JP3541967B2 - Vehicle body neutral position control method for railway vehicles - Google Patents

Description

[0001]
[Industrial applications]
The present invention relates to a vehicle body neutral position control device and a vehicle body neutral position control method for maintaining a vehicle body neutral position with respect to a lateral displacement of a vehicle body of a railway vehicle.
[0002]
[Prior art]
The vehicle body of the railway vehicle and the bogie are connected by a shock absorber such as a spring or a damper, and the vehicle body is allowed to move in the left-right direction with respect to the bogie. However, a left-right movement stopper is provided to restrict the left-right movement with respect to the bogie so that the left-right displacement does not violate the construction limit. In addition, a uniform gap is provided between the vehicle body and the left and right movement stopper on the left and right sides of the normal stopper.
[0003]
Normally, when vehicle body vibration occurs while the vehicle is running, the transmission of direct vibration from the bogie to the vehicle body is prevented in the straight section by the gap between the body and the lateral movement stopper, but in the curved section, high speed is caused by excess centrifugal force. At the time, steady displacement occurs on the outer rail side, and at low speed, on the inner rail side. Then, if the vehicle continues to contact the lateral movement stopper or hits the lateral movement stopper in a shocking manner, the bogie vibration is directly transmitted to the vehicle body, thereby deteriorating the ride comfort of the passenger.
[0004]
Conventionally, in order to prevent a reduction in ride comfort due to the stopper hitting, the gap between the left and right movement stopper is further enlarged or the material of the left and right movement stopper itself is made more soft so that the impact at the time of contact with the vehicle body is reduced. Techniques, such as relaxation, and a method of suppressing the displacement of the vehicle body by increasing the lateral rigidity of the air spring have been taken.
[0005]
[Problems to be solved by the invention]
The method of further increasing the gap between the vehicle body and the lateral movement stopper according to the above-described prior art is limited in enlargement due to architectural limitations, and cannot provide a sufficient effect. Further, if the material of the left and right movement stopper itself is made softer, the deflection is increased correspondingly, and there is a risk that the deflection may impair the building limit. Further, in the method of increasing the right and left rigidity of the air spring, the bogie vibration is easily transmitted to the vehicle body, thereby deteriorating the ride comfort of the passenger.
[0006]
The present invention controls the left-right movement of the vehicle body so that the left-right gap between the vehicle body and the left-right movement stopper is equalized when passing through the curved section, so that the same riding comfort as in the straight section can be obtained even in the curved section. An object of the present invention is to provide a vehicle body neutral position control device and a control method for a railway vehicle that can be obtained.
[0007]
[Means for Solving the Problems]
To achieve the above object, for example, the left and right relative between the fluid actuator installed in the left-right direction between the vehicle body and bogie supported by a spring on the carriage of the railway vehicle, the vehicle body lateral vibration acceleration or the vehicle body and the bogie a sensor for detecting a lateral vibration acceleration of the displacement or truck, by using the Ru device name from the controller for determining a control output from the output and the point detection signal of the sensor to the fluid actuator, rail vehicles by practice of the invention The vehicle body can maintain a neutral position when passing through a curved road.
[0008]
The first method of controlling the vehicle body neutral position of a railway vehicle is that , when a curve signal from a route point detecting device is input to a controller, a lateral vibration acceleration detected by a lateral vibration accelerometer of a vehicle body or a bogie provided on front and rear bogies. Alternatively, the left and right relative displacement between the vehicle body and the bogie is input to a controller, and a gain is added to a stationary component extracted by using a low-pass filter from the left and right vibration acceleration or the left and right relative displacement between the vehicle body and the bogie in the controller. Is output to the fluid actuator, and the neutral position of the vehicle body is maintained.
[0009]
In addition, the vehicle body neutral position control method of the second railway vehicle is characterized in that the lateral vibration acceleration of the vehicle body, the relative displacement between the vehicle and the bogie, or the lateral vibration of the bogie are obtained without obtaining a curve signal from the point detection device on the route. a detection signal from a sensor for detecting acceleration input to the controller, the controller within the sensing signal from the time of the extracted curve passage using a low-pass filter steady component fluid control output obtained by multiplying the gain Output to the actuator to maintain the neutral position of the vehicle.
[0010]
Further, the third method of controlling the vehicle body neutral position of the railway vehicle is to input a vibration state of a vehicle ahead in the traveling direction of the train as a preview signal to a controller of the control vehicle, and to perform a low-pass filter from the preview signal in the controller. And outputs a control output obtained by multiplying the steady component extracted by using the gain to the fluid actuator in consideration of a delay time based on the distance between the vehicle in front and the control vehicle, thereby maintaining the neutral position of the vehicle body.
[0011]
[Action]
When the curve signal from the route point detection device is input to the controller, while the curve signal is input to the controller, the lateral vibration acceleration acting on the vehicle body is detected by the vibration detection sensor installed on the vehicle body. It is detected by a certain lateral vibration accelerometer, and a steady component (excess centrifugal acceleration) is extracted using a low-pass filter. Then, a value obtained by multiplying the steady component by the feedback gain is output to the fluid actuator as a control output, and the fluid actuator is driven to maintain the neutral position of the vehicle body. As a result, the vehicle can run while holding the vehicle body at the neutral position in the curved section as in the straight section, and therefore, the riding comfort of the passenger is not reduced.
[0012]
As a method of extracting a steady component, in addition to the above-described method, a steady variation of a vehicle body is detected by a lateral displacement meter, which is a vibration detection sensor installed between the vehicle body and a bogie, and the steady component is detected using a low-pass filter. There is a method of extracting, or a method of detecting the vibration acceleration of the bogie with a left-right vibration detector, which is a vibration detection sensor installed on the bogie, and extracting a steady component using a low-pass filter.
[0013]
When the point detection signal from the point detection device of the route is not used, the vibration detection sensor constantly detects the left-right vibration acceleration regardless of the straight road or the curved road, and performs the feedback control. For use, control is performed only when the vehicle passes through a curved section in which a steady component due to excessive centrifugal force occurs.
[0014]
Further, the vibration state of the vehicle ahead in the traveling direction of the train is input to the controller of the control vehicle as a preview signal, and the neutral position of the vehicle body is controlled in the controller using a steady component extracted from the preview signal. be able to. In this case, since the vibration of the control vehicle occurs later than the detection of the vibration of the preceding vehicle, a delay time is obtained based on the distance between the preceding vehicle and the control vehicle, and this is input to the controller to output the control signal. I need to delay it.
[0015]
The fluid actuator is composed of a proportional pressure control valve capable of supplying or exhausting air alone and a double-acting pneumatic cylinder.
[0016]
As described above, by controlling the vehicle body to the neutral position in the curved section, it is possible to prevent the vehicle body and the bogie from hitting the stopper, and to obtain the same riding comfort when passing through the curved section as when traveling in a straight section.
[0017]
【Example】
Example 1
FIG. 1 shows an example of an apparatus for implementing the method of controlling a vehicle body neutral position of a railway vehicle according to the present invention.
Double-acting pneumatic cylinders 19 (front bogie side), 20 (rear bogie side) installed in the left-right direction between body 1 and front bogie 2 and rear bogie 3 supported by air spring 4 on the bogie of railway car And a fluid pressure actuator composed of proportional pressure control valves 15, 16 (front bogie side), 17, 18 (rear bogie side), and a lateral vibration accelerometer 7, 8 for detecting lateral vibration acceleration of the vehicle body 1, or a vehicle body 1 and a vehicle 2 , 3 or the left and right displacement meters 22, 23 or the front bogie 2, the vibration accelerometers 24, 25 for detecting the left and right vibration acceleration of the rear bogie 3, and these lateral vibration accelerometers or lateral displacement The controller 9 determines the control output to the fluid actuator from the output of the meter and the point detection signal 6. Reference numeral 5 denotes a left-right motion damper, and reference numeral 21 denotes an air source.
[0018]
Example 2
A case where the neutral position of the vehicle body is controlled by the lateral vibration acceleration of the vehicle body using a point detection signal from the point detection device of the route will be described with reference to FIGS.
As shown in FIG. 1, when the curve signal is input to the controller 9 by the point detection signal 6, the left and right vibration acceleration detected by the left and right vibration accelerometers 7 and 8 of the vehicle body is input to the controller 9. In the controller 9, the input right and left vibration acceleration is digitized by an A / D converter 10, and only a steady component is extracted through a low-pass filter 11. Next, the control amount calculation device 12 multiplies the steady component by a gain to obtain a control output, which is converted into an analog signal by a D / A conversion device 13 and passed through an amplification device 14 to each of the proportional pressure control valves 15, 16, 17, 18. Output to Then, based on the control output, each proportional pressure control valve supplies and exhausts air, and the double-acting pneumatic cylinders 19 and 20 are driven to hold the vehicle body 1 at the vehicle body neutral position. The processing flow in this case is shown in the block diagram of FIG.
[0019]
FIG. 4 shows a comparison between the vibration waveform at the time of passing the curve when the neutral position control of the vehicle body is performed as described above and the vibration waveform at the time of passing the curve according to the conventional device. FIG. 5A shows a vibration waveform according to the embodiment of the present invention. When entering a curved section, the vibration acceleration increases, but the value changes smoothly within a substantially constant range. The displacement is in a small range within the stopper gap and there is no contact with the stopper. On the other hand, in the case of the conventional device shown in FIG. 2B, when entering the curved section, the lateral vibration acceleration is large and sharply changes, and the relative displacement between the vehicle body and the bogie fluctuates sharply near the maximum position of the stopper gap. However, it can be seen that the stopper contact frequently occurs.
[0020]
Example 3
The case where the neutral position of the vehicle body is controlled by the lateral vibration acceleration of the vehicle body without using the point detection signal from the point detection device on the route will be described with reference to FIGS.
The left and right vibration acceleration detected by the left and right vibration accelerometers 7 and 8 of the vehicle body is input to the controller 9 without distinction between a straight line and a curved line while the vehicle is running. In the controller 9, the input right-and-left vibration acceleration is digitized by the A / D converter 10, and when passing through the low-pass filter 11, the vibration component in a normal straight section is cut off, and is not output as a control signal.
[0021]
In the curved section, only the stationary component is extracted through the low-pass filter 11. Next, when the steady-state component is equal to or greater than the dead zone set value, the control amount calculation device 12 sets a value obtained by multiplying the steady component by a gain as a control output. The control output is converted into an analog signal by the D / A converter 13 and output to the respective proportional pressure control valves 15, 16, 17 and 18 through the amplifier 14. Then, based on the control output, each proportional pressure control valve supplies and exhausts air, and the double-acting pneumatic cylinders 19 and 20 are driven to hold the vehicle body 1 at the vehicle body neutral position. The processing flow in this case is shown in the block diagram of FIG.
[0022]
Example 4
A case in which the neutral position of the vehicle body is controlled by the relative left and right displacement between the vehicle body and the bogie using the point detection signal from the route point detection device will be described with reference to FIG.
As shown in FIG. 1, when a curve signal is input to the controller 9 by the point detection signal 6, the left and right displacement meters 22 and 23 provided between the vehicle body and the bogie determine the relative position between the vehicle body and the bogie. The displacement is input to the controller 9. In the controller 9, the relative displacement is digitized by the A / D converter 10, the vibration component is cut off by the low-pass filter 11, and only the steady component is extracted. Next, the control amount calculation device 12 multiplies the steady component by a gain to obtain a control output, which is converted into an analog signal by a D / A conversion device 13 and passed through an amplification device 14 to each of the proportional pressure control valves 15, 16, 17, 18. Output to Then, based on the control output, each proportional pressure control valve supplies and exhausts air, and the double-acting pneumatic cylinders 19 and 20 are driven to hold the vehicle body 1 at the vehicle body neutral position.
[0023]
Example 5
The case where the neutral position of the vehicle body is controlled by the relative displacement between the vehicle body and the bogie without using the point detection signal from the route point detection device will be described with reference to FIG.
As shown in FIG. 1, the right and left relative displacement between the vehicle body and the bogie is input to the controller 9 from the left and right displacement meters 22 and 23. In the controller 9, the relative displacement is digitized by the A / D converter 10, the vibration component is cut off by the low-pass filter 11, and only the steady component is extracted. Here, since there is no stationary component in the straight section, no control is performed.
[0024]
Next, when the steady-state component is equal to or larger than the dead zone set value, the control amount calculation device 12 sets a value obtained by multiplying the steady component by a gain as a control output, and does not perform control when the steady component is equal to or smaller than the dead zone set value. The control output is converted into an analog signal by the D / A converter 13 and output to the respective proportional pressure control valves 15, 16, 17 and 18 through the amplifier 14. Then, based on the control output, each proportional pressure control valve supplies and exhausts air, and the double-acting pneumatic cylinders 19 and 20 are driven to hold the vehicle body 1 at the vehicle body neutral position.
[0025]
Example 6
A case where the neutral position of the vehicle body is controlled by the lateral vibration acceleration of the bogie using the point detection signal from the point detection device on the route will be described with reference to FIG.
As shown in FIG. 1, when the curve signal is input to the controller 9 by the point detection signal 6, the controller 9 determines the lateral vibration acceleration of the bogie detected by the vibration accelerometers 24 and 25 installed on the bogies 2 and 3. To enter.
[0026]
In the controller 9, the input right and left vibration acceleration is digitized by an A / D converter 10, and only a steady component is extracted through a low-pass filter 11. Next, a product obtained by multiplying the gain of the steady-state component by the control amount calculating device 12 is used as a control output, converted into an analog signal by the D / A converter 13, and passed through the amplifier 14 to each of the proportional pressure control valves 15, 16, 17, 18. Output to Then, based on the control output, each proportional pressure control valve supplies and exhausts air, and the double-acting pneumatic cylinders 19 and 20 are driven to hold the vehicle body 1 at the vehicle body neutral position.
[0027]
Example 7
A case where the neutral position of the vehicle body is controlled by the lateral vibration acceleration of the bogie without using the point detection signal from the line point detection device will be described with reference to FIG.
The left and right vibration accelerations detected by the bogie's left and right vibration accelerometers 24 and 25 are input to the controller 9 without distinction between a straight line and a curve while the vehicle is running.
[0028]
In the controller 9, the input right-and-left vibration acceleration is digitized by the A / D converter 10, the vibration component is cut off through the low-pass filter 11, and only the steady component is extracted. Next, the control amount calculation device 12 multiplies the steady component by a gain to obtain a control output, which is converted into an analog signal by a D / A conversion device 13 and passed through an amplification device 14 to each of the proportional pressure control valves 15, 16, 17, 18. Output to Then, based on the control output, each proportional pressure control valve supplies and exhausts air, and the double-acting pneumatic cylinders 19 and 20 are driven to hold the vehicle body 1 at the vehicle body neutral position.
[0029]
Example 8
An embodiment of the invention will be described with reference to FIGS.
The right and left vibration acceleration is input as a preview signal to the controller 9 of the control vehicle A from the left and right vibration accelerometer 26 of the vehicle body of the preceding vehicle B in the traveling direction of the train, and a steady component is extracted from the preview signal in the controller 9. In this case, taking into account the distance L between the preceding vehicle B and the control vehicle A and the delay time t (t = L / S) based on the vehicle speed S, the steady component extracted from the lateral vibration accelerometer of the control vehicle A is calculated. The control output obtained by multiplying the gain is output to the proportional pressure control valves 15 to 18, and the double-acting pneumatic cylinders 19 and 20 are driven by the supply and exhaust of each proportional pressure control valve, and the vehicle body 1 is moved to the vehicle neutral position. To hold.
The above-mentioned lateral vibration accelerometer 26 of the vehicle body of the front vehicle B is provided on the rear bogie side of the front vehicle B, and the distance from the lateral vibration accelerometer 7 of the vehicle body on the front bogie 2 side of the control vehicle A is L. As described above, the distance between the right and left vibration accelerometer 8 of the vehicle body on the rear bogie 3 side of the control vehicle A may be L. Further, the left and right vibration accelerometer 26 of the vehicle body may be provided on the front bogie side of the front vehicle B, and the distance from the vehicle vibration accelerometer 7 on the front bogie 2 side of the control vehicle A may be L.
Note that, as the preview signal, a detection signal from a lateral vibration accelerometer of a bogie or a lateral displacement meter between the vehicle body and a bogie can be used in addition to the lateral vibration accelerometer of the vehicle body. The processing flow in this case is shown in the block diagram of FIG.
[0030]
【The invention's effect】
The present invention regulates the left and right movement of the vehicle body so that the left and right gaps between the vehicle body and the left and right movement stoppers become equal when passing through a curved section, and controls the vehicle body to a neutral position. Stoppage of the stopper is prevented, and the same riding comfort as when traveling in a straight section can be obtained when passing through a curved section.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram schematically showing an example of an apparatus for implementing a vehicle body neutral position control method for a railway vehicle according to the present invention.
FIG. 2 is a block diagram illustrating a flow of processing in a vehicle body neutral position control method according to Embodiments 2 to 7 of the present invention.
FIG. 3 is a block diagram showing a processing flow in a vehicle body neutral position control method according to an eighth embodiment of the present invention.
FIG. 4A is a graph showing a vibration waveform at the time of passing a curve when the neutral position control of the vehicle body is performed according to the first embodiment of the present invention, and FIG. It is a graph which shows a vibration waveform.
FIG. 5 is an explanatory diagram showing an outline of an example of an apparatus for carrying out the invention of claim 3 ;
FIG. 6 is an explanatory diagram schematically showing a neutral position control device of a vehicle body for implementing the invention of claim 3 .

Claims (3)

When the curve signal from the route point detection device is input to the controller, the controller controls the lateral vibration acceleration detected by the lateral vibration accelerometer of the vehicle or the bogie provided on the front and rear bogies or the relative lateral displacement between the vehicle and the bogie. The controller outputs a control output obtained by multiplying a gain to a stationary component extracted by using a low-pass filter from the left-right vibration acceleration or the left-right relative displacement between the vehicle body and the bogie in the controller to the fluid actuator. A method for controlling a neutral position of a vehicle body of a railway vehicle, wherein the neutral position of the vehicle body is maintained. A detection signal from a sensor for detecting the lateral vibration acceleration of the vehicle body or the lateral relative displacement between the vehicle body and the bogie or the lateral vibration acceleration of the bogie is input to a controller, and a low-pass filter is used from the detection signal in the controller. body neutral position control method for a railway vehicle extracted at curving of the control output which is obtained by multiplying the gain in the steady component output to the fluid actuator, characterized by holding the body of the neutral position Te. A control obtained by inputting a vibration state of a vehicle ahead in the traveling direction of the train as a preview signal to a controller of a control vehicle, and multiplying a steady component extracted from the preview signal using a low-pass filter by a gain in the controller. A vehicle body neutral position control method for a railway vehicle, comprising: outputting an output to a fluid actuator in consideration of a delay time based on a distance between a preceding vehicle and a control vehicle and a vehicle speed to maintain a neutral position of the vehicle body.

Images