JPH04121273A - Vehicle body inclination control device - Google Patents

Abstract

PURPOSE:To evaluate the control performance during the operation of a system and pick out a vehicle with the reduced performance by comparing control responses between organized vehicles with each other in a central control device, and picking out the vehicle with the bad response of inclination control among the organized vehicles. CONSTITUTION:A central control device l collates the line data stored in a memory section 2, movement distance inputs 10 of vehicles, and correction signal inputs 9 at vehicle running positions, and the start time of the curve control for each vehicle is outputted to the vehicle body inclination device 11 of each vehicle. When a vehicle is run on a curved segment, the vehicle body inclination device 11 calculates control target values at the inlet section, center section and outlet section of the curve based on the information received from the central control device 1 to control an actuator 14, and it sends the maximum values of the vehicle body inclination angle and the vehicle body inclination angular velocity of the curve inlet section when the data request signal is outputted from the central control device l. A monitor section 4 compares the data from individual vehicles and outputs the particularly large value, i.e., the value judged to deteriorate the riding comfortableness of passengers, to display section a.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a vehicle body tilt control device, and particularly to a vehicle body tilt control device suitable for controlling the vehicle body tilt of a railway vehicle.

[Prior art] In conventional vehicle body tilt control systems, failures of individual parts that make up the system are determined, but the tilt state of the vehicle, which is the result of control, is not particularly evaluated. do not have. The only thing that was done was to determine whether there was a contradiction between the control command and the response regarding the direction of inclination (right or left)6.In addition, related devices of this type include 1, for example, Japanese Patent Publication No. 60-52018, etc. can be mentioned.

[Problem to be solved by the invention] The above conventional technology only detects abnormalities in the control function, but does not evaluate whether the control performance is as expected. It was necessary to conduct tests and inspections.

The reason why it is difficult to evaluate control performance is that even if the vehicle is traveling at the same point on the route, if the traveling speed, acceleration/deceleration, and loaded weight of the vehicle are different, the target body inclination angle will also change, and the control response will also change, so it is impossible to make an absolute comparison. The problem was that evaluation criteria could not be established.

An object of the present invention is to evaluate the control performance of the system while it is in operation, and to make it possible to identify vehicles with degraded performance without having to undergo periodic testing and inspection.

[Means for Solving the Problems 1] In order to achieve the above object, in the present invention, control responses are mutually compared between train cars in the central control unit. In other words, vehicles with poor inclination control response from among the vehicles in the train formation are identified by relative comparison.

In addition, in order to perform a highly accurate evaluation, we do not compare the route section C, which has a series of short curves where slope control is frequently performed, but instead specifically compare the route section with long straight lines and long curves. I did it like that. Therefore, in addition to normal vehicle tilt control only in this specific section, the central controller outputs a command to collect control responses (maximum values of vehicle tilt angle, angular velocity, etc.) to the central controller.

Furthermore, the car number of the extracted vehicle and the degree of performance deterioration are output to the monitoring result display section.

[Function 1] The central control unit normally recognizes the current running point of the train by comparing the track data of the running route with the distance traveled by the vehicle, and then sends the car body tilting device of each vehicle to the start point of tilt control for each curve. However, in addition to this, the present invention also outputs a data transmission command using the same transmission path when performing a relative comparison of the control responses of each vehicle as described above.

The vehicle body tilting device of each vehicle normally controls the vehicle body tilt, but when it receives a data transmission command from the central control device, it displays the current vehicle body tilt angle or, if the vehicle is traveling on a curve, the vehicle body tilt at the time of entering the curve. Send the maximum value of angular velocity (stored in memory).

In this way, it is possible to identify vehicles whose control performance has deteriorated while the system is in operation.

[Example] Hereinafter, an example of the present invention will be described with reference to FIGS. 1 to 4.

In Figures 1 to 3, ■ is a central control unit mounted on a representative car in a train set, 2 is a storage unit that stores track data, and 3 is a unit that recognizes the running position of the train and the body of each car. a control unit that performs controls such as transmitting the tilt control start time to the tilt device 11; 4 a monitoring unit that collects data; 5 a display unit that outputs monitoring results; 6 a transmission line for control output from the central control unit;
Reference numeral 7 indicates a transmission line for pulses output in accordance with the distance traveled by the vehicle; 8 indicates a transmission line for collecting data from the vehicle body tilting device 11 into the monitoring unit 4; 9 indicates a vehicle running point correction signal input;
Reference numeral 10 denotes an input of a moving distance signal of the vehicle, 12 the vehicle body, 13 a truck having a vehicle body tilting mechanism, and 14 an actuator that tilts the vehicle body in response to an output command from the vehicle body tilting device.6 Next, the operation of this embodiment will be explained. .

The central control device 1 inputs track data stored in a storage unit 2, vehicle travel distance input IO1, specifically a pulse signal generated by a speed generator attached to the axle, and a correction signal for the vehicle travel point. Specifically, the start point of curve control for each vehicle is output to the vehicle body tilting device 11 of each vehicle by comparing it with the detection output of an ATS signal ground element or the like.

Next, when the vehicle is running on a straight section, the vehicle body tilting device 11 controls the actuator 14 in order to make the vehicle body 12 stand upright on the bogie 13. At this time, the central control device 1 requests data via the transmission line 6. When the signal is output, the vehicle body inclination angle is transmitted through the transmission line 8. The vehicle body inclination angle is sampled at fixed time intervals, and the average value of the sample values from 9 points when the transmission request is received to a fixed time before is transmitted. The monitoring unit 4 mutually compares the data from each vehicle, and compares data with particularly large values, that is, data with poor uprightness, with specified values. If it is determined to be abnormal, it is output to the display section 5.

Furthermore, when traveling on a curved section, the vehicle body tilting device 11 uses control target values at the entrance, center, and exit of the curve based on information received from the central control device 1 (control start point, curve shape, distance pulse). is calculated to control the actuator 14. At this time, if a data request signal is output from the central control unit 1, the vehicle body inclination angle and the maximum value of the vehicle body inclination angular velocity at the entrance of the curve are transmitted. The monitoring unit 4 mutually compares the data from each vehicle in the same way as described above, and outputs to the display unit 5 data with particularly large values, that is, data determined to deteriorate passenger comfort. In this case, the comparison is performed statistically by calculating and using the average value and variance of the entire vehicle formation, and also taking into account the frequency of abnormality detection.

The configuration of the system is shown in FIG. That is, there is a central control unit 1 that detects the curve position while traveling and controls the body inclination of the entire train set, and a central control unit 1 that is placed in each car and controls the car body inclination of each car in response to commands from the central control unit 1. Air servo valve 15 that changes air pressure based on air commands, pneumatic cylinder 16 that generates control force based on the pressure difference between left and right air chambers, pendulum displacement meter 17 that detects the angle of inclination of the car body, and central control. A transmission section 18 that transmits information between the device 1 and the vehicle body tilting device 11, a control setting panel 19 for controlling the central control device 1 from the driver's seat, a speed generator 20 for detecting the curve position, and an ATS onboard child. 21, and a point receiver 22.

The central control device 1 stores all curve data of the running line section and ATS ground coil position data in a storage unit, and based on these data, it outputs a distance pulse signal from a speed generator 20 attached to an axle while the train is running. In response to the ATS overpass signal from the point receiver 22, the running position of the vehicle is calculated, and a tilting timing command for each car is output to the body tilting device 11 of each car in the formation.

In addition, when a running line section is designated from the control setting panel 19 before the start of travel, the central control unit 1 sends all curve data (curve number, curve direction, transition curve, etc.) of the running line section to the car body tilting device 11 of each car. The length of the circular curve, the radius of the curve, and the amount of cant) are transmitted and stored. While driving, the above-mentioned tilt timing command (vehicle number, curve number) is sent 50 minutes from the transition curve entrance of the curve to be controlled.
Outputs the point m in front when passing. In response to this command, the vehicle body tilting device 11 generates an appropriate vehicle body tilt angle pattern by taking into consideration the data of the next curve and the traveling speed obtained by counting the distance pulse signal, and generates a predetermined control command amount. The calculation for outputting a pendulum command to the air servo valve 15 to cause the vehicle body to tilt is performed by feeding back the signal from the pendulum displacement meter 17, and is performed every moment (every 50 ms), thereby responding to changes in traveling speed. The angle of inclination of the car body is also adjusted accordingly. Also, while traveling in a straight line, displacement feedback control is performed so that the pendulum displacement becomes zero. Data transmission between the central control device 1 and the vehicle body tilt control device 11 is performed using a frequency modulated signal, and the presence or absence of transmission errors is confirmed by a data check using an error control code.

[Effects of the Invention] According to the present invention, control performance can be evaluated while the system is operating, and vehicles with degraded performance can be immediately identified.
Measures for performance recovery can be taken quickly.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing details of the central control unit in a vehicle body tilt control system according to an embodiment of the present invention, and FIG.
A block diagram showing the correspondence between the system and the vehicle formations.
Figure 3 is a simplified principle diagram of one embodiment of the vehicle body tilting mechanism;
The figure is a system configuration diagram of the system. 1-------1 Central transcription device, 4------1 Monitoring department,
8------1 transmission line, 1.1--1 vehicle body tilting device, 15----- Servo valve, 16-----Pneumatic cylinder, 17-------- Pendulum displacement meter, 18---
---1 transmission section, 19---1 control setting panel, 20--
---One-speed generator, Figure 3, Figure b 1'/

Claims (1)

[Claims] 1. Store track data of the route the vehicle is traveling on in a storage unit, and compare the stored data with the current travel position and speed of the vehicle to calculate the optimal vehicle body inclination angle to improve passenger comfort. In a vehicle body tilt control device that forcibly tilts the vehicle body using the tilt angle as a target value, a monitoring unit is added to the central control device provided in the representative vehicle in the vehicle formation, and a monitoring unit is added to the central control device provided in the representative vehicle in the vehicle formation, and the control state of each vehicle is monitored as described above in a timely manner. A vehicle body inclination control device characterized in that a central control device compares the control performance with each other to identify a vehicle system in operation where the control performance has deteriorated.