JP5193665B2 - Contactless master controller and failure detection method for contactless master controller - Google Patents

Description

  The present invention relates to a contactless master controller that controls operation of a railway vehicle based on a steering operation, and a failure detection method for the contactless master controller.

  A railway vehicle (train) is equipped with a master controller (mass controller) serving as an interface for a driver to operate and control the vehicle. The driver's cab is present on both leading vehicles of train formation. The master controller is a device that serves as an interface between the driver and the train, and outputs a notch command according to the notch position of the main handle operated by the driver. The main controller is currently a one-handled mascon. The one-handle mascon has one axis (bar) moved back and forth, and becomes a brake notch with a strong braking force as it goes to the back, and a power running notch with a strong acceleration force as it goes to the front. The driver moves the steering wheel back and forth to pull it forward to give an acceleration command, and then push the coasting command at an intermediate position and push it back to give a braking command.

  The notch command is a command for braking, acceleration, etc. for the train. As an example, a brake (braking) notch has eight steps, a power running (acceleration) notch has four steps, and the notch with a larger numerical value has a higher force. Further, the state of the brake notch 0 and the power running notch 0 is referred to as “Yurume (cut)”, and the vehicle is coasted without acceleration or braking.

  Since the conventional contact main controller detects the handle position by using on / off of a contact (switch), the state of the contact becomes a notch command as it is. Recently, for the purpose of avoiding contact failure, the contactless master controller has become the mainstream, the contactless master controller is a sensor instead of a contact (angle detection sensor: the handle does not slide back and forth, The position of the handle is detected using a circular motion in a fan shape, and a notch is calculated based on the detected angle and converted into a notch command signal.

  Many recent master controllers use an absolute rotary encoder as a sensor for detecting the angle of the notch of the main handle. This rotary encoder detects the absolute angle of the target rotating shaft and outputs it as a binary code or gray code consisting of a predetermined number of bits. There is an advantage that can be immediately and accurately known.

  Several methods are conceivable as methods for detecting an error in the code output from the rotary encoder. For example, there is a detection method in which a detection angle based on a code output from a rotary encoder is monitored, and a failure occurs when continuity is lost. Since the main handle operated by the driver continuously changes the angle, the amount of change in angle within a predetermined time in a normal state without failure takes a value equal to or less than a predetermined value. Using this, the CPU in the control board connected to the rotary encoder monitors the detection angle calculated based on the code output from the rotary encoder, and the encoder value updated by the 1 ms timer interrupt is the previous value. Rather than a certain range, it is determined that a failure has occurred when a certain time has passed. The requirement that “a certain amount of time elapses” is that there is no problem if the correct value code is output next time even if the rotary encoder happens to output an incorrect value as a code due to some trouble. Because.

  There is also a method of performing failure detection by adding a parity bit, which is an error detection code, to a code output from a rotary encoder. A rotary encoder employing this method generates a binary binary code or gray code corresponding to the detected angle and adds a 1-bit parity bit, and the total number of “1” s in the code is even or Outputs a code with an odd number. A CPU or the like having a control unit that decodes a code output by a rotary encoder performs failure detection by checking whether all bits including parity bits are always even or odd when decoding. .

  Patent Document 1 describes a rotary encoder and a rotary encoder system that can easily and reliably perform abnormality detection in a system that uses an absolute rotary encoder.

  The rotary encoder includes a rotating plate having a multitrack type absolute pattern, a detection unit that reads the absolute pattern, and an error detection circuit for detecting an abnormality in the output of the detection unit.

  The rotary encoder includes a plurality of light emitting elements having a detection unit provided on one side of the rotating plate and arranged in a row in the radial direction of the rotating plate, and a light emitting element provided on the other side of the rotating plate. A plurality of light receiving elements arranged in a row in the radial direction of the rotating plate, and a slit having a plurality of holes arranged in a row in the radial direction of the rotating plate provided between the rotating plate and the light emitting elements, A data output unit for amplifying the output of the detection unit, an encoding unit for generating an error detection code based on the output data of the data output unit, and an error in the output data based on the error detection code And a decoding unit that outputs an abnormality presence / absence signal.

According to this rotary encoder, the abnormality detection process in the external system becomes simple or unnecessary, and reliable abnormality detection can be performed.
JP-A-9-105646

  However, the conventional master controller detects a failure depending on the disconnected bit when a failure occurs in any of the bits when detecting a failure based on the binary code or gray code output from the rotary encoder. There is a problem that it is difficult to do.

  For example, it is assumed that the axial ratio of the main handle shaft of the master controller and the rotary shaft of the rotary encoder is 1: 3. In this case, when the main handle shaft rotates 120 degrees, this corresponds to the rotation shaft of the rotary encoder rotating 360 degrees. FIG. 2 is a table showing angles corresponding to conventional codes when an 8-bit code is used. Since the axial ratio between the main handle shaft of the master controller and the rotary shaft of the rotary encoder is set to 1: 3, the encoder angle in FIG. 2 is three times the main handle angle.

  In the example shown in FIG. 2, when the main handle angle is 0 degree, the rotary encoder outputs “00000000” as a binary code (or gray code). Further, as the main handle is operated to increase the angle of the main handle, the value of the output binary code also increases. Here, since FIG. 2 takes 8 bits as an example, a table in which one rotation of 360 degrees of the encoder angle is divided into 256 steps (256 pulses) is associated. Therefore, as the encoder angle increases by about 1.4 degrees, the binary code value increases by one.

  As described above, by checking the continuity of the detection angle corresponding to the code output from the rotary encoder, the conventional master controller can detect a failure regardless of which bit is disconnected. However, as shown in FIG. 2, to change the most significant bit (ie, to change from “01111111” to “10000000” in binary code), the driver sets the main handle angle to 60 degrees (the encoder angle is It is necessary to rotate up to 180 degrees. Here, if a disconnection occurs in the most significant bit, the binary code changes from “01111111” to “00000000” when the main handle is rotated up to 60 degrees. Bit breakage is revealed. The same applies to the gray code, and the most significant bit changes from 0 to 1 when the angle of the main handle is 60 degrees.

  Here, the rotation of 60 degrees in the main handle corresponds to about 10 notches. Therefore, in the conventional master controller, the disconnection of the most significant bit is found only after the driver rotates the main handle by 10 notches (60 degrees). In other words, unless the driver rotates the main handle 60 degrees, the disconnection at the most significant bit is not found.

  This problem arises not only for the most significant bit but also for any upper bits. In other words, the conventional master controller rotary encoder that uses binary code or gray code does not change the upper bits of the output code unless the main handle is rotated by a certain angle, even if a disconnection occurs. There is a problem that cannot be detected.

  The parity bit can detect whether or not an error has occurred in the output code, but it cannot point out which bit is incorrect, and cannot detect an error unless the upper bits change. Therefore, the above-mentioned problem cannot be dealt with.

  The present invention solves the above-mentioned problems of the prior art, and is a contactless master control capable of uniformly detecting a failure in any bit of a code output from a rotary encoder by a slight rotation of a main handle angle. It is an object of the present invention to provide a failure detection method for a detector and a contactless master controller.

In order to solve the above-mentioned problem, the contactless master controller according to the present invention starts with the main handle that inputs a notch command by turning and the binary code of predetermined bits in ascending order from the smaller value. A rotation angle of the main handle is arranged by alternately arranging a first code group composed of one-half binary code and a second code group obtained by inverting all bits of each binary code included in the first code group. A rotary encoder that holds an angle detection code corresponding to the detected rotation angle based on the rotation angle detected with the rotation of the main handle ; together to produce a notch command signal for controlling the driving and braking of the rail vehicle on the basis of the angle detecting code output from the rotary encoder, the angle detecting code based on There characterized in that it comprises a determining controller failure of the rotary encoder.

  According to the present invention, since each bit includes a rotary encoder and a control unit that employs an angle detection code that changes within two pulses, each bit is rotated while the main handle angle is rotated by two pulses. A failure can be detected uniformly.

  Embodiments of a contactless master controller and a failure detection method for a contactless master controller according to the present invention will be described below in detail with reference to the drawings.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram illustrating a configuration of a contactless master controller according to a first embodiment of the present invention. In this embodiment, the contactless master controller is mounted on a railway vehicle and controls the railway vehicle.

  First, the configuration of the present embodiment will be described. As shown in FIG. 1, the contactless master controller of the present embodiment includes a rotary encoder 1, a main handle 2, and a control board 3.

  The main handle 2 can be rotated back and forth by the driver's operation, and designates a notch to be a command for acceleration or braking of the railway vehicle according to the rotation angle.

  The rotary encoder 1 is an absolute rotary encoder that detects the absolute angle of the main handle 1 and arranges binary codes of predetermined bits in ascending order to extract up to one half of the whole in ascending order of values, and between the extracted codes. An angle detection code is generated by embedding a code obtained by inverting all the bits of the previous code, and a position signal corresponding to the angular position of the main handle is generated based on the angle detection code.

  The “new code” shown in FIG. 2 is an angle detection code generated by the method described above. Here, the angle detection code, which is the new code, is 8 bits, so 8-bit binary codes are arranged in ascending order, and up to one half of the entire value is extracted in ascending order, and one code before the extracted code. It is generated by embedding a code obtained by inverting all bits of the code.

  The 8-bit binary codes arranged in ascending order are 256 codes from “00000000” to “11111111”. Therefore, the binary codes obtained by extracting up to one half of the whole in ascending order are 128 codes from “00000000” to “01111111”.

  An angle detection code in which a code obtained by inverting all the bits of the previous code is embedded between the extracted codes is a new code shown in FIG. For example, between “00000000” and “00000001”, “11111111” which is a code obtained by inverting all bits of “00000000” is embedded. Similarly, “11111110” which is a code obtained by inverting all bits of “00000001” is embedded between “00000001” and “00000010”. After that, a code in which all the bits of the previous code are inverted is embedded between each code by the same method, and finally “01000000” in which all the bits are inverted is embedded after “01111111”. Complete.

  The rotation shaft of the main handle 2 is mechanically connected to the rotation shaft of the rotary encoder 1. In this embodiment, it is assumed that the axial ratio of the rotary shaft of the main handle 2 to the rotary shaft of the rotary encoder 1 is 1: 3.

  The rotary encoder 1 stores in advance the angle detection code (that is, the new code shown in FIG. 2) generated by the above-described method and the encoder angle corresponding to each code as a table as shown in FIG. When the rotary encoder 1 is rotated by rotating 2, the angle detection code corresponding to the rotated angular position is generated and output as a position signal. The sequence of position signal generation in the series of rotary encoders 1 corresponds to the position signal generation step in the failure detection method for the contactless master controller.

  For example, when the main handle 2 is rotated from 0 degree to 60 degrees, the rotary encoder 1 causes the angle detection codes “00000000”, “11111111”, “00000001”, “11111110”,..., “11000000”, “01000000” Are sequentially output as position signals.

  The control board 3 corresponds to the control unit of the present invention, has a CPU and memory (not shown), and generates a notch command signal for controlling driving and braking of the railway vehicle based on the position signal generated by the rotary encoder 1. . That is, as with the rotary encoder 1, the control board 3 stores in advance an angle detection code and an encoder angle (or main handle angle) corresponding to each code as a table as shown in FIG. The notch command signal intended by the driver is generated by calculating the angle of the main handle 2 based on the position signal.

  The control board 3 samples the position signal generated and output by the rotary encoder 1 based on the strobe bit output by the rotary encoder 1. Here, the strobe bit is a signal indicating that the position signal output by the rotary encoder 1 has been determined. In the position signal output by the rotary encoder 1, not all bits change at the same time. Therefore, the control board 3 can know that the change of the signal line indicating each bit of the position signal output from the rotary encoder 1 is confirmed by monitoring the strobe bit.

  Further, the control board 3 detects a failure of the rotary encoder 1 based on the position signal generated by the rotary encoder 1. The operation on the control board 3 corresponds to a failure detection step in the failure detection method of the contactless master controller.

  Specifically, the control board 3 determines whether or not the previous value and the current value of the position signal generated by the rotary encoder 1 are values inverted from each other, and both values are It is determined that the rotary encoder 1 has failed when a state that does not have a bit-inverted value occurs twice or more in succession.

  Next, the operation of the present embodiment configured as described above will be described. FIG. 3 is a flowchart showing the operation of the control board 3 of the contactless master controller according to the embodiment. First, the rotary encoder 1 detects the absolute angle of the main handle 1 and generates a position signal corresponding to the angle position of the main handle based on the angle detection code.

  The control board 3 generates a notch command signal for controlling driving and braking of the railway vehicle based on the position signal generated by the rotary encoder 1. At that time, the control board 3 detects a failure of the rotary encoder 1 based on the position signal generated by the rotary encoder 1.

  Here, it is assumed that the driver tries to rotate the angle of the main handle from 50 degrees to 60 degrees by operation. Assuming that the angle of the main handle 2 is 59.06 degrees, the encoder angle is 177.18 degrees from FIG. 2, and the rotary encoder 1 generates and outputs “00111111” as a position signal.

  The output value “00111111” of the rotary encoder 1 is input to the control board 3 as “current value” (step S101). The value “11000001” output by the rotary encoder 1 when the angle of the main handle 2 is 58.59 degrees is stored in the control board 3 as the “previous value”.

  Next, the control board 3 inverts all the bits of the previous value “11000001” (step S103). Here, the previous value inverted is “00111110”.

  Next, the control board 3 determines whether or not the previous value and the current value of the position signal generated by the rotary encoder 1 are values obtained by inverting all the bits (step S105). The current value of the control board 3 is “00111111”. On the other hand, the previous value inverted by the control board 3 is “00111110”. When the two are compared, since the least significant bit is different, the control board 3 determines that the current value does not match the inverted previous value.

  Here, the control board 3 determines whether or not the first abnormality flag is set (step S111). If the first abnormality flag has already been set, the current mismatch is the second, so the control board 3 determines that the rotary encoder 1 has failed (step S113). In other words, the control board 3 causes the rotary encoder 1 when a state in which the previous value and the current value of the position signal generated by the rotary encoder 1 are not all bit-inverted continuously occurs twice or more. Is determined to have failed. Here, “continuous twice” means two pulses by the rotary encoder 1.

  In step S111, when the first abnormality flag is not set (reset state), the control board 3 determines that the current mismatch is the first mismatch, and sets the first abnormality flag ( Step S115).

  Next, the control board 3 stores “00111111”, which is the current value, as the previous value (step S117). Therefore, “11000001” stored as the previous value until now is deleted by the control board 3. Here, the processing of the control board 3 is finished once. Thereafter, the control board 3 does not perform the operation of the flowchart shown in FIG. 3 unless a new value is input as the current value. Therefore, even if the angle of the main handle 2 does not change and the rotary encoder 1 outputs the same value as the previous value, the control board 3 does not operate.

  Thereafter, when the angle of the main handle 2 is rotated to 59.53 degrees, the rotary encoder 1 generates and outputs “11000000” as a position signal.

  The output value “11000000” of the rotary encoder 1 is input to the control board 3 as “current value” (step S101).

  Next, the control board 3 inverts all bits of “00111111” which is the previous value (step S103). Here, the previous value inverted is “11000000”.

  Next, the control board 3 determines whether or not the previous value and the current value of the position signal generated by the rotary encoder 1 are values obtained by inverting all the bits (step S105). The current value of the control board 3 is “11000000”. On the other hand, the previous value inverted by the control board 3 is “11000000”. Since the two are the same when compared, the control board 3 determines that the current value and the inverted previous value match.

  In this case, the control board 3 determines that the rotary encoder 1 is normal (step S107), and resets the flag when the first abnormality flag is set (step S109). Since the first abnormality flag is set when the main handle angle is 59.06 degrees, the control board 3 resets the flag.

  Next, the control board 3 stores the current value “11000000” as the previous value (step S117). Therefore, “00111111” stored as the previous value so far is deleted by the control board 3.

  Hereinafter, every time the angle of the main handle 2 changes and a new position signal is output by the rotary encoder 1, the control board 3 repeats the operation of the flowchart shown in FIG. As long as the angle detection code, which is the new code shown in FIG. 2, is correctly output as the position signal from the rotary encoder 1, the previous value and the current value of the position signal are not in a state in which all bits are inverted from each other. It does not occur more than once in succession.

  As described above, according to the contactless master controller according to the first embodiment of the present invention, each bit includes the rotary encoder and the control unit employing the angle detection code that changes within two pulses. While the main handle angle is rotated by two pulses (about 1 degree), any bit can detect a failure uniformly.

  When the angle detection code according to the present invention is used, the position signal of the angle detection code output by the rotary encoder 1 is not a value obtained by inverting all the bits of the previous value and the current value of the position signal. The condition does not occur more than once in succession.

  In other words, all bits of the angle detection code output as a position signal by the rotary encoder 1 are always inverted within two pulses. Therefore, the control board 3 can immediately find out that a failure has occurred for a bit that is not inverted twice or more consecutively due to disconnection of the signal line of the bit.

  The present invention can be applied to various applications that use a rotary encoder, but for applications that need to detect a failure of a rotary encoder at an early stage, such as a master controller used in a railway vehicle. It is particularly effective. The master controller in a railway vehicle ideally detects a failure while switching the notch in one stage (about 10 pulses, about 5 degrees at the angle of the main handle), and the present invention can detect a failure within 2 pulses. Because it is possible.

  In this embodiment, an 8-bit angle detection code has been described as an example. However, the position signal output by the rotary encoder 1 is not necessarily limited to 8 bits, but 4 bits, 12 bits, 16 bits, etc. The signal may be other than 8 bits. In that case, the control board 3 has a configuration in which the angle detection code of the predetermined bit and the encoder angle (or main handle angle) corresponding to each code are stored in advance as a table.

  The contactless master controller according to the second embodiment of the present invention has the same configuration as that of the contactless master controller according to the first embodiment shown in FIG. However, the control board 3 of the present embodiment is such that the current value of the position signal generated by the rotary encoder 1 is more than half of the maximum value that can be represented by the number of bits of the position signal, and the current value and the previous value. Is not a value obtained by inverting all the bits, it is determined that the rotary encoder 1 has failed.

  Next, the operation of the present embodiment configured as described above will be described. FIG. 4 is a flowchart showing the operation of the control board 3 of the contactless master controller according to the embodiment. First, the rotary encoder 1 detects the absolute angle of the main handle 1 and generates a position signal corresponding to the angle position of the main handle based on the angle detection code.

  The control board 3 generates a notch command signal for controlling driving and braking of the railway vehicle based on the position signal generated by the rotary encoder 1. At that time, the control board 3 detects a failure of the rotary encoder 1 based on the position signal generated by the rotary encoder 1.

  Here, it is assumed that the driver tries to rotate the angle of the main handle from 50 degrees to 60 degrees by operation. Assuming that the angle of the main handle 2 is 59.06 degrees, the encoder angle is 177.18 degrees from FIG. 2, and the rotary encoder 1 generates and outputs “00111111” as a position signal.

  The output value “00111111” of the rotary encoder 1 is input to the control board 3 as “current value” (step S201). The value “11000001” output by the rotary encoder 1 when the angle of the main handle 2 is 58.59 degrees is stored in the control board 3 as the “previous value”.

  Next, the control board 3 determines whether or not the current value “00111111” is equal to or greater than half of the maximum value that can be represented by the number of bits of the position signal (step S203). In this embodiment, since the number of bits of the position signal is 8, the maximum value that can be represented by the number of bits of the position signal is “11111111”, that is, 255. One half of 255 is 127.5.

  Since the current value “00111111” is 63, the control board 3 determines that the current value “00111111” is not equal to or more than half of the maximum value that can be represented by the number of bits of the position signal.

  Next, the control board 3 stores the current value “00111111” as the previous value (step S211). Therefore, “11000001” stored as the previous value until now is deleted by the control board 3.

  Thereafter, when the angle of the main handle 2 is rotated to 59.53 degrees, the rotary encoder 1 generates and outputs “11000000” as a position signal.

  The output value “11000000” of the rotary encoder 1 is input to the control board 3 as “current value” (step S201).

  Next, the control board 3 determines whether or not the current value “11000000” is equal to or greater than half of the maximum value that can be represented by the number of bits of the position signal (step S203). Since the current value “11000000” is 192, the control board 3 determines that the current value “11000000” is equal to or greater than half of the maximum value that can be represented by the number of bits of the position signal.

  Next, the control board 3 inverts all bits of “00111111” which is the previous value (step S205). Here, the previous value inverted is “11000000”.

  Next, the control board 3 determines whether or not the previous value and the current value of the position signal generated by the rotary encoder 1 are values obtained by inverting all the bits (step S207). The current value of the control board 3 is “11000000”. On the other hand, the previous value inverted by the control board 3 is “11000000”. Since the two are the same when compared, the control board 3 determines that the current value and the inverted previous value match.

  Next, the control board 3 stores the current value “11000000” as the previous value (step S211). Therefore, “00111111” stored as the previous value so far is deleted by the control board 3.

  Hereinafter, every time the angle of the main handle 2 changes and a new position signal is output by the rotary encoder 1, the control board 3 repeats the operation of the flowchart shown in FIG.

  In step S207, if the control board 3 determines that the previous value and the current value of the position signal generated by the rotary encoder 1 are not values that are all bit-inverted, the control board 3 Then, it is determined that the rotary encoder 1 has failed (step S209). That is, the control board 3 determines that the current value of the position signal generated by the rotary encoder 1 is more than half of the maximum value that can be represented by the number of bits of the position signal, and the current value and the previous value are all bits. This is because it is determined that the value is not inverted.

  In the angle detection code according to the present invention, binary codes of predetermined bits are arranged in ascending order, and up to a half of the entire value is extracted in ascending order, and all bits of the previous code are inverted between the extracted codes. It is generated by embedding the code. Therefore, the code (position signal) determined by the control board 3 to be equal to or more than half of the maximum value that can be represented by the number of bits of the position signal is embedded between the codes at the stage of creating the angle detection code. This is a code in which all the bits of the previous code are inverted.

  Therefore, the control board 3 determines that the current value of the position signal generated by the rotary encoder 1 is more than half of the maximum value that can be represented by the number of bits of the position signal, and the current value and the previous value are all bits. If the value is not reversed, it is determined that the rotary encoder 1 has failed.

  As described above, according to the contactless master controller according to the form of the second embodiment of the present invention, as in the first embodiment, all the bits fail evenly while the main handle angle is rotated by two pulses. Can be detected. Further, in this embodiment, there is no need to wait for two consecutive position signal mismatches as in the first embodiment, and the control board 3 can determine that the rotary encoder 1 has failed due to one mismatch. it can.

  The contactless master controller according to the third embodiment of the present invention has the same configuration as that of the contactless master controller according to the first and second embodiments shown in FIG. However, the control board 3 of this embodiment converts the previous value and the current value of the position signal generated by the rotary encoder 1 into a binary code and compares them, and if the difference is equal to or greater than a predetermined value, the rotary encoder 1 Is determined to have failed.

  Next, the operation of the present embodiment configured as described above will be described. FIG. 5 is a flowchart showing the operation of the control board 3 of the contactless master controller according to the embodiment. First, the rotary encoder 1 detects the absolute angle of the main handle 1 and generates a position signal corresponding to the angle position of the main handle based on the angle detection code.

  The control board 3 generates a notch command signal for controlling driving and braking of the railway vehicle based on the position signal generated by the rotary encoder 1. At that time, the control board 3 detects a failure of the rotary encoder 1 based on the position signal generated by the rotary encoder 1.

  Here, it is assumed that the driver tries to rotate the angle of the main handle from 50 degrees to 60 degrees by operation. Assuming that the angle of the main handle 2 is 59.53 degrees, the encoder angle is 178.59 degrees from FIG. 2, and the rotary encoder 1 generates and outputs “11000000” as a position signal.

  The output value “11000000” of the rotary encoder 1 is input to the control board 3 as “current value” (step S301). Note that “01111110”, which is a value obtained by converting the value “00111111” output by the rotary encoder 1 into the binary code when the angle of the main handle 2 is 59.06 degrees, is given to the control board 3 as “previous value”. Is remembered as

  Next, the control board 3 converts “11000000” input as the current value into a binary code (step S303). From the table shown in FIG. 2, the current value converted into the binary code is “01111111”.

  Next, the control board 3 compares “01111110”, which is the previous value of the binary code, with “01111111”, which is the current value of the binary code, and determines whether or not the difference is greater than or equal to a predetermined value (step). S305). In this embodiment, the control board 3 determines whether or not the difference is 4 or more.

  Here, “01111110”, which is the previous value of the binary code, is 126 when converted to a decimal number. On the other hand, “01111111”, which is the current value of the binary code, is 127 when converted to a decimal number. Therefore, the control board 3 determines that the difference between the previous value and the current value is not 4 or more (within a certain range).

  Next, the control board 3 stores “01111111”, which is the current value of the binary code, as the previous value (step S309). Therefore, “01111110” stored as the previous value until now is deleted by the control board 3.

  Assuming that the signal line corresponding to the second bit from the top is disconnected, the flow shown in the flowchart of FIG. 5 is as follows. As in the case described above, it is assumed that the driver tries to rotate the angle of the main handle from 50 degrees to 60 degrees by operation. Assuming that the angle of the main handle 2 is 59.53 degrees, the encoder angle is 178.59 degrees from FIG. 2, and the rotary encoder 1 attempts to generate and output “11000000” as a position signal. However, the rotary encoder 1 generates and outputs “10000000” as a position signal due to a defect in the signal line disconnection.

  The output value “10000000” of the rotary encoder 1 is input to the control board 3 as “current value” (step S301). Note that “01111110”, which is a value obtained by converting the value “00111111” output by the rotary encoder 1 into the binary code when the angle of the main handle 2 is 59.06 degrees, is given to the control board 3 as “previous value”. Is remembered as

  Next, the control board 3 converts “10000000” input as the current value into a binary code (step S303). From the table shown in FIG. 2, the current value converted into the binary code is “11111111”.

  Next, the control board 3 compares “01111110”, which is the previous value of the binary code, with “11111111”, which is the current value of the binary code, and determines whether the difference is a predetermined value or more (4 or more). Judgment is made (step S305).

  Here, “01111110”, which is the previous value of the binary code, is 126 when converted to a decimal number. On the other hand, “11111111”, which is the current value of the binary code, is 255 when converted to decimal. Therefore, the control board 3 determines that the difference between the previous value and the current value is 4 or more (not within a certain range).

  In this case, the control board 3 determines that the rotary encoder 1 has failed (step S307).

  Next, the control board 3 stores “11111111”, which is the current value of the binary code, as the previous value (step S309). Therefore, “01111110” stored as the previous value until now is deleted by the control board 3.

  As described above, according to the non-contact main controller according to the third embodiment of the present invention, as in the first and second embodiments, all bits are uniformly distributed while the main handle angle is rotated by two pulses. A failure can be detected. Further, by adjusting the value of a predetermined value (4 in the present embodiment) used by the control board 3 for the judgment, the judgment of the control board 3 can be made tolerant.

  Further, by combining the method of the first or second embodiment and the method of the present embodiment, the contactless master controller in the present embodiment can detect the failure more reliably.

  The contactless master controller according to the fourth embodiment of the present invention has the same configuration as that of the contactless master controller according to the first to third embodiments shown in FIG. However, the rotary encoder 1 of the present embodiment adds a parity bit for error detection to the generated position signal and outputs it. Further, the control board 3 detects a failure of the rotary encoder 1 based on the parity bit added to the position signal by the rotary encoder 1.

  Next, the operation of the present embodiment configured as described above will be described. FIG. 6 is a flowchart showing the operation of the control board 3 of the contactless master controller according to the embodiment. First, the rotary encoder 1 detects the absolute angle of the main handle 1 and generates a position signal corresponding to the angle position of the main handle based on the angle detection code. At that time, the rotary encoder 1 adds a parity bit for error detection to the generated position signal and outputs it.

  The control board 3 generates a notch command signal for controlling driving and braking of the railway vehicle based on the position signal generated by the rotary encoder 1. At that time, the control board 3 detects a failure of the rotary encoder 1 based on the position signal generated by the rotary encoder 1.

  Here, it is assumed that the driver tries to rotate the angle of the main handle from 50 degrees to 60 degrees by operation. Now, assuming that the angle of the main handle 2 is 59.53 degrees, the encoder angle is 178.59 degrees from FIG. 2, and the rotary encoder 1 generates “11000000” as a position signal. At this time, the rotary encoder 1 adds a parity bit for error detection to the generated position signal so that the sum of the position signals “1” is necessarily an odd number, for example, and outputs the result. Since the generated position signal is “11000000”, the sum of “1” is 2, which is an even number. Therefore, the rotary encoder 1 adds “1” as a parity bit to the generated position signal and outputs it.

  The rotary encoder 1 outputs “110000001” which is a value obtained by adding a parity bit “1” to the position signal “11000000”. The output value “110000001” of the rotary encoder 1 is input to the control board 3 (step S401).

  Next, the control board 3 reads the parity from the input value “110000001” (step S403). Here, the control board 3 reads “1” which is the least significant bit as a parity. Let this value be Pe.

  Next, the control board 3 acquires the parity from the table stored in advance (step S405). This value is Pt. The control board 3 stores in advance a table of angle detection codes shown as new codes in FIG. 2 and parity values corresponding to the respective codes. Therefore, the table stores in advance the parity value for the angle detection code “11000000” as “1”. The control board 3 acquires the parity value “1” stored in advance as Pt.

  Next, the control board 3 determines whether or not the parity Pe read in step S403 and the parity Pt acquired in step S405 are the same (step S407). Here, since both values are “1”, the control board 3 determines that the parity Pe and the parity Pt are the same.

  If the rotary encoder 1 generates “11000000” as the position signal and adds “0” as the parity, the control board 3 reads “0” as the parity Pe in step S403. In this case, the control board 3 determines that the parities Pe and Pt are not the same (step S407), and determines that the rotary encoder 1 has failed (step S409).

  As described above, according to the contactless master controller according to the third embodiment of the present invention, the failure detection using the parity bit can be performed on the angle detection code of the present invention. Since all the bits of the angle detection code of the present invention change within 2 pulses, the control board 3 can detect a failure within 2 pulses even in the method using the parity bit shown in this embodiment. . Further, by combining with the methods shown in the first to third embodiments, more reliable failure detection becomes possible.

  The contactless master controller and the failure detection method of the contactless master controller according to the present invention can be used for a contactless master controller that performs operation control of a railway vehicle based on an output command of a steering operation.

It is a block diagram which shows the structure of the non-contact master controller of the form of Example 1 of this invention. It is a figure which shows the angle corresponding to the conventional code | cord | chord and the code | cord | chord of this invention in the case of using an 8-bit code | cord | chord in the non-contact master controller of the form of Example 1 of this invention. It is a flowchart figure which shows operation | movement of the control board of the non-contact master controller of the form of Example 1 of this invention. It is a flowchart figure which shows operation | movement of the control board of the non-contact master controller of the form of Example 2 of this invention. It is a flowchart figure which shows operation | movement of the control board of the non-contact master controller of the form of Example 3 of this invention. It is a flowchart figure which shows operation | movement of the control board of the non-contact master controller of the form of Example 4 of this invention.

Explanation of symbols

1 Rotary encoder 2 Main handle 3 Control board

Claims (5)

A contactless master controller mounted on a railway vehicle,
A main handle for inputting a notch command by rotating;
The first code group consisting of one half binary code from the smallest value when binary codes of predetermined bits are arranged in ascending order, and all bits of each binary code included in the first code group are inverted. The second code group is alternately arranged to hold an angle detection code corresponding to the rotation angle of the main handle, and is detected based on the rotation angle detected as the main handle rotates. A rotary encoder that outputs an angle detection code corresponding to the rotation angle ;
A control unit that generates a notch command signal for controlling driving and braking of the railway vehicle based on the angle detection code output from the rotary encoder, and that determines a failure of the rotary encoder based on the angle detection code ; A contactless master controller comprising: The control unit determines whether or not the previous value and the current value of the angle detection code output from the rotary encoder are values inverted from each other, and both values are inverted from each other. 2. The non-contact main controller according to claim 1, wherein the rotary encoder is determined to have failed when a non-valued state occurs continuously twice or more. The control unit is configured such that the current value of the angle detection code output from the rotary encoder is equal to or more than half of the maximum value that can be represented by the number of bits of the position signal, and the current value and the previous value are mutually inverted by all bits. The contactless master controller according to claim 1, wherein the rotary encoder is determined to have failed if the measured value is not reached. The rotary encoder adds a parity bit for error detection to the angle detection code to be output,
  The said control part performs the failure detection with respect to the said rotary encoder based on the parity bit added to the said code for angle detection by the said rotary encoder, The nothing of Claim 1 thru | or 3 characterized by the above-mentioned. Contact master controller. A failure detection method for a contactless master controller mounted on a railway vehicle,
  Detects the rotation angle due to the rotation of the main handle,
  Based on the detected rotation angle, a first code group consisting of one half binary code from the smallest value when binary codes of predetermined bits are arranged in ascending order, and each of the first code groups A second code group in which all bits of the binary code are inverted are alternately arranged, and a table holding an angle detection code corresponding to the rotation angle of the main handle is referred to.
  As a result of this reference, an angle detection code corresponding to the rotation angle is output,
  Based on the output angle detection code, outputs a notch command signal for controlling the driving and braking of the railway vehicle,
  A failure of the rotary encoder is determined based on the output angle detection code.
A failure detection method for a contactless master control device.

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