JP5502317B2 - Track control device for track vehicle - Google Patents

Description

  The present invention relates to a travel control device for a track traveling vehicle for performing an overhead wire replacement work while traveling on a track.

  The track traveling vehicle is a work vehicle used for performing work such as construction and inspection of overhead lines such as a trolley line installed along the track and railway facilities, and is configured based on a truck. The track-traveling vehicle has tire wheels (road driving vehicles) at four places on the front, rear, left and right sides of the vehicle body and can travel on the road. There is a vehicle equipped with a scissor link mechanism or a telescopic boom for moving the work table to a desired position. In addition, there is a vehicle in which a drum around which an overhead wire is wound can be mounted, and there is a vehicle equipped with a drum drive device that feeds or winds the overhead wire by rotating the drum (for example, see Patent Document 1). reference). These track traveling vehicles are provided with a speed sensor, and the traveling speed is detected every predetermined time, and the traveling speed reaches a target speed corresponding to a command value output from a traveling operation means such as an operation lever. There is also a track traveling vehicle that performs control (travel speed feedback control) such that the driving force is corrected and the iron wheel (wheel for traveling on the track) is rotated by the driving force.

The track traveling vehicle as described above may be operated using only one vehicle. For example, as shown in FIG. 2, a vehicle equipped with a drum drive device is connected to a vehicle equipped with a scissor link mechanism. A work table in which a worker who has entered a vehicle equipped with a drum drive device draws out or winds up an overhead wire, and a worker on the work table of a vehicle having a connected scissor link mechanism is located at a high place. In many cases, the work is performed in a state where a plurality of vehicles are connected, such as attaching and detaching overhead wires. When working in such a state, while traveling in a state where a plurality of track traveling vehicles are connected by a metal connecting rod provided with a signal line for exchanging information on each other's vehicles inside We will carry out the work of replacing the overhead wires on the track.
Japanese Patent No. 4067668

  By the way, when the vehicle is traveled in a connected state as described above, the acceleration performance of each connected track traveling vehicle (the time from the output of the acceleration / deceleration operation signal by the travel operation means to the actual acceleration / deceleration of the vehicle body) May be different. For this reason, when each connected vehicle travels while performing the above-described feedback control of the traveling speed, the time from the actual operation to the acceleration / deceleration of the vehicle body differs for each vehicle, so the traveling speed of the vehicle There may be a problem that the overshoot of the running speed that does not converge to the target speed corresponding to the operation by the operating means and becomes unstable becomes large.

  The present invention has been made in view of such a problem, and a travel control device for a track traveling vehicle capable of reducing overshoot of travel speed generated when traveling in a state where a plurality of track travel vehicles are connected. The purpose is to provide.

In order to solve the above-described problems, a travel control device for a track traveling vehicle according to the present invention includes a first vehicle body including a first track travel wheel capable of traveling on a track, and a first track travel wheel. Wheel driving means for rotating the vehicle, first traveling control means for controlling the driving of the first wheel driving means, and first memory means for storing information relating to the acceleration performance of the host vehicle. A second vehicle body having a second track traveling wheel capable of traveling on the track, a second wheel driving means for rotationally driving the second track traveling wheel, A second track traveling vehicle comprising: a second traveling control means for controlling the driving of the two wheel driving means; and a second memory means for storing information relating to the acceleration performance of the host vehicle; It is installed on at least one of the track traveling vehicles and the traveling speed is detected. Speed detecting means for operating, at least one of the first and second track traveling vehicles is operably provided, and operating means for outputting a command value corresponding to a target speed set by the operation; the track traveling vehicle and a second track traveling vehicle, and a first memory means and coupling means for coupling to the transmission of information about the acceleration performance between the second memory means is possible, second track When the traveling performance of the traveling vehicle is superior to the acceleration performance of the first track traveling vehicle and the first and second track traveling vehicles are connected by the connecting means and travel based on the operation of the operating means. In addition, the first traveling control means is configured to detect the difference between the actual traveling speed detected by the speed detecting means and the target speed corresponding to the command value from the operating means and the first track traveling vehicle stored in the first memory means. Acceleration performance Depending on the that information, controls the driving of the first wheel drive means so that the actual travel speed is changed toward the target speed, the second travel control means, the stored in the second memory means Based on the information on the acceleration performance of the second track traveling vehicle and the information on the acceleration performance of the first track traveling vehicle stored in the first memory means transmitted via the connecting means, the first traveling control means When the driving of the first wheel driving means is controlled so that the traveling speed changes toward the target speed, the same acceleration performance as that generated in the first track traveling vehicle is generated in the second track traveling vehicle. As described above, the driving of the second wheel driving means is controlled.

It is preferable that at least one of the first and second track traveling vehicles includes a working device used for work performed while the vehicle body is traveling on the track .

According to the travel control device of the track traveling vehicle according to the present invention, in a state where the first and second track traveling vehicle is connected by the connecting means, when traveling on the basis of the operation of the operating means, the first running The control means includes first wheel driving means so that the actual traveling speed changes toward the target speed in accordance with the difference between the actual traveling speed and the target speed and the information on the acceleration performance of the first track traveling vehicle. On the other hand, the second traveling control means controls the actual traveling speed to change toward the target speed according to the speed difference and the information on the acceleration performance of the second track traveling vehicle. the second for controlling the driving of the wheel driving means, the occurrence of speed overshoot caused by the two acceleration performance is linked to different vehicles (state running speed is not stable does not match the target speed) to Reduce Door can be.

A vehicle with good acceleration performance can be matched with a vehicle with inferior acceleration performance. Therefore, when the acceleration performance of the first track traveling vehicle is better than the acceleration performance of the second track traveling vehicle, the first traveling The control means is a driving capability speed obtained when the second traveling control means performs drive control of the second wheel driving means in accordance with the difference in speed and information on the acceleration performance of the second track traveling vehicle. It is preferable to perform drive control of the first wheel driving means in accordance with the difference in speed and information relating to the acceleration performance of the first track traveling vehicle so that the same driving capability speed can be obtained. If it does in this way, it will be control which makes the drive capability speed of both vehicles the same, and generation | occurrence | production of the overshoot of driving speed can be reduced more reliably.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. First, with reference to FIG. 1, the configuration of a track-and-rail work vehicle 1 equipped with a drum driving device 20 for performing a wire drawing / winding operation of an overhead wire such as a trolley wire installed on a track will be described. The track-and-rail work vehicle 1 is configured to be able to travel on both a road on which a passenger car passes and a track on which a train passes, and is a work vehicle for performing track maintenance work on the track. Hereinafter, as shown by the arrows in FIG. 1, the vehicle width direction will be described as the left-right direction, and the vehicle length direction will be described as the front-rear direction.

  The track-and-rail work vehicle 1 is configured on the basis of a truck vehicle having a driving cab 2a provided on a vehicle body 2. Wheels 3 (front wheels 3a and rear wheels 3b) are provided at four locations on the vehicle body 2, front, rear, left and right. The vehicle can travel on the road by the rotation of the wheels 3. A turntable 6 that can be vertically expanded and contracted is attached to the lower surface of the vehicle body 2 in the middle part in the front-rear direction. By extending the turntable 6 downward and grounding the lower end portion, the vehicle body 2 can be lifted and the vehicle body 2 can be rotated in the horizontal direction while the vehicle body 2 is lifted. In addition, a track traveling device 10 including iron wheels 15 (front iron wheel 15 a and rear iron wheel 15 b) for traveling on the track separately from the wheels 3 is provided at four locations on the front, rear, left and right of the vehicle body 2.

  The track traveling device 10 is disposed at a lower portion of the vehicle body 2 and is provided with an iron wheel support member 14 that is swingable up and down with respect to the vehicle body 2, and a rotary shaft that is held by the iron wheel support member 14 and extends to the left and right (see FIG. An iron wheel 15 (front iron wheel 15a and rear iron wheel 15b), which is a disc-shaped orbital wheel that is rotatably provided by an iron wheel drive motor 16 that is hydraulically driven around a cylinder bracket (not shown), and a bottom portion is a cylinder bracket (see FIG. (Not shown), and the rod portion is configured to have a swing cylinder 13 or the like that swings the iron wheel support member 14 up and down. The iron wheel 15 is provided so as to be able to swing up and down so as to project downward and store upward with respect to the vehicle body 2 via the iron wheel support member 14 by the expansion and contraction operation of the swing cylinder 13. The track-and-rail work vehicle 1 can be self-propelled on the track by placing the vehicle body 2 on the track with the iron wheel 15 projecting downward and rotating the iron wheel 15 by the wheel drive motor 16. .

  Further, as shown in FIG. 1, the track-and-rail work vehicle 1 includes a drum driving device 20 for performing an extension and winding operation of overhead wires such as a trolley wire, and a central cabin 30 for operating the drum driving device 20. The aerial work device 40 is mounted. The drum driving device 20 is a device that rotates and winds up a drum 25 that can wind an overhead wire such as a trolley wire around the outer periphery thereof, and is erected on the vehicle body 2 in the vehicle width direction. A pair of drum support members 21, 21, a drum shaft 22 that extends in the vehicle width direction and is rotatably attached to the drum support members 21, 21, and a drum drive motor that rotationally drives the drum shaft 22. 23, and a drum 25 is fixed to an intermediate portion in the longitudinal direction of the drum shaft 22 so as to rotate integrally with the drum shaft 22. The drum drive motor 23 can drive the drum shaft 22 to rotate in both forward and reverse directions, and can rotate the drum 25 fixed to the drum shaft 22 in both forward and reverse directions.

  A traverser 26 is provided above the front side of the drum driving device 20. The traverser 26 is an overhead wire guide mechanism used when winding the overhead wire, and is attached to the traverse shaft 27 extending in the vehicle width direction above the front side of the drum drive device 20 and movably attached to the traverse shaft 27 in the axial direction. The guide base 28 is composed of a pair of upper and lower guide rollers (not shown) rotatably provided in the guide base 28, and the guide base 28 is driven by a traverser drive motor (not shown) through an overhead wire between the guide rollers. Is moved along the traverse shaft 27 so that the position of winding the overhead wire around the drum 25 can be adjusted.

  The central cabin 30 is a box-shaped operation room on which an operator can get on, which is provided between an aerial work device 40 and a drum drive device 20 described in detail later, and an operator seat for the operator to sit inside. (Not shown) and a central operating device (not shown) for operating each device disposed on the vehicle body 2 are provided. An operator who has boarded the central cabin 30 operates the central operating device to perform an up-and-down movement operation at the aerial work device 40, a rotational drive operation of the drum 25 at the drum driving device 20, and the like. Each device can be operated.

  The central cabin 30 is provided so as to be able to turn 180 degrees horizontally on the vehicle body 2 (turnable between the arrows FR shown in FIG. 1B), and is attached to an operator seat boarded in the central cabin 30. The seated worker can perform various operations while facing the front or rear (the drum driving device 20 side) of the vehicle body 2 by turning the central cabin 30 by a turning motor (not shown). It has become.

  The aerial work device 40 includes a lift post 42 that is vertically installed on the rear side of the driving cab 2 a and can be telescopically extended, and a work board 43 for boarding a worker attached to the top of the lift post 42. The work table 43 can be moved up and down by extending and retracting a lifting cylinder (not shown) built in the lifting post 42. The work table 43 is provided with an elevating operation device 44 and a guide roller 41 mainly used when winding an overhead wire around the drum driving device 20. An operator who has boarded the work table 43 can move the work table 43 up and down by operating the lift operation device 44. The guide roller 41 is rotatably attached to a roller support member 41a that can swing with respect to the work table 43, and can be swung downward and stored in the work table 43 when not in use. FIG. 1 shows a state in use in which the guide roller 41 is swung upward.

  By the way, although there is a case where only one track-and-rail work vehicle 1 performs the work, the wire drawing / winding work performed on the track is performed in a state where another vehicle 100 is connected as shown in FIG. I often do work. In FIG. 2A, the trolley wire T is sequentially fed out from the drum 25 around which the trolley wire T for re-covering is wound by operating the drum driving device 20, and the trolley wire T is extended through the S-shaped hook 73. Indicates work. FIG. 2B shows an operation in which the drum driving device 20 is operated to sequentially wind the trolley wire T around the drum 25. The suspension wire 71 is a cable that is stretched on the railroad rail to support the trolley wire, and the hanger 72 is a member that suspends and supports the trolley wire on the suspension wire 71.

  By the way, when connecting a vehicle like FIG. 2 (a) or FIG.2 (b), the connection means 60 and the connection rod 70 which are provided in the front-end part and rear-end part of the track-and-rail work vehicle 1 are used. . Below, this connection means 60 and the connection rod 70 are demonstrated, referring FIG. 3 and FIG. 3 shows the connecting means 60 and the connecting rod 70 from the top of the vehicle, and FIG. 4 shows the connecting means 60 and the connecting rod 70 cut along a plane parallel to the vehicle length direction of the vehicle. It is the fragmentary sectional view which expanded the connection rod 70 vicinity.

  As shown in FIG. 3 and FIG. 4, the connecting means 60 includes two connecting plates 61 and 62 provided at the front end portion and the rear end portion of the vehicle body 2 so as to be separated from each other vertically and in parallel with each other, a connecting bolt 63, It comprises a nut 64, a connection detector 65, and the like. As shown in FIG. 4, through holes 61 a and 62 a are formed in the centers of the connection plates 61 and 62 so as to penetrate the connection plates 61 and 62 in the vertical direction. A nut 64 is fixed to the lower surface of the lower connecting plate 62 by welding so as to surround the opening of the through hole 62a. The connection detector 65 is composed of a signal line and a connector (not shown), and the detection signal indicating that the vehicle is connected is connected by connecting the signal line with the connector when connecting the vehicle. Input / output between vehicles, and a controller, which will be described later, detects the connection of vehicles by the input / output of the detection signal. In addition, the connection means 60 attached to the front end portion and the rear end portion has the same configuration except for the orientation.

  A connecting rod 70 extending in the front-rear direction can be attached between the upper connecting plate 61 and the lower connecting plate 62, and through holes 70a penetrating in the vertical direction are provided at both ends of the connecting rod 70. Is formed. The connecting rod 70 is made of a metallic rod-shaped member and is not easily bent or stretched. The above-described signal line is provided inside the connecting rod 70. Moreover, the vehicle 100 (detailed later) connected to the track-and-rail work vehicle 1 and the track-and-work vehicle 1 summarizes a map of the host vehicle (time required for acceleration by a predetermined speed, output, etc. for each vehicle). Table) and information on the type of vehicle, the diameter of the iron wheel, the direction of the vehicle, and the like are stored in the memory 143 (detailed later) of the railroad work vehicle 1 and the memory 243 (detailed later) of the vehicle 100. Then, when the vehicle 100 is connected to the railroad work vehicle 1 by the connecting rod 70 and the connection is detected by a controller described later, the roadway work vehicle 1 connects information such as a map related to the vehicle 100 from the memory 243 of the vehicle 100. The vehicle 100 can receive information from the memory 143 of the roadway working vehicle 1 by receiving the information via the rod 70 and the map 100 and the like regarding the roadway working vehicle 1. The received information such as maps is stored in the memories 143 and 243 of the own vehicle (details will be described later).

  The vehicle 100 according to the present embodiment, which is connected to the rear of the track-and-work vehicle 1 using the connecting means 60 and the connecting rod 70 described above, will be briefly described below. As shown in FIG. 5, the vehicle 100 is a truck vehicle having a driving cab 102a, and includes a wheel 103, a turntable 106, a track traveling device 110, and the like. The wheel 103, the turntable 106, and the track traveling device 110 have exactly the same configuration as the wheel 3, the turntable 6, and the track traveling device 10 of the above-described track-and-rail work vehicle 1, and will not be described. Only different parts will be described below.

  A vertical elevating device 120 is provided on the upper portion of the vehicle 100 via a body frame 107. The vertical lifting device 120 is configured by arranging a pair of left and right scissor link mechanisms 121 (only the scissor link mechanism 121 on the left side of the vehicle body is shown in FIG. 5) on the body frame 107. The work table 122 provided on the upper part of the vertical lifting device 120 can be moved up and down with respect to the bodywork frame 107 and the vehicle body 102 by the expansion and contraction operation. On the work table 122, there are provided an operating device 122a for performing the lifting operation of the vertical lifting device 120 and the like, and a guide roller 125 for guiding the overhead wire. By operating the operation device 122a, it is possible to perform a traveling operation of the vehicle 100, a vehicle connected to the vehicle 100, and a lifting operation of the work table 122. Further, the vehicle 100 is provided with guide means for guiding the movement of the overhead line. As shown in FIG. 5, the guide means is provided with a guide pulley 123 provided with a groove for guiding the overhead line, and hydraulically. The cylinder 124 is driven and can be expanded and contracted in the vertical direction.

  When the vehicle 100 as described above is connected to the track-and-rail work vehicle 1, as shown in FIGS. 2, 3, and 4, the connecting rod 70 is interposed between the connecting plates 61 and 62 of the connecting means 60 described above. Inserted. And after aligning the up-down direction position of each through-hole 61a, 62a, 70a, the connecting bolt 63 is inserted from the upper part into this matched location, and is further screwed into the nut 64. As a result, the connecting plates 61 and 62 and the connecting rod 70 are coupled to each other so that the track work vehicle 1 and the vehicle 100 are connected.

  Further, the above-described track-and-rail work vehicle 1 and the vehicle 100 are provided with a travel control device for controlling the travel speed of the vehicle, and the travel-control device for the track-and-work vehicle 1 and the vehicle 100 will be described below. The traveling control device controls the amount of oil supplied to the traveling operation device for operating the traveling state of each work vehicle, the controller that is the control mechanism of each work vehicle, the speed sensor, and the iron wheel drive motors 16 and 116. As shown in FIG. 6, the traveling operation device includes a driving cab 2 a (the traveling operation device 130) and a central cabin 30 (the traveling operation device 180). The vehicle 100 is provided with a driving cab 102a (traveling operation device 230) and an operation device 122a (traveling operation device 280) of the work table 122. When the railroad work vehicle 1 and the vehicle 100 are connected, the driving operation device 130 of the driving cab 2a, the driving operation device 180 of the central cabin 30, the driving operation device 230 of the driving cab 102a, and the driving operation device 280 of the operating device 122a. The traveling operation of the connected vehicle can be performed from any position among the places. Further, when the operation is started at any one of the four travel operation devices 130, 180, 230, and 280, the operation of the other travel operation devices is restricted.

  The controller, speed sensor, and control valve described above are provided for each of the track work vehicle 1 and the vehicle 100 (the track work vehicle 1 includes the controller 140, the speed sensor 150, the control valve 160, and the vehicle 100). Is provided with a controller 240, a speed sensor 250, and a control valve 260), a travel operation device 130, 180, 230, 280, a controller 140, 240, a speed sensor 150, 250, and a control valve 160, 260 in this embodiment. Since the same components are used, only the traveling operation device 130, the controller 140, the speed sensor 150, and the control valve 160 will be described below.

  As shown in FIG. 6, the travel operation device 130 includes a power switch 131, a speed setting volume 132, an operation lever 133, an emergency stop switch 134, and a travel mode changeover switch 135, and operates the power switch 131. Then, the traveling operation device 130 is electrically connected to a power source (not shown) so that an operator can operate.

  The speed setting volume 132 is configured to be able to set a maximum speed (for example, 0 km / h to 45 km / h) during traveling by the traveling operation device 130 (when traveling on a track). The operation lever 133 is a neutral position automatic return type lever that can be manually tilted forward or backward from the neutral position. When the lever is manually tilted forward or backward from the neutral position, a controller 140 (to be described later) outputs a travel operation signal. Output to. This travel operation signal includes speed information corresponding to the operation amount (tilt amount) of the operation lever 133 within the speed range (0 km / h to maximum speed) set by the speed setting volume 132, and travels at a higher speed. To do so, the operation amount of the operation lever 133 may be increased. It is possible to travel at the maximum speed set by the speed setting volume 132 when the operation amount of the operation lever 133 is maximized. When the operation lever 133 is in the neutral position, a braking force is applied to the iron wheels 15 and 115 by a brake device (not shown).

  The emergency stop switch 134 is a switch for emergency stop of the railroad work vehicle 1 or the vehicle 100 that is traveling on the track. When this switch is activated, an emergency stop signal is output to the controller 140. The travel mode changeover switch 135 is configured to be switchable between the travel travel mode and the work travel mode. When the travel mode changeover switch 135 is switched to the travel travel mode, the operation setting is performed by the speed setting volume 132 and the operation lever 133. A traveling operation signal corresponding to the commanded speed is output to the controller 140. On the other hand, when the travel mode changeover switch 135 is switched to the work travel mode and the operation lever 133 is tilted, a predetermined work travel speed (for example, regardless of the maximum speed set by the speed setting volume 132 and the operation amount of the operation lever 133). 5 km / h) is output to the controller 140.

  As shown in FIG. 6, the controller 140 includes a valve control unit 141, a speed calculation unit 142, and a memory 143, and is configured by an emergency stop signal from the emergency stop switch 134 and a travel mode changeover switch 135. Information about the selected driving mode can be received. Further, a travel operation signal set by the speed setting volume 132 and the operation lever 133 and information related to a travel speed detected by a speed sensor 150 described later are input to the speed calculation unit 142. The memory 143 can store information on connected vehicles such as maps when another vehicle is connected to the front or rear via the connecting means 60 and the connecting rod 70. Information such as the saved map is referred to by the speed calculation unit 142 as necessary. In addition, information regarding a target vehicle for which traveling speed control (hereinafter referred to as speed feedback control) performed based on the traveling speed of the vehicle is also stored in the memory 143 in advance, and a vehicle for which information is not stored in the memory 143 is stored. When connected, speed feedback control is not performed. The speed calculation unit 142 calculates a command speed for the track work vehicle 1 and the vehicle 100 based on the travel operation signal, and the map stored in the memory 143 and the difference between the command speed and the travel speed received from the speed sensor 150. Based on such information, a driving capability speed (the output required to drive the vehicle at the commanded speed is expressed as a speed) is set, and the valve control unit 141 will be described in detail later based on the driving capability speed. It is possible to control the rotational speed of the iron wheel drive motor 16 which is a hydraulic motor by adjusting the degree of opening of the control valve 160.

  As shown in FIG. 6, the speed sensor 150 detects the rotational speeds of the iron wheel 15 of the railroad work vehicle 1 and the steel wheel 115 of the vehicle 100 every predetermined time (for example, 0.1 second), and uses the rotational speed to measure the ground. The speeds of the work vehicle 1 and the vehicle 100 are detected. The detected traveling speed is transmitted to the speed calculation unit 142. When other vehicles are connected by the connecting rod 70, the track work vehicle 1 and the vehicle 100 can also detect the traveling speed of the other connected vehicles. The traveling speed is also transmitted to the speed calculation unit of another vehicle connected via the connecting rod 70.

  The control valve 160 is a proportional control valve that operates according to a control signal received from the valve control unit 141, and is provided corresponding to the iron wheel drive motor 16. The control valve 160 is configured to supply the hydraulic pressure generated by the hydraulic pump P to the iron wheel drive motor 16 based on the output value from the valve control unit 141 corresponding to the drive capability speed set by the speed calculation unit 142. The

  The track-and-rail work vehicle 1 and the vehicle 100 configured as described above are stored in the command speeds by the travel operation devices 130, 180, 230, and 280, the travel speeds detected by the speed sensors 150 and 250, and the memories 143 and 243. The controller 140, 240 adjusts the degree of opening of the control valves 160, 260 so that the traveling speed detected by the speed sensors 150, 250 reaches the command speed based on the information on the connected vehicles. Acceleration / deceleration can be performed by controlling the rotational speeds of the drive motors 16 and 116. By the way, when these vehicles are connected and run as a connected vehicle, a large overshoot occurs when the difference between the running speed and the command speed increases, especially when running on a slope or the like, because the acceleration performance of the vehicles is different. Occurring and increasing the overshoot may cause the traveling speed to deviate from the command speed and become unstable.

  Hereinafter, the problem that the overshoot becomes large will be described with reference to FIG. In the following, since it is not necessary to limit the type of vehicle, the two vehicles are referred to as vehicle A and vehicle B, respectively, and the acceleration performance of vehicle B is higher than the acceleration performance of vehicle A. And The acceleration performance here refers to the length of time from when an operation lever or the like is operated to output an acceleration / deceleration command until the vehicle is actually accelerated / decelerated. It is defined that the acceleration performance is worse when the length is longer. Further, it is assumed that the information of the vehicle B is stored in the memory of the vehicle A, and the information of the vehicle A is stored in the memory of the vehicle B, and when the vehicle A and the vehicle B are connected to each other, It is assumed that speed feedback control is performed. In addition, when another vehicle in which information is not stored in the memory of the vehicle A or the vehicle B is connected, the speed feedback control may not be performed even if the vehicle is connected.

  First, in the state where the vehicle A and the vehicle B are connected (hereinafter referred to as vehicles A and B), when the vehicle B travels only on a flat road surface, the vehicle B having good acceleration performance first accelerates / decelerates and time elapses. Accordingly, the vehicle A having the worse acceleration performance also performs acceleration / deceleration. As a result, the traveling speed eventually reaches the command speed and there is no difference between the command speed and the travel speed, so that the above-described overshoot does not occur. However, when the vehicles A and B travel on a sloped road surface, the behavior is different from that when the vehicles A and B travel on a flat road surface, and will be described in detail below with reference to FIG. In the following, an example in which the vehicles A and B travel on the downhill is shown, and the time at which the downhill travel is started is 0 s. In addition, the traveling speed, command speed, and driving capability speed of the vehicles A and B at time 0s are 5 km / h, and the operation amount by the traveling operation device such as an operating lever is not changed. When the speed has changed, the speed calculation unit of the controller calculates the command speed and performs control to correct the travel speed to 5 km (target speed).

  At time 0s, the vehicles A and B travel downhill and the traveling speed increases from 5 km / h, and the speed sensors of the vehicles A and B detect the increase in the traveling speed. Then, after detecting the increase in speed detected by the speed sensor, the speed calculation unit lowers the command speed to correct the traveling speed of the vehicles A and B to 5 km / h (target speed) (time 2 s). The vehicle B with good acceleration performance starts to reduce the driving ability speed (time 3 s). After that, the vehicle A with poor acceleration performance starts to decrease in driving ability speed, and at the same time, the traveling speed also starts to decrease (time 4s). Then, the traveling speeds of the vehicles A and B are decreased, and the speed sensors of the vehicles A and B detect that the traveling speed is less than 5 km / h (target speed) (time 8s). After detecting the decrease in the speed detected by the speed sensor, the speed calculation unit increases the command speed to correct the traveling speed of the vehicles A and B to 5 km / h (target speed), and the vehicle B increases the driving ability speed. At the beginning, the traveling speed starts to increase (time 10s), but the driving ability speed of the vehicle A does not increase immediately, but starts to gradually increase from about time 12s. For this reason, even if the speed calculation unit detects that the traveling speed has exceeded 5 km / h (target speed) at time 15 s and reduces the command speed again, the driving ability speed of the vehicle A having poor acceleration performance still increases. As a result, the traveling speeds of the vehicles A and B greatly increase with respect to the target speed. At the time 18s, the command speed is 4.2 km / h, whereas the traveling speeds of the vehicles A and B are It is in a state of rising to 5.8 km / h. Thus, when the acceleration performance of the connected vehicles is different, there is a problem that an overshoot occurs that the traveling speed is not set to the target speed (5 km / h).

  On the other hand, in the traveling control device according to the present invention, in order to reduce the overshoot as described above, maps of vehicles connected at the time of connecting the vehicle forward or backward are mutually transmitted and received, and By performing speed feedback control based on the map and the received map, it is intended to reduce overshoot. Specifically, when the vehicle B is connected to the vehicle A by the connecting means 60 and the connecting rod 70, the controllers of the vehicles A and B detect that another vehicle is connected. The vehicle B receives information related to other vehicles connected from the vehicle A such as a map. The received information is stored in the memories of vehicles A and B. The speed calculation unit refers to the map stored in the memory, and the time required for the vehicle B to reach the command speed by the operation of the travel operation device from the current travel speed obtained by the speed sensor. The vehicle A is compared with the necessary time. As a result of comparing the times, the vehicle B (the vehicle having a better acceleration performance) having a shorter time is caused to travel at the same driving ability speed as the vehicle A in accordance with the vehicle A (the vehicle having a lower acceleration performance) having a longer time. To control.

  Such speed feedback control will be described in detail below with reference to FIG. In the following, as described above, an example in which the vehicles A and B travel on the downhill is shown, and the time when the downhill travel is started is 0 s. In addition, the traveling speed, command speed, and driving capability speed of the vehicles A and B at time 0s are 5 km / h, and the operation amount of the traveling operation device such as an operating lever is not changed. When the speed has changed, the speed calculation unit of the controller calculates the command speed and corrects it to 5 km / h (target speed).

At time 0s, vehicles A and B travel downhill and the traveling speed increases from 5 km / h,
The speed sensors of the vehicles A and B detect the increase in the traveling speed. When the speed calculation unit detects an increase in speed detected by the speed sensor and then decreases the command speed to correct the traveling speed of the vehicles A and B to 5 km / h (target speed) (time 2 s), the vehicle A Starts to reduce the driving ability speed, and at the same time, the vehicle B follows the vehicle A and starts to reduce the driving ability speed (time 4s). Then, the traveling speeds of the vehicles A and B decrease, and the speed sensors of the vehicles A and B detect the decrease in the traveling speed (time 8s). After detecting the decrease in the speed detected by the speed sensor, the speed calculation unit increases the command speed in order to correct the traveling speed of the vehicles A and B to 5 km / h (target speed), and the vehicle A changes the driving ability speed. The driving ability speed of the vehicle B starts to gradually increase, and the driving ability speed of the vehicle B starts to increase in accordance with the vehicle A (time 10s). The traveling speed of the vehicles A and B decreases to about 5 km / h at time 13 s, and then changes to about 5 km / h. When the time 15s elapses, the command speed is 4.7 km, while the travel speed is 4.9 km per hour, the difference between the command speed and the travel speed is small, and the travel speed is set to the target speed of 5 km per hour. It is possible to converge to a close value, and the above-described overshoot can be reduced.

  As described above, in the travel control device (travel operation device, controller, speed sensor, control valve) in the above-described embodiment, the maps are transmitted and received when the vehicle B is connected to the vehicle A. Then, the time required for the traveling speeds of the vehicles A and B to reach the command speed is compared every predetermined time, and one vehicle is caused to perform speed feedback control based on the comparison result. By following the vehicle, it is possible to significantly reduce overshoot during speed feedback control.

  In the above-described embodiment, only the case where two vehicles are connected has been described. However, the present invention is not limited to two, and the traveling control device according to the present invention is also applicable when three or more vehicles are connected. Can be used. In addition, when three or more vehicles are connected in this way, it is also possible to acquire information on which vehicle is connected to the host vehicle from the front of the connected vehicle.

  In the above-described embodiment, the example in which the vehicle A performs the speed feedback control and the vehicle B travels following the vehicle A has been described. However, the traveling speed does not reach the command speed even after a predetermined time has elapsed. In such a case, speed feedback control can be performed on another vehicle, or speed feedback control can be performed on a plurality of vehicles. Moreover, the vehicle which performs speed feedback control for every predetermined time can also be changed.

  Further, in the above-described embodiment, the example in which the speed feedback control is performed using the map of the connected vehicle has been described. However, the map is not necessarily used, for example, it is connected with the acceleration performance of the own vehicle. Comparing the acceleration performance of the two vehicles, a correction coefficient for correcting the performance difference is calculated based on the result, and another vehicle travels at the driving capability speed multiplied by the correction coefficient for one vehicle. You may do it.

  In the above-described embodiment, the power cab, the speed setting volume, the operation lever, the operation cab 2a and the central cabin 30 of the track-and-work vehicle 1, and the operation cab 102a and the operation device 122a of the vehicle 100 are all provided. Although an example in which the same type of travel operation device having an emergency stop switch and a travel mode switching switch is provided has been described, the type of travel operation device is not limited to this. For example, instead of the speed setting volume, a speed range selection switch that can select the speed mode in multiple stages may be used.

  Furthermore, in the above-described embodiment, the example in which the vehicle 100 to be connected to the track work vehicle 1 is an aerial work vehicle including a scissor link mechanism has been described. However, the present invention is not limited to this type of vehicle. Alternatively, an aerial work vehicle equipped with a telescopic boom may be connected.

(A) It is a side view which shows the railroad working vehicle 1 provided with a drum operating device. (B) It is a top view of the said track-and-rail work vehicle 1. FIG. (A) It is a side view which shows the state which connected the said track-and-rail work vehicle 1 and the vehicle 100 when performing the extension work of an overhead wire on a track | orbit. (B) It is a side view which shows the state which connected the said track-and-rail work vehicle 1 and the vehicle 100 when performing the winding operation | work of an overhead wire on a track | orbit. It is a top view which shows the state which connected the track work vehicle 1 and the vehicle 100 with the connection means 60 and the connection rod 70. FIG. In a state in which the track work vehicle 1 and the vehicle 100 are connected by the connecting means 60 and the connecting rod 70, the connecting means 60 and the vicinity of the connecting rod 70 when the connecting means 60 and the connecting rod 70 are cut along a plane parallel to the vehicle length direction. FIG. (A) It is the side view which showed the vehicle 100 which is a railroad working vehicle provided with the scissor link mechanism. (B) A top view of the vehicle 100. FIG. It is a block diagram which shows the structure of the traveling control apparatus which concerns on this invention. It is the graph which showed transition of the running speed, command speed, and drive capability speed at the time of vehicles A and B from which acceleration performance differs mutually going downhill. (A) shows the case where both the vehicle A and the vehicle B perform the speed feedback control, and (b) shows the case where the vehicle A performs the speed feedback control and the vehicle B performs the traveling control according to the vehicle A. It is a graph.

Explanation of symbols

1 Track-and-rail work vehicle 10 Track traveling device 15 Iron wheel (wheel for track traveling)
16 Iron wheel drive motor (wheel drive means)
60 connecting means 70 connecting rod (connecting means)
DESCRIPTION OF SYMBOLS 100 Vehicle 110 Track traveling apparatus 115 Iron wheel (wheel for track travel)
116 Iron wheel drive motor (wheel drive means)
130, 180, 230, 280 Traveling operation device 140, 240 Controller (travel control means)
143, 243 Memory (storage area)
150,250 Speed sensor (speed detection means)

Claims (2)

A first vehicle body provided with a first track traveling wheel capable of traveling on a track, first wheel driving means for rotationally driving the first track traveling wheel, and a first wheel driving means. A first track traveling vehicle comprising: a first travel control means for controlling driving; and a first memory means for storing information relating to acceleration performance of the host vehicle;
A second vehicle body having a second orbital traveling wheel capable of traveling on the track, a second wheel driving means for rotationally driving the second orbital traveling wheel, and a second wheel driving means. A second track traveling vehicle comprising: a second traveling control means for controlling driving; and a second memory means for storing information relating to the acceleration performance of the host vehicle;
Speed detection means provided on at least one of the first and second track traveling vehicles to detect a traveling speed;
An operating means that is operably provided in at least one of the first and second track-traveling vehicles and outputs a command value corresponding to a target speed set by the operation;
Connecting means for connecting the first track traveling vehicle and the second track traveling vehicle so that information relating to the acceleration performance can be transmitted between the first memory means and the second memory means. And
The acceleration performance of the second track traveling vehicle is superior to the acceleration performance of the first track traveling vehicle;
When traveling based on the operation of the operation means in a state where the first and second track traveling vehicles are connected by the connection means,
The first travel control means includes the difference between an actual travel speed detected by the speed detection means and a target speed corresponding to a command value from the operation means, and the first trajectory stored in the first memory means. According to the information on the acceleration performance of the traveling vehicle, the driving of the first wheel driving means is controlled so that the actual traveling speed changes toward the target speed,
The second traveling control means stores the information related to the acceleration performance of the second track traveling vehicle stored in the second memory means and the first memory means transmitted via the connecting means. When the driving of the first wheel driving means is controlled by the first traveling control means so that the actual traveling speed changes toward the target speed based on the information on the acceleration performance of the first track traveling vehicle. The driving of the second wheel driving means is controlled so that the same acceleration performance as that generated in the first track traveling vehicle is generated in the second track traveling vehicle. Vehicle travel control device. At least one of said first and said second track traveling vehicle, the track traveling vehicle according to claim 1, characterized in that it comprises a working device used in the work carried out while traveling vehicle in orbit Travel control device.

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