JP3383114B2 - Truck control device for magnetically levitated 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 control system for a bogie for a levitation railway which suppresses a sudden change in running resistance during a mutual transition between wheel traveling and levitation traveling in a magnetic levitation railway.

[0002]

2. Description of the Related Art In a magnetically levitated railway, a traveling wheel provided on a bogie is lowered when traveling at a low speed, but when the magnetically levitated traveling, a wheel is pulled up from a guideway surface toward a vehicle (elevation). Thus, the vehicle running on wheels is switched to magnetic levitation running.

Conventionally, as a method for shifting from wheel traveling to magnetic levitation traveling, it is determined that the time when the actual train traveling speed reaches a preset traveling speed is the switching time, and all traveling wheels are simultaneously raised. I was allowed to move to magnetic levitation.

Further, the superconducting magnet on the vehicle is fixed to the truck, and the ground coil laid on the ground guideway,
No particular function was provided to adjust the running resistance caused by the positional deviation from the superconducting magnet on the vehicle.

[0005]

When a magnetically levitated vehicle is changed from wheel traveling to magnetically levitated traveling by such a method, a ground coil for levitating and a plurality of superconducting magnets for propulsion, guidance and driving of the entire vehicle. During this time, a magnetic drag force is generated at the same time, which causes a sudden change in running resistance. Therefore, there is a problem that the speed following performance is temporarily deteriorated at the time of shifting to magnetic levitation, and the riding comfort is deteriorated.

Further, when the vehicle is magnetically levitated, there is no effective means for controlling the inclination of each vehicle caused by the difference in vehicle weight, the number of passengers, etc. There is also a problem that the running resistance is generated, the vehicle body is adversely affected, and the riding comfort is deteriorated.

In order to solve the above problems, the present invention controls the mounting position of the superconducting magnet with respect to the bogie or the traveling wheels for each bogie according to the conditions of the car body and the bogie during traveling. With a control device,
The purpose is to always obtain an optimum vehicle condition and obtain a levitation railway vehicle that is comfortable to ride.

[0008]

Means for Solving the Problems Means 1 (Invention according to Claim 1) A magnet for controlling wheel traveling at low speed and magnetic levitation traveling at high speed by interaction between a ground coil and a superconducting magnet on a vehicle bogie. In a bogie control device for a floating railway vehicle, a transmission unit that obtains vehicle speed information by exchanging information with the ground facility, and a wheel braking timing is determined based on the information from the transmission unit, and a position control command for the superconducting magnet is issued. And a position control command from this running resistance adjusting unit, the center position of the superconducting magnet on each dolly is moved above the null flux part of the ground side coil to generate and regenerate electricity. It is characterized in that a superconducting magnet raising / lowering control unit for enhancing electric braking force and disc braking force is provided.

Means 2 (Invention of Claim 2) In the bogie control device for a magnetically levitated railway vehicle according to Claim 1, the timing of switching from wheel traveling to levitating traveling is determined by exchanging various information from ground facilities. And a traveling resistance adjusting unit that determines the braking timing based on the information from this transmitting unit and outputs a command to the traveling wheel lifting control unit, and a magnetic resistance sudden change when switching from wheel traveling to magnetic levitation traveling. And a wheel elevating control unit that controls the elevation of traveling wheels for each trolley by gradually changing the change in the magnetic resistance during braking, and a drive unit that elevates the wheels according to a command from the wheel elevating control unit. Is provided.

Means 3 (Invention of Claim 3) In the bogie control device for a magnetic levitation type railway vehicle according to claim 1, a measuring unit for measuring a load applied to a traveling wheel supporting device based on an elevating operation of a superconducting magnet. Is provided.

Means 4 (Invention of Claim 4) In the bogie control device for a magnetic levitation type railway vehicle according to claim 1, the position of the current collecting coil can be changed to adjust the current collecting power, and the current collecting is unnecessary. In this case, a current collecting adjustment part capable of moving the superconducting magnet is provided.

[0012]

Function 1 (Invention according to claim 1) Since the superconducting magnet lifting control unit is provided, the load on the wheels is changed by the movement of the position of the superconducting magnet, and the braking force can be increased. That is, at the time of braking during wheel traveling, the viscosity between the support wheels and the traveling guideway is improved, traveling resistance is increased, and high braking force is obtained.

Action 2 (Invention of Claim 2) In the bogie control device for a magnetically levitated railway vehicle according to claim 1, since the wheel ascending / descending control section for controlling the ascending / descending of the traveling wheel is provided for each bogie, traveling The magnetic resistance can be changed stepwise by raising and lowering the position of the wheels to avoid sudden changes. Further, by controlling the lifting and lowering of the wheels for each trolley, dividing each trolley into several groups, and lifting and lowering the tiers of the wheels in stages, it is possible to disperse the generated magnetic drag in stages.

Action 3 (Invention of Claim 3) In the bogie control device for a magnetically levitated railway vehicle according to claim 1, since the measuring section for measuring the load applied to the traveling wheel support device is provided, the braking control device is provided. It is possible to prevent excessive load on the wheel supporting device.

Action 4 (Invention of Claim 4) In the bogie control device for a magnetically levitated railway vehicle according to claim 1, by providing a current collection adjusting unit, a collector for preventing overcharge of the on-board power supply is provided. It is possible to adjust the collected electric power by changing the position of the electric coil and reduce the induction collecting resistance when the collecting is unnecessary.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described based on the embodiments shown in FIGS.

Embodiment 1 (FIGS. 1, 2 and 3) A trolley control device for controlling the position of a superconducting magnet device on a trolley and lifting and lowering of a trolley support leg is shown in FIGS. To make a different structure.

That is, a transmission unit that can exchange various information with the ground facility and obtain vehicle speed information and various commands necessary for determining the timing of switching from wheel traveling to magnetic levitation traveling. 1 and a traveling resistance adjusting unit 2 capable of outputting a command for switching to magnetic levitation traveling by determining the timing of switching from wheel traveling to magnetic levitation traveling based on information from the transmission unit 1, and this traveling resistance regulation. In order to suppress a sudden change in the magnetic reaction force generated when the wheel travels to the magnetic levitation travel in response to a command from the section 2, the on-board superconducting magnet 8 is preliminarily set when the wheel travels.
After moving the center position of the below to the null flux part of the ground side coil, and switching to magnetic levitation running,
A control for returning to the original position is performed for each superconducting magnet, and a superconducting magnet lifting control unit 3 for instructing to gently change the change of the magnetic drag force when switching to magnetic levitation traveling is provided.
According to an instruction from the superconducting magnet raising / lowering control unit 3, a superconducting magnet driving unit for raising / lowering the superconducting magnet 8 is provided to constitute a bogie control device for a magnetic levitation railway vehicle. The transmission unit 1 transmits and receives various information to and from the ground side facility, and transmits position information, speed information, and the like, which are necessary for normal traveling and switching control from wheel traveling to magnetic levitation traveling, for example, to a train. It transmits and receives via wireless or crossing guide lines.

Further, the running resistance adjusting section 2 calculates the running resistance generated at any time from the information obtained from the transmitting section 1, and the superconducting magnet lifting control section 3 and the supporting leg device 10 are arranged so that the running resistance does not change suddenly. Give a command to. For example, as a measure for preventing a sudden change in traveling resistance due to the traveling speed approaching the reference speed for switching from wheel traveling to magnetic levitation traveling, the position of the superconducting magnet 8 is moved downward from the wheel traveling in advance,
Adjust to generate some running resistance, then
Command to raise the supporting wheels to the vehicle body side.

In accordance with a command from the running resistance adjusting section 2, the superconducting magnet raising / lowering control section 3 instructs and controls the carriage movable section 7 to which the superconducting magnet 8 is attached, the cylinder 4 and the hydraulic motor 5 serving as an actual drive device thereof. By doing so, it is possible to move the superconducting magnet 8 in the vertical direction. Further, the superconducting magnet raising / lowering control section 3 is individually prepared for the left and right sides of the carriage, and the positions of the superconducting magnets 8 can be controlled separately for the left and right sides.

A vehicle body and various devices are attached to the carriage fixing portion 6. The distance sensor 9 can measure the distance between the traveling guideway and the carriage, that is, the flying distance. Since the distance sensors 9 are also attached to the front, rear, left and right sides of the dolly, it is possible to recognize not only the flying distance but also the inclination situation and the like by the signal from the distance sensor 9.

A supporting leg device 10, which is required when the wheels are running,
The support leg moving hydraulic motor 11 is configured to move up and down the tire 12, which is a support wheel, in response to a command from the running resistance adjusting unit 2.

The operation of the apparatus configured as described above will be described with reference to FIGS. 3 and 5.

The running resistance characteristic of the vehicle body is shown in the graph of FIG.

As shown in the graph, the running resistance applied to the vehicle body includes air resistance, magnetic drag force, eddy current loss, and inductive current collecting resistance, and the magnetic drag force therein changes from wheel running to magnetic levitation running. This is a cause of sudden changes in running resistance.

The magnetic drag means that a current is induced in the ground-side levitation coil due to the deviation between the center position of the vehicle-mounted superconducting magnet 8 and the null flux position of the ground-side levitation coil, and the current causes a magnetic field in the ground-side levitation coil. It is generated and becomes a running resistance.

Normally, the center position of the vehicle-mounted superconducting magnet 8 and the null flux position of the ground side levitation coil are adjusted to coincide with each other so that no magnetic drag is generated when the wheels are running. However, when the vehicle is magnetically levitated, it travels with a shift to the position where the gravity of the vehicle body and the magnetic force from the ground side levitation coil are offset, so that a magnetic drag force is generated at the time of switching from wheel traveling to magnetic levitation, and the running resistance It causes a sudden change.

Therefore, switching to magnetic levitation running is performed in the procedure shown in FIGS. 3 (a), 3 (b) and 3 (c).

First of all (FIG. 3 (a)), the traveling speed is monitored while the wheels are traveling, and when the vehicle speed approaches the target speed for switching to magnetic levitation traveling, the vehicle-mounted superconducting magnet 8 is moved downward from the null flux position. Gradually move so that. That is,
The magnetic drag is gradually generated in advance.

Secondly (FIG. 3 (b)), the supporting wheels (tires 12) are raised to the vehicle body side and switched to magnetic levitation traveling. At this point in time, the position of the superconducting magnet 8 is already located below the null flux position by the above-mentioned operation, so the fluctuation at the time of switching is reduced by the amount moved in advance as compared with the conventional case. When it is possible to switch to magnetic levitation traveling, the position of the superconducting magnet 8 is returned to the original position in synchronization with the raising of the supporting wheels. By performing the above-described operation, it becomes possible to reduce a sudden change in running resistance when switching from wheel running to magnetic levitation running. In addition, by changing the switching target speed and the position for determining that the switching target speed is approaching,
It is possible to adjust the rate of change of running resistance.

Embodiment 2 (FIG. 3 (c)) After switching from wheel traveling to magnetic levitation traveling, the levitation distance is appropriately monitored by a distance sensor 9 mounted below the dolly, and the levitation distance is made uniform for each dolly. Figure 3 above
Similar to the first operation shown in (a), the position of the superconducting magnet 8 can be adjusted to eliminate the inclination of the vehicle body. That is, a levitation distance measuring unit using a non-contact type distance sensor 9 for measuring the levitation distance of the vehicle from the traveling guideway during magnetic levitation is provided for each vehicle, and the transmission unit 1 and the levitation distance measuring unit Information, to determine the inclination of the vehicle body,
In order to eliminate the difference in the levitation distance caused by the difference in the weight of each vehicle and the difference in the number of passengers, the position of the superconducting magnet 8 is controlled according to the levitation information, and the levitation distance of each vehicle is equalized. As a result, the superconducting magnet 8 is controlled in accordance with the vehicle body tilt adjusting section that outputs a command to the superconducting magnet lifting control section 3 so as to approach the state where the generated air resistance or noise is reduced, and the superconducting magnet lifting control section 3. A hydraulic drive / control unit for moving the superconducting magnet up and down is provided.

Here, in the first operation shown in FIG. 3A, the position of the superconducting magnet 8 is moved only downward, but it can be moved upward.

Embodiment 3 (FIG. 3 (b)) The position of the superconducting magnet 8 is moved upward during wheel traveling braking to generate a magnetic resistance to increase the traveling resistance, and the viscosity of the tire 12 and the traveling surface is increased. Can be improved and the braking force of the disc brake that has been conventionally provided can be increased. That is, various information is exchanged with the ground facility to obtain train speed information and each command necessary for determining the time to switch from wheel traveling to magnetic levitation traveling. The traveling resistance adjusting unit 2 capable of determining the wheel braking timing based on the information from the traveling resistance adjusting unit 2 and outputting a command to the superconducting magnet position elevation control unit 3, and receiving the command from the traveling resistance adjusting unit 2 to execute the traveling wheel braking. At each time, each superconducting magnet 8 is controlled so as to move the center position of the on-vehicle superconducting magnet 8 above the null flux part of the ground side coil to enhance the braking force of the electric power regenerative brake and the generating brake, and to move the vehicle body downward. A superconducting magnet that gives an instruction to increase the viscosity of the tire 12 of the traveling wheel and the traveling guideway by generating a pressing force to increase the braking force of the disc brake. A descending controller 3, in accordance with an instruction from the superconducting magnet elevation controller 3, it is provided with a hydraulic control unit which drives the raising or lowering of the superconducting magnet 8.

Embodiment 4 (FIG. 4) This is a method of changing the change of the magnetic drag step by step only by raising and lowering the supporting wheels, and raising and lowering the supporting wheels for each of a plurality of bogies installed in one train. Control, and by gradually shifting to magnetic levitation traveling by the procedure shown in FIG. 4,
It is possible to prevent a sudden change in running resistance while using a conventional cart. That is, the transmission unit 1 that can obtain various kinds of information with the ground facility and can obtain the train speed information and each command necessary for determining the time to switch from wheel traveling to magnetic levitation traveling, A traveling resistance adjusting unit 2 capable of determining a braking time from the information from the transmission unit 1 and outputting a command to a traveling wheel lift control unit, and a sudden change in magnetic drag force generated when moving from wheel traveling to magnetic levitation traveling. In order to suppress the above, a drive unit that raises and lowers the traveling wheels (tires 12) according to an instruction from the traveling wheel elevation control unit is provided. That is, the drive unit of the traveling wheels lowers the support wheels for each trolley to change the magnetic resistance in stages,
Instead of moving the center position of the superconducting magnet 8 above the null flux position of the ground coil during braking.

Example 5 (FIG. 3 (b)) As described in Example 1 above. That is, Example 1 or 3
In the bogie control device for a magnetic levitation railway vehicle according to the above, when shifting from wheel traveling to magnetic levitation traveling, the on-board superconducting magnet 8 is monitored so as not to move too downward, and the on-board superconducting magnet 8 is applied during braking. Is monitored upward so as to prevent excessive gravity from being applied to the supporting leg device 10, a measuring unit capable of measuring the gravity applied to the supporting leg device 10 is provided in the cart device.

Embodiment 6 By applying the above trolley to an inductive current collection trolley and adding a device for measuring the inductive current collection power, it is possible to prevent accidents such as overcharging and the like, and at the same time, to collect current. When it is not necessary to move the central position of the superconducting magnet 8 for induction current collection to the null flux position, it is possible to reduce the induction current collection resistance which is one of the running resistances shown in FIG. It will be possible. That is, in the magnetic levitation railway vehicle trolley control device of the first or third embodiment, the vehicle power supply is overcharged because it operates in cooperation with the induction current collector for supplying electric power from the ground facility to the train side. The superconducting magnet 8 can be adjusted so that the current collecting coil can be adjusted by changing the position of the current collecting coil, and the induction current collecting resistance is reduced when the current collection is no longer necessary. A current collection adjustment unit that can be moved is provided.

The present invention is not limited to the above embodiment. For example, it is not necessary to equip all the trolleys installed in one train with this device, and the same effect can be obtained even if it is used in combination with a conventional trolley (including an induction current collecting trolley).

In addition, the present invention can be variously modified and implemented without departing from the scope of the invention.

[0039]

According to the present invention, it is possible to control the position of the superconducting magnet on the vehicle and the elevation of the support legs for each trolley at the time of shifting from the wheel traveling to the magnetic levitation traveling. It is possible to suppress the change, and as a result, it is possible to improve the temporary deterioration of the speed following performance that has occurred when shifting to magnetic levitation traveling.

Further, it is possible to suppress the inclination of the train, improve the braking force, and protect the current collector.

[Brief description of drawings]

FIG. 1 is a block diagram of a trolley controller according to the present invention;

2 is a left side view of FIG.

FIG. 3 is an explanatory view of the operation of the bogie of FIG. 1 by controlling the position of the superconducting magnet.

FIG. 4 is an explanatory diagram of a train wheel traveling / magnetic levitation switching control operation,

FIG. 5 is a travel resistance characteristic curve diagram of the magnetic levitation train.

[Explanation of symbols]

1 ... Transmission section 2 Running resistance adjustment unit 3 ... Superconducting magnet lifting control unit 4 ... Cylinder 5 ... Hydraulic motor (for driving superconducting magnet) 6 ... fixed part of trolley 7 ... Truck movable part 8 ... Superconducting magnet 9 ... Ascent distance sensor 10 ... Support leg device 11 ... Hydraulic motor for lifting support legs 12 ... Tire

Claims (4)

(57) [Claims] The method according to claim 1] interaction with superconducting magnets on ground coils and the vehicle bogie, the magnetic levitation carriage control device for a railway vehicle for controlling the magnetic levitation run line when wheel traveling and high-speed during low-speed, ground facilities A transmission section that obtains vehicle speed information by exchanging information with the vehicle, and the wheel braking timing is determined based on the information from this transmission section.
A running resistance adjusting unit for outputting a position control command of the serial superconducting magnet, it receives the position control command from the running resistance adjusting unit, each truck
Set the center position of the upper superconducting magnet to the null coil of the ground coil.
The electric power generation / regenerative electric brake
Rk in force, and maglev vehicle carriage control device, characterized in that provided a superconducting magnet <br/> temperature Fusei control unit to increase the disc brake force. 2. A vehicle is provided by exchanging various information from ground facilities.
A transmission unit that determines when to switch from wheel running to levitating and a braking time based on information from this transmission unit
Running resistance adjustment unit that outputs commands to the wheel lift control unit
And the suppression of sudden changes in magnetic drag when switching from wheel running to magnetic levitation running.
Control and change the magnetic drag force during braking in stages
A wheel lifting control unit that controls the lifting and lowering of the wheels for each trolley , and the wheels are lifted and lowered by a command from this wheel lifting control unit.
The trolley control device for a magnetically levitated railway vehicle according to claim 1, further comprising: 3. Traveling based on the lifting operation of the superconducting magnet
A measuring unit was installed to measure the load on the row wheel support device.
The bogie control device for a magnetic levitation type railway vehicle according to claim 1 . 4. The current collecting power is adjusted by changing the position of the current collecting coil.
The superconducting magnet can be adjusted and if current collection is unnecessary.
Moving the maglev vehicle bogie control device according to claim 1, characterized that you provided a current collecting adjuster capable of.