JP4462065B2 - Railway vehicle vibration control apparatus and vibration control method - Google Patents

Description

  The present invention relates to a railway vehicle vibration control apparatus and vibration control method, and more particularly to a technique for reducing vehicle body vibration in a plurality of frequency components.

  In recent years, in order to improve the riding comfort of a railway vehicle, a technique for suppressing vibration generated in a vehicle body during traveling by active control has been put into practical use.

  FIG. 6 is a configuration diagram illustrating a general overall configuration of a conventional vibration control device that performs active control, including a vehicle to be controlled. In FIG. 6, the vibration of the carriage 95 is transmitted to the vehicle body 90 via the secondary spring 94. The vibration accelerometer 91 measures the vibration acceleration of the vehicle body 90, the controller 92 outputs a control command signal in a direction to reduce the vibration of the vehicle body 90 according to the measured vibration acceleration, and the actuator 93 performs air pressure according to the control command signal. It operates using hydraulic pressure, electromagnetic force, etc.

  Such an active controller can be designed based on, for example, H∞ control theory. As is well known, the H∞ control is a control that suppresses the peak value in the frequency domain of the gain ‖G‖ of the transfer function G of the control system to a predetermined value or less. A technique for suppressing vibration of a vehicle body using a controller designed based on the H∞ control theory for a control system representing the vehicle is known (for example, see Patent Document 1).

  Patent Document 1 expresses the control system using a plurality of state variables including vibration acceleration. In particular, the controller is designed after giving different weights to vibration acceleration according to the frequency. A technique for performing H∞ control using the same will be disclosed.

  FIG. 7A shows an example of a frequency distribution of weights given to vibration acceleration, and FIG. 7B shows the frequency characteristics of the gain of the transfer function when H∞ control is performed using such weights. It is an example. As can be seen from the figure, the gain of the transfer function is reduced by the weight and vibration is effectively suppressed.

In Patent Document 1, a frequency f0 for obtaining the maximum vibration suppression performance is determined in advance, the maximum weight is used at this frequency f0, and vibration in a specific frequency range that causes a particularly significant loss in ride comfort is also disclosed. In this frequency range, it is said that a good ride comfort can be obtained by suppressing to some extent using a weight greater than a predetermined value.
JP-A-5-213196

  However, according to the above conventional technique, the frequency f0 at which the maximum vibration suppression performance can be obtained is fixed. Therefore, the vibration having a frequency away from the frequency f0 is relatively well transmitted to the vehicle body. Therefore, if the peak frequency of vibration generated in the carriage fluctuates from the frequency f0 in accordance with a secular change such as wheel wear or a change in traveling environment such as inside or outside of the tunnel, the vibration of the vehicle body increases and the ride comfort is increased. There is a problem of being damaged.

  In view of the above problems, the present invention provides a vibration control device and a vibration control method for a railway vehicle that can maintain good vibration suppression performance even if the peak frequency (spectrum shape) of vibration generated in the carriage fluctuates. Objective.

In order to solve the above problems, a vibration control device of the present invention is a railway vehicle including a carriage, a vehicle body, and an actuator provided between the carriage and the vehicle body. A vibration control device for suppressing vibrations, the first control means for generating a first control command signal for minimizing a transmission gain of vibration from the carriage to the vehicle body at a predetermined first frequency; and the transmission Second control means for generating a second control command signal for minimizing the gain at a predetermined second frequency, the magnitude of the component signal of the first frequency included in the disturbance signal representing the vibration of the carriage, and the second A mixing ratio calculating means for generating a mixing ratio signal representing a mixing ratio of the first control command signal and the second control command signal based on the magnitude of a component signal of two frequencies; Mixing means for generating a new control command signal for supplying to the actuator by mixing the second control command signal and the first control command signal at a ratio corresponding to the mixing ratio signal generated at a ratio calculating means With.

  According to this configuration, by using the new control signal, vibration transmission of the first frequency and the second frequency is suppressed at a ratio indicated by the mixing ratio signal. And since the ratio suitable for the shape of the frequency spectrum of vibration can be instructed by the mixing ratio signal, even when the shape of the vibration spectrum changes, it becomes possible to always follow the spectrum and suppress vibration transmission, Vibration suppression performance will be maintained.

  Preferably, when the magnitude of the component signal of the first frequency is A and the magnitude of the component signal of the second frequency is B, the mixing ratio calculation means uses the value of A / (A + B) as a mixing ratio. Calculated as α, a mixing ratio signal representing the calculated mixing ratio α is generated, and the mixing unit sets the first control command signal and the second control command signal at a ratio of α: (1-α). A new control command signal may be generated by mixing.

  According to this configuration, vibration transmission of the first frequency and the second frequency is suppressed in proportion to the amount of each frequency component of the vibration of the carriage, so that it can accurately follow the change in the vibration spectrum of the carriage. Vibration suppression performance is demonstrated.

  The vibration control device further estimates vibration of the carriage using a vibration acceleration signal representing vibration acceleration of the vehicle body and the new control command signal, and generates the disturbance signal according to the estimation result. A disturbance observer may be provided.

  According to this configuration, since vibration suppression control is performed following the vibration of the carriage estimated from the signal obtained from the vehicle body, there is no need to provide a sensor on the carriage where the vibration and temperature change drastically. The control device can be realized relatively easily.

  The carriage may be provided with a disturbance sensor, and the mixing ratio calculation means may acquire the disturbance signal from the disturbance sensor.

  According to this configuration, it is necessary to maintain the function of the disturbance sensor in a cart that vibrates and changes in temperature, but the disturbance observer is omitted and the configuration of the controller can be simplified.

The vibration control method of the present invention is a vibration control method for suppressing vibration of the vehicle body by controlling the actuator in a railway vehicle including a vehicle, a vehicle body, and an actuator provided between the vehicle and the vehicle body. A first control step for generating a first control command signal for minimizing a transmission gain of vibration from the carriage to the vehicle body at a predetermined first frequency; and the transmission gain at a predetermined second frequency. A second control step for generating a second control command signal for minimization in step 1, a magnitude of the first frequency component signal and a magnitude of the second frequency component signal included in the disturbance signal representing the vibration of the carriage A mixing ratio calculation step for generating a mixing ratio signal representing a mixing ratio between the first control command signal and the second control command signal, and the mixing ratio calculation step. A mixing step of generating a new control command signal for supplying to the actuator by mixing the second control command signal and the first control command signal at a ratio corresponding to the mixing ratio signal generated by the flop Including.

  The program of the present invention causes a computer to execute the steps included in the vibration control method described above.

  By performing vibration suppression control using these methods and programs, the same effects as described above can be obtained.

  A vibration control apparatus according to an embodiment of the present invention will be described with reference to the drawings. The overall configuration of this vibration control apparatus is the same as the general overall configuration of the prior art (see FIG. 6), but the controller includes a plurality of H∞ controllers that minimize the gain of the transfer function at different frequencies. And a new control command obtained by mixing the control command output from each H∞ controller in accordance with the frequency component of the vibration of the carriage.

  Hereinafter, the controller according to the present embodiment will be described in detail. This controller is used as the controller 92 in the overall configuration shown in FIG.

  FIG. 1 is a functional block diagram showing the configuration of the controller 92a. The controller 92a includes a first H∞ controller 11, a second H∞ controller 12, multipliers 21 and 22, an adder 30, a disturbance observer 40, a first bandpass filter 51, a second bandpass filter 52, and a mixture ratio calculation. The device 60 is configured.

  The controller 92a may be realized using, for example, a DSP (Digital Signal Processor). In that case, each component represents a function exhibited by the DSP executing a predetermined program. Of course, the controller 92a may be realized by using a hardware circuit that exhibits the function of each component.

  The controller 92 a is provided with a vibration acceleration signal S 10 representing vibration acceleration (for example, lateral acceleration) of the vehicle body from the vibration accelerometer 91, and outputs a control command signal S 30 to the actuator 93. In addition, in order to convert these signals between an analog format and a digital format, a D / A converter and an A / D converter (not shown) are appropriately used.

  The first H∞ controller 11 is designed using a first weight having a peak at a predetermined frequency f1, and the second H∞ controller 12 is designed using a second weight having a peak at a predetermined frequency f2. Is done. Then, by performing H∞ control independently of each other, the first individual control command signal S11 that minimizes the gain of the transfer function at the frequency f1 and the gain of the transfer function at the frequency f2, respectively, from the vibration acceleration signal S10. The second individual control command signal S12 to be converted is output.

  Here, the frequencies f1 and f2 are two typical frequencies having large vibration components known in advance, for example, 1 Hz and 3 Hz.

  FIG. 2A shows the frequency distribution 71 of the first weight and the frequency distribution 72 of the second weight as an example.

  The multiplier 21 multiplies the first individual control command signal S11 by the mixing ratio α (0 ≦ α ≦ 1) indicated by the mixing ratio signal S60, and the multiplier 22 multiplies the second individual control command signal S12 by (1-α ), And the adder 30 outputs a control command signal S30 obtained by adding the multiplication results.

  The disturbance observer 40 estimates the left-right vibration speed of the carriage using the vibration acceleration signal S10 and the control command signal S30, and outputs a disturbance signal S40 representing the estimation result.

  The first bandpass filter 51 is a bandpass filter having a center frequency of f1, and the second bandpass filter 52 is a bandpass filter having a center frequency of f2. Then, the disturbance signal S40 is input, and the first frequency component signal S51 and the second frequency component signal S52 are output, respectively.

  FIG. 2B shows the frequency characteristic 73 of the gain of the first bandpass filter 51 and the frequency characteristic 74 of the gain of the second bandpass filter 52 as an example.

  The mixing ratio calculator 60 calculates the value of A / (A + B) as the mixing ratio α, where A is the magnitude of the first frequency component signal S51 and B is the magnitude of the second frequency component signal S52. Here, as A and B, for example, the amplitudes of the first frequency component signal S51 and the second frequency component signal S52 can be used.

  3A and 3B show examples of time waveforms of the first frequency component signal S51 and the second frequency component signal S52, respectively, and show that the respective amplitudes are used as A and B. FIG.

  In addition, as A and B, for example, RMS (Root Mean Square) of the first frequency component signal S51 and the second frequency component signal S52 may be used.

  The mixture ratio calculator 60 outputs a mixture ratio signal S60 representing the calculated mixture ratio α to the multipliers 21 and 22. As described above, the first individual control command signal S11 and the second individual control command signal S12 are mixed at a ratio of α: (1−α) by the multipliers 21 and 22 and the adder 30, and the control command. Output as signal S30.

  FIG. 4 shows the frequency characteristic 80 of the gain ‖G‖ of the transfer function G when the actuator 93 is controlled using the control command signal S30. For comparison, a frequency characteristic 81 when the first individual control command signal S11 is used alone and a frequency characteristic 82 when the second individual control command signal S12 is used alone are shown.

  The control command signal S30 includes the first individual control command signal S11 and the second individual control command signal S12 at a ratio determined in accordance with the frequency distribution (spectrum) of the vibration of the carriage. By using it, the vibration suppression performance is maintained against larger frequency fluctuations as compared with the conventional technique using one individual control command signal alone.

  As described above, the vibration control device according to the present embodiment analyzes two frequency components included in the vibration of the carriage and suppresses vibration transmission at each frequency at a ratio according to the amount of the components. Therefore, even if the shape (vibration peak frequency) of the vibration spectrum changes due to secular change or the like, vibration transmission is always suppressed following the spectrum, so that a good vibration suppression performance is maintained.

  Although the present invention has been described based on the above-described embodiment, it is needless to say that the present invention is not limited to the above-described embodiment. The following cases are also included in the present invention.

  In the embodiment, the vibration of the carriage is estimated by the disturbance observer. However, the vibration of the carriage may be measured using a disturbance sensor (speed sensor, vibration sensor, etc.) provided on the carriage.

  FIG. 5 is a functional block diagram showing the configuration of the controller 92b according to such a modification. Compared with the controller 92a, the disturbance observer 40 is omitted, and a disturbance signal S45 representing the measurement result of the bogie signal is obtained from the disturbance sensor 45 instead.

  According to the controller 92b, it is necessary to maintain the function of the disturbance sensor in a cart with severe vibration and temperature change, but the disturbance observer is omitted and the configuration of the controller can be simplified.

In the embodiment, the description has been made using two frequencies for the sake of brevity, but it is generally easy to expand to n frequencies. In this case, the iH∞ controller that outputs the i-th individual control command signal and the i-th bandpass filter that outputs the i-th frequency component signal corresponding to the frequency fi (i = 1,..., N). And are provided. When the size of the i-th frequency component signal and Ai, Ai / a value mixing ratio αi of _{(Σ j = 1, ...,} n (Aj)), Σ j = 1, ..., n (αj × The control command signal may be generated according to the i-th individual control command signal.

  Further, the present invention may be a method including the processing steps described in the embodiments. The method may be a computer program for realizing the method using a computer system, or may be a digital signal representing the program.

  Further, the present invention may be a computer-readable recording medium in which the program or the digital signal is recorded, for example, a flexible disk, a hard disk, a CD, an MO, a DVD, a BD, a semiconductor memory, or the like.

  Further, the present invention may be the computer program or the digital signal transmitted via an electric communication line, a wireless or wired communication line, a network represented by the Internet, or the like.

  Further, the program or the digital signal may be recorded on the recording medium and transferred, or transferred via the network or the like, and executed in another independent computer system.

  The vibration control device and the vibration control method according to the present invention can be used for suppressing vibration of a vehicle body in a railway vehicle.

It is a functional block diagram which shows the structure of the control part which concerns on embodiment. (A) It is an example of the frequency distribution of the weight used for the design of each Hinfinity controller in the said control part. (B) It is an example of the frequency characteristic of each band pass filter in the said control part. (A) And (B) It is an example of the time waveform of the output signal from the said band pass filter. It is an example of the frequency characteristic of the gain of each transfer function when a control command signal is used and when an individual control command signal is used alone. It is a functional block diagram which shows the structure of the control part which concerns on a modification. It is a block diagram which shows the general whole structure of the conventional vibration control apparatus. (A) It is an example of the frequency distribution of the weight used for the design of the conventional H∞ controller. (B) It is an example of the frequency characteristic of the gain of a transfer function at the time of using the said weight.

Explanation of symbols

11 First H∞ Controller 12 Second H∞ Controller 21, 22 Multiplier 30 Adder 40 Disturbance Observer 45 Disturbance Sensor 51 First Bandpass Filter 52 Second Bandpass Filter 60 Mixing Ratio Calculator 90 Car Body 91 Vibration Accelerometer 92 Controller 93 Actuator 94 Secondary spring 95 Cart

Claims (8)

In a railway vehicle including a carriage, a vehicle body, and an actuator provided between the carriage and the vehicle body, a vibration control device that suppresses vibration of the vehicle body by controlling the actuator,
First control means for generating a first control command signal for minimizing a transmission gain of vibration from the carriage to the vehicle body at a predetermined first frequency;
Second control means for generating a second control command signal for minimizing the transfer gain at a predetermined second frequency;
Mixing of the first control command signal and the second control command signal based on the magnitude of the component signal of the first frequency and the magnitude of the component signal of the second frequency included in the disturbance signal representing the vibration of the carriage A mixing ratio calculating means for generating a mixing ratio signal representing the ratio;
A new control command signal to be supplied to the actuator is generated by mixing the first control command signal and the second control command signal at a ratio corresponding to the mixing ratio signal generated by the mixing ratio calculation means. A vibration control apparatus comprising: a mixing unit. The mixing ratio calculating means calculates a value of A / (A + B) as a mixing ratio α, where A is the magnitude of the first frequency component signal and B is the magnitude of the second frequency component signal. Generating a mixture ratio signal representing the calculated mixture ratio α,
Said mixing means, said first control command signal and the second control command signal alpha: claim 1, characterized in that to generate a new control command signal by mixing (1-alpha) ratio The vibration control device described in 1. The vibration control device further includes:
A disturbance observer is provided that estimates vibrations of the carriage using a vibration acceleration signal representing vibration acceleration of the vehicle body and the new control command signal, and generates the disturbance signal according to the estimation result. The vibration control device according to claim 1 . The carriage is provided with a disturbance sensor,
The vibration control apparatus according to claim 1 , wherein the mixing ratio calculation unit acquires the disturbance signal from the disturbance sensor. In a railway vehicle including a carriage, a vehicle body, and an actuator provided between the carriage and the vehicle body, a vibration control device that suppresses vibration of the vehicle body by controlling the actuator,
Corresponding to each of n predetermined frequencies fi (i = 1,..., n), the i-th control command signal for minimizing the transmission gain of vibration from the carriage to the vehicle body at fi is generated. i control means;
A mixture ratio calculation means for generating a mixture ratio signal based on the magnitude of the component signal of the frequency fi (i = 1,..., N) included in the disturbance signal representing the vibration of the carriage,
A new control command signal to be supplied to the actuator is generated by mixing the i-th control command signal (i = 1,..., N) at a ratio corresponding to the mixing ratio signal generated by the mixing ratio calculation means. A vibration control apparatus comprising: a mixing unit that performs the following. In a railway vehicle including a carriage, a vehicle body, and an actuator provided between the carriage and the vehicle body, a vibration control method for suppressing vibration of the vehicle body by controlling the actuator,
A first control step of generating a first control command signal for minimizing a transmission gain of vibration from the carriage to the vehicle body at a predetermined first frequency;
A second control step of generating a second control command signal for minimizing the transfer gain at a predetermined second frequency;
Mixing of the first control command signal and the second control command signal based on the magnitude of the component signal of the first frequency and the magnitude of the component signal of the second frequency included in the disturbance signal representing the vibration of the carriage A mixing ratio calculation step for generating a mixing ratio signal representing the ratio;
A new control command signal to be supplied to the actuator is generated by mixing the first control command signal and the second control command signal at a ratio corresponding to the mixing ratio signal generated in the mixing ratio calculation step. A vibration control method comprising: a mixing step. In a railway vehicle including a carriage, a vehicle body, and an actuator provided between the carriage and the vehicle body, a vibration control method for suppressing vibration of the vehicle body by controlling the actuator,
Corresponding to each of n predetermined frequencies fi (i = 1,..., n), the i-th control command signal for minimizing the transmission gain of vibration from the carriage to the vehicle body at fi is generated. i control step;
A mixing ratio calculation step for generating a mixing ratio signal based on the magnitude of the component signal of the frequency fi (i = 1,..., N) included in the disturbance signal representing the vibration of the carriage;
A new control command signal to be supplied to the actuator is generated by mixing the i-th control command signal (i = 1,..., N) at a ratio corresponding to the mixing ratio signal generated in the mixing ratio calculation step. A vibration control method comprising: a mixing step. A program for causing a computer to execute the steps included in the vibration control method according to claim 6 or 7 .

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