JP3338652B2 - Abnormality detection method for vibration control device for 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 an abnormality detection method for detecting an abnormality of a vibration control device by detecting an internal pressure fluctuation of a cylinder of a vibration control device using a pneumatic cylinder as a left-right motion actuator during running of a railway vehicle. About the method.

[0002]

2. Description of the Related Art Railway vehicles move up and down due to irregular rails.
Subject to rolling and yawing vibration acceleration. Conventionally, in order to control these vibrations, a vibration control device has been configured by a damping force generating mechanism using an air spring or a throttle of an oil damper and a spring. Further, as an improved vibration control device, there is a vibration control device in which a double-acting pneumatic cylinder is driven by a pneumatic servo valve, and a vibration control device incorporating active control to improve riding comfort in all frequency ranges.

In the vehicle body vibration control system for suppressing the vibration of the railway vehicle, various sensors such as a lateral displacement meter between the vehicle and the bogie, a vertical displacement meter, a lateral accelerometer of the vehicle body, a vertical accelerometer, and a pressure gauge of an actuator are provided. And various valves are used.

In the vehicle body vibration control system, when the various sensors are used for a long period of time, the sensor values are deviated from the initial setting state, and the vehicle posture to be converged due to the control is changed. However, no diagnostic method has been established for detecting the operating states or failures of various devices of the vehicle body vibration control system. In order to solve the conventional problems, the present applicant operates the control actuator to apply yaw vibration and lateral vibration to the vehicle body while the vehicle is stopped, and investigates the operation state of various devices. A method of diagnosing a vehicle body vibration control system of a railway vehicle for evaluating sensor values and confirming actuator operation and detecting abnormality of equipment (Japanese Patent Laid-Open No. 5-18 / 1990)
No. 4002).

Further, while a railway vehicle provided with a vibration control device using a pneumatic cylinder as a left and right motion actuator is stopped, the pneumatic cylinder is actuated to reduce fluctuations in the cylinder internal pressure after each operation. A method of diagnosing a railway vehicle vibration control device that measures and compares an abnormality of a pneumatic cylinder with a preset reference value (Japanese Patent Application No. 9-13 / 1997)
No. 6208).

[0006]

SUMMARY OF THE INVENTION In a vibration control device for a railway vehicle, a working fluid flowing into an actuator is controlled by disconnection of wiring to a control valve for controlling operation of the actuator or movement of a spool of the control valve. In this case, if a foreign object gets stuck in the spool, the control valve does not respond according to the operation signal. Further, when the sealing of the cylinder used for the actuator is deteriorated and the airtightness is reduced and the working fluid leaks, or when the spool of the cylinder is stuck, an output required for control from the actuator cannot be obtained.

The methods of diagnosing the vibration control apparatus described in Japanese Patent Application Laid-Open Nos. Hei 5-184002 and Japanese Patent Application No. Hei 9-136208 each disclose the operation of the actuator due to the above phenomenon when the railway vehicle is stopped. It detects defects. However, these vibration control device diagnostic methods include:
Since there is no idea to detect the malfunction of the actuator when the railroad vehicle is traveling, diagnosis during traveling cannot be performed.

The present invention is directed to a method of diagnosing a vibration control device, which is intended to detect an operation failure of an actuator when a railway vehicle is stopped, and to perform vibration control while the vehicle is running. Considering that the abnormality of the vibration control device could not be detected, the vibration control device of the railway vehicle controls the actuator by pressure feedback, and the actuator does not perform the operation following the operation signal of the control arithmetic device It is an object of the present invention to provide a method for detecting an abnormality of a vibration control device that detects such an abnormality while the vehicle is running.

[0009]

In order to achieve the above object, a method for detecting an abnormality of a vibration control device for a railway vehicle according to the present invention uses a fluid-actuated actuator as a control actuator and uses pressure feedback for the control. For railway vehicles equipped with vibration control devices. During vibration control while the vehicle is traveling, the operation signal to the fluid-operated actuator <br/> chromatography data, and pressure is actually generated is detected by the inner pressure detecting means for fluid operated actuator The average value of the operation signal within a certain period of time is lower than the reference value on the low voltage side.
Below, the internal pressure of the fluid-operated
The average value is higher than the reference value on the high pressure side and the fluid actuated actuator
When the frequency at which the internal pressure of the
10% or less during the operation , or within a certain period of the operation signal
Is higher than the reference value on the high pressure side.
If the average value of the internal pressure of the
And the internal pressure of the fluid operated actuator is lower than the high pressure side reference value.
If the frequency of the decrease is 10% or less of the predetermined time, it is detected that the apparatus is abnormal.

An operation signal to the control actuator is expressed as a sum of a control command for vibration control and a pressure feedback command. Here, the control command is a response to the vehicle body vibration. In normal traveling, the vehicle body vibration occurs almost equally in the left and right directions. Therefore, if the time average of the control command is taken as zero, the time average of the operation signal is the pressure feedback command. average and made between the time of.

In a normal control actuator, the cylinder internal pressure follows the operation signal promptly according to the pressure feedback command. On the other hand, in the control actuator in which the abnormality has occurred, the pressure feedback does not operate normally, and the supply / discharge operation does not follow the operation signal, and the working fluid constantly flows into the cylinder or the working fluid constantly flows from the cylinder. Will be leaked. As a result, even if the command to the control valve is the inflow of the working fluid into the cylinder, the pressure actually generated in the cylinder remains low, or conversely, the command to the control valve causes the working fluid to be discharged from the cylinder. Even so, there is a mismatch between the operation signal to the control valve and the cylinder internal pressure, such that the pressure actually generated in the cylinder remains high. According to the present invention, an abnormality of the control valve is detected by monitoring the occurrence of such an inconsistency during the vibration control during running of the vehicle.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A control actuator comprises a cylinder, a device for detecting the pressure in the cylinder, and a control valve for controlling the supply and discharge of a working fluid into and from the cylinder.
In addition, as a general anti-sway device, there are a controller, an acceleration sensor, and the like in addition to a control actuator. The controller outputs a control command to the control valve based on a predetermined control law with respect to the vehicle body vibration obtained from the acceleration sensor. At this time, the controller performs pressure feedback so that a necessary output is obtained from the cylinder based on information from the internal pressure detecting means of the cylinder constituting the control actuator.

Here, the pressure of the working fluid in the cylinder when the control valve is maintained in the supply state is Pmax, and the pressure of the working fluid in the cylinder when the control valve is maintained in the discharge state is Pmin.
And In the control with a normal actuator, the cylinder internal pressure fluctuates between Pmax and Pmin.

On the other hand, when an abnormality occurs in the actuator, the state in which the internal pressure of the cylinder is high or low continues for a long time and hardly fluctuates. When the control valve is fixed in a state where the working fluid is supplied to the cylinder, the time average of the cylinder internal pressure is Pmin + 0.8 × (P
When the control valve is fixed in a state where the working fluid is discharged from the cylinder, the time average of the cylinder internal pressure is Pmin + 0.1 × (Pmax−Pmin).
And these are reference values for occurrence of abnormality.

However, such a state may occur during the passage of a curve even with a normal actuator.
One of the major differences is the relationship with the operation signal. That is, in a normal actuator, when the cylinder internal pressure is high, the operation signal also tends to increase the internal pressure, and conversely, when the cylinder internal pressure is low, the signal also decreases the operating internal pressure.

On the other hand, if there is an abnormality in the actuator, the operation signal is intended to lower the pressure, but the cylinder internal pressure remains high even if the pressure is to be lowered. The difference is that it remains low. Also, if the vehicle is passing through the curve, a corresponding vibration is generated, and for control, even if the internal pressure of the cylinder is close to the high pressure, a low pressure state occurs by about 10%, and conversely, the internal pressure of the cylinder is close to the low pressure. Also, about 10% of the state is on the high pressure side.

Further, in implementing the present invention, it is necessary to consider the influence of the vibration of the vehicle body. In an actual vehicle, the reaction force is applied to the actuator by the vibration of the vehicle body, so that the cylinder internal pressure slightly fluctuates even when the control valve is not operated. Therefore, when actually performing detection, it is desirable to use the time average of the cylinder internal pressure and the operation signal.
If the time interval is set at an average of about 2 seconds in consideration of the fact that the resonance frequency of the vehicle body is about 1.5 Hz, the bias of the signal due to vibration can be eliminated.

As described above, in the detection according to the present invention, in order to detect an abnormality of the actuator, the controller stores the cylinder internal pressure and the operation signal for a predetermined time, and (1)
Exceeding the standard value of the time average abnormality occurrence in the cylinder pressure,
(2) Monitor the average of the operation signal value over time, and (3) Monitor the occurrence frequency of the high and low cylinder pressures to catch the occurrence of abnormality. FIGS. 1 and 2 show flowcharts of processing for realizing this series of flows.

[0019]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 3 schematically shows a general vibration control apparatus using a fluid-actuated actuator as a control actuator to be subjected to the diagnosis method of the present invention and using pressure feedback for its control. The vehicle body 1 is supported by left and right air springs 3 provided between the vehicle 1 and a truck 2. Body 1
Is damped by a damper 4 provided between the vehicle body 1 and the bogie, and is controlled by a pneumatic cylinder 5 provided opposite the damper 4. The pneumatic cylinder 5 is a double-acting cylinder, which is provided with a pressure sensor 7 in each of the left and right chambers of the cylinder, and outputs a pressure value detected by the pressure sensor 7 to a controller 6 installed on the vehicle. . Air supply / exhaust valves 8 are provided in the left and right chambers of the cylinder, and are connected to an air source 9 by a pipe 10.
The supply / exhaust valve 8 is configured to be operated by an operation signal from the controller 6. Further, the controller 6 receives detection signals from various sensors such as a left and right displacement meter, a vertical displacement meter, a left and right accelerometer, a vertical accelerometer, and a pressure gauge of the pneumatic cylinder 5 provided between the vehicle body and the bogie (not shown). An input signal is calculated, and an operation signal is output to the supply / exhaust valve 8.

The abnormality detection method according to the present invention uses a monitoring function shown in the flowcharts of FIGS. 1 and 2 in a part of a control program using the above-mentioned general vibration control device without using any special additional device. It is possible to detect an abnormality of the control actuator simply by adding. Then, the operation signal and the cylinder internal pressure output from the controller to the control valve are read by this monitoring function part, and an abnormality is detected by performing the processing shown in the flowchart.

Next, the difference between a normal state and an abnormal state will be described with reference to a typical signal as an example. FIG. 4 shows the relationship between the cylinder internal pressure and the operation signal when normal control is performed by a normal actuator. In this case, it can be seen that the cylinder pressure immediately follows the operation signal.

FIG. 5 shows an example of a normal actuator which is seen during the passage of a curve or the like and in which the cylinder internal pressure becomes higher. In this case, looking only at the cylinder internal pressure, it shows the same behavior as the actuator with an abnormality, but at the same time, the operation signal is also closer to the high pressure, which is different from the case with the abnormality. Understand.

FIG. 6 shows the behavior of an abnormal actuator. Cylinder pressure in this case whereas has a low圧寄Ri, operation signal has a high圧寄Ri, it can be seen that clearly different from the response of normal actuator of said curve passing.

[0024]

According to the present invention, it is possible to detect a control abnormality caused by an abnormality of a control valve of a control actuator during traveling of a vehicle that is performing vibration control. Can contribute.

[Brief description of the drawings]

FIG. 1 is a flowchart showing the first half operation of an abnormality detection method according to an embodiment of the present invention.

FIG. 2 is a flowchart showing a second half operation performed after the first half operation of the abnormality detection method according to the embodiment of the present invention in FIG. 1;

FIG. 3 is an explanatory diagram showing an example of a railway vehicle provided with a vibration control device for implementing the abnormality detection method of the present invention.

FIG. 4 is a graph showing changes in a cylinder internal pressure and an operation signal over time in a normal control actuator.

FIG. 5 is a graph showing changes in the cylinder internal pressure and the operation signal over time in a normal control actuator when passing through a curve.

FIG. 6 is a graph showing changes with time in the cylinder internal pressure and the operation signal in a control actuator having an abnormality.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Body 2 bogie 3 Air spring 4 Damper 5 Pneumatic cylinder 6 Controller 7 Pressure sensor 8 Supply / exhaust valve 9 Air source 10 Piping

──────────────────────────────────────────────────続 き Continuing on the front page (72) Yoshiyuki Maruyama 4-33, Kitahama, Chuo-ku, Osaka-shi, Osaka Prefecture Inside Sumitomo Metal Industries, Ltd. (72) Koichiro Ishihara 4--5, Kitahama, Chuo-ku, Osaka-shi, Osaka No. 33 Sumitomo Metal Industries, Ltd. (56) References JP-A-8-282486 (JP, A) JP-A-5-184002 (JP, A) JP-A-10-310053 (JP, A) 6-239232 (JP, A) JP-A-6-107174 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B61F 5/24

Claims (1)

(57) [Claims] [Claim 1] using a fluid operated actuator to control the actuator, in a railway vehicle equipped with a vibration control device using a pressure feedback to the control, while the vehicle is traveling, to the fluid-operated actuator comparison of the operation signal, and a pressure actually generated was detected by pressure detection means for fluid-operated actuator,
The average value of the operation signal within a certain period of time is below the low pressure side reference value,
Average value of the internal pressure of a fluid-operated actuator within a certain time
Is higher than the high pressure side reference value and the
The frequency at which the internal pressure falls below the low pressure side reference value is one of the predetermined
0% or less , or the average of the operation signal within a certain time
Value is higher than the reference value on the high pressure side,
The average value of the internal pressure within a certain time is below the low pressure side
If the internal pressure of the body-actuated actuator is
Device frequency is less than 10% of the fixed time
Abnormality detecting method for a railway vehicle vibration control system, characterized in that a.