JP5466129B2 - Constant speed travel control device - Google Patents
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Description
本発明は、列車を定速で走行する制御を行う制御装置に関わる。 The present invention relates to a control device that performs control for traveling a train at a constant speed.
一般に、駅間の運転時間は、ＡＴＣによる制限速度信号がある場合、この制限速度を下回る速度で計画されるため、自動列車運転装置（ＡＴＯ）では、出発時より、定速で制御する際の目標の速度を、制限速度をある速度下回る速度とし、勾配や制限速度の情報を考慮して、次駅まで制限速度を超過しない速度範囲で列車を定速で走行させる制御を行っている。 In general, the operation time between stations is planned at a speed lower than this speed limit when there is a speed limit signal by ATC. Therefore, in automatic train operation equipment (ATO), when controlling at a constant speed from the time of departure. The target speed is set to a speed that is lower than the speed limit, and the train is run at a constant speed in a speed range that does not exceed the speed limit to the next station in consideration of the gradient and speed limit information.
一方、通過列車や追い抜きがある場合や、運転最高速度が異なる列車が同一軌道にある場合など、複雑な運転形態の鉄道においては、基本的な駅間の運転時間は、制限速度をある程度下回る速度で計画されるが、列車によっては、先行列車との間隔の確保に伴う、重畳的な速度低下の防止を図るため、特定の地点であえて制限速度をさらに低下させ、速度を一層抑制して走行させる計画とする場合がある。 On the other hand, when there are passing trains or overtakings, or when trains with different maximum driving speeds are on the same track, the basic operation time between stations is somewhat lower than the speed limit for railways with complicated driving modes. However, depending on the train, in order to prevent the overlapping speed drop due to securing the interval with the preceding train, the speed limit is further reduced at a specific point, and the speed is further suppressed. It may be planned to let you.
このような列車では、この運転計画に基づいて、より抑制した速度で走行するため、運転の自動化を図る場合には、列車や運転条件に従って定速で制御する際に、制限速度の変化に対応して、任意の目標の速度を選択する必要がある。 Because such trains travel at a more controlled speed based on this operation plan, when automating the operation, respond to changes in the speed limit when controlling at a constant speed according to the train and operating conditions. Then you need to select any target speed.
車両駆動制御装置では、運転台からの指令に定速段を設けて、定速段を扱った任意の速度を定速となるようにモータの制御を行うシステムがすでに存在するが、制御段階や区分をこまめに切り換える必要がある勾配や制限速度信号による複雑な制御は、自動列車運転装置（ＡＴＯ）などの定速走行制御との組合せによっている。 In vehicle drive control devices, there is already a system that controls a motor so that a constant speed stage is provided in a command from the cab and an arbitrary speed that handles the constant speed stage becomes a constant speed. Complicated control based on gradients and speed limit signals that need to be frequently switched is based on a combination with constant-speed traveling control such as an automatic train operation device (ATO).
定速運転を行う際に、設定した目標速度−列車速度の速度差を求め、例えば比例制御を用いて、速度差を最小とするようなノッチ指令を算出し、車両駆動制御装置に対して出力を行う。 When performing constant speed operation, the speed difference between the set target speed and the train speed is obtained, and a notch command that minimizes the speed difference is calculated using, for example, proportional control, and output to the vehicle drive control device I do.
車両駆動制御装置の速度−引張力曲線は、手動運転で走行する場合、インバータ制御装置であっても、これまでの抵抗制御の特性に近い取り扱いとなるよう、例えば図２のように設定されている。 The speed-tensile force curve of the vehicle drive control device is set as shown in FIG. 2, for example, so as to be handled close to the characteristics of resistance control so far even when the inverter control device is driven by manual operation. Yes.
一方、ＡＴＯによる定速走行の場合、車両駆動制御装置の速度−引張力曲線は、例えば制御方法の一つである比例制御に合うように、引張力をノッチ数で等分割した特性とし、目標速度から列車速度を引いた速度差が大きくなるに従って比例した加減速度が得られる設定としている。 On the other hand, in the case of constant speed traveling by ATO, the speed-tensile force curve of the vehicle drive control device has a characteristic in which the tensile force is equally divided by the number of notches so as to meet, for example, proportional control which is one of the control methods. The proportional acceleration / deceleration is obtained as the speed difference obtained by subtracting the train speed from the speed increases.
定速走行制御装置では、手動運転における支援的な機能の場合、取り扱いによっては、手動運転と定速走行制御装置における自動制御を切り替える操作が発生するため、車両駆動制御装置の手動運転向け速度−引張力曲線を、ＡＴＯ向けに切り替えずに用いて制御する必要がある。 In the case of a support function in manual driving, in the constant speed traveling control device, an operation for switching between manual driving and automatic control in the constant speed traveling control device occurs depending on the handling. It is necessary to use and control the tensile force curve without switching to ATO.
しかし、先に述べたように、手動運転向け速度−引張力曲線は抵抗制御の特性に合わせてあるため、ノッチに対応する引張力を比例のような単純な制御式では求められない。 However, as described above, since the speed-tensile force curve for manual operation is matched to the resistance control characteristic, the tensile force corresponding to the notch cannot be obtained by a simple control equation such as proportional.
本発明の目的は、車両駆動制御装置が手動運転向け速度−引張力曲線のとき、定速走行制御装置が目標速度に合った走行をするためのノッチを出力することである。 An object of the present invention is to output a notch for the constant speed traveling control device to travel in accordance with a target speed when the vehicle drive control device is a speed-tensile force curve for manual operation.
本発明の定速走行制御装置は、受信した制限速度信号に基づいて、前記制限速度信号を下回る目標速度で走行するノッチ指令を車両駆動制御装置に出力し、前記目標速度を複数の速度帯に分割し、前記速度帯ごとにノッチを算出する制御計算を設定して制御を行う定速走行制御装置において、前記目標速度の複数の速度帯を、前記車両駆動制御装置の各ノッチの手動運転における抵抗制御の特性に近い走行制御を行うための速度−引張力曲線と、走行抵抗曲線の各交点の中間点を前記複数の速度帯の各々の切換点として設定し、前記目標速度の速度帯毎に、前記引張力曲線と前記走行抵抗曲線との交点が含まれる前記速度−引張力曲線のノッチに基づいて前記複数の速度帯の各々における前記目標速度に追随する比例制御を行うことを特徴とする。 The constant speed traveling control device of the present invention outputs a notch command for traveling at a target speed lower than the speed limit signal to the vehicle drive control device based on the received speed limit signal, and sets the target speed to a plurality of speed bands. divided, at the constant speed traveling control apparatus for performing to control sets the control calculation for calculating a notch in each of the speed range, a plurality of speed band of the target speed, the manual operation of each notch of the vehicle drive control device An intermediate point between each intersection of the speed-tensile force curve for running control close to the resistance control characteristic and the running resistance curve is set as a switching point for each of the plurality of speed zones, and each speed zone of the target speed is set. to the said speed includes the intersection of the tensile force curve and the running resistance curve - and characterized by performing the proportional control to follow the target speed at each of said plurality of speed zones based on the notch tensile force curve That.
本発明によれば、車両駆動制御装置のノッチ特性を手動運転向けのまま、各速度帯において目標速度に追随する一定速度制御を行うことができる。 According to the present invention, it is possible to perform constant speed control that follows the target speed in each speed band while maintaining the notch characteristic of the vehicle drive control device for manual operation.
以下、本発明の実施例について図を用いて説明する。 Embodiments of the present invention will be described below with reference to the drawings.
図１は、定速走行制御装置の全体構成図である。定速走行制御装置は、制限速度信号、車両の走行速度の入力、押しボタンなどによる制御の開始を指示する入力、入力情報により定速で走行する出力を算出する制御部、および定速で走行する指令を車両駆動制御装置への出力により構成される。 FIG. 1 is an overall configuration diagram of a constant speed traveling control device. The constant speed traveling control device includes a speed limit signal, an input of a vehicle traveling speed, an input for instructing start of control by a push button, a control unit for calculating an output traveling at a constant speed based on input information, and a traveling at a constant speed The command to perform is constituted by an output to the vehicle drive control device.
定速走行制御装置は、制限速度信号２０２をある程度下回る速度を目標速度２０４とし、押しボタン入力２０３により押しボタンが扱われることにより、速度２０１が目標速度２０４に追随するように計算を行い、力行指令２０８、ブレーキ指令２０９の出力を行う。 The constant speed traveling control device sets the target speed 204 to a speed that is somewhat lower than the speed limit signal 202, and calculates the speed 201 to follow the target speed 204 by handling the push button by the push button input 203. Command 208 and brake command 209 are output.
本発明の定速走行制御装置において、車両駆動制御装置の速度−引張力曲線３０１に手動運転における特性を用いた場合の実施例を図２に示す。 In the constant speed traveling control device of the present invention, FIG. 2 shows an embodiment in which characteristics in manual operation are used for the speed-tensile force curve 301 of the vehicle drive control device.
手動運転向けの速度−引張力曲線３０１では、定速走行制御装置からのノッチ指令でも、従来の抵抗制御による走行制御を行うことになる。 In the speed-tensile force curve 301 for manual operation, traveling control by conventional resistance control is performed even with a notch command from the constant speed traveling control device.
この場合、定速走行運転においては、まず、制御部１０１は、制限速度信号２０２より目標速度算出１０２を行い、目標速度２０４を決定する。 In this case, in the constant speed traveling operation, first, the control unit 101 performs the target speed calculation 102 from the speed limit signal 202 and determines the target speed 204.
次に、図３に示すように、速度−引張力曲線上に、引張力曲線３０１と走行抵抗曲線３０２との交点３０３を求める。 Next, as shown in FIG. 3, an intersection 303 between the tensile force curve 301 and the running resistance curve 302 is obtained on the speed-tensile force curve.
次に、目標速度２０４毎に制御区分の速度帯３０４を設定する。速度帯３０４の設定は、各交点３０３の中間点を速度帯３０４の切換点とし、例えば２ノッチにおける速度帯は１ノッチの交点と２ノッチの交点との中間点から、２ノッチの交点と３ノッチの交点との中間点とし、速度帯３とする。 Next, the speed zone 304 of the control classification is set for each target speed 204. The speed band 304 is set by setting the intermediate point of each intersection 303 as the switching point of the speed band 304. For example, the speed band in 2 notches is from the intermediate point between the 1 notch intersection and the 2 notch intersection to the intersection of 2 notches and 3 The intermediate point with the notch intersection is speed zone 3.
次に、各目標速度の速度帯３０４毎に、引張力曲線３０１と走行抵抗曲線３０２との交点３０３が含まれる引張力曲線３０１のノッチを最適ノッチ３０５とする。 Next, the notch of the tensile force curve 301 including the intersection 303 between the tensile force curve 301 and the running resistance curve 302 is set as the optimal notch 305 for each speed band 304 of each target speed.
例えば、図４に示すように、速度帯２における比例制御では、速度差ゼロ点における最適ノッチ３０５は１ノッチとなるため、これにより制御設定を行う。 For example, as shown in FIG. 4, in the proportional control in the speed band 2, the optimal notch 305 at the zero speed difference point is 1 notch, and thus the control setting is performed.
また、例えば、図５に示すように、速度帯５における比例制御では、速度差ゼロ点における最適ノッチ３０５は４ノッチとなるため、これにより制御設定を行う。 Further, for example, as shown in FIG. 5, in the proportional control in the speed band 5, the optimal notch 305 at the zero speed difference point is 4 notches, and thus the control setting is performed.
このようにすれば、車両駆動制御装置の速度−引張力曲線に、手動運転における特性を用いた場合でも、目標速度に追随して一定の速度で走行できる。 In this way, even when characteristics in manual operation are used for the speed-tensile force curve of the vehicle drive control device, the vehicle can travel at a constant speed following the target speed.
なお、手動介入があった場合は、定速走行制御装置による目標速度への追随を終了し、引き続き手動速度−引張力曲線に応じた車両制御となる。 If there is manual intervention, the follow-up to the target speed by the constant speed traveling control device is terminated, and vehicle control corresponding to the manual speed-tensile force curve is continued.
１０１ 制御部
１０２ 目標速度算出
１０３ データ用メモリ
１０４ 目標速度設定部
２０１ 速度
２０２ 制限速度信号
２０３ 押しボタン入力
２０４ 目標速度
２０５ 勾配データ
２０６ 速度制限データ
２０７ 車両性能データ
２０８ 力行指令
２０９ ブレーキ指令
３０１ 引張力曲線
３０２ 走行抵抗曲線
３０３ 交点
３０４ 速度帯
３０５ 最適ノッチ
DESCRIPTION OF SYMBOLS 101 Control part 102 Target speed calculation 103 Data memory 104 Target speed setting part 201 Speed 202 Speed limit signal 203 Pushbutton input 204 Target speed 205 Gradient data 206 Speed limit data 207 Vehicle performance data 208 Power running command 209 Brake command 301 Tensile force curve 302 Running resistance curve 303 Intersection 304 Speed zone 305 Optimal notch
Claims (1)
前記目標速度の複数の速度帯を、前記車両駆動制御装置の各ノッチの手動運転における抵抗制御の特性に近い走行制御を行うための速度−引張力曲線と、走行抵抗曲線の各交点の中間点を前記複数の速度帯の各々の切換点として設定し、
前記目標速度の速度帯毎に、前記引張力曲線と前記走行抵抗曲線との交点が含まれる前記速度−引張力曲線のノッチに基づいて前記複数の速度帯の各々における前記目標速度に追随する比例制御を行うことを特徴とする定速走行制御装置。 Based on the received speed limit signal, a notch command for traveling at a target speed lower than the speed limit signal is output to the vehicle drive control device, the target speed is divided into a plurality of speed bands, and a notch is provided for each speed band. In a constant speed traveling control device that performs control by setting a control calculation to be calculated ,
A speed-tensile force curve for performing traveling control close to the resistance control characteristic in the manual operation of each notch of the vehicle drive control device and a plurality of intersections of the traveling resistance curves of the plurality of target speed bands Is set as a switching point for each of the plurality of speed zones,
Proportion that follows the target speed in each of the plurality of speed bands based on a notch of the speed-tensile force curve including an intersection of the tensile force curve and the running resistance curve for each speed band of the target speed. A constant speed travel control device characterized by performing control.
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| JP2010232684A JP5466129B2 (en) | 2010-10-15 | 2010-10-15 | Constant speed travel control device |
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| Application Number | Priority Date | Filing Date | Title |
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| JP2010232684A JP5466129B2 (en) | 2010-10-15 | 2010-10-15 | Constant speed travel control device |
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| JP2012090371A JP2012090371A (en) | 2012-05-10 |
| JP5466129B2 true JP5466129B2 (en) | 2014-04-09 |
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| JP5959363B2 (en) * | 2012-08-03 | 2016-08-02 | 株式会社東芝 | Electric vehicle control device, driving support device, and electric vehicle |
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| JP3940649B2 (en) * | 2002-08-09 | 2007-07-04 | 株式会社東芝 | Automatic train driving device |
| JP2009177908A (en) * | 2008-01-23 | 2009-08-06 | Toshiba Corp | Contactless master controller |
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