JPH02141354A - Electric car brake control device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an electric vehicle control device having an electric brake and an air brake, and is suitable for controlling an electric vehicle to ensure readhesion when skidding occurs. Regarding equipment.

[Conventional technology]

The operation of the conventional device when performing skid control (operation to narrow down the motor current) during brake operation will be described with reference to FIG. The horizontal axes in FIGS. 2(a), (b), and (c) are all time axes. As shown in (a), when the vehicle skids at time ta, the driving wheel speed VH begins to decrease rapidly compared to the vehicle speed VT. At the same time, as shown in (b), the motor current IM
decreases, so the electric brake force Br as shown in (C):
decreases. At this time, in the conventional device, in order to maintain the total braking force by reducing BE, the air braking force B
＾ will increase, and as a result, it will not be possible to re-adhere after sliding, leading to large sliding and sticking. This situation can be seen from the fact that the driving wheel speed VM becomes zero and the motor current peak becomes zero, as shown in FIG. 2(a). The manner in which fixation occurs again will be explained using FIG. 3. In FIG. 3, the horizontal axis shows the sliding speed Vs, and the vertical axis shows the wheel circumferential line force (friction coefficient between the wheel and the rail). It is known that in normal times, the driving wheels rotate at a sliding speed Vso.

Note that related devices of this type include, for example, 1
Examples include Japanese Patent Publication No. 63-32002 and Japanese Patent Publication No. 63-333f31.

[Problem to be solved by the invention]

The present invention has the problem that when such a conventional device starts to skid, it is unable to re-adhere, and the wheels skid for a long time, causing the wheels to stick. This results in a decrease in braking performance and an increase in braking distance. It had drawbacks.

The purpose of the present invention is to eliminate such large brake slippage.

An object of the present invention is to provide a new electric vehicle control device that prevents sticking.

(Means for Solving the Problems) The above object is achieved by detecting the beginning of skidding during regenerative braking of the electric brake, reducing the motor current, and restricting the rise of the air brake for a predetermined period of time. achieved.

[Effect]

When it detects that the wheel axle or wheel group is skidding, it operates to reduce the electric braking force itself and re-adhesion.

At this time, by suppressing the build-up of the air brake for a certain period of time and, as a result, suppressing an increase in the total braking force, it is possible to suppress skidding and facilitate readhesion.

〔Example〕

An embodiment of the present invention will be described below with reference to FIG. The rack lol
The electric current taken in from A1 via the pantograph 2 is used to control the electric motor 4 by the main circuit control device 3 and apply an electric brake by regenerative braking.

The electric motor 4 is connected to the wheels 9 and the speed generator 5. The output of the speed generator 8!5 indicates the rotational speed of the electric motor 4, which is input to the skidding detection device 6, and skidding is detected by the differential value of the rotational speed. Upon receiving a brake command from the driver's cab, the brake receiver 7 issues a brake force command to the main circuit control device 3 at a ratio of electric brake force of m and to the air brake device 8 at a ratio of air brake force of n. The electric brake force detection device 12 detects the actual motor current I from the main circuit control device 3.
M is detected and the signal mf with a certain conversion ratio is transferred to the signal holding bag r! 113 to the brake receiver 7.

The brake receiver outputs a command for air brake force n according to the deviation between the brake command from the driver's cab and the electric brake feedback signal, and when the air brake device 88 is to operate the air brake, the speed generator 5 When the skid detection device 6 detects skidding of the wheel 9 from the signal, the skid detection device 6 operates to reduce the electric braking force m.

Perform actions to re-adhese. An electric brake feedback signal mf corresponding to this electric brake force is fed back to the brake receiver 7.

In this embodiment, the electric brake feedback signal is held at a predetermined value by the signal holding device 13 for a predetermined period from the time of skidding detection.

As a result, the rise of the air brake force n is suppressed, and the brake force on the skidded wheel axle, which includes a plurality of wheel groups, can be temporarily reduced to make the wheel stick again. This will be explained using FIG. 3.

The vehicle is running at the normal skiing speed Vso.

The dotted line shows the trajectory where sliding occurs and readhesion occurs.

Here, the predetermined value when holding the electric brake feedback signal at a predetermined value for a certain period from the time of skidding detection is the electric brake force at ta in FIG. 2(c), that is, the electric brake force at the time of skidding detection. It is preferable to use force.

Also, during the period during which the feedback signal of the electric brake force is held at a predetermined value, the driving wheel speed vH skids from the time of skidding detection and decreases to below a predetermined speed (speed 1 shown in Figure 4 (, )). (time tz shown in Figure 4(a))
Then, after 1 hour, the air brake force B does not rise as shown in Figure 4 (Q), and at the same time as skidding occurs,
Since the total braking force is reduced, it is possible to re-adhesion after skidding occurs.

Furthermore, the period during which the feedback signal of the electric brake force is held at a predetermined value is the period from the time when skidding is detected until the differential value of the skidding speed changes to zero or a positive value (see Figure 5 (a)). ), the air braking force B^ does not rise as shown in Figure 5 (Q), and the total braking force decreases at the same time as skidding occurs, making it the most effective. It can be re-adhered after a certain amount of slipping occurs.

Furthermore, if the period for holding this predetermined value becomes longer than t2 and extends to the point where the wheel speed VT becomes almost the same as the vehicle speed VM and re-sticks, the braking period will become unnecessarily long. As far as possible, this period is determined to be the speed of readhesion.

〔Effect of the invention〕

As described above, according to the present invention, when skidding occurs in an electric vehicle having electric brakes and air brakes using regenerative braking, the braking force of the electric brake is reduced and the rise of the air brake is suppressed. This has a remarkable effect in suppressing the total braking force and speeding up re-adhesion.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the overall configuration of an embodiment of the present invention, and FIG. 2 is a diagram showing a large slide related to the present invention. FIG. 3 is an explanatory diagram of an example operation leading to sticking, and FIGS. 4 and 5 are diagrams showing sliding speed and wheel circumferential line force related to the present invention.
The figure is a diagram showing the restraining period of the air brake in the present invention. 3... Main circuit control device, 4... Main electric motor, 5...
Speed generator, 6...Logic operation unit, 7...Brake receiver, 8...Air brake device, 12...Electric brake force supplier 3--Ichimi kneeling bribe 1 Cow-1 1 Main Electric Stomach 5-11 Speed Signal Machine 6-11 Skiing Inspection Reward l 'I---- BUSHI Kazuyasu Nobunji 11-11 @Kibu Shi Kazuya Power Table 1 13-11 Signal Scroll chair bamboo 1 tail 2 figures high tide concave time clear running liaod time

Claims (1)

[Claims] 1. A drive motor that drives the wheels of the electric vehicle, a main circuit control device that controls the main circuit current of the drive motor, an air brake that applies brakes to the wheels of the electric vehicle, and a brake command. means for controlling the main circuit control device to feed back the electric brake force obtained by detecting the main circuit current when regenerative braking is applied to the brake command; and an air brake control means for controlling the air brake according to a deviation, the brake control device for an electric vehicle comprising a skid detection means for detecting that a wheel of the electric vehicle skids, the skid detection means A brake control device for an electric vehicle, characterized in that the regenerative braking force is weakened by an output of the air brake, and the braking force of the air brake is maintained at a predetermined value for a predetermined period of time. 2. In the brake control device for an electric vehicle according to claim 1, the air brake force is maintained at a predetermined value by maintaining the electric brake force fed back to the brake command by the output of the skid detection means for a predetermined period. A brake control device for an electric vehicle characterized by holding. 3. The brake control device for an electric vehicle as set forth in claim 1, wherein the predetermined value is set according to the electric brake force when the regenerative braking is applied. Device. 4. In the brake control device for an electric vehicle as set forth in claim 1, the predetermined period is a period from when the output of the skidding detection means is generated until the differential value thereof becomes zero. Brake control device for electric cars.