JP3325379B2 - 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 for determining a train speed command value on the basis of data from a host device which manages the running of a train.

[0002]

2. Description of the Related Art A conventional speed pattern generator is shown in FIG.
A description will be given based on (a) and (b) and FIG. FIG. 4 is a block diagram of the automatic train driving device 2, and FIG. 3A is a diagram for explaining a relationship between run curve data given from a higher-level device and a route position, and FIG. 3A shows a speed pattern table created corresponding to FIG.

As shown in FIG. 4, a speed pattern generator 3 receives run curve data and an actual train running position X from a host device 1 and controls the speed of a train. A speed pattern generator 3 including a command value generator 5 and a speed controller 6 are provided.

First, before running a train, run curve data is input from the host device 1 to the pattern table creating section 4 for a train to be controlled. The run curve data is sent from the host device 1 with the acceleration / deceleration during acceleration / deceleration being constant. In the pattern table creating unit 4, based on the run curve data from the host device 1 (see FIG. 3A), in order to secure a comfortable ride for the passengers before the train starts running, the speed pattern considering the acceleration / deceleration change rate is considered. Is represented by (position, speed) data such as a pair (X ₁ , V ₁ ),..., (X ₄ , V ₄ ) of the position and speed of the train to be controlled as shown in FIG. Create as a column and store it in the speed pattern table.

While the train is running, the actual train running position X is input from the host device 1 to the speed command value generator 5.
The speed command value generation unit 5 interpolates speed data according to the actual train position X while referring to the speed pattern table created by the pattern table creation unit 4 before traveling while running the train, and calculates the speed in real time. The pattern command value V ^* is output to the speed control device 6.

[0006]

However, in the speed pattern table shown in FIG. 3B, only the traveling range indicated by the run curve data given from the host device 1 is set as the range. That is, as shown in FIG. 3 (a), the range of speed pattern table to be created, the traveling start position is limited to the run curve data reception range of (start point) X ₁ to traveling end position (end point) X ₄ I have. Therefore, in the method of controlling the speed with reference to such a speed pattern table, when a train position not included in the speed pattern table is erroneously input to the speed pattern generator 3 or when the train is out of the range of the run curve. In other words, when traveling position information outside the run curve data reception range is input, the output of the speed pattern command value to the speed control device 6 may become unstable, which is a safety problem.

To cope with this, it is conceivable to output a speed pattern command value 0 to the speed control device when it is determined that the actual train position is not within the range of the pattern table. However, according to this method, the above-described determination is always performed in real time during the running of the train, so that the load on the CPU (central processing unit) increases. Will be reduced.

Accordingly, an object of the present invention is to provide a speed pattern capable of performing speed control without imposing a load on the CPU and reducing reliability even when a train position outside the range of the run curve is input. It is intended to provide a generator.

The present invention, the acceleration and deceleration during acceleration or deceleration of the train to be the speed control from the host device before running enter the La <br/> emission curve data is constant, multiplication by the run curve data
Consider the rate of change of acceleration / deceleration in order to secure the passenger's ride comfort
A pattern table creating unit that creates a speed pattern table in the form of a position-to-speed pattern, and inputs a travel position of a running train, and refers to and interpolates the pattern table from the travel position to correspond to the input travel position. A speed command value determining unit that determines a speed command value and provides the speed command value to the speed control device; In addition, at positions outside the range
It is characterized in that it creates a speed pattern table that also includes outside the section range where the speed is 0 .

[0010]

The speed pattern generator of the present invention creates a speed pattern table over the entire range in which a train to be controlled can run or the entire range that can be controlled by a control device. Portions outside the run curve range of the speed pattern table are filled with, for example, speed 0. Therefore, it is not necessary to check whether the position information of the train is outside the range of the run curve, that is, the train position and the run curve range.

As described above, even when a train position outside the range of the run curve is input, speed control can be performed without imposing a load on the CPU and without reducing reliability.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the velocity pattern generator according to the present invention will be described with reference to FIGS. 1 (a) and 1 (b) and FIG. FIG.
FIG. 1A is a diagram for explaining a relationship between run curve data provided from the host device 1 and a route position.
FIG. 2B shows a speed pattern table created by the pattern table creating unit 4 corresponding to FIG.
As shown, in the speed pattern table, the run curve data (X ₁ , V ₁ ) to (X ₄ ,
In an unauthorized V _4), the rate corresponding to the position of the control object train can travel start point _X s1 to X ₁ and _{X 4} ~ end point _{X e1} in (FIG. 1 (a)) is set as 0 (FIG. X of 1 (b)
_{s1, ..., X 0, X} 5, ..., X e1). Therefore, for example, when a train position not included in the speed pattern table is erroneously input, or during stop control of the train, the train enters outside the range of the run curve section where the vehicle should originally run and the train position is input. Even in this case, since the speed corresponding to the train position has already been set to 0 in the speed pattern table, the speed command value generation unit 5 does not check the train position with the run curve range and sends the speed command value to the speed control device 6. The speed pattern command value V ^* = 0 is output.

As described above, even when a train position outside the range of the run curve is input, there is no need to match the train position with the run curve range, so that no load is imposed on the CPU and reliability is not reduced. Speed control can be performed.

Further, as shown in FIGS. 2A and 2B,
In the speed pattern table, a range that can be controlled by the automatic train driving device 2 outside the range of the run curve data (FIG. 2A)
The starting point _X s2 to X ₀ and _{X 4} ~ end point _{X e2)} to a position included _X s2 (FIG. _{2 (b), ..., X} 0, X 5, ..., the end point X
It is also possible to set the speed corresponding to _e2 ) to zero. Thus, for example, in the case of a floating linear train,
It is possible to control the speed immediately below both substations or in a wider range.

[0015]

According to the present invention, it is possible to provide a speed pattern generator capable of performing speed control without imposing a load on the CPU and without reducing reliability even when a train position outside the range of the run curve is input.

[Brief description of the drawings]

FIG. 1 is a diagram for explaining a relationship between run curve data and a route position, and a chart showing a speed pattern table created by one embodiment of a speed pattern generator according to the present invention.

FIG. 2 is a diagram for explaining a relationship between run curve data and a route position, and a chart showing a speed pattern table created by another embodiment of the speed pattern generator according to the present invention.

FIG. 3 is a diagram for explaining a relationship between run curve data and a route position, and a chart showing a speed pattern table created by a speed pattern generator of the related art.

FIG. 4 is a block diagram of an automatic train driving device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Upper apparatus 2 Automatic train driving device 3 Speed pattern generator 4 Pattern table creation part 5 Speed command value generation part 6 Speed control device

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Ikuo Kawaguchi 2-8-8 Hikaricho, Kokubunji-shi, Tokyo Inside the Railway Technical Research Institute (72) Inventor Norihiro Miyazawa Harumi-cho, Fuchu-shi, Tokyo 2-24-24 Toshiba Transport Engineering Co., Ltd. (72) Inventor Shinichiro Tsuruta 1 Toshiba-cho, Fuchu-shi, Tokyo Toshiba Corporation Fuchu Plant (56) References JP-A-63-43502 (JP, A JP-A-4-283163 (JP, A) JP-A-62-230306 (JP, A) JP-A-5-112243 (JP, A) JP-A-6-6912 (JP, A) 44383 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) B60L 15/40 B60K 31/00 B61L 27/00

Claims (3)

(57) [Claims] 1. Prior to traveling , run curve data with a constant acceleration / deceleration at the time of acceleration / deceleration of a train to be speed-controlled is input from a higher-level device , and a passenger's ride center is obtained from the run curve data.
Position vs. speed considering acceleration / deceleration rate of change to secure ground
A pattern table creating unit for creating a degree-shaped speed pattern table, and a traveling position of a running train are inputted, and the speed command corresponding to the inputted traveling position is input by referring to and interpolating the pattern table from the traveling position. And a speed command value generation unit for determining a speed command value and providing the speed command value to the speed control device. Out of the range
A speed pattern generating apparatus for creating a speed pattern table including a portion outside a section range where a speed at a position is 0 . 2. The method according to claim 1, wherein the pattern table creating unit is configured to execute the
The speed at which the train can travel outside the range of the curve data
2. The speed pattern generator according to claim 1, wherein the speed pattern table is set to 0 . 3. The pattern table creating section according to claim 1, wherein
The range capable of controlling the speed of the train in the outside of the curve data
2. The speed pattern generation device according to claim 1, wherein the speed pattern generation device creates a speed pattern table in which the speeds of the included positions are set to 0 .