As shown in FIG. 6, this shift is performed by Δx _n before and after the acceleration / deceleration change point x _n , that is, from the train position x _n −Δx _n to x
_Let us consider what happens between _n + △ _xn . In this case, since the speed in the acceleration change point x _n is a v _n, the speed train position after the second acceleration pattern transition x _n + △ x _n imposes a condition that becomes v _n, △ _xn is calculated by the following equation (5).

Δx _n = − / · J _n · t _n ³ − / · α _n−1 · t _n ² + 1/2 · v _n · t _n Equation (5)

When this equation (5) is calculated at the acceleration / deceleration change point, the second acceleration / deceleration pattern 6 shown in FIG. 5 (c) is obtained as a function of the train position. Since the train position 12 is input to the acceleration / deceleration setting device 5A, the second acceleration / deceleration pattern 6 can be output according to this position. Next, the second
The acceleration / deceleration pattern 6 is integrated by the integrator 7 to obtain the speed pattern 8 in consideration of the riding comfort. The speed pattern 8 is input to an integrator 9 and converted into a travel distance 10 of the train. The travel distance 10 is converted into a train position 12 by a position calculator 11. The train position 12 indicates the train position in consideration of the movement position of the train (initial value is set), and corresponds to the train position transmitted from the speed reference setter 1.

The second embodiment of the present invention, as described above,
An object of the present invention is to generate a stable and comfortable riding speed pattern by a simple method based on a train position and a speed signal 2 at each acceleration / deceleration change point. Therefore, the speed pattern generator according to the second embodiment calculates the acceleration / deceleration between the acceleration / deceleration change points based on the train position and the speed signal 2 at each acceleration / deceleration change point, and calculates the first acceleration / deceleration pattern 4. The second acceleration / deceleration pattern 6 is obtained from the first acceleration / deceleration pattern 4 by setting the acceleration / deceleration change rate at each acceleration / deceleration change point, and the speed pattern 8 is integrated by integrating the second acceleration / deceleration pattern 6. That is what happens. As a result, there is an effect that a stable remaining comfortable speed pattern 8 can be generated by a simple method.

Embodiment 3 FIG. In the second embodiment, the train position 12 input to the acceleration / deceleration setting device 5 is the position calculation device 1
Although the calculation is performed in step 1, the train position 12 may use a train position detected by a train position detecting device existing as a separate device. FIG. 7 shows the configuration in this case. In the figure, 13A indicates a train position detecting device, and 14 indicates a detected position. In the third embodiment, the position calculator 11 is not required as a speed pattern generator, but is not omitted because there is a case where not only the speed pattern 8 but also the position pattern is used at the time of speed control.

Embodiment 4 FIG. And Example 5. In each of the above-described embodiments, the train position 12 is obtained by the integrator 9 and the position calculator 11, but as shown in FIGS.
2 is only the initial value setting, the integrator 9 sets the x (x ₁ , v ₁ ) of the _first signal (x ₁ , v ₁ ) of the acceleration / deceleration change point.
_{If 1} is set to the initial value, the position calculator 11 becomes unnecessary.

Embodiment 6 FIG. The acceleration / deceleration change rate _Jn is
It does not need to be constant, and the transition distance of acceleration / deceleration △ _xn is also _xn
It is not necessary to be equidistant before and after. In these cases, it is possible to speed after migration on the basis of the condition that v _n, vertical motion equations, to obtain a conductive sawn deceleration pattern 6 a formula corresponding to Formula (4) and (5).

Embodiment 7 FIG. In the above embodiment, the command from the speed reference setting device 1 is the train position and the speed at the acceleration / deceleration change point, but the acceleration / deceleration before and after the acceleration / deceleration change point may also be instructed. In this case, the processing of the acceleration / deceleration calculator 3 becomes unnecessary.

[0044]

As described above, according to the present invention, a speed pattern is obtained by integrating acceleration / deceleration between two points.
Since the change amount is limited only at the change point of the acceleration / deceleration, there is an effect that a stable speed pattern can be obtained by a simple method.

According to the present invention, two consecutive
Based on the train position and speed at the acceleration / deceleration change point,
The acceleration / deceleration of the section of
Recently, we set the acceleration / deceleration rate of change to find the acceleration / deceleration,
Since the speed pattern is generated by integrating this, there is an effect that a stable remaining comfortable speed pattern can be generated by a simple method.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a first embodiment of the present invention.

FIG. 2 is a timing chart showing the operation of the first embodiment of the present invention.

FIG. 3 is a timing chart showing the operation of the first embodiment of the present invention.

FIG. 4 is a block diagram showing Embodiment 2 of the present invention.

FIG. 5 is a timing chart showing the operation of the second embodiment of the present invention.

FIG. 6 is a timing chart showing the operation of the second embodiment of the present invention.

FIG. 7 is a block diagram showing Embodiment 3 of the present invention.

FIG. 8 is a block diagram showing Embodiment 4 of the present invention.

FIG. 9 is a block diagram showing a fifth embodiment of the present invention.

FIG. 10 is a block diagram showing a conventional speed pattern generator.

[Description of Signs] 1 Speed reference setter 3 Acceleration / deceleration calculator 5 Acceleration change rate limiter 5A Acceleration / deceleration setter 7 Integrator 8 Speed pattern 9 Integrator 11 Position calculator 13 Acceleration / deceleration change rate limit start point calculator 13A Train position detection device

Claims (2)

(57) [Claims] A speed pattern generator for generating a speed pattern for controlling the speed of an electric vehicle , based on speed data corresponding to a position at each acceleration / deceleration change point.
Calculate the acceleration / deceleration of the section from the position and speed between two points
An acceleration / deceleration computing unit , an acceleration / deceleration rate-of-change limiter for suppressing an acceleration / deceleration rate of change (jerk) at the acceleration / deceleration-change point, and an acceleration / deceleration obtained from the acceleration / deceleration rate-of-change limiter
A first integrator for generating the speed pattern, and integrating the speed obtained from the first integrator to obtain the electric speed.
A second integrator that outputs a travel distance of the vehicle, a position calculator that calculates a position from the travel distance, and an acceleration / deceleration based on the acceleration / deceleration change point based on the position.
Acceleration / deceleration change rate limit start point for calculating change rate limit start point
And an arithmetic unit, wherein the acceleration change rate limiter, the acceleration change rate limiter
Start acceleration / deceleration change processing at the start point and limit the acceleration / deceleration change rate
The acceleration / deceleration rate of change is limited by the time based on the value.
A speed pattern generator characterized by outputting a deceleration . 2. A speed pattern generator for generating a speed pattern for controlling the speed of an electric vehicle , based on speed data corresponding to a position at each acceleration / deceleration change point.
To calculate the acceleration / deceleration of the section from the position and speed between the two points.
An acceleration / deceleration calculator for outputting a first acceleration / deceleration pattern, and an acceleration / deceleration change rate for each acceleration / deceleration change point.
The acceleration / deceleration change point so that the acceleration / deceleration change rate
An acceleration / deceleration setting device that calculates a second acceleration / deceleration pattern based on speed data corresponding to each position, the first acceleration / deceleration pattern, and a separately input electric vehicle position; and A speed pattern generator, comprising: an integrator that integrates to generate the speed pattern.