JP5579139B2 - Control data collection and evaluation apparatus and control data collection and evaluation method - Google Patents

Description

  The present invention relates to a control data collection and evaluation device that collects and evaluates control data of a train control device.

  2. Description of the Related Art Conventionally, an apparatus for verifying the operation of a train control apparatus performs operation verification of the train control apparatus in advance by executing a control simulation using a simulator of a main circuit / main machine. Such a technique is disclosed in Patent Document 1 below.

JP 2007-215384 A (paragraphs 0018 and 0021, FIG. 2)

  However, according to the above-described conventional technology, it is possible to determine whether the train control device has a failure or not, but it is not possible to detect a sign of a failure in a state without a failure, that is, it is not known whether the state is close to a failure. There was a problem.

  The present invention has been made in view of the above, and an object of the present invention is to obtain a control data collection and evaluation device that can determine whether or not a train control device is in a state close to failure.

  In order to solve the above-described problems and achieve the object, the present invention is a control data collection and evaluation device for determining the state of a train control device mounted on a train, and the train control device is simulated before the train is mounted. Simulation data obtained as a result, and a data storage unit for storing actual vehicle data that is data recorded by the train control device when the train on which the train control device is mounted is acquired, and the simulation data is acquired, A simulation data acquisition unit to be stored in a data storage unit, an actual vehicle data acquisition unit to acquire the actual vehicle data and store in the data storage unit, and the simulation data read from the data storage unit are subjected to singular value decomposition and first And the actual vehicle data read from the data storage unit is subjected to singular value decomposition. An analysis processing unit for obtaining a second feature amount, and an abnormality determination for converting the first feature amount into a first Mahalanobis distance and determining the state of the train control device based on the first Mahalanobis distance A threshold is set, and the second feature value is converted into a second Mahalanobis distance, and the state of the train control device is determined based on a result of comparing the second Mahalanobis distance with the abnormality determination threshold. And a Mahalanobis distance conversion processing unit for determination.

  According to the present invention, it is possible to determine whether or not the train control device is in a state close to failure.

FIG. 1 is a diagram showing a train equipped with a train control device and a vehicle base where a control data collection and evaluation device is installed. FIG. 2 is a diagram illustrating a configuration example of the control data collection and evaluation apparatus. FIG. 3 is a diagram illustrating a configuration example of the data management apparatus. FIG. 4 is a flowchart showing processing for determining the state of the train control device. FIG. 5 is a diagram illustrating a configuration example of a normal singular value map. FIG. 6 is a diagram in which a resistance component assuming solder cracks is incorporated in the main circuit main machine model. FIG. 7 is a diagram showing evaluation parameters for simulation when an abnormality is simulated in the main circuit main machine model. FIG. 8 is a diagram showing a waveform of the U-phase motor current accumulated in the data accumulation unit. FIG. 9 is a diagram illustrating a configuration example of a singular value map in a state close to a failure. FIG. 10 is a diagram illustrating a determination result in the Mahalanobis distance conversion processing unit.

  Embodiments of a control data collection and evaluation apparatus according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment 1 FIG.
FIG. 1 is a diagram showing a train equipped with a train control device and a vehicle base where a control data collection and evaluation device is installed. When the train 1 returns to the vehicle base 2, the control data collection / evaluation device 4 installed in the vehicle base 2 uses the actual vehicle data such as the motor current recorded when the train control device 3 mounted on the train 1 travels the train 1. Get. The control data collection and evaluation device 4 performs an analysis process on the acquired actual vehicle data to detect a sign of a failure of the train control device 3, that is, determines whether or not the vehicle is in a state close to a failure.

  Next, the configuration of the control data collection / evaluation apparatus 4 will be described. FIG. 2 is a diagram illustrating a configuration example of the control data collection and evaluation apparatus. The control data collection and evaluation apparatus includes a gate control unit (GCU) 5, a high-speed simulator 6 incorporating a main circuit main machine model 7, a simulator host personal computer (PC) 8, an analog measuring instrument 9, a data management apparatus 10, . The control data collection / evaluation apparatus 4 detects a sign of a malfunction of the train control apparatus 3 mounted on the train 1 from the actual vehicle data, performs a simulation with the train control apparatus 3 alone, and performs a simulation on the train control apparatus 3 (GCU5). ) Can be detected.

  The GCU 5 is a train control device 3 to be simulated, and here is a VVVF (Variable Voltage Variable Frequency) control device. The GCU 5 outputs a gate pulse corresponding to the TIMS transmission command to the high-speed simulator 6 based on a TIMS (Train Information Management System) transmission command input from the data management device 10.

  The high-speed simulator 6 is a simulation device in which a main circuit main machine model 7 is incorporated on a computer system that performs high-speed arithmetic processing. The high speed simulator 6 performs a simulation of the main circuit main machine model 7 according to the gate pulse input from the GCU 5 and outputs feedback data such as a motor current processed by the main circuit main machine model 7 to the GCU 5 as a result of the simulation.

  The main circuit main machine model 7 is obtained by modeling a main circuit including a power module such as an IPM (Intelligent Power Module) and a main machine including a motor on a computer system.

  The simulator host PC 8 is a device that activates the high-speed simulator 6. It is a device that is generally used for simulation.

  The analog measuring instrument 9 is a data sampling unit that performs high-speed sampling (for example, sampling at 10 μsec) of feedback data such as a gate pulse output from the GCU 5 to the high-speed simulator 6 and a motor current output from the high-speed simulator 6 to the GCU 5. . The analog measuring instrument 9 outputs the sampled data to the data management apparatus 10 in accordance with a request from the data management apparatus 10.

  The data management device 10 outputs a preset operation pattern to the GCU 5 as a TIMS transmission command. Further, the TIMS transmission command and the data input from the analog measuring device 9 are linked and stored in synchronization, and the stored data is analyzed to determine whether the state of the GCU 5 is close to a failure. Further, the actual vehicle data acquired from the train control device 3 mounted on the train 1 is converted into a data format equivalent to the data input from the analog measuring device 9 and stored, and the stored data is analyzed and processed. It is determined whether the state of the control device 3 is close to a failure. Note that it is also possible to determine that the GCU 5 or the train control device 3 is in a normal state or a failure state, as in the conventional case.

  Next, the configuration of the data management apparatus 10 will be described. FIG. 3 is a diagram illustrating a configuration example of the data management apparatus 10. The data management apparatus 10 includes a simulation data acquisition unit 11 including an operation command output unit 12 and a device information collection unit 13, an actual vehicle data acquisition unit 14, a data storage unit 15, an SVD processing unit 16, and a Mahalanobis distance conversion process. Unit 17.

  The simulation data acquisition unit 11 stores the data acquired from the GCU 5 and the analog measuring instrument 9 in the data storage unit 15 as simulation data.

  The operation command output unit 12 creates a TIMS transmission command as a transmission command according to the operation pattern, and outputs the TIMS transmission command to the GCU 5.

  The device information collection unit 13 inputs data sampled by the analog measuring instrument 9. Then, time synchronization processing of the acquired data and the operation pattern acquired from the operation command output unit 12 is performed, and the CSV converted data is stored in the data storage unit 15 as simulation data.

  The actual vehicle data acquisition unit 14 acquires actual vehicle data from the train control device 3 mounted on the train 1 and stores it in the data storage unit 15 in the same data format as the simulation data. As a method of acquiring actual vehicle data from the train control device 3, there is a method of receiving actual vehicle data by wireless communication, but is not limited thereto. For example, the actual vehicle data acquisition unit 14 can acquire actual vehicle data held by the train control device 3 via a recording medium.

  The data accumulation unit 15 accumulates simulation data from the device information collection unit 13 and actual vehicle data from the actual vehicle data acquisition unit 14.

  The SVD processing unit 16 is an analysis processing unit that can sequentially analyze the data stored in the data storage unit 15. Here, singular value decomposition is performed by SVD (Singular Value Decomposition), which is an analysis tool, and a feature amount is output to the Mahalanobis distance conversion processing unit 17 as an analysis result.

  The Mahalanobis distance conversion processing unit 17 converts the acquired feature value data into the Mahalanobis distance, and based on the obtained Mahalanobis distance, the train control device 3 mounted on the GCU 5 or the train 1 on which the simulation is performed is close to a failure. Determine whether or not.

  Next, a process in which the control data collection and evaluation device 4 determines whether or not the train control device 3 mounted on the train 1 is in a state close to a failure will be described. FIG. 4 is a flowchart showing a process in which the control data collection / evaluation apparatus 4 determines the state of the train control apparatus 3. First, a description will be given of the processing from when the control data collection / evaluation apparatus 4 performs a simulation, analyzes the result of the simulation, and obtains an abnormality determination threshold value used when determining whether or not the train control apparatus 3 is close to a failure. To do.

  First, in the data management device 10, the operation command output unit 12 outputs a TIMS transmission command to the GCU 5 according to a specified operation pattern. The GCU 5 outputs a gate pulse corresponding to the input TIMS transmission command to the high speed simulator 6. The high-speed simulator 6 performs a simulation according to the input gate pulse, and outputs a motor current or the like that simulates actual driving travel processed by the main circuit main machine model 7 to the GCU 5 as feedback data. The GCU 5 outputs a gate pulse optimum for control to the high-speed simulator 6 from the TIMS transmission command and feedback data such as the motor current.

  At this time, the analog measuring unit 9 performs high-speed sampling of feedback data such as the gate pulse output from the GCU 5 and the motor current output from the high-speed simulator 6. Then, the analog measuring unit 9 outputs the sampled data to the data management device 10.

  In the data management apparatus 10, the device information collection unit 13 captures data sampled by the analog measuring instrument 9. Next, the device information collection unit 13 performs synchronous processing on the operation pattern data acquired from the operation command output unit 12 and the data captured by itself. Then, the synchronous data is subjected to CSV conversion, and is output and stored as simulation data in the data storage unit 15 (step S1).

  By continuing the above processing until the operation pattern is completed, after the operation pattern is completed, the data storage unit 15 stores the simulation data (operation pattern, gate pulse, motor current, etc.) for the entire operation period determined by the operation pattern. Data) is accumulated.

  Next, in the data management apparatus 10, the SVD processing unit 16 reads the simulation data from the data storage unit 15 and performs analysis processing by singular value decomposition (step S2). Specifically, the singular value decomposition performed by the SVD processing unit 16 will be described. FIG. 5 is a diagram illustrating a configuration example of a normal singular value map. As an example, a U-phase motor current is shown, and a case where GCU 5 is normal and is not in a state close to a failure will be described. In the following description, the U-phase motor current is used, but the present invention is not limited to this, and a V-phase motor current and a W-phase motor current may be used.

  Singular value decomposition is one of mathematical methods that can extract characteristic behavior as characteristic components. For example, a characteristic waveform component is extracted from past data, and the degree to which the newly acquired data (waveform component) is close to the characteristic waveform component is evaluated. Although there are many items representing feature components, here, the offset amount for each waveform component is represented as a first feature amount, and the variation in shape for each waveform component is represented as a second feature amount, and is represented using two feature amounts.

  In FIG. 5, the points mapped to the singular value map indicate the state of each waveform component and are roughly separated into four groups. Group (1) is a group of asynchronous pulse mode waveforms during power running, Group (2) is a group of synchronous pulse mode waveforms during power running, Group (3) is a group of synchronous pulse mode waveforms during braking, and Group (4) is This is a group of asynchronous pulse mode waveforms during braking. Regarding the trajectory with respect to the elapsed time, the groups (1) and (4) have no regularity, but the groups (2) and (3) continuously transition in a certain direction (the direction of each arrow shown in FIG. 5). As described above, when GCU 5 is in a normal state, a point mapped to the singular value map, that is, a waveform component representing the U-phase motor current is included in any group. At this time, a sign of a failure of the GCU 5 is detected using the groups (2) and (3) whose distribution is stable.

  Here, when the GCU 5 is close to a failure, how the simulation data acquired for the GCU 5 is mapped to the singular value map will be described. FIG. 6 is a diagram in which a resistance component assuming a solder crack is incorporated in the main circuit main machine model 7. As shown in FIG. 6, when a resistance component assuming solder cracks is incorporated in the main circuit portion as an abnormality simulation, the motor current output to the GCU 5 as a result of the simulation shows a waveform different from that in the normal state.

  FIG. 7 is a diagram showing evaluation parameters for simulation when abnormality is simulated in the main circuit main machine model 7. First, acquire normal data with the contents shown in the entire operation area for the major items, and then try to grasp the abnormalities based on the changes in the feature values when the major items show the abnormalities, that is, when the waveform characteristics change abnormally Therefore, data at the time of abnormality simulation is acquired using a resistance component of 50 mΩ simulating a solder crack.

  FIG. 8 is a diagram showing a waveform of the U-phase motor current accumulated in the data accumulation unit 15. Data acquired during normal operation (normal model) and data acquired during abnormal simulation (abnormal model) are shown. When the waveforms of the normal model and the abnormal model are superposed, the waveforms of the circled portions shown in FIG. 8 are different between the normal model and the abnormal model.

  In this case, when the abnormal model is mapped to the singular value map, it can be represented as a B group in FIG. FIG. 9 is a diagram illustrating a configuration example of a singular value map in a state close to a failure. For example, in the group (2) shown in FIG. 5, the point that should be mapped to the position of the A group when the GCU 5 is normal is mapped to the position of the B group that is out of the position of the A group. The conduction state is maintained due to the occurrence of the solder crack, but it is considered that the waveform of the acquired data changes due to the change in the resistance value. As a result of creating and simulating the resistance value change state in the main circuit main machine model 7, it is mapped to the position of the B group. This state can be evaluated as a state close to a failure.

  As described above, the SVD processing unit 16 creates a singular value map as a result of the singular value decomposition, and maps data of the same condition to any group (a certain range) when the GCU 5 is operating normally. The data when the GCU 5 is not operating normally but has not failed is mapped in the vicinity of the group to be mapped in the normal state. Specifically, a point that should be mapped to the group (2) if the GCU 5 is normal is mapped to the vicinity of the group (2) when the GCU 5 is in a state close to a failure. When mapped to the groups (2) and (3), which are the synchronous modes shown in FIG. 5, the U-phase motor current waveform is different from the past, so that the GCU 5 is in a state close to failure. Can be evaluated. In the evaluation, the groups (2) and (3) in the synchronous mode are used, and the evaluation is not performed in the groups (1) and (4) in the asynchronous mode.

  When the GCU 5 that is the train control device is in a failure state, if the U-phase motor current is used, the shape is deformed as compared with the abnormal model shown in FIG. 8, and there is no tendency in each waveform. In this case, even if it maps to the singular value map, it does not fall within a certain range of groups and is irregularly mapped to the entire singular value map. As described above, since there is a difference between the failure state and the state close to the failure, it is possible to evaluate whether or not the GCU 5 that is the train control device is in a state close to the failure in the control data collection and evaluation device. It becomes.

  Returning to the flowchart of FIG. 4, the Mahalanobis distance conversion processing unit 17 then sets the feature amount (first feature amount) obtained by the SVD processing unit 16 as the Mahalanobis distance (referred to as the first Mahalanobis distance). (Step S3). Then, an abnormality determination threshold value for determining the state of the train control device 3 is set based on the first Mahalanobis distance (step S4). Mahalanobis distance is a distance used in statistics, is based on the correlation between multiple variables, and is used for multivariate analysis. Specifically, what can be regarded as a group is converted into a small distance, and what can be regarded as outside the group is converted into a large distance. In the singular value map, the feature amount that can be regarded as outside the group with respect to the normal feature amount distribution has a large Mahalanobis distance, and thus can be determined to be different from the normal state.

  FIG. 10 is a diagram illustrating a determination result in the Mahalanobis distance conversion processing unit 17. FIG. 9 shows the singular value map converted into Mahalanobis distances in the upper row, and the lower row shows the points arranged in ascending order of the Mahalanobis distance. Since the Mahalanobis distance takes a value of 20 or more for all the abnormal model waves shown in the B group, for example, it is possible to detect that an abnormality has occurred by setting the abnormality determination threshold value to 10. In this way, even when the waveform difference is as shown in FIG. 8, it appears as a large difference when converted to the Mahalanobis distance. Therefore, it is possible to perform abnormality determination based on specific numerical values. it can.

  In the control data collection and evaluation device 4, the above processing (steps S1 to S4) is performed on the GCU 5 (train control device 3) before being mounted on the train 1.

  Subsequently, until the control data collection and evaluation device 4 acquires actual vehicle data from the train control device 3 mounted on the train 1, analyzes the actual vehicle data, and determines whether or not the train control device 3 is in a state near failure. The process will be described.

  When the train 1 enters the vehicle base 2 after the daily operation ends, in the control data collection and evaluation device 4, the actual vehicle data acquisition unit 14 acquires actual vehicle data from the train control device 3 mounted on the train 1. The actual vehicle data acquisition unit 14 converts the acquired actual vehicle data into a data format equivalent to the simulation data stored in the data storage unit 15 and stores it in the data storage unit 15 (step S5).

  In the control data collection / evaluation apparatus 4, the SVD processing unit 16 reads the actual vehicle data from the data storage unit 15, and performs analysis processing by singular value decomposition (step S6). The specific process is the same as that in step S2 described above. At this time, the feature amount obtained from the actual vehicle data is set as the second feature amount.

  In the control data collection and evaluation device 4, the Mahalanobis distance conversion processing unit 17 converts the second feature value into a Mahalanobis distance (referred to as a second Mahalanobis distance) (step S7). Then, the state of the train control device 3 mounted on the train 1 is determined by comparing the second Mahalanobis distance at this time with the abnormality determination threshold value (step S8). Specifically, the Mahalanobis distance conversion processing unit 17 determines that the train control device 3 is operating normally when the second Mahalanobis distance is smaller than the abnormality determination threshold, and the second Mahalanobis distance is equal to or greater than the abnormality determination threshold. In this case, it is determined that the train control device 3 is in a state close to failure. Thereby, the control data collection and evaluation apparatus 4 can automatically determine whether or not the train control apparatus 3 mounted on the train 1 is in a normal state.

  As described above, the control data collection and evaluation device 4 compares the Mahalanobis distance obtained from the actual vehicle data during daily operation with the abnormality determination threshold value set based on the Mahalanobis distance obtained during the simulation before mounting the actual vehicle. A sign of a malfunction of the train control device 3 mounted on the train 1 can be detected.

  As described above, in the present embodiment, the control data collection and evaluation device is abnormal from the Mahalanobis distance obtained by analyzing the simulation data, assuming that the state when the train control device before the actual vehicle is simulated is normal. Set the judgment threshold. Then, the state of the train control device mounted on the train is determined by comparing the Mahalanobis distance obtained by analyzing the actual vehicle data acquired from the train control device mounted on the train that operates daily and the abnormality determination threshold value. It was decided to. As a result, when the Mahalanobis distance obtained from actual vehicle data is large compared to the abnormality determination threshold, a sign of a malfunction of the train control device mounted on the train can be detected, and the state of the train control device is automatically determined. be able to. In addition, it is possible to grasp whether or not there is a sign of malfunction in the train control device 3 in a state where it is mounted on the train 1.

  In addition, although the case where the abnormality determination threshold value is compared with the second Mahalanobis distance obtained from the actual vehicle data has been described, the present invention is not limited to this. For example, the state of the train control device may be determined by directly comparing the first Mahalanobis distance obtained during the simulation and the second Mahalanobis distance obtained from the actual vehicle data. Even in this case, the state of the train control device can be determined from the magnitude relationship between the two Mahalanobis distances.

Embodiment 2. FIG.
In the first embodiment, the control data collection / evaluation device 4 obtains actual vehicle data during traveling in daily operation and determines the state of the train control device 3 mounted on the train 1.

  On the other hand, the train control device 3 may be removed from the train 1 every 3 to 4 years for regular inspection. At this time, the control data collection and evaluation device 4 sets the extracted train control device 3 as the GCU 5 (see FIG. 2), so that the train control device 3 in operation is the same as the simulation performed before the actual vehicle is mounted ( Inspection).

  In the control data collection / evaluation apparatus 4, as in the first embodiment, the simulation data acquired from the simulation at this time is analyzed to obtain a feature amount (referred to as a third feature amount), and further the Mahalanobis distance (third Of Mahalanobis distance). And the state of the taken-out train control device 3 can be determined by comparing the third Mahalanobis distance with the abnormality determination threshold value. Specifically, the Mahalanobis distance conversion processing unit 17 determines that the train control device 3 is operating normally when the third Mahalanobis distance is smaller than the abnormality determination threshold, and the third Mahalanobis distance is equal to or greater than the abnormality determination threshold. In this case, it is determined that the train control device 3 is in a state close to failure. As a result, the current state of the train control device 3 can be grasped, and a simulation history of the train control device 3 that could not be performed conventionally can be acquired by performing a simulation for each periodic inspection. Become.

  As in the first embodiment, the first Mahalanobis distance obtained during the simulation before the train is mounted is directly compared with the third Mahalanobis distance obtained here to determine the state of the train control device. Good. Even in this case, the state of the train control device can be determined from the magnitude relationship between the two Mahalanobis distances.

  As described above, the control data collection and evaluation apparatus according to the present invention is useful for a VVVF control apparatus, and is particularly suitable for trains, industrial product production lines, and the like.

1 Train 2 Depot 3 Train Control Device 4 Control Data Collection and Evaluation Device 5 GCU
6 High-speed simulator 7 Main circuit model 8 Simulator host PC
DESCRIPTION OF SYMBOLS 9 Analog measuring device 10 Data management apparatus 11 Simulation data acquisition part 12 Operation command output part 13 Equipment information collection part 15 Data storage part 16 SVD processing part 17 Mahalanobis distance conversion processing part

Claims (10)

A control data collection and evaluation device for determining the state of a train control device mounted on a train,
Simulation data that is a result of a simulation of a normal state and an abnormal simulation state of the train control device before mounting the train, and actual vehicle data that is recorded by the train control device when the train on which the train control device is mounted travels A data storage unit for storing;
A simulation data acquisition unit for acquiring the simulation data and storing the simulation data in the data storage unit;
An actual vehicle data acquisition unit for acquiring the actual vehicle data and storing the actual vehicle data in the data storage unit;
Analysis for obtaining a first feature value by performing singular value decomposition on the simulation data read from the data storage unit, and obtaining a second feature value by performing singular value decomposition on the actual vehicle data read from the data storage unit A processing unit;
The first feature amount is converted into a first Mahalanobis distance, an abnormality determination threshold for determining the state of the train control device is set based on the first Mahalanobis distance, and the second feature A Mahalanobis distance conversion processing unit that converts a quantity into a second Mahalanobis distance and determines a state of the train control device based on a result of comparing the second Mahalanobis distance and the abnormality determination threshold;
A control data collection and evaluation apparatus comprising: The Mahalanobis distance conversion processing unit determines that the train control device is operating normally when the second Mahalanobis distance is smaller than the abnormality determination threshold, and the second Mahalanobis distance is equal to or greater than the abnormality determination threshold. When it is determined that the train control device is in a state close to failure,
The control data collection and evaluation apparatus according to claim 1. The simulation data and the actual vehicle data are used as U-phase, V-phase, or W-phase motor current data.
The control data collection and evaluation apparatus according to claim 1 or 2, further,
When the data storage unit stores simulation data at the time of inspection, which is a result of simulating the train controller from the train,
The simulation data acquisition unit acquires the simulation data at the time of inspection, stores the simulation data in the data storage unit,
The analysis processing unit obtains a third feature amount by performing singular value decomposition on the inspection simulation data read from the data storage unit,
The Mahalanobis distance conversion processing unit converts the third feature amount into a third Mahalanobis distance, and compares the third Mahalanobis distance with the abnormality determination threshold value. When it is smaller than the determination threshold, it is determined that the train control device is operating normally, and when the third Mahalanobis distance is equal to or greater than the abnormality determination threshold, it is determined that the train control device is in a state close to failure. ,
The control data collection and evaluation apparatus according to claim 1, 2, or 3. The inspection simulation data is U-phase, V-phase, or W-phase motor current data.
The control data collection and evaluation apparatus according to claim 4. A control data collection and evaluation method in a control data collection and evaluation device for determining the state of a train control device mounted on a train,
The control data collection and evaluation device is a simulation data that is a result of simulating the normal state and the abnormal simulation state of the train control device before the train is mounted , and the train control device is in a state where the train on which the train control device is mounted travels. When a data storage unit for storing actual vehicle data that is recorded data is provided,
Obtaining the simulation data, and storing the simulation data in the data storage unit;
A first analysis processing step for obtaining a first feature amount by performing singular value decomposition on the simulation data read from the data storage unit;
A first Mahalanobis distance conversion step of converting the first feature amount into a first Mahalanobis distance;
An abnormality determination threshold value setting step for setting an abnormality determination threshold value for determining the state of the train control device based on the first Mahalanobis distance;
The actual vehicle data acquisition step of acquiring the actual vehicle data and storing in the data storage unit;
A second analysis processing step for obtaining a second feature value by performing singular value decomposition on the actual vehicle data read from the data storage unit;
A second Mahalanobis distance conversion step of converting the second feature quantity into a second Mahalanobis distance;
An on-board state determination step for determining a state of the train control device based on a result of comparing the second Mahalanobis distance and the abnormality determination threshold;
A control data collection and evaluation method comprising: In the mounting state determination step, when the second Mahalanobis distance is smaller than the abnormality determination threshold, it is determined that the train control device is operating normally, and the second Mahalanobis distance is equal to or greater than the abnormality determination threshold. When it is determined that the train control device is in a state close to failure,
The control data collection and evaluation method according to claim 6. The simulation data and the actual vehicle data are used as U-phase, V-phase, or W-phase motor current data.
The method for collecting and evaluating control data according to claim 6 or 7. When the data storage unit stores simulation data at the time of inspection, which is a result of simulating the train controller from the train,
further,
Obtaining the simulation data at the time of inspection, and acquiring the simulation data at the time of inspection to be stored in the data storage unit;
A third analysis processing step for obtaining a third feature amount by performing singular value decomposition on the simulation data at the time of inspection;
A third Mahalanobis distance conversion step of converting the third feature quantity into a third Mahalanobis distance;
Based on the result of comparing the third Mahalanobis distance and the abnormality determination threshold, a state determination step during inspection for determining the state of the train control device,
Including
In the inspection state determination step, when the third Mahalanobis distance is smaller than the abnormality determination threshold, it is determined that the train control device is operating normally, and the third Mahalanobis distance is equal to or greater than the abnormality determination threshold. When it is determined that the train control device is in a state close to failure,
The control data collection and evaluation method according to claim 6, 7 or 8. The inspection simulation data is U-phase, V-phase, or W-phase motor current data.
The control data collection and evaluation method according to claim 9.

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