JP4818244B2 - Electric motor control device and re-adhesion control method - Google Patents

Description

  The present invention relates to an electric motor control device that controls an electric motor that drives a driving wheel of an electric vehicle traveling on a track, detects occurrence of idling of the moving wheel, and performs re-adhesion control of the moving wheel, and a re-adhesion control method thereof.

  Electric locomotives, trains, and the like are known as electric vehicles that run on tracks. Hereinafter, trains (powered vehicles) will be described as representative examples. The train is accelerated and decelerated by the tangential force between the wheels and rails (also called adhesive force). If the generated torque of the electric motor is in the range of tangential force or less, adhesion running is performed, but if the tangential force is exceeded, idling or gliding (hereinafter referred to as “idling gliding”) occurs. In the case of idling, the control for reducing the generated torque of the electric motor to return to the sticking running, that is, the re-sticking control is performed (for example, refer to Patent Document 1).

Therefore, torque control that maintains effective adhesion performance and does not cause idling or rapid and optimum re-adhesion torque control after idling is required.
JP 2002-44804 A

  However, most of the developments and researches related to conventional re-adhesion control are related to a method for quickly detecting the occurrence of idling and the method for prompt re-adhesion control after detecting the occurrence of idling. In other words, it is an implicit premise that the re-adhesion control is promptly activated in the event of idling.

  The present invention has been made in view of the above-described problems, and proposes a new control method that separates the detection of the occurrence of idling and the activation of re-adhesion control.

The first invention for solving the above-described problems is
An electric motor controller (for example, an electric motor 10 in FIG. 3) that drives a driving wheel of an electric vehicle traveling on a track, detects the occurrence of idling of the driving wheel, and performs re-adhesion control of the driving wheel (for example, The motor control device 40) of FIG.
A curve radius corresponding to the current travel point is acquired from the track information from which the curve radius of the track can be acquired from the travel point, or a curve radius corresponding to the current travel point is determined as a predetermined curve radius determination unit (for example, FIG. 3). Curve radius acquisition means to be acquired by inputting from the curve radius determination unit 50),
1) a first speed difference reference condition (for example, speed difference Vs2 in FIG. 7) that uses the peripheral speed of the moving wheel and the traveling speed of the electric vehicle as determination target values; and / or 2) the peripheral acceleration of the moving wheel. Trigger condition matching detection means (for example, FIG. 5) that detects that the trigger condition for the re-adhesion control including at least the first peripheral acceleration reference condition (for example, the acceleration αs2 in FIG. 7) is set as a determination target value. Comparators 4243, 4244),
Re-adhesion control activating means (for example, activation command unit 424 in FIG. 5) for activating the re-adhesion control in response to detection by the activation condition match detection means;
With
The motor control device further includes an activation condition varying means (for example, a parameter switching setting unit 427 in FIG. 5) that varies the activation condition based on the curve radius acquired by the curve radius acquisition means.

As another invention,
When controlling an electric motor that drives a driving wheel of an electric vehicle traveling on a track, a re-adhesion control method for detecting occurrence of idling of the driving wheel and performing re-adhesion control of the driving wheel,
A curve determination acquisition step for acquiring a curve radius corresponding to the current travel point from the track information capable of acquiring the curve radius of the track from the travel point;
1) a first speed difference reference condition that uses the peripheral speed of the moving wheel and the traveling speed of the electric vehicle as determination target values; and / or 2) a first periphery that uses the peripheral acceleration of the moving wheel as a determination target value. An activation condition match detection step for detecting that the activation condition of the re-adhesion control including at least an acceleration reference condition is satisfied;
A re-adhesion control activation step for activating the re-adhesion control in response to detection by the activation condition match detection step;
Including
You may comprise the re-adhesion control method which further includes the trigger condition variable step which varies the trigger condition based on the curve radius acquired by the said curve radius acquisition step.

According to the first invention and the like, the re-adhesion control is activated when it is detected that the activation condition is satisfied, and the activation condition is varied based on the curve radius of the currently running track.
Re-adhesion control is activated during idling. An idling run occurs regardless of a straight section or a curved section. However, as will be described later, when the idling in the curved section is continued and advanced, the value corresponding to the tangential force coefficient can be increased. Thus, according to the first aspect of the invention, since the re-adhesion control activation condition is varied based on the curve radius of the currently running track, the idling is allowed to continue, and the tangential force coefficient equivalent value increases. Is promoted, and it becomes possible to increase the adhesive force during re-adhesion.

The second invention is the electric motor control device of the first invention,
The activation condition varying means is an electric motor control device that changes the activation condition to a condition that allows the progress of idle running more as the curve radius acquired by the curve radius acquisition means is smaller.

According to the second aspect of the invention, the smaller the curve radius of the acquired currently running track is, the more the activation condition is changed to allow the progress of the idling. It can be expected to improve the adhesive force at the time of re-adhesion by promoting the increase in the value corresponding to the tangential force coefficient.

Various methods can be considered as the method for changing the activation condition.
For example, as a third invention, the electric motor control device of the first or second invention,
The activation condition includes at least the first speed difference reference condition,
In the first speed difference reference condition, a speed difference between a peripheral speed of the driving wheel and a traveling speed of the electric vehicle or a threshold of a slip ratio is defined as a condition.
The activation condition varying means may constitute an electric motor control device that varies the activation condition by increasing or decreasing the threshold value.

In this case, as a fourth invention,
The activation condition variable means may constitute an electric motor control device that increases the threshold value as the curve radius acquired by the curve radius acquisition means decreases.

Further, as a fifth invention, the electric motor control device according to any one of the first to fourth inventions,
The activation condition includes at least the first circumferential acceleration reference condition,
In the first circumferential acceleration reference condition, a threshold value of the circumferential acceleration of the driving wheel is defined as a condition,
The activation condition varying means may constitute an electric motor control device that varies the activation condition by increasing or decreasing a threshold value of the circumferential acceleration.

In this case, as a sixth invention,
The activation condition varying means may constitute an electric motor control device that increases the peripheral acceleration threshold as the curve radius acquired by the curve radius acquisition means decreases.

A seventh invention is the electric motor control device according to any one of the first to sixth inventions,
A tangential force coefficient equivalent value detecting means for detecting a tangential force coefficient equivalent value of the driving wheel;
The activation condition varying means is an electric motor control device that varies the activation condition based on the detected tangential force coefficient equivalent value.

  Here, the value corresponding to the tangential force coefficient is not only the tangential force coefficient itself, but also the same variation as the variation of the tangential force coefficient, such as tangential force, adhesive force, and electric current value (for example, torque current) of the motor. (A value that is almost linear with the tangential force coefficient), and is a value that can be handled equivalently or substantially equivalent to the tangential force coefficient.

  The idling occurs even if the tangential force coefficient equivalent value is high or low. If re-adhesion control is performed when the value corresponding to the tangential force coefficient of the running wheel that is idling is relatively low, the tangential force coefficient equivalent value during re-adhesion is relatively low due to torque reduction by re-adhesion control. The tangential force coefficient equivalent value is lower than the tangential force coefficient equivalent value, and the adhesive force during re-adhesion is reduced.

  However, as will be described later, when idling with a relatively low tangential force coefficient equivalent value is continued, the tangential force coefficient equivalent value can increase. Thus, according to the seventh aspect of the invention, since the re-adhesion control activation condition is further varied based on the tangential force coefficient equivalent value, the re-adhesion control activation timing is further delayed when the tangential force coefficient equivalent value is low. It becomes possible. Thereby, the continuation of idling is allowed and the increase of the tangential force coefficient equivalent value is promoted, so that the adhesive force at the time of re-adhesion can be increased.

The eighth invention is the electric motor control device of the seventh invention,
The activation condition varying means includes a progress allowable range that is predetermined as a range of values that the tangential force coefficient equivalent value detected by the tangential force coefficient equivalent value detection means may increase when the idling is advanced. When it is in the range, the trigger condition is changed to the condition content that allows the progress of the idling and the curve radius acquired by the curve radius acquisition means is smaller as compared to the case where it is not within the allowable range of progress. The motor control device changes the activation condition to a condition content that allows further progress of idling.

  If the value corresponding to the tangential force coefficient at the time of idling is within the continuation allowable range determined in advance as the range of values that may rise when idling is continued, the idling There is a high possibility that the tangential force coefficient equivalent value will rise. Therefore, according to the eighth aspect of the present invention, it is possible to allow the continuation of the idling to the extent that the tangential force coefficient equivalent value when the occurrence of the idling is detected is within the continuation allowable range. Become.

A ninth invention is the motor control device according to any one of the first to eighth inventions,
The activation condition varying means is an electric motor control device that varies the activation condition based on the traveling speed of the electric vehicle.

  According to the ninth aspect, the activation condition is further varied based on the traveling speed of the electric vehicle. For this reason, it is possible to realize appropriate change of the activation condition in accordance with the relationship between the traveling speed of the electric vehicle and the curve radius of the running track.

A tenth invention is the electric motor control device according to any one of the first to ninth inventions,
Idle running detection means for detecting occurrence of idle running of the driving wheel;
A non-activation detecting means for detecting that the re-adhesion control is not activated by the re-adhesion control activating means until a predetermined time has elapsed since the detection by the idling sliding detection means;
Forced activation means for forcibly activating the re-adhesion control in response to detection by the non-activation detection means;
Is an electric motor control device further provided.

  If the re-adhesion control is not activated until the predetermined time has elapsed since the detection of the idling, the re-adhesion control is forcibly activated. There is also a risk that the life of the wheel may be shortened due to friction and wear with the rail due to continuous idling. However, according to the tenth aspect of the present invention, the re-adhesion control is forcibly activated if the re-adhesion control is not activated until the predetermined time has elapsed since the detection of the occurrence of idling. Excessive continuation of gliding can be prevented.

  Moreover, in the electric motor control device of each invention described above, the activation of the re-adhesion control is controlled based on the curve radius, but it is also possible to perform a control other than the activation.

For example, as an eleventh invention, the electric motor control device according to any one of the first to tenth inventions,
(B) Second speed difference reference condition (for example, speed difference Vr in FIG. 7) in which the peripheral speed of the moving wheel and the traveling speed of the electric vehicle are determination target values, and / or (b) the peripheral acceleration of the moving wheel A return condition for starting the return operation of the re-adhesion control activated by the re-adhesion control activating means, which includes at least a second peripheral acceleration reference condition (for example, acceleration αr in FIG. 7) that is a determination target value. A return condition match detection means (for example, comparators 4251 and 4252 in FIG. 5) for detecting satisfaction,
A re-adhesion control return means (for example, a return command unit 425 in FIG. 5) for starting a return operation of the re-adhesion control activated by the re-adhesion control activation means in response to detection by the return condition match detection means;
A return condition variable means for changing the return condition based on the curve radius acquired by the curve radius acquisition means (for example, the parameter switching setting unit 427 in FIG. 5);
It is good also as comprising the electric motor control apparatus further provided with.

  According to the eleventh aspect of the invention, when it is detected that the return condition is satisfied, the return operation of the activated re-adhesion control is started. That is, based on the curve radius of the currently running track, it is possible to control not only the re-adhesion control activation control but also the start of the re-adhesion control return operation.

Moreover, as a twelfth invention, the electric motor control device according to any one of the first to eleventh inventions,
The motor control device may further include a torque reduction speed varying means that varies a torque reduction speed, which is a control parameter for the re-adhesion control, based on the curve radius acquired by the curve radius acquisition means.

  According to the twelfth aspect of the present invention, the torque reduction speed, which is a control parameter for the re-adhesion control, can be varied based on the curve radius of the currently running track.

Further, as a thirteenth invention, the electric motor control device according to any one of the first to twelfth inventions,
The motor control device may further include a return time varying unit that varies a return time that is a control parameter for the re-adhesion control based on the curve radius acquired by the curve radius acquiring unit.

  According to the thirteenth aspect, the return time that is the re-adhesion control parameter can be varied based on the curve radius of the currently running track.

  According to the present invention, since the re-adhesion control activation condition is varied based on the curve radius of the currently running track, the idling is allowed to continue according to the curve radius of the currently running track, and the tangent line A new re-adhesion control control that separates the detection of the occurrence of idling and the activation of the re-adhesion control, such as an increase in the force coefficient equivalent value, which can increase the adhesive force during re-adhesion. A method is realized.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In the following, the case where the present invention is applied to a train which is a kind of electric car will be described, but embodiments to which the present invention can be applied are not limited thereto.

[principle]
In a train, when the occurrence of idling of a driving wheel driven by an electric motor is detected, re-adhesion control is performed in which the torque (current) of the electric motor is lowered to re-adhere the moving wheel to the track and then the torque is restored. As described above, in the conventional re-adhesion control, the re-adhesion control is activated (started) as soon as the occurrence of idling is detected.

  On the other hand, in this embodiment, when the occurrence of idling is detected, the re-adhesion control is not necessarily activated immediately, but the trajectory condition, more specifically, the curve radius Cr (the curve radius is set to infinity). The case is a straight line, and in the present embodiment, the straight line is also a special example of a curve, and is the target of the curve radius Cr.) The timing for invoking the re-adhesion control is varied. That is, the re-adhesion control is executed with a control pattern that allows the progress of the idling to some extent by delaying the timing for initiating the re-adhesion control according to the curve radius Cr. Specifically, when the curve radius Cr is relatively large, an activation condition that does not allow the progress of idling is set to activate re-adhesion control at an early stage, and when the curve radius Cr is relatively small, idling is performed. Trigger conditions that allow the development of

  FIG. 1 is a diagram showing a test result of a sliding speed-tangential force coefficient characteristic when a Shinkansen train is run at a high speed test at about 310 [km / h] on a track having a curved radius of 4000 [m]. In the test, among the axes of the bogie of the Shinkansen train, when the occurrence of idling was detected for the axis to be tested, idling was continued without activating readhesion control immediately. FIG. 1 is a diagram showing a characteristic of a tangential force coefficient μ with respect to a sliding speed during occurrence (continuation) of idling. The tangential force coefficient μ was calculated using formulas (1) and (2) from the measured values of the wheel peripheral speed and the torque current component of the motor. Further, FIG. 1 shows only the characteristics for each of the two idlings out of a number of idlings that occurred during the test run for the shaft.

ここで、Ｆは車輪周引張力［Ｎ］、ｍは回転慣性質量［ｋｇ］、αは車輪周加速度［ｍ／ｓ^２］、Ｗ_０は静止輪重［Ｎ］である。
また、車輪周引張力Ｆは、式（２）で与えられる。

ここで、Ｇは歯車比、Ｒは車輪半径［ｍ］、τ_ｅは電動機の発生トルク［Ｎｍ］である。 The tangential force coefficient μ is calculated by the equation (1).

Here, F is the wheel circumferential tensile force [N], m is the rotational inertial mass [kg], α is the wheel circumferential acceleration [m / s ² ], and W ₀ is the stationary wheel weight [N].
Further, the wheel circumferential tensile force F is given by Expression (2).

Here, G is the gear ratio, R is the wheel radius [m], and τ _e is the generated torque [Nm] of the motor.

In the equations (1) and (2), the gear ratio G, the wheel radius R, the rotational inertia mass m, and the stationary wheel load W ₀ are known values determined by the specifications of the vehicle. Further, the wheel circumferential acceleration α is obtained by differentiating the wheel circumferential speed, and the generated torque τ _e is obtained from the torque current component Iq of the electric motor. Therefore, the tangential force coefficient μ is obtained from the measured values of the wheel acceleration and torque current component Iq during the test travel and the specifications of the test travel vehicle.

  In FIG. 1, when the generated idling is continued, the sliding speed gradually increases with the passage of time, and the idling proceeds. As the sliding speed increases, the tangential force coefficient μ temporarily changes or decreases as it is, but thereafter the tangential force coefficient μ tends to increase as the sliding speed increases. For the sake of simplicity, only the characteristics of three idling runs are shown in FIG. 1, but in practice, a considerable number of test results were obtained, indicating this tendency. That is, it can be said that when idle running occurs during traveling in a curved section, a greater adhesive force than that at the time of occurrence can be obtained by allowing the progress of idle running.

  For this reason, in this embodiment, the start timing of the re-adhesion control is varied according to the running track condition, more specifically, the curve radius Cr. That is, the re-adhesion control activation condition is varied according to the curve radius Cr, and the re-adhesion control activation timing can be delayed as the curve radius Cr decreases.

FIG. 2 is a diagram for explaining the re-adhesion control of the present embodiment. In FIG. 2, the horizontal axis is time t, the peripheral speed V of the control target axis is shown together with the reference speed (target speed) Vm on the upper side, and the generated torque τ _e of the electric motor driving the target axis is shown on the lower side. Yes. According to the figure, when idling does not occur, the peripheral speed V substantially coincides with the reference speed Vm, and the motor torque τ _e is kept substantially constant. When idling occurs, the circumferential speed V increases, and the speed difference Vd that is the difference from the reference speed Vm increases. When the speed difference Vd reaches a predetermined threshold value Vs1 at time t1, the occurrence of idling is detected. Subsequently, when the speed difference Vd further increases and reaches a predetermined threshold value Vs2 at time t2, the re-adhesion control is activated. However, Vs1 ≦ Vs2.

When the re-adhesion control is activated, the reduction of the motor torque τ _e is started. At this time, the reduction of the motor torque τ _e is performed at a predetermined reduction speed Wt. The reduction of the motor torque τ _e is continued until the increase in the peripheral speed V becomes zero, that is, until the acceleration α obtained by differentiating the peripheral speed V becomes zero. Lowering the motor torque tau _e peripheral speed V is lowered, the speed difference Vd is returning operation of the re-adhesion control is started at time t3 equal to or less than the threshold value Vr determined in advance. That is, the control for reducing the reduction amount of the motor torque τ _e and returning the torque is started. Then, at time t4 when the electric motor torque τ _e returns to the value at the start time (time t1) of the re-adhesion control, the re-adhesion control ends. At this time, the motor torque τ _e is controlled so as to return over a predetermined return time Tt.

  In the present embodiment, the threshold value Vs2 for determining the re-adhesion control activation timing and the threshold value Vr for determining the re-adhesion control return timing are varied according to the curve radius Cr of the running track. Specifically, when the curve radius Cr is close to infinity (that is, a straight line), the re-adhesion control is activated immediately when the occurrence of idling is detected with Vs1 = Vs2. Then, as the curve radius Cr becomes smaller, Vs2 is set to a value larger than Vs1, and the activation timing of the re-adhesion control is delayed.

  Further, in the present embodiment, the generated torque reduction speed Wt, the return time Tt, and the like, which are control parameters for the re-adhesion control (re-adhesion control parameter), are varied according to the curve radius Cr of the running track.

[Constitution]
FIG. 3 is a diagram schematically showing a configuration related to the present embodiment in the circuit blocks of the main circuit of the train, and shows one drive shaft. That is, although control of an electric motor is demonstrated below as individual control (what is called 1C1M), embodiment which can apply this invention is not restricted to this. For example, the present invention can be applied to 1C4M that controls two wheels of a moving wheel for two vehicles collectively. According to FIG. 3, the main circuit of the train related to the present embodiment includes the electric motor 10, the speed sensor 12, the inverter 20, the current sensor 30, the electric motor control device 40, and the curve radius determination unit 50. The curve determination Cr determined by the curve radius determination unit 50 is input to the motor controller 40.

The electric motor 10 is a main electric motor (main motor) that rotates the axle by being supplied with electric power from the inverter 20, and is realized by, for example, a three-phase induction motor. The speed sensor 12 detects the rotational speed (circumferential speed) V of the electric motor 10. The current sensor 30 is provided at the input end of the electric motor 10 and detects U-phase and V-phase currents Iu and Iv flowing into the electric motor 10. The inverter 20 is supplied with overhead power via a pantograph and a converter. Then, the output voltage is adjusted based on the voltage command values Vu ^* , Vv ^* , Vw ^* of the U phase, V phase, and W phase input from the vector arithmetic control device 43, and the electric motor 10 is supplied with power.

  The electric motor control device 40 performs vector control of the electric motor 10. The electric motor control device 40 is realized by a computer or the like including a CPU, a ROM, a RAM, and the like. Configured as The electric motor control device 40 includes a re-adhesion control device 42 and a vector calculation control device 43.

  The re-adhesion control device 42 generates the electric motor 10 based on the curve radius Cr of the currently running track determined by the curve determination unit 50, the peripheral speed V detected by the speed sensor 12, and the input reference speed Vm. A torque reduction command signal for controlling the torque to execute the re-adhesion control is generated. Here, the reference speed Vm is the traveling speed of the train, and may be obtained from, for example, a speed signal obtained from the driver's cab or the peripheral speed of the driven shaft of the T car. Alternatively, it may be determined as a minimum value during power running, or as a maximum value during braking.

The vector calculation control device 43 includes an excitation current component Id that is a d-axis component obtained by performing dq coordinate conversion on Iv and Iu detected by the current sensor 30, and a torque current component that is a q-axis component (motor torque component). Current) Iq, peripheral speed V detected by the speed sensor 12, current command values Id ^* and Iq ^* input from a current command generator (not shown), and torque reduction command signal input from the re-adhesion control device 42. Based on this, voltage command values Vu ^* , Vv ^* , Vw ^* for the inverter 20 are generated. Specifically, while the torque reduction command signal is not input, normal calculation processing based on the current command values Id ^* , Iq ^*, etc. is performed to calculate the voltage command values Vu ^* , Vv ^* , Vw ^* , and the torque reduction. When the command signal is input, the voltage command values Vu ^* , Vv ^* , Vw ^* are calculated so as to reduce the torque generated by the electric motor 10 by an amount corresponding to the signal. Here, the arithmetic processing for calculating the voltage command values Vu ^* , Vv ^* , Vw ^* based on the current command values Id ^* , Iq ^*, etc. is a well-known arithmetic processing, and detailed description thereof will be omitted. In addition, the rotational speed of the axle is not directly detected using the speed sensor 12, but an estimation method used in so-called speed sensorless vector control (for example, the rotational speed is estimated based on the armature voltage or armature current of the induction motor). Of course, the speed sensor 12 may be unnecessary as the peripheral speed V is obtained by the above method.

  The curve radius determination unit 50 is installed on, for example, a transmission stand, and is a device that determines the track condition during the current traveling from the current traveling position. Specifically, the curve radius determination unit 50 has track information 52 in which the kilometer shown in FIG. 4 is associated with the curve radius of the track in the kilometer. A method for acquiring point information such as a kilometer is known, but it is possible to obtain point information such as a kilometer currently being traveled from a communication signal of an ATS (Automatic Train Stop) system or a predetermined ground element. The curve radius determination unit 50 refers to the track information 52 to obtain the curve radius Cr of the currently traveling track from the kilometer currently being traveled, and outputs it to the re-adhesion control device 42. Of course, the curve radius determination unit 50 may be incorporated in the motor control device 40 to configure the motor control device 40. In that case, point information such as the currently traveling kilometer is input from the outside, and the curve radius Cr is calculated in the motor control device 40.

  FIG. 5 is a block diagram showing a circuit configuration of the re-adhesion control device 42. According to the figure, the re-adhesion control device 42 includes an adder 421, a differentiator 422, an idling detection unit 423, an activation command unit 424, a return command unit 425, a parameter switching setting unit 427, and a re-adhesion. A controller 428 and a reset signal generator 429 are included.

  The adder 421 calculates a speed difference Vd by subtracting the input reference speed Vm from the peripheral speed V. The differentiator 422 calculates the acceleration α by differentiating the inputted peripheral speed V.

  The idling detection unit 423 has an idling detection threshold value table TBL1, and compares and determines whether or not the speed difference Vd input from the adder 421 exceeds the threshold value Vs1 set in the idling detection threshold value table TBL1. If it is determined that it has exceeded, it is determined that idling has occurred, and the idling detection signal S1 is output. In addition, it is determined whether or not the acceleration α input from the differentiator 422 exceeds the threshold value αs1 set in the idling detection threshold value table TBL1, and it is determined that idling has occurred even when it is determined that the acceleration α is exceeded. To output the idling detection signal S1. That is, the idling detection unit 423 outputs the idling detection signal S1 when the speed difference Vd exceeds the threshold value Vs1 or when the acceleration α exceeds the threshold value αs1.

  FIG. 6 shows an example of the idling detection threshold value table TBL1. According to FIG. 6, in the idling detection threshold value table TBL1, the idling detection threshold value of the speed difference Vs is set to “1”, and the idling detection threshold value of the acceleration αs1 is set to “5”.

  The activation command unit 424 includes a timer 4241, comparators 4242, 4243, and 4244, and an OR gate 4245, and instructs (commands) the re-adhesion control to be activated on the driving wheel to be controlled. The timer 4241 resets the time and starts at the timing when the idling detection signal S1 is input from the idling detection unit 423. That is, the time T measured by the timer 4241 is an elapsed time from the point in time when idling is detected. The comparator 4242 compares and determines whether or not the measured time T of the timer 4241 exceeds a set threshold value Ts, and outputs a determination signal when it is determined that the timer 4241 has exceeded it. The comparator 4243 compares and determines whether or not the speed difference Vd input from the adder 421 exceeds the set threshold value Vs2, and outputs a determination signal when it is determined that the speed difference Vd has exceeded. The comparator 4244 compares and determines whether or not the acceleration α input from the differentiator 422 exceeds a set threshold value αs2, and outputs a determination signal when determining that the acceleration α exceeds the threshold αs2.

  The OR gate 4245 calculates the logical sum of the determination signals input from the comparators 4242, 4243, and 4244, respectively. The output signal from the OR gate 4245 becomes the activation command signal S2. That is, when a determination signal is input from at least one of the comparators 4242, 4243, and 4244, the activation command signal S2 is output. That is, the activation command unit 424 performs the re-adhesion control when the speed difference Vd exceeds the threshold value Vs2, when the acceleration α exceeds the threshold value αs2, or when the elapsed time since the detection of the idling has reached the threshold value Ts. The activation command signal S2 for instructing the activation (starting) is output. Here, “the velocity difference Vd exceeds the threshold value Vs2 or the acceleration α exceeds the threshold value αs2” is an activation condition of the re-adhesion control. In addition, “the elapsed time from the detection of idling” reaches the threshold value Ts is a condition for forcibly activating the re-adhesion control.

  The activation command signal S2 is temporarily held and output by the activation command holding unit 4246. That is, when the determination signal is output from at least one of the comparators 4242, 4243, and 4244 by the OR gate 4245 to the activation command holding unit 4246, the pulsed activation command signal S2 is input. Once the pulse-like activation command signal S2 is input, the signal level is maintained even when the pulse signal level returns to the original level, and the activation command signal S2 is continuously held and output as an ON signal. When a reset signal is input from the reset signal generator 429, the held signal level is reset and output of the activation command signal S2 is stopped.

  The return command unit 425 includes comparators 4251 and 4252 and an AND gate 4253, and instructs (commands) a return operation of the activated re-adhesion control. The comparator 4251 compares and determines whether or not the speed difference Vd input from the adder 421 is lower than a set threshold value Vr, and outputs a determination signal when it is determined that the speed difference Vd is lower. The comparator 4252 compares and determines whether or not the acceleration α input from the differentiator 422 is lower than a set threshold value αr, and outputs a determination signal when determining that the acceleration α is lower than the threshold value αr.

  The AND gate 4253 calculates the logical performance of the determination signals input from the comparators 4251 and 4252, respectively. The output signal from the AND gate 4253 becomes the return command signal S3. That is, when the determination signal is input from both the comparators 4251 and 4252, the return command signal S3 is output. That is, the return command unit 425 outputs the return command signal S3 that instructs the return of the generated torque of the electric motor 10 when the acceleration α is less than the threshold value αr and the speed difference Vd is less than the threshold value Vr. Here, “the acceleration α is below the threshold value αr and the speed difference Vd is below the threshold value Vr” is a return condition for starting the return operation of the re-adhesion control.

  The return command signal S3 is temporarily held and output by the return command holding unit 4254. This holding / output operation is the same as that of the activation command holding unit 4246. That is, when the determination signal is output from both of the comparators 4251 and 4252 by the AND gate 4253, the return command holding unit 4254 receives the pulsed return command signal S3. Once S3 is input, the signal level is held even when the pulse signal level returns to the original level, and the return command signal S3 is held and output as an ON signal. When the reset signal is input from the reset signal generator 429, the held signal level is reset and the output of the return command signal S3 is stopped.

  The re-adhesion controller 428 generates torque generated by the electric motor 10 based on the activation command signal S2 input from the activation command unit 424, the return command signal S3 input from the return command unit 425, and the set re-adhesion control parameter. Is generated to generate a torque reduction command signal for realizing re-adhesion. Specifically, when the activation command signal S2 is input from the activation command unit 424, a torque reduction command signal is generated so as to reduce (decrease) the torque generated by the electric motor 10 at the set torque reduction speed Wt. , Re-adhere the wheel that slipped on the track. Thereafter, when a return command signal S3 is input from the return command unit 425, a torque reduction command signal is generated so that the reduced generated torque is returned at the set return time Tt.

  The reset signal generator 429 generates and outputs a reset signal based on the torque reduction command signal input from the re-adhesion controller 428. Specifically, the reset signal is generated and output when the re-adhesion control ends, that is, with a command signal indicating that the torque reduction amount is zero (the state at time t4 when the re-adhesion control ends in FIG. 2). To do.

  Based on the curve radius Cr input from the curve radius determination unit 50, the parameter switching setting unit 427 sets thresholds Ts, Vs2, and αs2 (hereinafter referred to as “same values” set in the comparators 4242, 4243, and 4244 of the activation command unit 424, respectively. (Referred to as “activation command threshold value”), threshold values αr and Vr (hereinafter referred to as “return command threshold value”) set in the comparators 4251 and 4252 of the return command unit 425, and torque reduction speed set in the re-adhesion controller 428, respectively. Wt and return time Tt (hereinafter referred to as “re-adhesion control parameter”) are switched. Specifically, according to the parameter table TBL2, the activation command threshold corresponding to the input curve radius Cr is calculated and set in each of the comparators 4242, 4243, and 4244 of the activation command unit 424, and the return command threshold is calculated. Are set in the comparators 4251 and 4252 of the return command unit 425, respectively, and the respective re-adhesion control parameters are calculated and set in the re-adhesion controller 428.

  That is, the activation command threshold set for each of the comparators 4242, 4243, and 4244 of the activation command unit 424, the return command threshold set for each of the comparators 4251 and 4252 of the return command unit 425, and the re-adhesion controller 428. The re-adhesion control parameter set to is a value corresponding to the curve radius Cr of the currently running track.

FIG. 7 shows an example of the parameter table TBL2. In the parameter table TBL2, the values of the activation command threshold value, the return command threshold value, and the re-adhesion control parameter are set according to each value from the maximum value (infinite, that is, straight line) to the minimum value that can be taken as the curve radius Cr. ing. The activation command threshold is a speed difference Vs2 set as a threshold value in the comparator 4243 of the activation command unit 424, an acceleration αs2 set as a threshold value in the comparator 4244, and a forced activation time Ts set as a threshold value in the comparator 4242. is there. The return command threshold is a speed difference Vr set as a threshold value in the comparator 4251 of the return command unit 425 and an acceleration αr set as a threshold value in the comparator 4252. Further, the re-adhesion control parameters are a reduction speed Wt and a return time Tt of the generated torque τ _e of the electric motor 10.

According to the parameter table TBL2, when the curve radius Cr is infinite (straight line) which is the maximum value, the speed difference Vs2 and the acceleration αs2 of the activation command threshold are respectively set to the idling detection threshold table TBL1 (see FIG. 6). ) Is the same value as the speed difference Vs1 and the acceleration αs1. For this reason, when the curve radius Cr is infinite, that is, while traveling in a straight section, the re-adhesion control is immediately started (activated) when the occurrence of idling is detected.
In addition, since the forced activation time Ts is also set to “0”, the same effect is obtained. That is, when the idling detection unit 423 detects the occurrence of idling, the comparator 4242 immediately outputs a determination signal, and the OR gate 4245 outputs the activation command signal S2, and immediately The re-adhesion control will be started.

  Further, the speed difference Vs2, the acceleration αs2, and the forced activation time Ts of the activation command threshold are set to gradually larger values as the curve radius Cr is the minimum value that can be taken. As a result, the smaller the curve radius Cr of the currently running track, the more permitted is the progress of the idling after detection of the occurrence of idling. An increase in the tangential force coefficient μ can be expected by allowing the idling to progress.

  Although the progress of idling is allowed, the continuation of idling for a certain time or more will cause great wear on the wheels and rails, so the elapsed time from the detection of the occurrence of idling has reached the forced activation time Ts. In this case, the re-adhesion control is forcibly started.

  In the return command, the return command threshold (only the speed difference Vr is set in FIG. 7) is set to a larger value as the curve radius Cr is smaller. As the return command threshold value is larger, the effect of starting the torque return operation earlier is obtained (see FIG. 2). For this reason, the smaller the curve radius Cr, the earlier the torque return operation can be started.

Further, the smaller the curve radius Cr, the smaller the torque reduction speed Wt and the longer the return time Tt. As a result, the smaller the curve radius Cr is, the lower the speed of reduction of the motor torque τ _e is controlled to gradually return the torque.

  In the parameter table TBL2 of FIG. 7, specific numerical values are not described for the maximum value (infinite, that is, a straight line) and the minimum value that the curve radius Cr can take, but preferably the maximum value is infinite. The curve radius value that can be regarded as a value and a certain range that is equal to or greater than that value are the maximum value of the curve radius Cr, and the minimum value that is a sharp curve that can be regarded as a sharp curve and a certain range that is less than that value are A minimum value is recommended.

  Further, FIG. 7 does not show the values of the activation command threshold value, the return command threshold value, and the re-adhesion control parameter between the maximum value and the minimum value of the curve radius Cr. For example, FIG. 8 shows an example thereof. In FIG. 8, (1) is the speed difference Vs2, (2) is the acceleration αs2, (3) is the forced activation time Ts, (4) is the speed difference Vr, (5) is the torque reduction speed Wt, and (6) is the return time. Tt is shown. In either case, the curve radius Cr is set to be constant when the curve radius is in the constant range near the maximum value and the minimum value, and changes between the maximum value and the minimum value in proportion to the curve radius Cr. Is set to

[Modification]
It should be noted that the application of the present invention is not limited to the above-described embodiment, and can of course be changed as appropriate without departing from the spirit of the present invention.

(A) Further, the activation command threshold, the return command threshold, and the re-adhesion control parameter are varied according to the traveling speed.
In the above-described embodiment, the activation command threshold value, the return command threshold value, and the re-adhesion control parameter have been described as being variable according to the curve radius Cr, but may be further variable in consideration of the traveling speed.

  Specifically, as shown in FIG. 9, the parameter table TBL2 is set for each speed range such as a high speed range, a medium speed range, and a low speed range, and the parameter switching setter 427 inputs the reference speed Vm, A parameter table corresponding to a speed range including the speed Vm is selected, and each value of the activation command threshold value, the return command threshold value, and the re-adhesion control parameter is set using the selected parameter table. As a result, it is possible to achieve more appropriate re-adhesion control in consideration of the speed when traveling in a curved section.

(B) Further, the activation command threshold, the return command threshold, and the re-adhesion control parameter are varied according to the tangential force coefficient.
In the above-described embodiment, the activation command threshold value, the return command threshold value, and the re-adhesion control parameter have been described as being variable according to the curve radius Cr, but may be variable based on the tangential force coefficient and the curve radius Cr. .
FIG. 10 is a diagram showing test results when the Shinkansen train was run at a high speed test at about 340 [km / h]. In the test, among the axes of the bogie of the Shinkansen train, when the occurrence of idling was detected for the axis to be tested, idling was continued without activating readhesion control immediately. FIG. 10 is a diagram showing the characteristics of the tangential force coefficient μ with respect to the sliding speed during the occurrence (continuation) of idling. The tangential force coefficient μ was calculated using the formulas (1) and (2) from the measured value of the torque current component of the electric motor. Moreover, about the said axis | shaft, only the characteristic (1)-(7) with respect to each of the seven idling runs among many idling slides which generate | occur | produced during test running is shown.

  If the generated idling is continued, the sliding speed gradually increases with time. In most idling, the tangential force coefficient μ remains unchanged or decreases as the sliding speed increases (corresponding to (1) to (6) in FIG. 10). However, when the tangential force coefficient μ at the occurrence of idling is small, the tangential force coefficient μ increases as the sliding speed increases (corresponding to (7) in FIG. 10). In FIG. 10, only the characteristics of the seven skid runs are shown, but in practice, a considerable number of test results are obtained and this tendency is shown. That is, when the tangential force coefficient μ at the occurrence of idling is relatively small, it can be said that by allowing the idling to continue, a greater adhesive force than at the occurrence can be obtained.

  Therefore, the start timing of the re-adhesion control is varied by further adding the tangential force coefficient μ at the time of detecting the occurrence of idling. That is, when the tangential force coefficient μ is relatively large (specifically, exceeds a predetermined value), re-adhesion control is activated at an early stage, and the tangential force coefficient μ is small (specifically, a predetermined value or less). ), The control method is to activate the re-adhesion control after delaying the re-adhesion control activation timing and allowing the idling to continue.

  This will be specifically described. FIG. 11 is a diagram showing a circuit block of a main circuit of a train in this modification. In FIG. 11, the same components as those of the circuit block of FIG. Compared with the main circuit shown in FIG. 3, the difference is that a μ calculator 41 is provided in the motor controller 40A. Based on the currents Iv and Iu detected by the current sensor 30 and the peripheral speed V detected by the speed sensor 12, the μ calculation device 41 calculates the tangential force coefficient μ of the wheel to be controlled according to the equation (1). Output to the re-adhesion control device 42A. The rotational speed of the axle is not directly detected, but the circumferential speed is estimated by an estimation method used in so-called speed sensorless vector control (for example, a method of estimating the rotational speed based on the armature voltage or armature current of the induction motor). As in the case of the above-described embodiment, the speed sensor 12 may be unnecessary as V is obtained.

  FIG. 12 is a block diagram showing a circuit configuration of the re-adhesion control device 42A of the present modification. However, in FIG. 12, the same components as those in the re-adhesion control device 42 in FIG. According to FIG. 12, the re-adhesion control device 42A has a configuration in which a holding circuit 426 is added to the re-adhesion control device 42 shown in FIG.

The holding circuit 426 holds the input reference speed Vm and the tangential force coefficient μ at the timing when the idling detection signal S1 is inputted from the idling detection unit 423. That is, the holding circuit 426
The reference speed Vm and the tangential force coefficient μ at the time when the latest (current) idling is detected are held. Then, the held reference speed Vm and tangential force coefficient μ are output to the parameter switching setting unit 427A.

  The parameter switching setting unit 427A switches basic parameter values of the activation command threshold, the return command threshold, and the re-adhesion control parameter based on the reference speed Vm and the tangential force coefficient μ input from the holding circuit 426. Specifically, the speed range is first determined based on the reference speed Vm. Next, the basic parameter values of the activation command threshold, the return command threshold, and the re-adhesion control parameter corresponding to the tangential force coefficient μ are determined according to the parameter basic table TBL3 of the determined speed range. Further, referring to the curve radius coefficient table TBL4, the activation command threshold value, the return command threshold value, and the re-adhesion control parameter coefficient corresponding to the curve radius Cr of the currently running track input from the curve radius determination unit 50 are determined. . Then, by multiplying the determined basic parameter value by the determined coefficient, each value of the activation command threshold value, the return command threshold value, and the re-adhesion control parameter is determined and set.

  FIG. 13 is a diagram illustrating an example of the parameter basic table TBL3 included in the parameter switching setting unit 427A. The parameter basic table TBL3 is prepared for each of three types of speed ranges, “high speed range”, “medium speed range”, and “low speed range”. FIG. 13A is a parameter basic table TBL3 of “high speed range”, FIG. 13B is a parameter basic table TBL3 of “medium speed range”, and FIG. 13C is “low speed range”. Parameter basic table TBL3. In the parameter basic table TBL3, basic values of the activation command threshold, the return command threshold, and the re-adhesion control parameter are set for each tangential force coefficient μ. As the basic value of the activation command threshold value, the basic speed difference Svs2 of the speed difference Vs2 set as the threshold value in the comparator 4243, the basic acceleration Sαs2 of the acceleration αs2 set as the threshold value in the comparator 4244, and the threshold value in the comparator 4242 There is a basic forced activation time STs of the set forced activation time Ts. Further, basic values of the return command threshold include a basic speed difference SVr of a speed difference Vr set as a threshold value in the comparator 4251 and a basic acceleration Sαr of an acceleration αr set as a threshold value in the comparator 4252. Further, the basic value of the re-adhesion control parameter includes a basic lowering speed SWt of the lowering speed Wt of the generated torque τe of the electric motor 10 and a basic return time STt of the return time Tt.

  According to the parameter basic table TBL3, when the tangential force coefficient μ is 0.1 or more, the basic forced activation time STs is set to “0” in any speed range. Therefore, when the idling detection unit 423 detects the occurrence of idling, the compulsory firing time coefficient KTs multiplied by the basic compulsory firing time Ts is set to the comparator 4242 regardless of the value. The forced activation time Ts is always “0”. As a result, the comparator 4242 immediately outputs a determination signal, and the activation command signal S2 is output from the OR gate 4245 to the re-adhesion controller 428, so that the re-adhesion control is immediately started.

  On the other hand, when the tangential force coefficient μ is less than 0.1, the basic forced activation time STs is set to a value larger than “0”, and if it is the basic value of the activation command threshold, the basic speed difference SVs2 or The basic acceleration Sαs2 is set to a value larger than each of the speed difference Vs1 and the acceleration αs1 of the idling detection threshold shown in FIG. As a result, if the value of the tangential force coefficient μ when the occurrence of idling is detected is a relatively small value, the idling depends on the coefficient determined according to the curve radius Cr. Instead of starting the re-adhesion control immediately after the occurrence of the occurrence, the progress of the idling is temporarily allowed. An increase in the tangential force coefficient μ can be expected by allowing the progress of idling.

  The lower the tangential force coefficient μ at the time of idling, the lower the tangential force coefficient μ at the occurrence of idling, the lower the tangential force coefficient μ at the time of idling. Is set to a high value. In addition, the higher the speed range, the greater the amount of change in the peripheral speed and acceleration of the wheel per unit time. Therefore, the higher the speed range, the higher the basic value of the activation command threshold.

  In the return command, the lower the tangential force coefficient μ is, the larger the basic value of the return command threshold (only the basic speed difference SVr is set in FIG. 13), and the higher the speed range is, the larger the value is set. Has been. As the return command threshold value is larger, the effect of starting the torque return operation earlier is obtained (see FIG. 2). For this reason, although depending on the coefficient determined according to the curve radius Cr, the torque return operation can be started earlier as the tangential force coefficient μ is lower or the higher the speed range.

  Further, the basic torque reduction speed SWt and the basic return time STt are varied depending on whether or not the tangential force coefficient μ is less than 0.1. Specifically, when the tangential force coefficient μ is a value that is expected to increase due to the continuation of idling (less than 0.1), the basic torque reduction speed SWt is small and the basic return time STt is large. Can be switched to a value.

  FIG. 14 is a diagram illustrating an example of the curve radius coefficient table TBL4 included in the parameter switching setting unit 427A. The curve radius coefficient table TBL4 is a table in which coefficients for multiplying the basic values of the activation command threshold value, the return command threshold value, and the re-adhesion control parameter according to the curve radius Cr determined by the curve radius determination unit 50 are defined. is there. The values of the activation command threshold value, the return command threshold value, and the re-adhesion control parameter are, for example, values obtained by multiplying the basic speed difference SVs2 and the speed difference coefficient Kvs2 if the speed difference Vs2 of the activation command threshold value is set. Is done.

  According to FIG. 14, the values of the respective coefficients are all “1” when the radius of the curve is the maximum value that can be regarded as a straight line. Further, as the radius of the curve becomes smaller, the speed difference coefficient KVs2, the acceleration coefficient Kαs2, the forced activation time coefficient KTs, the speed difference coefficient KVr, the acceleration coefficient Kαr, and the return time coefficient KTt are gradually set to higher values, and the torque reduction speed. The coefficient KWt is gradually set to a low value. As a result, while traveling on a track that can be regarded as a straight line, the re-adhesion control is performed according to the basic value determined according to the tangential force coefficient μ, and the smaller the curve coefficient Cr, the more re-adjustment that allows the progress of idling is allowed. It can be seen that adhesion control is performed.

  In this modification, the tangential force coefficient μ itself is used. However, the tangential force coefficient μ itself is a value indicating a variation similar to the variation of the tangential force coefficient (a value that is almost linear with the tangential force coefficient). Of course, any value that can be handled equivalently or substantially equivalently may be used instead.

(C) Mode of motor control In the above-described embodiment, one motor control device 40 controls one motor 10 so-called 1C1M, but other control methods, for example, one motor control device uses four Even in the case of 1C4M for controlling an electric motor, the same applies.

(D) Utilizing the slip rate instead of the speed difference In the above-described embodiment, the speed difference is used as the activation command threshold or the return command threshold. However, this may be used as the slip rate.

An example of a test result. Explanatory drawing of re-adhesion control. The main circuit block diagram of a train. An example of orbit information. The circuit block diagram of a re-adhesion control apparatus. An example of an idling detection threshold value table. An example of a parameter table. An example of parameter settings. Another example of parameter table. Examples of other test results. The main circuit block diagram of the train in a modification. The circuit block diagram of the re-adhesion control apparatus in a modification. An example of the parameter basic table in a modification. An example of the curve radius coefficient table in a modification.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Main motor 20 Inverter 40 Motor control device 42 Re-adhesion control device 423 Idling detection unit 424 Activation command unit 425 Return command unit 428 Re-adhesion controller 429 Reset signal generator 43 Vector arithmetic control device 50 Curve radius determination unit S1 Idling detection signal , S2 Activation command signal, S3 Return command signal

Claims (14)

An electric motor control device that controls an electric motor that drives a driving wheel of an electric vehicle traveling on a track, detects the occurrence of idling of the driving wheel, and performs re-adhesion control of the moving wheel;
By acquiring the curve radius corresponding to the current travel point from the track information that can acquire the curve radius of the track from the travel point, or by inputting the curve radius corresponding to the current travel point from the predetermined curve radius determination unit A curve radius acquisition means to acquire;
1) a first speed difference reference condition that uses the peripheral speed of the moving wheel and the traveling speed of the electric vehicle as determination target values; and / or 2) a first periphery that uses the peripheral acceleration of the moving wheel as a determination target value. An activation condition matching detection means for detecting that the activation condition of the re-adhesion control including at least an acceleration reference condition is satisfied;
Re-adhesion control activating means for activating the re-adhesion control in response to detection by the activation condition match detection means;
With
An electric motor control device further comprising an activation condition varying means for varying the activation condition based on the curve radius acquired by the curve radius acquisition means.   2. The motor control device according to claim 1, wherein the activation condition variable unit changes the activation condition to a condition content that allows the progress of idle running more as the curve radius acquired by the curve radius acquisition unit is smaller. The activation condition includes at least the first speed difference reference condition,
In the first speed difference reference condition, a speed difference between a peripheral speed of the driving wheel and a traveling speed of the electric vehicle or a threshold of a slip ratio is defined as a condition.
The motor control apparatus according to claim 1, wherein the activation condition varying unit varies the activation condition by increasing or decreasing the threshold value.   The motor control apparatus according to claim 3, wherein the activation condition variable unit increases the threshold value as the curve radius acquired by the curve radius acquisition unit decreases. The activation condition includes at least the first circumferential acceleration reference condition,
In the first circumferential acceleration reference condition, a threshold value of the circumferential acceleration of the driving wheel is defined as a condition,
The motor control device according to any one of claims 1 to 4, wherein the activation condition varying unit varies the activation condition by increasing or decreasing a threshold value of the circumferential acceleration.   The motor control apparatus according to claim 5, wherein the activation condition varying unit increases the threshold value of the circumferential acceleration as the curve radius acquired by the curve radius acquisition unit decreases. A tangential force coefficient equivalent value detecting means for detecting a tangential force coefficient equivalent value of the driving wheel;
The motor control device according to any one of claims 1 to 6, wherein the activation condition varying unit further varies the activation condition based on the detected tangential force coefficient equivalent value.   The activation condition varying means includes a progress allowable range that is predetermined as a range of values that the tangential force coefficient equivalent value detected by the tangential force coefficient equivalent value detection means may increase when the idling is advanced. When it is in the range, the trigger condition is changed to the condition content that allows the progress of the idling and the curve radius acquired by the curve radius acquisition means is smaller as compared to the case where it is not within the allowable range of progress. The electric motor control device according to claim 7, wherein the activation condition is changed to a condition content that allows further progress of idling.   The motor control device according to any one of claims 1 to 8, wherein the activation condition varying unit further varies the activation condition based on a traveling speed of the electric vehicle. Idle running detection means for detecting occurrence of idle running of the driving wheel;
A non-activation detecting means for detecting that the re-adhesion control is not activated by the re-adhesion control activating means until a predetermined time has elapsed since the detection by the idling sliding detection means;
Forced activation means for forcibly activating the re-adhesion control in response to detection by the non-activation detection means;
The electric motor control device according to claim 1, further comprising: A) a second speed difference reference condition that uses the peripheral speed of the moving wheel and the traveling speed of the electric vehicle as determination target values; and / or b) a second periphery that uses the peripheral acceleration of the driving wheel as a determination target value. A return condition matching detection means for detecting that a return condition for starting a return operation of the re-adhesion control activated by the re-adhesion control activating means, including at least an acceleration reference condition;
Re-adhesion control return means for starting a return operation of re-adhesion control activated by the re-adhesion control activation means in response to detection by the return condition match detection means;
A return condition variable means for changing the return condition based on the curve radius acquired by the curve radius acquisition means;
The motor control device according to any one of claims 1 to 10, further comprising:   12. The torque reduction speed varying means for varying the torque reduction speed, which is a control parameter of the re-adhesion control, based on the curve radius acquired by the curve radius acquisition means. 12. Electric motor control device.   The electric motor according to any one of claims 1 to 12, further comprising return time variable means for changing a return time, which is a control parameter of the re-adhesion control, based on a curve radius acquired by the curve radius acquisition means. Control device. When controlling an electric motor that drives a driving wheel of an electric vehicle traveling on a track, a re-adhesion control method for detecting occurrence of idling of the driving wheel and performing re-adhesion control of the driving wheel,
A curve determination acquisition step for acquiring a curve radius corresponding to the current travel point from the track information capable of acquiring the curve radius of the track from the travel point;
1) a first speed difference reference condition that uses the peripheral speed of the moving wheel and the traveling speed of the electric vehicle as determination target values; and / or 2) a first periphery that uses the peripheral acceleration of the moving wheel as a determination target value. An activation condition match detection step for detecting that the activation condition of the re-adhesion control including at least an acceleration reference condition is satisfied;
A re-adhesion control activation step for activating the re-adhesion control in response to detection by the activation condition match detection step;
Including
The re-adhesion control method further comprising an activation condition variable step of varying the activation condition based on the curve radius acquired by the curve radius acquisition step.

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