JP3341236B2 - Speed and distance detection method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for detecting the number of revolutions of a rotating body, and more particularly, to a method for detecting the speed and travel distance of a moving object such as an automobile or a railway vehicle by wheels.

[0002]

2. Description of the Related Art A speed generator is widely used as a speed detecting means in a vehicle such as a railway car which is moved by wheels. A speed generator has the same structure as a normal AC generator, and is usually mounted at the end of the axle and driven by the rotation of the wheels, so that the AC having a frequency proportional to the rotation speed of the wheels, that is, the speed, is obtained. Is output.

FIG. 1 shows an example of a railway vehicle control device using a speed generator. The control device 1 controls the train speed according to the train speed / position and control information sent from the ground.
A sine wave signal from the speed generator 2 is input to the control device 1 in order to detect the speed and the traveling distance of the train.
The speed generator 2 is driven by wheels 5 of the train. ,
Control information transmitted from a signal transmitter (not shown) installed on the ground is received by the signal receiver 3 and transmitted to the signal receiver 4. The signal receiver 4 demodulates and decodes the signal from the signal receiver 3 and transmits the signal to the control device 1. The control information from the ground includes the permissible speed and the distance to the stop position at the current time (signal transmission time). The control device 1
If the speed of the train exceeds the allowable speed indicated by the signal from the ground (or if it exceeds the allowable speed as it is), a brake command is output as a control output. Also, when the traveling distance after receiving the signal exceeds the distance to the stop position indicated by the signal from the ground, a brake command is output as a control output.

FIG. 2 shows a conventional speed detection circuit. Two power generation windings 21a and 21b are attached to the speed generator 2 with a shift of 90 degrees. 22a and 22b are load resistors.
The AC outputs from the power generation windings 21a and 21b are input to waveform shaping circuits 23a and 23b provided in the control device 1, respectively. The waveform shaping circuit is a circuit that converts a sine wave input from the speed generator 2 into a rectangular wave (pulse output). The equivalent circuit of the speed generator 2 is as shown in FIG. 4, and its output voltage has frequency dependence as shown in FIG.
The output of the waveform shaping circuit is designed to have a substantially constant voltage. Since the number of output pulses per rotation of the speed generator is fixed, the pulse output per unit time from the waveform shaping circuit is measured by a microcomputer counter, etc., to calculate the number of rotations of the wheels, and thus the speed and mileage. You can do it. Specifically, assuming that the number of output pulses per rotation of the speed generator is Ntg, the diameter of the wheel is Wd (unit m), and the number of pulse counts per second is n, the train speed V and the train The traveling distance S is calculated by the following equation.

V = π · Wd · n / Ntg (unit m / sec) S = V · 1 sec (unit m) If the traveling distance S per unit time is integrated, the traveling distance of the train from a certain point in time is calculated. It is possible.

[0006]

However, such a conventional system has the following problems.

FIG. 3 shows the operation of the waveform shaping circuit. As shown in the figure, the input voltage Esgl from the speed generator
When (or Esg2) exceeds the reference voltage + Emin, the output pulse SGP1 (or SGP2) goes high, and the input voltage Esg1 (or E
sg2) falls below the reference voltage -Emin, the output pulse SG
P1 (or SGP2) becomes low level. By such an operation, a sine wave input from the speed generator is converted into a pulse signal.

In this case, the problem is the output voltage characteristic of the speed generator. The equivalent circuit of the speed generator is as shown in FIG. 4, and the output voltage characteristics are as shown in FIG.
As shown in FIG. 5, when the speed of the speed generator is low (that is, the train speed is low), the speed generator output voltage E
Since sg is lower than the reference voltage (operating voltage of the waveform shaping circuit), the waveform shaping circuit does not operate, and no pulse is output even though the train is running. As a result, the train speed is 0 (stop) in the control device. ).

For example, if the signal from the ground indicates the distance to the target stop point, and if the train runs at a low speed at which the waveform shaping circuit does not operate, it is determined that the running distance is 0 on the car. In spite of the fact that the vehicle actually passed the stop target position, it is extremely dangerous.

If the reference voltage Esg of the waveform shaping circuit is set to a low value, it is possible to detect the speed down to a lower speed, but in this case, there is a possibility of malfunction due to minute noise, and the practical lower limit of Esg. There are limits to the values.

Further, in this method, since the resolution of the speed and the traveling distance is restricted by the number of pulses per rotation of the speed generator, there is a problem that an ultra-low speed or a very small traveling distance cannot be detected. For example, if the number of pulses per revolution of the speed generator is 90 and the diameter of the wheel is 80 cm, the resolution of the distance per pulse is about 2.8 cm, and a travel distance shorter than this cannot be detected. For this reason, in the fixed position stop control of the train, the landing control of the elevator, and the like, the low resolution of the speed generator hinders the improvement of the control accuracy. Speed generator 1
The resolution can be improved in principle by increasing the number of pulses per rotation (the number of poles of the speed generator), but the structure becomes complicated, leading to higher cost and lower reliability. Since there is a physical limitation in increasing the number of pulses, it is not practical to increase the number of pulses per rotation more than the current state (generally 90).

It is an object of the present invention to provide a means which can operate stably in a low speed range extremely close to 0 and detect an extremely low speed or a minute traveling distance while using a conventional speed generator. is there.

[0013]

SUMMARY OF THE INVENTION The above problem arises because the sine wave input from the speed generator is converted into a pulse and the number of pulses is counted to measure the speed and the traveling distance. I have. In the present invention, the frequency that follows the frequency output from the speed generator is referred to as a so-called PLL.
(Phase Locked Loop, phase locked loop), and by directly detecting the phase (rotation angle) of the output of the speed generator, a stable speed and traveling distance can be obtained even when the output voltage from the speed generator is extremely small. Detection was enabled.

The input signal from the speed generator and the oscillation output from the function generator are correlated by a phase difference detecting means (correlator) to detect a phase difference component between the two. The phase difference component is changed into an angular velocity component proportional to the phase difference through a digital filter, integrated, input to the function generator as a phase angle, and the oscillation output frequency of the function generator is controlled so that the phase difference component becomes zero. When the phase difference component is 0, the output of the function generator follows the input signal from the speed generator, and at this time, acceleration, velocity, and distance can be detected from the frequency of the output of the function generator. .

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings.

FIG. 6 is a configuration diagram of a train control device using the present invention. Speed input from speed generator 2 (sine wave signal)
Esg1 and Esg2 pass through low-pass filters 14a and 14b in order to remove high-frequency noise, and then go to an AD converter 13
The signals are converted into digital signals at a and 13b. The digitized speed input is sent to the signal processing device 12 and
(Digital Signal Processor), and the train speed Vtp and the moving distance (a signal proportional to the rotation angle, which may be considered as the rotation angle) Stp are detected. The detected train speed Vtp and the moving distance Stp are sent to the control information processing device 11, and the control information processing device 11 based on the input train speed Vtp, the moving distance Stp, and the control information from the signal receiver 4. Performs brake control of the train.

FIG. 7 is a diagram showing the detailed processing by the phase locked loop in the signal processing device 12. Input signals from the speed generator (converted to digital signals by the AD converters 13a and 13b) Esg1 (sin), Esg2 (cos), and DS
The sine wave signal Er1, generated by the function generator 126 inside P
Er2 is input to multipliers 121a and 121b,
At 21a, the correlation (product) between Esg1 (sin) and Er1 is calculated by the multiplier 121.
In b, the correlation (product) between Esg2 (cos) and Er2 is calculated. The operation result is input to the adder 122 and the multiplier 121
The difference between a and the correlation in the multiplier 121b is calculated as the phase difference detection output eV. That is, the multiplier 121a, the multiplier 121b, and the adder 122 constitute a phase difference detecting unit.

If the input signal Esg1 = sinα, the speed generator 2 is designed to generate an output delayed by 90 degrees from Esg1 as Esg2.
2 = cosα. Here, the sine wave signal oscillated by the function generator 126 is Er1 = cosβ, Er2 = sinβ. Therefore, the operation results of the multipliers 121a and 121b are expressed by the equations (1) and (2).

[0019]

(Equation 1)

[0020]

(Equation 2)

Therefore, the output eV from the adder 122
Is represented by equation (3) and depends on the phase difference Δθ = α−β between the input signal and the function generator generated signal.

[0022]

[Equation 3]

FIG. 8 is a diagram showing a relationship between the phase difference detection output eV and the phase difference Δθ = α−β between the input signal and the function generator generated signal. As shown, since eV = 0 at the phase difference Δθ = 0, the output signal from the function generator 126 is controlled by controlling the phase β of the output signal from the function generator so that eV = 0. It can be synchronized with the input signal from the generator 2. This control uses the so-called PLL (Phase Locked Loop) principle.

Here, the two outputs Esg of the speed generator
Although both 1 and Esg2 were used, it is also possible to use only one of them. In this case, equation (1) or equation (2)
As can be understood from FIG. 2, a component called sin (α + β) is generated. Since this component has a higher frequency than sin (α−β), a component called sin (α + β) is obtained by passing through an appropriate low-pass filter. And the phase difference detection output eV = sin (α−β) can be extracted. However, at low speeds, the difference between the frequencies of sin (α + β) and sin (α-β) is small, so it is difficult to extract only the sin (α-β) component, and as a result, speed detection accuracy may decrease. .

The output eV from the adder 122 is input to the digital filter 123. The digital filter 123 is a model of train operation, and has a phase difference detection output e.
The input of V is changed into an angular velocity component proportional to the phase difference, integrated, and output as a phase angle. This is a signal proportional to the accumulated running distance Stp of the train.

The output (integrated running distance Stp) from the digital filter 123 is input to the coefficient unit 125. Coefficient unit 125
Obtains the rotation angle of the speed generator (wheel) by multiplying the output from the digital filter 123 (the signal representing the accumulated traveling distance Stp) by a constant coefficient. This is because the traveling distance of the train is proportional to the rotation angle of the wheels.

The rotation angle which is the output of the coefficient unit 125 is input to the function generator 126. As described above, the function generator 126 is for generating a sine wave that follows the input signal from the speed generator 2, and the sine wave signal Er1 = cos according to the rotation angle output from the coefficient unit 125. (2π kS) and E
r2 = sin (2πkS) is output.

FIG. 9 shows the processing inside the digital filter 123. Let the acceleration of the train at time t be a
(T), speed V (t), position (travel distance) S (t)
If the motion of the train is modeled as follows, the integral of the acceleration a (t) is the speed V (t), and the integral of the speed V (t) is the position S (t). In the drawing, reference numerals 1231a to c denote adders, respectively. The phase difference detection output multiplied by a constant by the coefficient unit 1232a and the feedback of the acceleration a (t) are input to the adder 1231a, and the adder 1231a is controlled so that the phase difference detection output eV, which is the input of this filter, becomes zero. ing. The acceleration a (t) is integrated by the adder 1231b to become the speed V (t),
Also in this case, the phase difference detection output multiplied by a constant by the coefficient unit 1232b and the feedback of the speed V (t) are input, and similarly, the phase difference detection output eV is controlled to be 0.
Further, the speed V (t) is integrated by the adder 1231c to become the distance S (t). Here, the phase difference detection output multiplied by a constant by the coefficient unit 1232c and the feedback of the distance S (t) are input. Similarly, control is performed such that the phase difference detection output eV becomes 0.

If the input eV is 0, a (t),
V (t) and S (t) completely match the train acceleration, speed and position, respectively. This speed V
(T) and the position S (t) are the train speed Vtp and the moving distance Stp output from the signal processing device 12 in FIG. Note that feedback control of V (t) and S (t) is not particularly necessary, but if this control is omitted, a
The convergence of (t), V (t), and S (t) becomes slow, and thus the delay in speed detection becomes large. In the conventional method, the output pulse of the speed generator within a unit time is counted to determine the traveling distance, the value is differentiated to obtain the speed, and the speed is further differentiated to obtain the acceleration. Although it was impossible to obtain an instantaneous value, it has been difficult in the past because it is possible to directly detect an instantaneous value of acceleration, velocity, and position by performing a filtering process as in the present embodiment. It is also possible to accurately detect wheel slip and gliding.

FIG. 10 is a diagram showing the static detection characteristics of the train speed according to the present invention. As shown in the figure, a linear speed detection characteristic is obtained from the speed 0 to the maximum speed.
In particular, when a two-phase signal having a different phase is input as an input from the speed generator, it is possible to determine whether the vehicle is moving forward or backward based on the phase difference between Esg1 and Esg2.

FIG. 11 is a diagram showing dynamic detection characteristics of train speed according to the present invention. The figure shows the characteristics when starting from a stopped state. During a few cycles immediately after startup, the internal PLL reference signals (outputs Er1 and Er2 from function generator 126) provide inputs Esg1 and Es from the speed generator.
There is some delay for g2. This is due to the response delay of the digital filter 123. For this reason, in a very short time immediately after the start, the detected speed Vtp is lower than the actual speed Vt of the train, as shown at the bottom of the table, but after several cycles from immediately after the start, Er1 (Er2) becomes Esg1. Following (Esg2), Vtp = Vt, and an accurate speed can be detected.

In this embodiment, DSP is used for all of the function generation and the filter operation.
It goes without saying that the PLL may be implemented by an analog circuit without converting the digital signal by the D converter.

[0033]

Since the rotation angle of the output signal from the speed generator is directly detected using the phase locked loop, the speed can be detected stably even at low speed when the output voltage from the speed generator decreases. It becomes possible. Also, unlike the method of converting the output from the speed generator into a pulse signal by a waveform shaping circuit and measuring the number of pulses, the resolution of speed and distance is limited by the number of pulses generated per rotation of the speed generator. Since there is no speed, the speed / distance detection accuracy is dramatically improved. For this reason, it is possible to accurately and stably detect speed and distance down to an extremely low speed without using a special sensor and using a conventional speed generator having features of being inexpensive and robust.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of a train control device using a speed generator.

FIG. 2 is a diagram showing a configuration of a conventional speed detection method.

FIG. 3 is a diagram showing an operation of a waveform shaping circuit in a conventional speed detection method.

FIG. 4 is a diagram showing an equivalent circuit of the speed generator.

FIG. 5 is a diagram showing output voltage characteristics of a speed generator.

FIG. 6 is a diagram showing an embodiment of a train control device using the speed detection method according to the present invention.

FIG. 7 is a control system diagram showing one embodiment of a speed detection method using a phase locked loop according to the present invention.

FIG. 8 is a diagram showing a relationship between a phase difference detection output between a speed generator output and a function generator output, and a phase difference.

FIG. 9 is a diagram showing a filtering process on a phase difference detection output in one embodiment of the speed detection method according to the present invention.

FIG. 10 is a diagram showing a speed detection static characteristic of the speed detection system according to the present invention.

FIG. 11 is a diagram showing a speed detection dynamic characteristic of the speed detection system according to the present invention.

[Description of Signs] 1 Train control device 2 Speed generator 3 Signal receiver 4 Signal receiver 5 Wheel 11 Control processor (CPU) 12 Signal processor (DSP) 13a, 13
b AD converters 14a, 14b Low-pass filters 21a, 21
b Power generating windings 22a, 22b Matching resistors 23a, 23
b Waveform shaping circuit 24 Rotating magnetic pole 121a, 1
21b Multiplier 122 Adder 123 Filter 125 Coefficient Unit 126 Function Generator 1231a Adder 1231b
Adder 1231c Adder 1232a
Coefficient unit 1232b Coefficient unit 1232c
Coefficient unit

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-6-225581 (JP, A) JP-A-1-133585 (JP, A) JP-A-57-33355 (JP, A) JP-A 8- 201109 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) H02P 5/00 G01P 3/00

Claims (4)

(57) [Claims] 1. A speed and distance detecting method for detecting a speed and a moving distance of a moving body that moves a distance proportional to a rotation angle of the rotating body based on the rotation angle, wherein the speed and the moving distance are synchronized with the rotation of the rotating body. The phase difference between the input signal from the AC generator fixed to rotate and the oscillation signal output from the function generator is compared by a phase difference detecting means, and the phase difference component is passed through a digital filter, and the angular velocity is proportional to the phase difference. While changing the components to integrate and outputting as a rotation angle proportional to the moving distance, this output is supplied to the function generator,
A method for detecting a speed and a distance, comprising detecting a rotation angle of the rotating body using a phase locked loop circuit that controls the oscillation signal so that the phase of the oscillation signal follows the phase of the input signal. 2. A method according to claim 1, wherein a two-phase input signal having a phase difference of 90 degrees from the AC generator and a two-phase oscillation signal having a phase difference of 90 degrees output from the function generator. And phase comparison by the phase difference detection means,
A speed and distance detection method, wherein the two-phase oscillation signal is controlled using the phase difference component. 3. The speed and distance detection method according to claim 1, wherein the phase difference component output from the phase difference detection means is used as the acceleration, speed,
And a speed and distance detection method characterized in that the travel distance is converted into a rotation angle by a filter for feedback control and then supplied to a function generator. 4. A speed and distance detecting device for detecting a speed and a moving distance of a moving body that moves a distance proportional to a rotation angle of the rotating body based on the rotation angle. An AC generator that is fixed to rotate and outputs a sine wave signal, and a signal processing device that receives the sine wave signal output from the AC generator as input and detects a speed and a moving distance of the moving body, The signal processing device outputs a phase difference component by comparing a phase of a function generator that transmits a sine wave signal and a phase of an oscillation signal output from the function generator and a sine wave signal output from the AC generator. A phase difference detection unit, and a filter that receives the output phase difference component as input, converts the acceleration, speed, and traveling distance of the rotating body into a rotation angle by performing feedback control and supplies the rotation angle to the function generator. Constitution A speed and distance detecting device, characterized in that the speed and the distance are detected.