JP3383114B2 - Truck control device for magnetically levitated railway vehicles - Google Patents

Truck control device for magnetically levitated railway vehicles

Info

Publication number
JP3383114B2
JP3383114B2 JP05228995A JP5228995A JP3383114B2 JP 3383114 B2 JP3383114 B2 JP 3383114B2 JP 05228995 A JP05228995 A JP 05228995A JP 5228995 A JP5228995 A JP 5228995A JP 3383114 B2 JP3383114 B2 JP 3383114B2
Authority
JP
Japan
Prior art keywords
traveling
wheel
superconducting magnet
vehicle
control device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
JP05228995A
Other languages
Japanese (ja)
Other versions
JPH08244601A (en
Inventor
敦史 冨士
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toshiba Corp
Original Assignee
Toshiba Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toshiba Corp filed Critical Toshiba Corp
Priority to JP05228995A priority Critical patent/JP3383114B2/en
Publication of JPH08244601A publication Critical patent/JPH08244601A/en
Application granted granted Critical
Publication of JP3383114B2 publication Critical patent/JP3383114B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Landscapes

  • Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)

Description

【発明の詳細な説明】Detailed Description of the Invention

【0001】[0001]

【産業上の利用分野】本発明は磁気浮上式鉄道で車輪走
行と浮上走行との間の相互移行時の走行抵抗急変を抑制
する浮上式鉄道用台車の制御装置に関する。
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】[0002]

【従来の技術】磁気浮上式鉄道では、低速走行時は台車
に設けた走行用車輪を下降させて走行するが、磁気浮上
走行時はガイドウェイ面より車輪を車両側へ引上げるこ
と(上昇)により、車輪走行している車両を磁気浮上走
行へと移行させている。
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.

【0003】従来、車輪走行から磁気浮上走行へ移行さ
せる方法としては、予め設定されていた走行速度に実際
の列車走行速度が達した時点を切換時期と判断し、全て
の走行車輪を一斉に上昇させて、磁気浮上走行へと移行
させていた。
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.

【0004】また、車上の超電導磁石は台車に固定され
ており、地上ガイドウェイに敷設された地上コイルと、
車上の超電導磁石との間の位置ずれにより発生する走行
抵抗を調整する機能は特に備えられていなかった。
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】[0005]

【発明が解決しようとする課題】このような方法により
磁気浮上車両を車輪走行から磁気浮上走行へ移行させた
場合、浮上用地上コイルと車両全体の複数台の推進・案
内・駆動用の超電導磁石との間に、磁気抗力が同時に発
生し、走行抵抗の急変を招き、そのため、磁気浮上に移
行する時点で速度追従性が一時的に悪化し、乗り心地が
悪化するという問題点があった。
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.

【0006】また、磁気浮上走行している際に、車両重
量や乗客数の違い等により生じた各車両の傾斜を制御す
る有力な手段がなく、車両が傾斜することにより、高速
走行時に不均等な走行抵抗が発生し、車体へ悪影響を及
ぼすとともに、乗り心地が悪化するという問題もあっ
た。
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.

【0007】本発明は上記これらの問題を解消するた
め、走行時の車体および台車の状況に応じて、台車に対
する超電導磁石の取付位置を制御する制御装置、あるい
は走行車輪を台車毎に昇降制御する制御装置を設けて、
常に最適な車両状態を得て、乗り心地の良い浮上式鉄道
の車両を得ること目的とするものである。
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】[0008]

【課題を解決するための手段】手段1 (請求項1記載
の発明) 地上コイルと車両台車上の超電導磁石との相互作用によ
り、低速時の車輪走行および高速時の磁気浮上走行を制
御する磁気浮上式鉄道車両用台車制御装置において、地
上施設との情報の授受により車両の速度情報などを得る
伝送部と、この伝送部からの情報により車輪制動時期を
判断し、前記超電導磁石の位置制御指令を出力する走行
抵抗調節部と、この走行抵抗調節部からの位置制御指令
を受け、各台車上の超電導磁石の中心位置を地上側コイ
ルのヌルフラックス部分よりも上方へ移動させて、発電
・回生電気ブレーキ力、およびディスクブレーキ力を高
める超電導磁石昇降制御部とを設けたことを特徴とす
る。
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.

【0009】手段2 (請求項2記載の発明) 請求項1に記載の磁気浮上式鉄道車両用台車制御装置に
おいて、地上施設からの各種情報の授受により車輪走行
から浮上走行への切換時期を判断する伝送部と、この伝
送部からの情報により制動時期を判断し、走行車輪の昇
降制御部に対して指令を出力する走行抵抗調節部と、車
輪走行から磁気浮上走行の切替時の磁気抗力急変の抑制
と、制動時の磁気抗力の変化を段階的に変化させ走行車
輪の昇降を台車毎に制御する車輪昇降制御部と、この車
輪昇降制御部からの指令により、車輪を昇降させる駆動
部とを設けたことを特徴とする。
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.

【0010】手段3 (請求項3記載の発明) 請求項1に記載の磁気浮上式鉄道車両用台車制御装置に
おいて、超電導磁石の昇降操作に基づき、走行車輪支持
装置にかかる負荷を測定する測定部を設けたことを特徴
とする。
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.

【0011】手段4 (請求項4記載の発明) 請求項1に記載の磁気浮上式鉄道車両用台車制御装置に
おいて、集電用コイル位置を変えて集電電力を調整でき
るとともに、集電が不要の場合に前記超電導磁石を移動
させることのできる集電調整部を設けたことを特徴とす
る。
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】[0012]

【作用】作用1 (請求項1記載の発明) 超電導磁石昇降制御部を設けたので、超電導磁石の位置
の移動により車輪への負荷が変わりブレーキ力を高める
ことができる。即ち、車輪走行での制動時に、支持車輪
と走行ガイドウェイとの間の粘性が向上して走行抵抗が
増加し、高い制動力が得られる。
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.

【0013】作用2 (請求項2記載の発明) 請求項1に記載の磁気浮上式鉄道車両用台車制御装置に
おいて、走行車輪の昇降を台車毎に制御する車輪昇降制
御部を設けたので、走行車輪の位置の昇降により磁気抗
力を段階的に変化させ、急変を避けることができる。ま
た、台車毎に車輪の昇降を制御して、各台車をいくつか
のグループに分けて段階的に車輪の昇降を行うことによ
り、発生する磁気抗力を段階的に分散させることが可能
となる。
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.

【0014】作用3 (請求項3記載の発明) 請求項1に記載の磁気浮上式鉄道車両用台車制御装置に
おいて、走行車輪支持装置にかかる負荷を測定する測定
部を設けたので、制動時の車輪支持装置に対する過度の
負荷を防止することができる。
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.

【0015】作用4 (請求項4記載の発明) 請求項1に記載の磁気浮上式鉄道車両用台車制御装置に
おいて、集電調整部を設けたことにより、車上電源の過
充電を防ぐため集電用コイル位置を変えて集電電力を調
整するとともに、集電が不要の場合に誘導集電抵抗を軽
減することができる。
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】[0016]

【実施例】本発明を図1〜図5に示す実施例に基づいて
説明する。
DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described based on the embodiments shown in FIGS.

【0017】実施例1(図1、2、3) 走行抵抗の急変を抑制するため、台車上の超電導磁石装
置の位置及び台車支持脚の昇降制御をなす台車制御装置
を図1、2のような構成にする。
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.

【0018】即ち、地上施設との間で各種情報の授受を
行い、車輪走行から磁気浮上走行への切換時期を判断す
るのに必要な車両の速度情報や、各指令を得ることので
きる伝送部1と、この伝送部1からの情報により、車輪
走行から磁気浮上走行への切換時期を判断して磁気浮上
走行への切換指令を出力することができる走行抵抗調節
部2と、この走行抵抗調節部2からの指令により、車輪
走行から磁気浮上走行へ移る際に生じる磁気抗力の急変
を抑制するため、車輪走行時に、予め車上超電導磁石8
の中心位置を地上側コイルのヌルフラックス部分よりも
下方へ移動させ、磁気浮上走行へ切り換わったのちに、
元の位置に戻すという制御を各超電導磁石毎に行い、磁
気浮上走行に切り換わる際の磁気抗力の変化を緩やかに
変化させるように指示する超電導磁石昇降制御部3と、
この超電導磁石昇降制御部3からの指示に従って、超電
導磁石8を昇降させる超電導磁石駆動部とを設けて磁気
浮上式鉄道車両用台車制御装置を構成する。なお、伝送
部1は、地上側施設との間で各種情報の授受を行い、通
常走行時、および車輪走行から磁気浮上走行への切り換
え制御に必要となる位置情報や速度情報等を、例えば列
車無線や交差誘導線等を介して送信、受信する。
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.

【0019】また、走行抵抗調節部2は、伝送部1より
得た情報より、発生する走行抵抗を随時演算し、走行抵
抗の急変が起こらないよう、超電導磁石昇降制御部3と
支持脚装置10へ指令を与える。例えば、走行速度が車
輪走行から磁気浮上走行への切り換え基準速度に近づい
たことによる、走行抵抗の急変防止策として、車輪走行
時から前もって超電導磁石8の位置を下方へ移動させ、
ある程度の走行抵抗が発生するように調整し、その後、
支持車輪を車体側に上昇させるよう指令する。
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.

【0020】超電導磁石昇降制御部3は、走行抵抗調節
部2からの指令に従い、超電導磁石8が取り付けられた
台車可動部7を、シリンダ4およびその実際の駆動装置
となる油圧モータ5を指示制御することで、超電導磁石
8を上下方向に移動させることが可能である。また、超
電導磁石昇降制御部3は台車の左右で個々に用意されて
おり、左右別々に超電導磁石8の位置を制御することが
可能である。
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.

【0021】台車固定部6には、車体および各種装置が
取付けられている。距離センサ9により、走行ガイドウ
ェイと台車との間の距離、即ち浮上距離を測定すること
が可能である。この距離センサ9も台車の前後左右に取
り付けられているため、距離センサ9からの信号によ
り、浮上距離のみでなく、傾斜状況等も認識することが
可能となっている。
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.

【0022】車輪走行時に必要となる支持脚装置10、
支持脚移動用油圧モータ11は、走行抵抗調節部2から
の指令に応じて、支持車輪であるタイヤ12を昇降する
ようになっている。
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.

【0023】以上のように構成された装置の動作につい
て、図3、図5を参照して説明する。
The operation of the apparatus configured as described above will be described with reference to FIGS. 3 and 5.

【0024】車体にかかる走行抵抗特性を図5に示した
グラフで示す。
The running resistance characteristic of the vehicle body is shown in the graph of FIG.

【0025】グラフに示したように、車体にかかる走行
抵抗には、空気抵抗と磁気抗力、渦電流損、誘導集電抵
抗があり、その中の磁気抗力が車輪走行から磁気浮上走
行への切り換え時に発生する走行抵抗急変の要因となっ
ている。
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.

【0026】磁気抗力とは、車載超電導磁石8の中心位
置と地上側浮上コイルのヌルフラックス位置とがずれる
ことにより、地上側浮上コイルに電流が誘起し、その電
流により地上側浮上コイルに磁界が発生し、走行抵抗と
なるものである。
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.

【0027】通常、車輪走行時には磁気抗力が発生しな
いように、車載超電導磁石8の中心位置と地上側浮上コ
イルのヌルフラックス位置が一致するように調整されて
いる。しかしながら、磁気浮上走行時には車体の重力と
地上側浮上コイルからの磁力とがつり合う位置までずれ
て走行するため、車輪走行から磁気浮上走行に切り換わ
る際の磁気抗力が一斉に発生し、走行抵抗の急変を招い
てしまう。
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.

【0028】そこで、図3(a)(b)(c)に示すよ
うな手順で磁気浮上走行への切り換えを行う。
Therefore, switching to magnetic levitation running is performed in the procedure shown in FIGS. 3 (a), 3 (b) and 3 (c).

【0029】まず第一(図3(a))に、車輪走行中に
走行速度を監視し、磁気浮上走行への切り換え目標速度
に近づいた時点で、車載超電導磁石8をヌルフラックス
位置より下方になるよう徐々に移動させる。すなわち、
予め、磁気抗力を徐々に発生させておく。
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.

【0030】第二(図3(b))に、支持車輪(タイヤ
12)を車体側に上昇させ、磁気浮上走行へ切り換え
る。この時点では前記した操作により、既に超電導磁石
8の位置がヌルフラックス位置よりも下方に位置してい
るため、切り換え時の変動は、従来に比べて予め移動さ
せた分だけ軽減することになる。なお、磁気浮上走行に
切り換え得る際には、支持車輪を上昇させるのと同期さ
せて超電導磁石8の位置を元の位置に戻す。上記したよ
うな操作を行うことにより、車輪走行から磁気浮上走行
に切り換える際の走行抵抗急変を軽減することが可能と
なる。また、切り換え目標速度、および切り換え目標速
度に近づいたと判定するための位置を変更することで、
走行抵抗の変化率を調整することが可能である。
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.

【0031】実施例2(図3(c)) 車輪走行から磁気浮上走行に切り換わった後に、台車下
方に取り付けた距離センサ9により浮上距離を適宜監視
し、各台車毎の浮上距離が均等になるよう前記した図3
(a)に示した第一の操作同様、超電導磁石8の位置を
調整し車体の傾斜等を解消することが可能となる。即
ち、磁気浮上走行時に走行ガイドウェイとの間の車両浮
上距離を測定する非接触型の距離センサ9を用いた浮上
距離測定部を各車両毎に設け、伝送部1、および浮上距
離測定部からの情報により、車体の傾斜状況を判断し、
各車両重量の違い、乗客数の違いより生じる浮上距離の
差を解消するため、超電導磁石8の位置を浮上距離情報
に応じて各超電導磁石8を制御し、各車両の浮上距離を
均等にすることにより、発生する空気抵抗や騒音を低減
する状態へ近づけるべく超電導磁石昇降制御部3に対し
て指令を出力する車体傾斜調節部と、超電導磁石昇降制
御部3からの指示に従って、超電導磁石8を昇降させる
超電導磁石油圧駆動・制御部とを設けたものである。
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.

【0032】ここで、図3(a)に示した第一の操作で
は、超電導磁石8の位置を下方にのみ移動させている
が、上方へ移動させることも可能な構成としている。
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.

【0033】実施例3(図3(b)) 車輪走行制動中に超電導磁石8の位置を上方へ移動さ
せ、磁気抗力を発生させて走行抵抗を増加させるととも
に、タイヤ12と走行面との粘性を向上させ、従来より
備えられているディスクブレーキのブレーキ力を高める
ことができる。即ち、地上施設との間で各種情報の授受
を行い、車輪走行から磁気浮上走行へ切り換える時期を
判断するに必要な列車速度情報や各指令を得ることので
きる伝送部1と、この伝送部1からの情報により車輪制
動時期を判断し、超電導磁石位置昇降制御部3に対して
指令を出力することのできる走行抵抗調節部2と、この
走行抵抗調節部2からの指令を受け、走行車輪制動時に
車上超電導磁石8の中心位置を地上側コイルのヌルフラ
ックス部分よりも上方へ移動させるように各超電導磁石
8を制御し、電力回生ブレーキ、発電ブレーキのブレー
キ力を高め、かつ車体を下方へ押さえつける力を発生さ
せることで走行車輪のタイヤ12と走行ガイドウェイと
の粘性を向上させ、ディスクブレーキのブレーキ力を高
めるように指示を行う超電導磁石昇降制御部3と、その
超電導磁石昇降制御部3からの指示に従って、超電導磁
石8を昇降駆動する油圧制御部とを設けたものである。
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.

【0034】実施例4(図4) 支持車輪の昇降制御のみにて、磁気抗力の変化を段階的
な変化にする方法であり、一列車に設置してある複数の
台車毎に支持車輪の昇降を制御し、図4に示したような
手順により段階的に磁気浮上走行へ移行させることで、
従来の台車を用いたまま、走行抵抗の急変防止を実現す
ることができる。即ち、地上施設との間で各種情報の授
受を行い、車輪走行から磁気浮上走行へ切り換える時期
を判断するために必要となる列車速度情報や、各指令を
得ることのできる伝送部1と、この伝送部1からの情報
から制動時期を判断し、走行車輪昇降制御部に対して指
令を出力することのできる走行抵抗調節部2と、車輪走
行から磁気浮上走行へ移る際に生じる磁気抗力の急変を
抑制するために、走行車輪昇降制御部からの指示によっ
て走行車輪(タイヤ12)を昇降させる駆動部を設けた
ものである。即ち、走行車輪の駆動部は、支持車輪を台
車毎に下降させて磁気抗力の変化を段階的に変化させ、
制動時において超電導磁石8の中心位置を地上コイルの
ヌルフラックス位置よりも上方に移動させる代りをする
ものである。
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.

【0035】実施例5(図3(b)) 実施例1に既述の通りである。即ち、実施例1または3
による磁気浮上式鉄道車両用台車制御装置において、車
輪走行から磁気浮上走行へ移行させる際には、車上超電
導磁石8を下方へ移動させ過ぎないように監視し、また
制動時には車上超電導磁石8を上方へ移動させることに
より、過度の重力が支持脚装置10にかからないように
監視するため、支持脚装置10にかかる重力を測定する
ことのできる測定部を台車装置に設ける。
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.

【0036】実施例6 上記台車を誘導集電台車に応用し、誘導集電電力を測定
する装置を追加することにより、過充電等の事故を未然
に防ぐことが可能であると同時に、集電の必要がない場
合には、誘導集電用の超電導磁石8の中心位置をヌルフ
ラックス位置まで移動させることにより、図5で示した
走行抵抗の一つである誘導集電抵抗を軽減することが可
能となる。即ち、実施例1または3の磁気浮上式鉄道車
両用台車制御装置において、地上施設より列車側へ電力
を供給させるための誘導集電装置と協調させて動作させ
るため、車上電源を充電し過ぎないように監視し、集電
用コイル位置を変化させ、集電電力を調整することがで
きるとともに、集電が不要となった場合には誘導集電抵
抗が軽減されるように超電導磁石8を移動させることの
できる集電調整部を設ける。
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.

【0037】尚、本発明は上記した実施例に限定される
ものではない。例えば、一列車に設置されている全ての
台車に本装置を備える必要はなく、従来の台車(誘導集
電台車も含む)と組み合わせて用いても、同様の効果を
得ることが可能である。
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).

【0038】その他、本発明はその要旨を逸脱しない範
囲で種々変形して実施することができる。
In addition, the present invention can be variously modified and implemented without departing from the scope of the invention.

【0039】[0039]

【発明の効果】本発明により、車輪走行から磁気浮上走
行へ移行する際に、車上超電導磁石位置や支持脚の昇降
を台車毎に制御することができるため、走行抵抗の変化
を段階的な変化に抑制することが可能となり、結果とし
て、磁気浮上走行へ移行する際に発生していた速度追従
性の一時的な悪化を改善することが可能となる。
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.

【0040】また、列車の傾斜抑制、制動力の向上、集
電装置保護を実現することができる。
Further, it is possible to suppress the inclination of the train, improve the braking force, and protect the current collector.

【図面の簡単な説明】[Brief description of drawings]

【図1】本発明による台車の制御装置構成図、FIG. 1 is a block diagram of a trolley controller according to the present invention;

【図2】図1の左側面図、2 is a left side view of FIG.

【図3】図1の台車の超電導磁石位置制御による動作説
明図、
FIG. 3 is an explanatory view of the operation of the bogie of FIG. 1 by controlling the position of the superconducting magnet.

【図4】列車の車輪走行・磁気浮上切換制御動作説明
図、
FIG. 4 is an explanatory diagram of a train wheel traveling / magnetic levitation switching control operation,

【図5】磁気浮上列車にかかる走行抵抗特性曲線図。FIG. 5 is a travel resistance characteristic curve diagram of the magnetic levitation train.

【符号の説明】[Explanation of symbols]

1…伝送部 2…走行抵抗調節部 3…超電導磁石昇降制御部 4…シリンダ 5…油圧モータ(超電導磁石駆動用) 6…台車固定部 7…台車可動部 8…超電導磁石 9…浮上距離センサ 10…支持脚装置 11…支持脚昇降用油圧モータ 12…タイヤ 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)【特許請求の範囲】(57) [Claims] 【請求項1】 地上コイルと車両台車上の超電導磁石と
の相互作用により、低速時の車輪走行および高速時の磁
気浮上走行を制御する磁気浮上式鉄道車両用台車制御装
置において、地上施設との情報の授受により 車両の速度情報などを得
る伝送部と、 この伝送部からの情報により車輪制動時期を判断し、前
記超電導磁石の位置制御指令を出力する走行抵抗調節部
と、この走行抵抗調節部からの位置制御指令を受け、各台車
上の超電導磁石の中心位置を地上側コイルのヌルフラッ
クス部分よりも上方へ移動させて、発電・回生電気ブレ
ーキ力、およびディスクブレーキ力を高める 超電導磁石
降制御部とを設けたことを特徴とする磁気浮上式鉄道
車両用台車制御装置。
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.
【請求項2】 地上施設からの各種情報の授受により車
輪走行から浮上走行への切換時期を判断する伝送部と、 この伝送部からの情報により制動時期を判断し、走行車
輪の昇降制御部に対して指令を出力する走行抵抗調節部
と、 車輪走行から磁気浮上走行の切替時の磁気抗力急変の抑
制と、制動時の磁気抗力の変化を段階的に変化させ走行
車輪の昇降を台車毎に制御する車輪昇降制御部と、 この車輪昇降制御部からの指令により、車輪を昇降させ
る駆動部と を設けたことを特徴とする請求項1に記載の
磁気浮上式鉄道車両用台車制御装置。
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:
【請求項3】 前記超電導磁石の昇降操作に基づき、走
行車輪支持装置にかかる負荷を測定する測定部を設けた
ことを特徴とする請求項1に記載の磁気浮上式鉄道車両
用台車制御装置。
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 .
【請求項4】 集電用コイル位置を変えて集電電力を調
整できるとともに、集電が不要の場合に前記超電導磁石
を移動させることのできる集電調整部を設けたことを特
徴とする請求項1に記載の磁気浮上式鉄道車両用台車制
御装置。
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.
JP05228995A 1995-03-13 1995-03-13 Truck control device for magnetically levitated railway vehicles Expired - Fee Related JP3383114B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP05228995A JP3383114B2 (en) 1995-03-13 1995-03-13 Truck control device for magnetically levitated railway vehicles

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP05228995A JP3383114B2 (en) 1995-03-13 1995-03-13 Truck control device for magnetically levitated railway vehicles

Publications (2)

Publication Number Publication Date
JPH08244601A JPH08244601A (en) 1996-09-24
JP3383114B2 true JP3383114B2 (en) 2003-03-04

Family

ID=12910654

Family Applications (1)

Application Number Title Priority Date Filing Date
JP05228995A Expired - Fee Related JP3383114B2 (en) 1995-03-13 1995-03-13 Truck control device for magnetically levitated railway vehicles

Country Status (1)

Country Link
JP (1) JP3383114B2 (en)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5191824B2 (en) * 2008-07-02 2013-05-08 公益財団法人鉄道総合技術研究所 Method for suppressing temperature rise of ground coil for magnetic levitation
CN108382266B (en) * 2018-01-22 2020-01-31 武汉理工大学 EDS supporting system for vacuum pipeline magnetic suspension train
CN108340930B (en) * 2018-03-19 2023-11-28 张跃 Wheel rail driving and magnetic suspension system
CN109177985B (en) * 2018-09-04 2020-10-16 中车株洲电力机车有限公司 Supporting structure, maglev train rescue device, suspension frame and maglev train
CN109027614A (en) * 2018-09-10 2018-12-18 嘉兴市芸芸纺织有限公司 A kind of weaving loom easy to remove
CN111536082A (en) * 2020-04-28 2020-08-14 中车青岛四方车辆研究所有限公司 Hydraulic control system of supporting wheel based on magnetic levitation vehicle
CN114347797B (en) * 2021-11-30 2024-01-19 北京全路通信信号研究设计院集团有限公司 Control method and system for supporting wheel of maglev train
CN116001848B (en) * 2023-03-27 2023-06-30 北京全路通信信号研究设计院集团有限公司 Wheel control method and system of magnetic levitation train
CN116039709B (en) * 2023-03-27 2023-06-30 北京全路通信信号研究设计院集团有限公司 Train wheel control method and system based on ground operation control system

Also Published As

Publication number Publication date
JPH08244601A (en) 1996-09-24

Similar Documents

Publication Publication Date Title
CN101535085B (en) Magnetic levitation railway and method for operation thereof
US8505463B2 (en) Wheel-type ultra high speed railway system
CN114734826B (en) Permanent magnet electric suspension system and guiding method thereof
JP3383114B2 (en) Truck control device for magnetically levitated railway vehicles
JPH11502752A (en) Entertainment equipment
US8430039B2 (en) Magnetic levitation vehicle and method for lifting and/or lowering the vehicle
US4142469A (en) Magnetic suspension system for railway vehicle with lifting force control
CN217074053U (en) Permanent magnet electric suspension type driving device
US3506862A (en) Dynamic and eddy current railway brake device
CN107380008A (en) A kind of Auxiliary support guidance method of wheel track vehicle
WO2021253818A1 (en) Wheel-track magnetic suspension vehicle system and application thereof
JPH07106005B2 (en) Vehicle linear motor support device
JP4767692B2 (en) Wheel derailment prevention and braking device
CN216002596U (en) High-speed superconducting electric magnetic levitation train
JP2012044774A (en) Magnetomotive force control system of superconducting magnet of maglev train
CN212654199U (en) Magnetic suspension wheel with brake system and automobile
JPS63268405A (en) Train driving system
KR100602853B1 (en) Method for controlling an eddy-current brake, control device for eddy-current brake, and eddy-current brake
CN107856700A (en) Bullet train is stable with overturn-preventing system and method
CN207106238U (en) A kind of Auxiliary support guide device of wheel track vehicle
JP3697498B2 (en) Method and apparatus for controlling levitation / landing of attraction type magnetically levitated vehicle
CA2042387A1 (en) Levitation undercarriage with servomotor driven air gap regulation
KR100945713B1 (en) Air gap control system of linear induction motor for train
CN110182058A (en) A kind of monorail suspension type maglev train system based on inverted U-shaped suspension rail
KR20190069718A (en) How To Operate With Speed Control Algorithm To Meet Charged Amount In A Wireless Power Transmission The Wireless Tram System

Legal Events

Date Code Title Description
FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20071220

Year of fee payment: 5

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20081220

Year of fee payment: 6

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20091220

Year of fee payment: 7

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20091220

Year of fee payment: 7

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20101220

Year of fee payment: 8

LAPS Cancellation because of no payment of annual fees