JP5040578B2 - Railway vehicle body tilt control method - Google Patents

Description

The present invention particularly when curving the relates to tilt control how the vehicle body by using an air spring.

  In a railway vehicle, riding comfort may deteriorate due to excessive centrifugal force when passing a curve. In particular, when passing through a curve at a high speed, the excess centrifugal force increases, resulting in further deterioration in riding comfort. Therefore, when the vehicle passes the curve, the vehicle body is tilted toward the inside of the curve to suppress excess centrifugal force and to prevent the deterioration of riding comfort.

As one of the vehicle body tilt controls, there is one that tilts the vehicle body by supplying and exhausting air to the left and right air springs that support the vehicle body (for example, Patent Document 1).
JP 7-81558 A

However, when the vehicle body tilt control is performed by supply / exhaust to the left and right air springs, the movement of the air spring is slightly delayed with respect to the supply / exhaust. Accordingly, a preceding time control is adopted in which the target value is advanced by this delay (Non-Patent Document 1).
Proceedings of the 2nd Annual Meeting of the Japan Society of Mechanical Engineers, Transportation and Logistics "Development of Air Spring Body Tilt Control for Railway Vehicles" p98-102

However, even if the inclined control method disclosed in Non-Patent Document 1, when the curve passes, it may not be possible to prevent deterioration of Nokokoro land effectively.

Problems which the invention is to solve is always a constant lead time with respect to the target value, in the conventional vehicle body tilt control is that say it may not be possible to prevent deterioration of Nokokoro locations effectively .

  The present invention adopts the following configuration in order to perform optimum vehicle body tilt control according to traveling conditions such as a curve radius and a traveling speed, particularly in the case of vehicle body tilt control using an air spring when passing a curve. is doing.

That is, the vehicle body tilt control method for a railway vehicle according to the present invention includes:
A method of controlling the inclination of a railway vehicle body by supplying and exhausting air springs when passing a curve,
It is the most important feature to determine passing over trying to ingress expected time the body of Ru preceding time is prior to the start of the tilt control than for curve as follows.

In the method of the present invention described above, the preceding time of the curve is, for example,
(1) By using the optimum leading time table obtained in advance based on the curve condition and the traveling speed that passes through, and performing the interpolation calculation with the centrifugal force as a variable,
Or
(2) By determining from the optimal calculation of one optimal lead time determined in advance based on the curve condition and the traveling speed passing through, and the proportional calculation of the centrifugal force and the current centrifugal force under that condition,
Ask.

  However, in the case of a vehicle having a small centrifugal force acting on the vehicle body when traveling along a curve, interpolation or proportional calculation using the speed as a variable instead of the centrifugal force may be performed.

The method of the present invention described above
Vehicle body tilting means for tilting the vehicle body of the railway vehicle;
Position detecting means for detecting a traveling position of the railway vehicle;
Storage means for storing the curve information, the optimum leading time determined in advance based on the curve condition and the passing speed;
Speed detecting means for detecting the traveling speed of the railway vehicle;
Based on the travel position specified by the position detection means, the calculation means for calculating the preceding time using the centrifugal force or the traveling speed from the curve information and the optimum preceding time read from the storage means;
Control means for starting the control of the vehicle body tilting means only by the calculated preceding time before the estimated approach time to the curve to be passed;
It can implement using the vehicle body tilt control apparatus of this invention characterized by providing this.

According to the present invention, it is possible to delay the operation when the vehicle body is tilted under any driving conditions by optimally setting the leading time of the start of the tilt control in the curve to be passed according to the curve radius and the driving speed. As long as it can be suppressed. Therefore, it is possible to prevent the deterioration of Nokokoro locations during curving effectively.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The best mode for carrying out the present invention will be described below with reference to the accompanying drawings, along with a new idea for completing the present invention and a background from the idea to solving a problem.
FIG. 1 is a schematic explanatory view of the interpolation calculation method of the preceding time used in the vehicle body tilt control of the present invention, FIG. 2 is a diagram explaining the load difference between the centrifugal force and the air spring when passing the curve, and FIG. 3 is the influence of the centrifugal force. FIG. 4 is a diagram illustrating an example of a flowchart at the time of calculation execution.

  As a result of an investigation by the inventor, it has been found that the operation delay time when the vehicle body is tilted varies depending on traveling conditions such as a curve radius and a traveling speed and is not constant.

The vehicle body tilt control method of the railway vehicle of the present invention is based on the above knowledge,
When passing the curve and controlling the tilt of the railcar body by supplying and exhausting air springs,
The preceding time with respect to the inclination control start time of the curve to be passed is determined according to the traveling condition.

  Regarding the preceding time when starting the tilt control according to the traveling condition, the inventor has a greater influence of the centrifugal force due to further investigation, and when the centrifugal force increases, the operation delay when the vehicle body tilts tends to increase. I found out.

  Therefore, the inventor can calculate the magnitude of the centrifugal force α from the curve radius R (mm) and the traveling speed v (m / s) as shown in the following formula 1. Based on the centrifugal force α, it was considered that the preceding time should be longer when the centrifugal force α becomes larger than this criterion, and that the preceding time should be shortened when the centrifugal force α becomes smaller.

[Equation 1]
α = (v ² / R) − (C / G) · g
Where C: cant amount (mm)
G: Gauge (mm)
g: Gravitational acceleration (m / s ² )

  In other words, in normal vehicle body tilt control, an operation is performed repeatedly to specify the optimum preceding time when passing a certain curve at a certain speed by simulation or a current vehicle test, and the optimum preceding time for each driving condition is determined. For example, the table is formed as shown in Table 1 below.

Next, in actual travel, the preceding time is determined by interpolation calculation with reference to the table in Table 1 above.
For example, for the curve A, as shown in FIG. 1, when it is known that the preceding time T1 is optimal when the speed is v1, and the leading time T2 is optimal when the speed is v2, the speed is v1 <v <v2. The centrifugal force generated in the case of v1 is F1, the centrifugal force generated in the case of speed v2 is F2, and the centrifugal force generated in the speed v is F. The leading time T is determined by force interpolation.

[Equation 2]
T = T1 + {(T2-T1) / (F2-F1)} * (F-F1)

The basis for this method is a prediction that the preceding time increases in proportion to the centrifugal force.
While passing through the curve, the centrifugal force acts as a force to tilt the vehicle body to the outside of the curve, and the balance between this force is maintained by causing a difference in the load borne by the left and right air springs.

  When the vehicle body is not tilted, as shown in FIG. 2A, when the vehicle body 1 falls to the outside of the curve, the load acting on the outer air spring 2 is increased and contracted, while the inner air spring 2 is contracted. The load acting on the surface is reduced and stretched to generate the load difference.

  On the other hand, when the vehicle body is tilted, for example, as shown in FIG. 2B, the load acting on the air spring 2 on the outside of the curve is increased while acting on the air spring 2 on the inside. The load difference is generated by reducing the load acting by exhaust. 2 in FIG. 2 indicates a carriage.

  Therefore, as the centrifugal force increases, the necessary load difference increases, and the required air supply / exhaust amount increases accordingly. On the other hand, the air supply / exhaust speed (flow rate) to the air spring depends on the aperture of the solenoid valve to be used, so the air supply / exhaust speed is constant depending on the vehicle.

  Therefore, it is considered that the time required for supplying and exhausting air required for the air spring, that is, the preceding time becomes longer in proportion to the centrifugal force.

  However, in the case where the center of gravity G of the vehicle body 1 is low as shown in FIG. 3A, or in the case of an articulated carriage (cart 3 arranged at the connecting portion of the vehicle), the air spring 2 as shown in FIG. When the support position of the vehicle 1 can be increased, the force by which the centrifugal force tilts the vehicle body 1 becomes very small.

  In such a case, it is considered that the preceding time is not proportional to the centrifugal force described above, but is proportional to the speed when passing through the curve. Therefore, in such a case, interpolation using the speed as a variable may be performed.

  In addition, the preceding time T1 that is optimal when passing through a certain curve at a certain speed v is simply determined by simulation or the current vehicle test, and the proportional calculation of the centrifugal force F1 and the current centrifugal force F under that condition. The preceding time T may be determined by (Equation 3 below).

[Equation 3]
T = (T1 / F1) × F

  Even in this simple method of determining the preceding time by proportional calculation, in the case of a vehicle with a small centrifugal force acting on the vehicle body while traveling on a curve, proportional calculation using speed as a variable instead of centrifugal force is performed. May be.

  By the way, if the preceding time is set too long, the vehicle travels with the vehicle body tilted on a straight line before entering the curve, so it is desirable to set an upper limit for the preceding time. For example, when the vehicle is stopped (there is no centrifugal force), the time required for tilting the vehicle body to the maximum angle is checked, and this is used as the maximum value Tmax of the preceding time. In this way, the vehicle will not travel on the straight line before entering the curve with the vehicle body tilted the most.

  The above is the vehicle body tilt control method of the present invention. Actually, as described below, the vehicle body tilt is performed according to the flowchart shown in FIG.

(1) After performing curve detection or the like in the normal vehicle body tilt control process, the curve start point of the curve to be tilt controlled is compared with the traveling position of the host vehicle.
If “the distance from the host vehicle to the next curve start point is equal to or less than the prescribed value” and “the preceding time in the next curve is not set”, the preceding time is set.

  At this time, the distance obtained by the maximum preceding time Tmax × the maximum speed Vmax is used as the specified value. By doing so, it is ensured that the point of determination of the preceding time is in front of the control start point.

(2) Thereafter, the traveling speed v (m / s) of the host vehicle and the curve conditions (curve radius R (m), cant amount C (mm)) are obtained, and the centrifugal force α is calculated by the above-described equation 1.

(3) After calculating the centrifugal force α, the optimum condition table in which the optimum preceding time is tabulated in advance for each traveling condition is read, and the interpolation calculation is performed using Equation 2 with reference to the optimum condition table. Determine the lead time.

In such case the supporting position on a pneumatic spring center of gravity is low is high, when the influence of centrifugal force is small, omitting the said first (2) step, only the traveling speed v with the equation 2 prior Determine the time.

(4) After determining the optimum leading time, the slope control is performed according to the determined leading time. After that, after passing through the target curve, the preceding time is reset to prepare for the next curve.

  The vehicle body tilt control method using the air spring described above is a general vehicle body tilt control device, which is a vehicle body tilt means, a travel position detection means (for example, a ground element and a vehicle upper element), and a travel speed detection means. In addition to (for example, a speedometer), for example, it further includes the following configuration.

  That is, the vehicle body tilt control device of the present invention further includes a storage device, a calculation device, and a control device in addition to the vehicle body tilting device, the travel position detection device, and the travel speed detection device.

  Among them, the storage means stores the curve information, the optimum leading time obtained in advance as shown in Table 1 based on the curve conditions such as the curve radius and the cant amount, and the passing speed. Further, the computing means is based on the running position specified by the running position detecting means, from the curve information read from the storage means and the optimum preceding time, for example, by the interpolation calculation of the formula 2 using centrifugal force. The preceding time is calculated. Then, the control means starts control of the vehicle body tilting means for the preceding time calculated by the calculation means before the scheduled entry time to the curve to be passed.

The vehicle body tilting means 11 has a configuration as shown in FIG.
In FIG. 5, reference numeral 12 denotes an air source for accumulating air to be supplied to the left and right air springs 13a and 13b arranged between the vehicle body 1 and the carriage 3, and a distance between the air source 12 and the air springs 13a and 13b is 2. The pipes 14a and 14b of the series are connected.

  An air supply valve 16 and an exhaust valve 17 for supplying and exhausting air to and from the air springs 13a and 13b based on the detection value of the height sensor 15 are provided in the middle of one of the pipes 14a. . Further, a height adjusting valve 18 for adjusting the height of the air springs 13a and 13b is interposed in the middle of the other pipe 14b, and a shutoff valve 19 is provided between the height adjusting valve 18 and the air springs 13a and 13b. The two air springs 13 a and 13 b are communicated with each other via the differential pressure valve 20.

  The present invention is not limited to the above examples, and can be freely changed within the scope of the technical idea described in each claim.

For example, the vehicle body tilting means 11 is not limited to the configuration shown in FIG. 5 as long as the vehicle body is tilted by supplying and exhausting air springs.
The traveling position detection means may be a gyroscope or the like as long as it can detect the traveling position of the vehicle, and is not limited to a ground element and a vehicle upper element.

It is a schematic explanatory drawing of calculating | requiring the preceding time used for the vehicle body tilt control of this invention by interpolation calculation. It is a figure explaining the load difference of the centrifugal force at the time of a curve and an air spring, (a) is a case where vehicle body inclination is not implemented, (b) is a case where vehicle body inclination is implemented. It is a figure explaining the railway vehicle when it is thought that the influence of centrifugal force is small, (a) is a case where the gravity center of a vehicle body is low, (b) is a case where the support position of an air spring is high. It is the figure which showed an example of the flowchart at the time of calculation execution. It is a figure explaining an example of the vehicle body inclination means of the vehicle body inclination control apparatus of this invention which implements the vehicle body inclination control method of this invention.

Explanation of symbols

1 Car body 2, 13a, 13b Air spring 11 Car body tilting means

Claims (5)

A method of controlling the inclination of a railway vehicle body by supplying and exhausting air springs when passing a curve,
The passing ingress schedule Ru preceding time is prior to the start of the tilt control of the vehicle body than the time to curve to overuse, using pre-determined optimal advance time table based on the running speed to pass the curve condition, centrifugal A vehicle body tilt control method for a railway vehicle , wherein the determination is made by performing interpolation calculation using force as a variable . A method of controlling the inclination of a railway vehicle body by supplying and exhausting air springs when passing a curve,
One optimum leading time obtained in advance based on the curve condition and the traveling speed passing through the preceding time for starting the vehicle body tilt control before the scheduled approach time to the curve to be passed , and the condition centrifugal force and the vehicle body tilt control method of the railway vehicle shall be the determining means determines from the proportional calculation of the current of the centrifugal force in the. A method of controlling the inclination of a railway vehicle body by supplying and exhausting air springs when passing a curve,
In the case of a vehicle with a small centrifugal force acting on the vehicle body when traveling on a curve,
The lead time than entering scheduled time to curve to be passed to the preceding the start of the tilt control of the vehicle body above, using the optimal advance time table obtained in advance based on the running speed to pass the curve condition, running body tilt control method of the railway vehicle you and determining by interpolation calculation speed as a variable. A method of controlling the inclination of a railway vehicle body by supplying and exhausting air springs when passing a curve,
In the case of a vehicle with a small centrifugal force acting on the vehicle body when traveling on a curve,
One optimum leading time obtained in advance based on the curve condition and the traveling speed passing through the preceding time for starting the vehicle body tilt control before the scheduled approach time to the curve to be passed , and the condition running speed and the vehicle body tilt control method of the railway vehicle shall be the determining means determines from the proportional calculation of the current speed in. Said previous time, with one of the claims 1-4, characterized in that an upper limit of supply and exhaust time to the air springs required to tilt to a maximum angle of the design of the vehicle body in a railway vehicle in a stopped state The vehicle body tilt control method according to the description.

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