JP4979360B2 - Railway vehicle - Google Patents

Description

According to the present invention, a pendulum, a car body disposed above the car, and a pendulum beam are provided between the two, and a centrifugal force acting on the center of gravity of the car body when traveling on a curved track is used to determine the pendulum rotation center. A natural pendulum mechanism that realizes a natural pendulum motion in the left-right direction of the vehicle body as a center, and an air spring type forced vehicle body tilting means that uses air springs arranged on the left and right between the pendulum beam and the vehicle body, and the natural pendulum mechanism And a railway vehicle having a complex vehicle body tilting function by the forced vehicle body tilting means.

  When the vehicle travels in a curved section, centrifugal force acts outward in the radial direction of the curve, resulting in poor ride comfort, increased wheel load on the outer track, increased lateral pressure, etc. Inconvenience occurs. Therefore, in order to cancel out the centrifugal force, generally, a height difference (cant) is provided on the inner and outer tracks in the curved section. However, if the centrifugal force is completely canceled only by the cant, the inclination of the vehicle increases, and when the vehicle stops on the curve, the passenger feels too uncomfortable, or a strong crosswind toward the inner gauge side. When the vehicle receives it, the vehicle may overturn to the inner gauge side. For this reason, the cant amount in the curve section is usually set to be deficient.

  In order to compensate for the shortage of the cant amount in such a curved section, a body-tilted railway vehicle that inclines the vehicle body toward the inner track when the vehicle travels in the curved section has been developed and put into practical use.

In this type of railway vehicle, the pendulum beam is supported by a roller, bearing roller, link type, etc. on the bogie frame around the center of the pendulum rotation so that the pendulum beam can swing, There is a natural pendulum type railway vehicle that improves the riding comfort by minimizing the centrifugal acceleration in the vehicle width direction that acts on passengers by tilting the vehicle body toward the inner track due to the balance of centrifugal force.

In addition, natural pendulum swing delay, especially swing delay that suddenly starts swinging after receiving centrifugal force after entering a curved track due to the rotational resistance of the roller that supports the pendulum beam so as to swing and the inertial force of the vehicle body In order to improve the ride comfort, an actuator (air cylinder) is interposed between the pendulum beam and the carriage frame, and the pendulum beam is forcibly inserted by the actuator when traveling at the relaxation curve entrance to the curved section. There is a pendulum trolley with an actuator that prevents the pendulum from being delayed by tilting it toward the gauge side and forcibly tilting the pendulum beam toward the outer gauge side by the actuator when traveling from the curve section to the relaxation curve exit (for example, , See Patent Document 1).

Another prior art related to this type of pendulum type railway vehicle is “the body is supported on a carriage so that it can be tilted to the left and right, and the amount by which the body should be tilted is calculated based on the curve information stored by detecting the travel speed. In a vehicle body tilt control device in which a cylinder provided between the carriage and the vehicle body is operated to tilt the vehicle body, a displacement sensor for detecting the expansion / contraction amount of the cylinder is provided to calculate an actual vehicle body tilt angle. When the tilt starts, a control signal is sent to tilt the vehicle according to the actual vehicle tilt angle until it reaches a predetermined angle that is not affected by the inertial force of the vehicle body. When the vehicle tilt is stopped, the actual vehicle tilt angle (example body tilt control apparatus is proposed in pendulum railroad vehicle according to the control signal so as to deliver the "actuators (cylinders) for stopping the vehicle body inclination after but has reached a predetermined value If, see Patent Document 2).

  As another prior art, “in a railway vehicle having a bogie and a vehicle body disposed above this, a centrifugal force acting on the center of gravity of the vehicle body when traveling on a curved track is used to make a vehicle body centered on a predetermined center of rotation of the pendulum. It has a natural pendulum mechanism (roller and pendulum beam) that realizes natural pendulum motion on the left and right, and a forced tilting means that uses an air spring that forcibly tilts the vehicle body to the left and right. A complex vehicle body tilt railway vehicle has been proposed that cancels the lateral acceleration generated in the vehicle body when traveling on a curved track and increases the curve traveling speed by a simple vehicle body tilt function (see, for example, Patent Document 3).

Further, as a prior art other than the pendulum type railway vehicle, “the vehicle body is supported by the carriage via the left and right air springs, and when passing the curved portion, the height of the air springs on the outer side and the inner side in the turning direction is increased or decreased. There has been proposed a vehicle body tilt angle control device for a railway vehicle in which the tilt angle is controlled so that the centrifugal force and the centripetal force cancel each other out (see, for example, Patent Document 4). This control device has a force that substantially holds the vehicle body at the center position in the left-right direction against the lateral displacement force of the vehicle body against the carriage due to the difference in the diameter between the upper surface portion and the lower surface portion of the air spring when passing the curved portion. A holding force generating means is provided.
Japanese Patent Publication No. 60-52018 (pages 2 to 4 and FIGS. 3 to 5) JP 2002-67944 (pages 3 and 4 and FIG. 1) Japanese Patent Laying-Open No. 2005-193773 (pages 3 to 5 and FIG. 1) Japanese Patent Laid-Open No. 11-198806 (Pages 2 and 3 and FIG. 1)

  However, the above-described conventional pendulum railway vehicle and the vehicle body tilt control device described as the prior art still have problems in the following points.

1) Natural pendulum railway vehicle:
a) The pendulum shake delay occurs due to the influence of the inertial moment of the vehicle body, and the centrifugal force experienced by the passenger increases at that time, so the ride comfort is not sufficiently improved.

  b) Due to the structure of the pendulum vehicle, the car body and the pendulum beam are likely to swing in the left-right direction, leaving rolling runout that occurs when the trajectory is out of place, passing through a point, or passing through a curved part where the amount of cant (angle) is insufficient. Tend. As a measure to solve this, there is a method of suppressing this rolling runout by inserting a damper between the carriage and the pendulum beam, but when a damper is attached, the pendulum runout described in a) is promoted. .

2) Pendulum rail vehicle with actuator (air cylinder) of Patent Document 1:
In general, this type is called a “pendulum with control.” In this case, an air cylinder is required in addition to the air spring, and the operation of the air cylinder depends on the degree of the curved track. It is necessary to control the operation amount.

3) Control device of Patent Document 2:
a) An actuator consisting of a cylinder such as hydraulic or pneumatic pressure is interposed between the pendulum type carriage and the vehicle body, and the vehicle body is forcibly inclined in a specific direction (inner or outer track side) when traveling in a curved section. The centrifugal force acting on the vehicle body can be minimized by this, but it is necessary to additionally provide a dedicated device for that purpose, which makes the system complicated and large.

  b) In the case of a natural pendulum mechanism in which the optimum inclination angle is determined in the section of this curve by the balance between the centrifugal force acting radially outward when traveling on a curve and the centripetal force acting when the vehicle body tilts toward the inner track On the other hand, in order to achieve a safe and comfortable ride when the vehicle body is tilted by the actuator, it is necessary to accurately control the actuator by deriving the vehicle tilt angle in real time.

4) Railway vehicle having a combined vehicle body tilt mechanism having a natural pendulum mechanism of Patent Document 3 and an air spring type forced vehicle body tilt mechanism:
In a railway vehicle having a bogie and a vehicle body disposed above, a natural pendulum motion on the left and right sides of the vehicle body around a predetermined pendulum rotation center is utilized using a centrifugal force acting on the center of gravity of the vehicle body when traveling on a curved track. It has a natural pendulum mechanism (roller and pendulum beam) to be realized and a forced tilting means using an air spring that forcibly tilts the vehicle body to the left and right. The curve traveling speed is increased by canceling the lateral acceleration generated in the vehicle body when traveling on a curved track. The air cylinder device between the carriage and the pendulum beam is driven and controlled by the control device, thereby limiting the range of movement of the pendulum beam that forms the natural pendulum mechanism in the left-right direction. Although the vehicle body tilts to the left or right side due to the natural pendulum movement of the pendulum beam, the movement range of the pendulum beam in the left-right direction is limited by driving the air cylinder device. When it is detected that the inclination angle of the vehicle body by the natural pendulum mechanism has reached about 8 °, the control device receives the detection signal and drives the air cylinder device to stop the natural pendulum motion. Thereafter, the control device controls the electromagnetic valve to forcibly tilt the vehicle body by supplying compressed air to the air spring. That is, the vehicle body is further tilted by 2 to 3 ° by the air spring after the vehicle body is tilted by 8 ° by the natural pendulum mechanism. Therefore, basically, the natural pendulum mechanism operates the air spring type vehicle body inclination after performing the inclination with the balance between the centrifugal force and the gravity. Therefore, both the vehicle body inclination mechanisms do not operate simultaneously in relation to each other.

5) The vehicle body tilt angle control device of Patent Document 4:
In order to incline the vehicle body by raising the air spring and increase the inclination angle, it is necessary to make the height of the air spring considerably high. However, if the height of the air spring is too high, the position of the center of gravity of the vehicle body will move upward, which may cause the vehicle to overturn, and if the degree of vehicle body inclination is increased, However, depending on the degree, the width of the vehicle body must be narrowed as it goes upward, and the cabin space is narrowed.

The present invention has been made in view of the above points, and the pendulum mechanism is configured by inclining the vehicle body toward the inner track side by the air spring type forced vehicle body tilting device immediately before the vehicle enters the curved track (more precisely, the entrance relaxation curve). Before the machine works, the body starts tilting, and before entering the relaxation curve, the body and pendulum beam are naturally tilted to the optimum tilt angle by the pendulum acting force due to centrifugal force and gravity centered on the pendulum center. it can be, the body just before the exit transition curve entrance by the air spring force body tilt device Ri by the tilting to the curve outside, while correcting the generation of swing late to help runout vibration child beams, complex Therefore, the present invention aims to provide a railway vehicle having a complex vehicle body tilt mechanism that does not require any control and can be easily improved from the existing pendulum railway vehicle with air spring.

In order to achieve the above object, a railway vehicle according to the present invention comprises: a ) a bogie, a vehicle body disposed above the bogie, and a pendulum beam provided between the two. A natural pendulum mechanism that realizes the natural pendulum motion of the vehicle body around the center of the pendulum rotation by utilizing a centrifugal force acting on the air spring, and an air spring type using an air spring disposed on the left and right between the pendulum beam and the vehicle body A railway vehicle having a complex vehicle body tilt function by the natural pendulum mechanism and the air spring type forced vehicle body tilt mechanism; b) the air spring type forced vehicle body tilt mechanism is configured to enter an entrance relaxation curve. Immediately after tilting the vehicle body to the inner gauge side immediately before (usually within a few seconds), the vehicle body is tilted to the outer gauge side a certain time before entering the exit relaxation curve. Soon after (usually number By returning to the original posture within), characterized by comprising the structure for supporting the deflection of the natural pendulum mechanism.

According to the railway vehicle according to the present invention having the above-described configuration, the vehicle body is raised by the rise of the outer gauge side air spring (or the rise of the outer gauge side air spring and the lowering of the inner gauge side air spring) immediately before entering the entrance relaxation curve. Since the center of gravity of the vehicle body moves toward the inner rail as seen from the center of the pendulum, the vehicle enters the entrance relaxation curve after the vehicle body starts to tilt toward the inner rail due to the pendulum action of the pendulum mechanism. Therefore, the pendulum beam naturally tilts to the optimum pendulum angle by the force of gravity and centrifugal force around the center of the pendulum, while the vehicle body rises on the inner gauge side air spring (or on the inner gauge side) immediately before entering the exit relaxation curve. since the vehicle body center of gravity is moved to the curve outside as viewed from the pendulum center so inclined to the curve outside the falling rising and the curve outside air spring of the air spring), the vehicle body tilt to the curve outside the pendulum action of the pendulum mechanism Starts and then enters the exit relaxation curve Pendulum beam is tilted naturally optimal pendulum angle by the action force of gravity and centrifugal force around the pendulum center for. It is not necessary to control the tilt angle by the air spring control device. Further, the vehicle body may be returned to the original posture after inclining the vehicle body toward the inner track immediately before entering the entrance relaxation curve (for example, 2 seconds before entering). Therefore, a control device capable of outputting only the information about the direction of the curve and the information that the vehicle enters the relaxation curve (both exit and entrance) after N seconds from the point detection device for controlling this system, and the air spring type forced vehicle body Any structure connected to the tilt mechanism may be used. That is, it is only necessary to output information as a trigger, instead of performing calculation output of the vehicle body inclination angle with respect to the air spring. In addition, the point detection device can record route data (curve position data and curvature of the curve, cant, etc.) recorded in advance, ground signals from ground elements such as ATS, position information such as GPS, and vehicle travel distance (for example, This is a device for detecting the position where the vehicle is traveling from the comparison of the traveling distance after receiving a signal from the ground unit.

As described in claim 2, it is desirable to provide a passive damper between the carriage and the pendulum beam. As in claim 1, wherein, in order to correct the swing delay of natural pendulum railroad vehicle, immediately before going into the last minute and the outlet transition curve entering the inlet transition curve of the curved track, the air spring force vehicle body tilt mechanism When tilting the car body to one side on the pendulum beam, passive dampers are used to prevent the car body with a large mass from being tilted and to prevent the pendulum beam from rotating in the opposite direction due to the reaction of the forced car body tilt. Works effectively. In addition, the relative vibration between the bogie and the pendulum beam (rolling vibration peculiar to natural pendulum type railcars) is suppressed (reduced) by the passive damper even when running on a curved track, that is, when traveling on a curved track with a very gentle curvature. )

According to a third aspect of the present invention, the air spring type forced vehicle body tilting mechanism includes an air spring control device that controls an air amount of the air spring, and the air spring control device is connected to a vehicle point detection device. the point detection device, which is line data store containing the direction of curvature and cant amount and curves in position data and the curve of at least the curve, with the position information, such as terrestrial signal information or GPS information of the point detecting device mileage of the route data Contact and vehicle (e.g., distance traveled after receiving a signal from the ground coil) by comparing an inlet transition curve comprising at least the triggering of the operation of the air spring force vehicle body tilt mechanism It is preferable that information for entering the exit relaxation curve is output to the air spring control device together with the curve direction of the curved track at a certain time before the approach. Arbitrariness.

With this configuration, the position information on the relaxation curve and the curve direction of the curve are output from the point detection device to the air spring control device immediately before entering the entrance relaxation curve track from the straight track running to the air spring control device. The pressurized air is supplied to the outer gauge side air spring through the air gauge (or the air in the inner gauge side air spring is discharged and lowered at the same time), and the vehicle body is inclined toward the inner gauge side. Is corrected by the forced forced vehicle body tilt mechanism, and when traveling on a curved track, the information about the relaxation curve and the curve direction of the curve are output from the point detection device to the air spring control device immediately before entering the exit relaxation curve track, and the air spring control device rises pressurized air to the curve inside the air spring is supplied via a (or lowered is discharged air in the curve outside air springs at the same time), since thereby the curve outside leaning the vehicle body, a pendulum delay It can be corrected by the gas spring force vehicle body tilt mechanism.

  According to a fourth aspect of the present invention, the air spring type forced vehicle body tilt mechanism supplies air to the outer gauge side air spring by the air spring control device immediately before entering the inlet relaxation curve detected by the point detection device. The outer gauge side air spring is raised to incline the vehicle body toward the inner gauge side with respect to the pendulum beam, and the air spring control device discharges the air in the outer gauge side air spring and travels the outer gauge side air when traveling on the entrance relaxation curve. The spring is lowered, the height of the outer gauge side air spring is returned to the original neutral position, and immediately before entering the exit relaxation curve, the air spring control device supplies air to the inner gauge side air spring to supply the inner gauge side air. The spring is raised to incline the vehicle body toward the outer gauge side with respect to the pendulum beam, and the air spring control device discharges the air in the inner gauge side air spring when traveling on the exit relaxation curve, The height can be returned to the neutral position That.

With this configuration, the point detection device outputs the relaxation curve and the curve direction of the curve to the air spring control device immediately before entering the entrance relaxation curve track from the straight track running (for example, 2 seconds before entering the vehicle). Thus, the pressurized air is supplied to the outer gauge side air spring via the air spring control device, and as shown in FIG. 6 (b), the vehicle body is inclined toward the inner gauge side. since the rotation of the pendulum beam begins to curve inside around the pendulum center by moving onto the rail side apparent from the pendulum center, swing delay of the pendulum beam is corrected. After running around the pendulum rotation center o due to the action force of gravity and centrifugal force as shown in FIG. 6 (c) during traveling at the entrance relaxation curve, the air spring control device exhausts the outer spring air spring. By returning the vehicle body tilt angle by the air spring type forced vehicle body tilt mechanism to 0 °, the vehicle body is returned to the neutral position with respect to the pendulum beam , and the force of gravity and centrifugal force acting on this curved track with large curvature (Fig. 6 (d)) naturally increases the pendulum angle and swings to the optimum pendulum angle.

In the state of Fig. 8 ( a ) showing the natural pendulum angle traveling at the time of the main curve traveling, the vehicle immediately before entering the exit relaxation curve track (for example, 2 seconds before) and the bending direction of the curve. Is output from the point detection device to the air spring control device, and as shown in FIG. 8B, pressurized air is supplied to the inner gauge side air spring via the air spring control device, and the inner air spring rises. Since the vehicle body is inclined toward the outer gauge side, the center of gravity G of the vehicle body is apparently moved from the pendulum center o of the vehicle body toward the outer gauge side, whereby the rotation of the pendulum beam toward the outer gauge side starts around the pendulum center o. The swing delay of the pendulum beam is corrected by the air spring type forced body tilt mechanism. Immediately after that, the lowering is started by exhausting the air spring on the inner gauge side (FIG. 8 (c)), and the pendulum angle is accurately reduced by the action force of gravity and centrifugal force when traveling on the exit relaxation curve, and when traveling on the straight section The height of the inner-gauge air spring returns to the original position, and the pendulum beam naturally swings to the neutral (intermediate) position in the left-right direction so that the posture becomes substantially horizontal (FIG. 8D).

According to a fifth aspect of the present invention, the air spring type forced vehicle body tilting mechanism supplies air to the outer gauge side air spring by the air spring control device immediately before entering the inlet relaxation curve detected by the point detection device. The outer gauge side air spring is raised and the air in the inner gauge side air spring is discharged to incline the vehicle body toward the inner gauge side with respect to the pendulum beam. The air in the side air spring is discharged and the outer gauge side air spring is lowered and supplied to the inner gauge side air spring, the height of each air spring is returned to the original neutral position, and the exit relaxation curve is entered. Immediately before, the air spring control device supplies air to the inner gauge side air spring to raise the inner gauge side air spring, and discharges the air in the outer gauge side air spring to discharge the vehicle body to the pendulum beam. Tilt to the side and drive on the exit relaxation curve The air supply to the roots if the curve outside air while discharging air from the curve inside air in the spring by the air spring control device, wherein it is possible to return to the height original neutral position of the air spring.

  With this configuration, the swing delay of the pendulum beam due to the natural pendulum mechanism is corrected in accordance with the inclination of the vehicle body toward the inner track side or the outer track side in the same manner as the railway vehicle according to claim 4. In the railcar of the claim, since the left and right air springs on the pendulum beam, in other words, both the outer and inner gauge air springs cooperate to tilt the vehicle body, the pendulum by the natural pendulum mechanism is smoother. Correction of beam swing delay is performed.

  The railway vehicle having a composite vehicle body tilting function according to the present invention has excellent effects as shown in Table 1 below compared with the prior art.

The air spring air amount control device in Table 1 generally refers to an air spring vehicle body tilt control device.

  Embodiments of a railway vehicle according to the present invention will be described below with reference to the drawings.

  FIG. 1A is a front cross-sectional view schematically showing an embodiment of a railway vehicle having a composite vehicle body tilt function according to the present invention, showing a curved traveling state, and FIG. It is explanatory drawing which shows the relationship in which the centrifugal force and gravity act on a vehicle body in the vehicle of a).

As shown in FIG. 1 (a), the railway vehicle 1 having a complex vehicle body tilting function according to the present embodiment has a pendulum beam 3 placed on the left and right sides of the pendulum carriage 2 via the rollers 3c on both sides ( vehicles). It can be tilted (oscillated) in the (width ) direction. A wheel shaft 4 is provided below the pendulum carriage 2, and the wheel shaft 4 includes an wheel shaft 4 a and a pair of left and right wheels 4 b that run on the rail R and are attached to both sides of the wheel shaft 4 a. The pendulum beam 3 provided on the carriage frame 2a of the pendulum carriage 2 has a lower part formed in a semicircular arc surface 3a with the pendulum center o of the vehicle body 6 as the center of the circle, and the action of centrifugal force and gravity via the roller 3c. As a result, it swings in the left-right (vehicle width) direction around the pendulum center o. A substantially trapezoidal recess 3b is provided at a substantially intermediate position in the circumferential direction of the lower semicircular arc surface 3a, and a passive damper 5 is interposed between one end in the recess 3b and the upper surface of the carriage frame 2a of the pendulum carriage 2. Has been. Passive dampers 5 acts as a resistance force for suppressing the rate of rapid movement between the bogie frame 2a of the pendulum beam 3, left right (vehicle width) of the pendulum beam 3 direction of fast velocity fluctuation (pendulum movement) Suppress. In the case of this example, by tilting the vehicle body 6 on the pendulum beam 3 by the air spring type forced vehicle body tilt mechanism 8 immediately before entering the relaxation curve, the small mass of the pendulum beam 3 is tilted by the air spring type forced vehicle body with respect to the carriage frame 2a. The passive damper 5 works effectively to suppress the reverse rotation due to the reaction of the mechanism 8, and the swinging delay of the pendulum beam 3 can be reduced by exerting the function of the air spring type forced vehicle body tilting mechanism 8.

The relaxation time curve travels in the course Returns to the neutral position from the vehicle body inclined position by the air spring force vehicle body tilt mechanism 8 of the vehicle body 6, suppressing the pendulum beam 3 to the reverse rotation by reaction of the air spring force body tilt To do. In addition, this suppression force suppresses unnecessary turbulence (rolling vibration) of the pendulum beam 3 when traveling on the curved track.

As another embodiment, a passive damper with control may be used for the passive damper 5. In the case of this example, although illustration is omitted, for example, when a variable oil damper is used, an electromagnetically controlled flow control valve is located at the center of the communication pipes of the left and right oil chambers across the piston in the cylinder constituting the oil damper body. And the damping force of the passive damper 5 can be freely changed by finely adjusting the flow of oil in the passive damper 5. The passive damper 5 of this embodiment, based on information from the point detecting device 10 described later, squeezed thinner flow control valve when the traveling curve trajectory of straight track and gentle curvature of the pendulum bogie 2 truck frame 2a The tilting of the upper pendulum beam 3 is suppressed. In order to increase the operating speed of the natural pendulum mechanism, when traveling on a curved track with the air spring type forced vehicle body tilt mechanism 8 not working, the flow control valve is opened, and the pendulum beam 3 for the original pendulum operation is opened. Allow free tilting.

A vehicle body 6 is disposed above the pendulum beam 3, and the vehicle body 6 is supported by air springs 7 (7 R · 7 L ) on both sides of the upper surface of the pendulum beam 3. The pair of left and right air springs 7 R and 7 L are devices conventionally used as pillow springs for carts. In this embodiment, a pressurized air source ( not shown) is used for each air spring 7 R and 7 L. ) To supply air to the air spring 7 by an air spring control device 9 ( see FIG. 2 ) for supplying pressurized air from the air springs 7 R and 7 L and for determining the timing thereof. The amount of compressed air can be increased or decreased, and an air spring type forced vehicle body tilting mechanism 8 including this air spring control device 9 is configured.

  The point detection device 10 installed in the railway vehicle 1 includes position information such as ground signal information or GPS information, route data (curve position and curvature of the curve, cant, etc.) of the point detection device, and vehicle information. By comparing the travel distance (travel distance after receiving position information), at least a trigger for the operation of the air spring type forced vehicle body tilt mechanism 8 is obtained. For example, the travel time and the curve trajectory to the entrance relaxation curve and the exit relaxation curve, “Enter the left relaxation curve after n seconds from straight travel” or “Enter the exit relaxation curve after n seconds from left travel” The air spring control device 9 is instructed for information on the bending direction of the air spring. However, after n seconds, it is changed depending on the speed, curve shape, and the like.

Each of the air springs 7 R and 7 L is connected to a pressurized air source via, for example, an electromagnetic valve (not shown), and the air spring 7 is opened and closed by the air spring control device 9 to open and close the air spring 7. Supply of pressurized air to R · 7 L and discharge of pressurized air from the air springs 7 R · 7 L are appropriately performed. As a result, in this example an air spring 7 R of the curve outside is increased as shown in FIG. 1, it is forcibly tilted to the curve inside the vehicle body 6 by the height increases. Although control becomes somewhat complicated, the curve outside air springs 7 compressed air to R are supplied, forced pressurized air the curve inside the air spring 7 in L is discharged to the curve inside the vehicle body 6 at the same time Tilting control is also possible.

That is, in the railway vehicle 1 of this embodiment, just prior to entering the curved track (entrance mouth relaxation curve) as described below (e.g., 2 seconds ago), the vehicle body 6 is inclined to the inner of the curved track rail side. By these operations, the pendulum beam 3 supported by the roller 3c on the carriage frame 2a of the pendulum carriage 2 when the body 6 is rotated at a relatively high speed by the air spring type forced body tilting mechanism 8 and starts to tilt. In this case, a rotational force is generated in a direction opposite to the rotational direction (inclination direction) of the vehicle body 6, but the reverse rotational force of the pendulum beam 3 is suppressed by the passive damper 5 having a large suppression force against a high-speed displacement. .

Immediately before entering the entrance relaxation curve, the center of gravity G of the vehicle body 6 moves from the pendulum center o to the inner gauge side by the vehicle body tilt by the air spring type forced vehicle body tilt mechanism 8. Since the passive damper 5 is provided, the swinging speed of the pendulum beam 3 is relatively slow, but the tilt toward the inner track side starts by the pendulum action, and the vehicle body 6 and the pendulum beam 3 tilt toward the inner track side. . Thereafter, after a certain time (for example, after 5 seconds), the air spring 7R is returned to the neutral position, and the operation of the air spring type forced vehicle body tilting mechanism 8 is finished. And the force of centrifugal force (see FIG. 1B) naturally tilts to the optimum pendulum angle.

On the other hand, immediately before entering the exit relaxation curve (for example, 2 seconds before), the air spring 7L on the inner gauge side rises, and the vehicle body 6 is forcibly inclined toward the outer gauge side as the height increases. . The center of gravity G of the vehicle body 6 moves from the pendulum center o to the outer gauge side due to the vehicle body inclination. Since the passive damper 5 is provided, the pendulum has a relatively slow speed. However, the pendulum action causes the vehicle body 6 to tilt toward the outer track side, and the vehicle body 6 and the pendulum beam 3 tilt toward the outer track side. After a certain time (for example, after 5 seconds), the air spring 7L is returned to the neutral position, and the operation of the air spring type forced vehicle body tilting mechanism 8 is terminated. Is naturally tilted to the neutral position by the acting force of gravity and centrifugal force (see FIG. 1B).

Incidentally, even for reverse vehicle body inclination that by the air spring force vehicle body tilt mechanism 8 at the outlet transition curve section, also in the case of suppressing the reverse rotation by reaction to the movement of the vehicle body tilt by natural pendulum air spring force slope The passive damper 5 effectively suppresses reverse rotation. In the case of this example, no control is required for the passive damper 5.

FIG. 2A is an explanatory diagram illustrating an example of a logic circuit of the air spring control device 9, and FIG. 2B is a diagram illustrating contents related to the logic circuit of the control device 9 of FIG. 2A.
The air spring control device 9 of this embodiment is configured by a logic circuit as shown in FIG.

  The point detection device 10 installed in the railway vehicle 1 includes ground signal information from an ATS ground element or the like, position information such as GPS information, and route data (curve position data and curvature of the curve, cant, etc.) of the device. By comparing the vehicle travel distance, the travel time of the railway vehicle 1 required to travel to the front entrance relaxation curve track is detected.

  Then, flag 0 is output from the point detection device 10 to the air spring control device 9 when there is no curved track having a curvature equal to or greater than the set value in front of the railway vehicle 1 or when there are continuous straight tracks. Therefore, the air spring type forced vehicle body tilting mechanism 8 is not operating.

When the railway vehicle 1 travels in a straight line, if there is a curved track whose curvature is equal to or greater than the set value ahead, a relaxation curve track in front from the point detection device 10 to the air spring control device 9 before a certain time before entering the entrance relaxation curve. Is input with a flag signal of ± 1, which is a value other than 0, and the curve direction of the relaxation curve is distinguished by ± (for example, flag +1 when turning to the right, and-when turning to the left 1 ) The power is output and the air spring type forced vehicle body tilting mechanism 8 is operated.

It is operated air spring force vehicle body tilt mechanism 8, for example, when the inclination angle becomes a constant value (set value) or more, as the inclination angle of the vehicle body 6 by the air springs control device 9 is 0 °, the air spring The type forced vehicle body tilt mechanism 8 is operated.

  Similarly, even when the railway vehicle 1 travels on the main curve, the point detection device 10 compares the route data (curve position data and curvature of the curve, cant, etc.) with the actual travel distance so that the vehicle 1 continues. During traveling on this curve, since the flag 0 is output to the air spring control device 9, the air spring type forced vehicle body tilt mechanism 8 is not in operation.

When transitioning from this curved track to the exit relaxation curve, the presence or absence of the relaxation curve track in front from the point detection device 10 to the air spring control device 9 is a value other than 0, a certain time before entering the exit relaxation curve. ± 1 of the flag signal (e.g., flag -1 if bent to the right, if you turn left direction + 1) is input, and the curve direction of the relaxation curve is distinguished by ±, is output, the air spring The type forced vehicle body tilt mechanism 8 is operated. It is important that the ± 1 flag signal when entering the exit relaxation curve from the time of running on this curve is the opposite of ± when entering the entrance relaxation curve from the time of straight running.

It is operated air spring force vehicle body tilt mechanism 8, for example, when the inclination angle becomes a constant value (set value) or more, as the inclination angle of the vehicle body 6 by the air springs control device 9 is 0 °, the air spring The type forced vehicle body tilt mechanism 8 is operated.

  As shown in FIG. 2A, the control device 9 includes (2) a holding logic 9a, (3) an output determination logic 9b, and (4) a control arithmetic unit (parameter multiplication / differentiation) 9c such as a PID. .

  In the holding logic 9a, a command to hold the actual inclination angle (actual inclination angle) immediately before entering the relaxation curve is issued, but when the flag 0 is input from the point detection device 10, the holding value of the actual inclination angle is reset. .

(Curvature of the position data and the curve of the curve, cant, etc.) routes data previously stored from the earth point touch device 10 to a predetermined time before the entry of the inlet transition curve and outlet transition curve based and the vehicle travel distance, the direction of the curve Is output as a flag (± 1). This flag (-1, 0 or 1) is input to the holding logic 9a, but 0 ° is stored in the holding logic 9a at the output start point of the arrow as shown in the middle part of FIG. In the output determination logic 9b, as shown in the lower part of FIG. 2B, at the output start point, | the actual inclination angle of the air spring type forced vehicle body inclination mechanism—the inclination angle held by the holding logic 9a | <the set value. Therefore, 1 is output. Subsequently, the inclination direction of the vehicle body 6 is determined by the multiplication process 9f with the flag signal value (−1, 0, 1) from the point detection device 10. Then, the vehicle body inclination angle is calculated by the control arithmetic unit 9 c, and a vehicle body inclination angle command (air spring height command) is output to the air spring type forced vehicle body inclination mechanism 8. On the other hand, as shown in the lower part of FIG. 2B, since the output end point is | the actual inclination angle−the inclination angle held by the holding logic 9 a ≧≧ the set value, 0 is output, and the inclination angle of the vehicle body 6 Is returned to its original state (0 °). In addition, 9d is an addition process, and 9e is an absolute value process.

In the logic of the air spring control device 9 shown in FIG. 2, the flag (-1 or +1) output from the point detection device 10 on the vehicle 1 side immediately before the railcar 1 enters the relaxation curve, to the inner track side of the curve. A command to incline the vehicle body 6 is issued to the air spring control device 9, and the vehicle body 6 is inclined by the air spring type forced vehicle body inclination mechanism 8. However, when the vehicle body 6 is inclined, it returns to its original posture after the inclination angle set value is exceeded. . For this reason, it can be controlled by very simple logic.

  As described above, the pendulum type railway vehicle 1 of the present embodiment is configured. Next, operations of the vehicle body tilt mechanism and the natural pendulum mechanism when traveling on a curved track will be described with reference to the drawings.

Fig. 3 is a plan view showing the trajectory at the entrance of the curved trajectory (top), and an explanatory diagram (middle) showing the curve detection signal in relation to the same trajectory, corresponding to the trajectory. over time the compressed air flow amount to the curve outside air springs and graph, illustrating the relationship between the (horizontal axis) (bottom), FIG. 4 is a plan view showing the trajectory of the curved track outlet side (top) course curve detection signal in the time corresponding to the same trajectory graph, illustrating the relationship between the (horizontal axis) (middle) and the course of the compressed air flow amount time to curve outside air springs in response to the track It is explanatory drawing (lower stage) represented by the relationship with (horizontal axis). FIG. 5 is a plan view showing the track showing the curved track entrance side and the position of the vehicle. FIGS. 6A to 6D are rear views schematically showing the vehicle corresponding to the vehicle states 1 to 4 in FIG. It is sectional drawing (viewed from back). 7 is a plan view showing a track showing the curved track exit side and the position of the vehicle. FIGS. 8A to 8D are rear views schematically showing the vehicle corresponding to the vehicle states 1 to 4 in FIG. It is sectional drawing.

In the combined vehicle body tilt type railway vehicle 1 having the air spring type forced vehicle body tilt mechanism 8 and the natural pendulum mechanism of the present embodiment, the vehicle 1 traveling on a straight track as shown in FIG. 3 and FIG. pendulum beam 3 and the vehicle body 6 are not inclined, the center of gravity is located on the central axis S-S of the pendulum carriage 2 (FIGS. 6 (a)). As shown in FIG. 5 (state 2), the inclination angle and the inclination direction of the vehicle body 6 from the point detection device 10 on the vehicle 1 side before a certain time (for example, 2 seconds before) immediately before entering the entrance relaxation curve. Is output to the control device 9. Note that the tilt angle is determined by the vehicle body specifications. Here, the compressed air to the curve outside the air spring 7 L supplied by the air spring control unit 9 of the air spring force vehicle body tilt mechanism 8, the height is increased in the air spring 7L, body 6 on the pendulum beam 3 is Inclined toward the inner track side of the curved track (state 2 in FIG. 5 and FIG. 6B). The passive damper 5 prevents the pendulum rotation of the unnecessary vehicle body 6 and the pendulum beam 3 in the opposite direction of the vehicle body tilt due to the reaction force when the vehicle body 6 tilts. Then, the vehicle body 6 tilts inward toward the inner track before entering the entrance relaxation curve, so that the vehicle body center of gravity G is inward relative to the central axis SS passing through the pendulum center o of the pendulum carriage 2 as shown in FIG. The movement of the pendulum beam 3 toward the inner gauge side is caused by centrifugal force and gravity because the vehicle body center of gravity G moves toward the inner gauge side when viewed from the pendulum center o when the movement starts to the gauge side and enters the relaxation curve. As a result, the pendulum inclination of the vehicle body 6 and the pendulum beam 3 is facilitated. Thereby, the swing delay peculiar to the conventional general pendulum type railway vehicle is eliminated.

Then, the vehicle body 6 that is forcibly inclined toward the inner track side by the air spring type forced vehicle body tilting mechanism 8 is in a state 3 of FIG. 5 or FIG. 6 after a certain time (for example, 5 seconds after the vehicle body tilt command is issued ) . compressed air from the air spring 7 L of the curve outside is discharged by a command from the air spring control device 9 again air spring force as shown in (c) the vehicle body tilt mechanism 8, by being returned to the original height The vehicle body center of gravity G moves to the outer gauge side with respect to the central axis SS of the pendulum carriage 2, and the vehicle body 6 is returned to the original non-inclined posture which is a neutral position parallel to the pendulum beam 3. Consequently, during running of the curved track, as the center of rotation the pendulum center o as shown in state 4 of FIG. 5 and FIG. 6 (state 1 in FIG. 7) (d) (FIG. 8 (a)), the body center of gravity G The vehicle body 6 and the pendulum beam 3 are inclined at an optimal inclination angle in which the gravity and centrifugal force applied to each other are balanced.

In this way, a command signal based on the track data from the point detection device 10 on the vehicle 1 side before a certain time (for example, 2 seconds) immediately before traveling on this curved track and entering the exit relaxation curve, the state of FIG. As shown in FIG. 2 and FIG. 8B, the vehicle body 6 tilts in the direction opposite to that before entering the entrance relaxation curve, that is, toward the outer gauge. As a result, the vehicle body center of gravity G starts to move toward the outer gauge as viewed from the pendulum center o, and when entering the relaxation curve, the vehicle body center of gravity G moves from the pendulum center o to the outer gauge side. As for the swing to the outer track side of 3, the pendulum inclination of the vehicle body 6 and the pendulum beam 3 is facilitated by the action of centrifugal force and gravity, thereby eliminating the swing delay peculiar to the pendulum type railway vehicle. After a certain period of time (for example, 5 seconds after the vehicle body tilt command is issued), the vehicle body 6 and the pendulum beam 3 again move to the air spring as shown in state 3 of FIG. 7 and FIG. Pressurized air is discharged from the air spring 7 on the inner gauge side by the air spring control device 9 of the type forced vehicle body tilting mechanism 8, and returns to the natural pendulum state by descending to the original height, so that stable running is performed.

  Note that, when traveling on a straight track, unnecessary rolling deflection of the pendulum beam 3 is suppressed by the suppression force (resistance force) against the deflection of the pendulum beam 3 by the passive damper 5.

As described above, according to the pendulum type railway vehicle 1 of the present embodiment, the vehicle body 6 is inclined toward the inner gauge side by the air spring type forced vehicle body tilt mechanism 8 immediately before entering the entrance relaxation curve, and the vehicle body 6 is traveling during the entrance relaxation curve traveling. Is returned to the neutral position by the air spring type forced vehicle body tilting mechanism 8, and the vehicle body 6 is inclined to the outer gauge side by the air spring type forced vehicle body tilting mechanism 8 immediately before entering the exit relaxation curve. By returning the vehicle body 6 to the neutral position by the tilt mechanism 8, the swing delay of the natural pendulum operation is corrected by the air spring type forced vehicle body tilt mechanism 8 to eliminate the swing delay. Further, as described above, in the composite vehicle body tilt type railway vehicle 1 of the present embodiment, the vehicle body 6 is once forcedly inclined toward the inner rail side before the entrance relaxation curve, and the forced vehicle body inclination is returned to the neutral position during the relaxation curve traveling, etc. Before the vehicle body 6 and the pendulum beam 3 are naturally inclined to the inner track side or returned to the original neutral state with the pendulum center o as the rotation center by the action of the centrifugal force and gravity generated when passing through the curved track, the vehicle body 6 is Since the swing delay is eliminated by correcting the swing delay of the natural pendulum operation by the air spring type forced vehicle body tilt mechanism 8, no complicated and precise control is required. Further, the above-described air spring control device 9 (see FIG. 2) is merely an example in which the above-described tilt control of the vehicle body 6 is expressed by logic, and it goes without saying that the present invention is not limited to this.

FIG. 1 (a) is a front sectional view schematically showing an embodiment of a composite pendulum type railway vehicle according to the present invention, showing a curving state, and FIG. 1 (b) is a diagram of FIG. 1 (a). It is explanatory drawing which shows the relationship which centrifugal force and gravity act on a vehicle body in a vehicle. FIG. 2A is an explanatory diagram showing an example of a logic circuit of the control device 9 used in the pendulum type railway vehicle 1 of the present invention, and FIG. 2B is a content related to the logic circuit of the control device 9 of FIG. FIG. A plan view showing the trajectory on the curved track entrance side (upper stage) and an explanatory diagram (middle stage) showing the curve detection signal in relation to the same trajectory and the outside (corresponding to the trajectory) a if rail side air roots flow quantity over time graph, illustrating the relationship between the (horizontal axis) (bottom). Corresponding to the trajectory at the exit side of the curved trajectory (top) and the explanatory diagram (middle) representing the curve detection signal in relation to the same trajectory and the inner passage corresponding to the trajectory a if rail side air roots flow quantity over time graph, illustrating the relationship between the (horizontal axis) (bottom). It is a top view which shows the track | orbit which shows a curved track entrance side, and the position of a vehicle. 6A to 6D are rear-view sectional views schematically showing the vehicle corresponding to the vehicle states 1 to 4 in FIG. It is a top view which shows the track | orbit which shows a curved track exit side, and the position of a vehicle. 8A to 8D are rear-view sectional views schematically showing the vehicle corresponding to the vehicle states 1 to 4 in FIG.

Explanation of symbols

1 Compound vehicle body tilting railway vehicle 2 Pendulum cart
2a bogie frame 3 pendulum beam 3a lower semicircular arc surface 3b recess 3c roller 4 wheel shaft 4a axle 4b wheel 5 passive damper 6 vehicle body 7 (7R) air spring 7 (7L) air spring 8 air spring type forced vehicle body tilt mechanism 9 air spring Control device 9a holding logic 9b output determination logic 9c air spring control calculator 10 point detector R rail

Claims (5)

A cart, a vehicle body arranged above the cart, and a pendulum beam provided between them, and utilizing the centrifugal force acting on the center of gravity of the vehicle body when traveling on a curved track, the center around the pendulum rotation center A natural pendulum mechanism that realizes a natural pendulum movement of the vehicle body, and an air spring type forced vehicle body tilting mechanism that includes air springs disposed between the pendulum beam and the vehicle body on the left and right, the natural pendulum mechanism and the air spring type forced In a railway vehicle having a complex vehicle body tilt function by a vehicle body tilt mechanism,
The air spring type forced vehicle body tilting mechanism returns the vehicle body to its original posture immediately after tilting the vehicle body toward the inner track immediately before entering the entrance relaxation curve, while moving the vehicle body to the outer track side immediately before entering the exit relaxation curve. A railway vehicle comprising a configuration that supports the swing of the natural pendulum mechanism by returning to the original posture immediately after tilting to the right.   The railway vehicle according to claim 1, wherein a passive damper is interposed between the carriage and the pendulum beam. The air spring type forced vehicle body tilt mechanism includes an air spring control device that controls an air amount of the air spring, and the air spring control device is connected to a vehicle point detection device,
The said point detecting device, are route data store containing the direction of curvature and cant amount and curves in position data and the curve of at least the curve, and the position information, such as terrestrial signal information or GPS information of the point detecting device by comparing the travel distance of the route data Contact and vehicles with, bending of at least the curved track immediately before going into the inlet transition curve and outlet transition curve comprising at least the triggering of the operation of the air spring force vehicle body tilt mechanism The railway vehicle according to claim 1 or 2, wherein a direction is output to the air spring control device.   The air spring type forced vehicle body tilting mechanism raises the outer gauge side air spring by supplying air to the outer gauge side air spring by the air spring control apparatus immediately before entering the entrance relaxation curve detected by the point detection device. The vehicle body is inclined toward the inner gauge side with respect to the pendulum beam, and the air spring control device discharges air in the outer gauge side air spring and lowers the outer gauge side air spring during traveling of the entrance relaxation curve, and the outer gauge side air spring is lowered. The height of the side air spring is returned to the original neutral position, and immediately before entering the exit relaxation curve, the air spring control device supplies air to the inner gauge side air spring and raises the inner gauge side air spring so that the vehicle body is Inclined to the outer gauge side with respect to the pendulum beam, the air spring control device discharges the air in the inner gauge side air spring when traveling on the exit relaxation curve, and returns the height of the inner gauge side air spring to the original neutral position The method according to claim 3, Road vehicle. The air spring type forced vehicle body tilt mechanism raises the outer gauge side air spring by supplying air to the outer gauge side air spring by the air spring control apparatus immediately before entering the inlet relaxation curve detected by the point detection device. The air in the air spring on the inner gauge side is discharged to incline the vehicle body toward the inner gauge side with respect to the pendulum beam, and the air spring control device discharges the air in the outer gauge side air spring when traveling on the entrance relaxation curve. The outer gauge side air spring is lowered and the inner gauge side air spring is supplied with air to return the height of each air spring to the original neutral position. Air is supplied to the inner gauge side air spring to raise the inner gauge side air spring, and the air in the outer gauge side air spring is discharged to incline the vehicle body toward the outer gauge side with respect to the pendulum beam. Sometimes the air spring control device Ri air is supplied to the root if the curve outside air as well as exhaust air rail side air in the spring, according to claim 3, characterized in that return to the original neutral position the height of the respective air springs Railway vehicle.

Images