JPH04287764A - Vibration control device for railroad car - Google Patents

Abstract

PURPOSE:To improve the riding comfortableness in all frequency areas of vibration. CONSTITUTION:In a vibration control device provided with a double acting pneumatic cylinder 14 serving as a fluid operating system in parallel with an air spring 13 supporting a car body 12, having an acceleration detector 17 detecting the vibration of the car body 12 and a multi-variable digital controller 18 controlling the control input to a control valve 19 from the output of the detector 18, and controlling the pressure of the double acting pneumatic cylinder 14 via the control valve 19, the vibration acceleration of the car body 12 is used for the state variable indicating the internal state of the control subject in designing the multi-variable digital controller 18 by the modern control theory.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibration control system for a railway vehicle that improves ride comfort in all frequency ranges.

0002

[Prior Art] As a method of suppressing vibrations generated in the car body of a railway vehicle, an actuator is installed between the car body and the bogie in accordance with the vibration direction, and a control force in the opposite phase is generated in response to the vibration of the car body. is common.

Conventional vibration control is comprised of a spring and a damping force generating mechanism, and an air spring, a throttle of an oil damper, or the like has been used as the damping force generating mechanism. The aperture of the damping force generation mechanism was determined in order to suppress vibrations at the natural frequency caused by the springs and vehicle mass in the low frequency range, while also reducing vibrations in the high frequency range.

However, when the damping force is increased, vibration suppression is improved in the low frequency range, but deteriorates in the high frequency range, and when the damping force is decreased, vibration suppression is improved in the high frequency range, but deteriorates in the low frequency range. It has been difficult to improve both the low frequency range and the high frequency range at the same time.

[0005] Further, as an improved vibration control device for a railway vehicle, ``Vibration control device for a vehicle'' disclosed in Japanese Unexamined Patent Publication No. 17754/1984 is known. As shown in FIG. 6, its configuration is such that a double-acting pneumatic cylinder 3 installed in parallel with a spring 2 that supports the vehicle body 1 is driven by a pneumatic servo valve 5. The control input is provided by an analog compensation circuit 7 in the form of Equation 1 or Equation 2 consisting of an integral, a first-order lead, a first-order lag, and a gain element using the output of an acceleration detector 6 installed in the vehicle body 1. It is determined. In the figure, 4 indicates a truck, and 8 indicates an air source.

[0006]

[Math 1]

[0007]

[Math 2]

[0008]

SUMMARY OF THE INVENTION In a vibration control system for a railway vehicle, it is not necessarily necessary or possible to actually measure all of the state variables indicating the internal state. Therefore, state variables are usually estimated using a state estimator.

Vibration control of a railway vehicle will be explained using a simple one-degree-of-freedom model in FIG. 7. In the figure, m is the sprung mass, k is the spring constant of the spring that supports the mass m, u is the control force generated by the actuator, Z is the vertical displacement of the mass m, and Z0 is the disturbance displacement received from below the spring. The equation of motion of this model is as shown in Equation 3, and the equation of state is as shown in Equation 4, where the state variable is the vibration velocity ◆
Z and vibration variable ΔZ (ΔZ=Z−Z0).

0010

[Math 3]

[0011]

[Math 4]

On the other hand, in the optimal regulator theory for determining feedback gain, in order to improve riding comfort, the evaluation function J is often set to have a vibration acceleration as shown in Equation 5. It is known to be effective in vibration control devices for vehicles, which are often used as an evaluation index for ride comfort.

[0013]

[Math 5]

Here is the evaluation index in the evaluation function J.
Z, ◆Z, ΔZ, etc. are the state variables ◆Z, ΔZ
You can ask for more. That is, ¨Z can be found using Equation 6 shown below.

[0015]

[Math 6]

On the other hand, it is not always necessary to actually measure all of the state variables indicating these internal states, or it is impossible to actually measure them. Therefore, normally a state estimator is used to estimate the state variables. For example, if only two state quantities ¨Z and ΔZ are actually measured, [◆Z, ΔZ]
is determined by the state estimator from ¨Z and ΔZ. Since ¨Z is found from this state variable [◆Z, ΔZ], even though ¨Z is actually measured, it is found from other estimated state variables, so the property of the state estimator is In some cases, there may be a large difference between the calculated value and the measured value. This may reduce the effectiveness of vibration control in vehicle vibration control whose goal is to reduce vibration acceleration ¨Z.

[0017] The present invention provides a device in which a fluid actuation mechanism is installed in parallel with a spring that supports the static load of a vehicle body, and by performing control by adding the vibration acceleration of the vehicle body to the state variables of the controller, all frequencies can be controlled. The purpose of the present invention is to provide a vibration control device for a railway vehicle that can improve ride comfort in the area.

[0018]

[Means for Solving the Problems] In order to achieve the above-mentioned object, the vibration control device for a railway vehicle of the present invention includes a fluid actuating mechanism installed in parallel with an air spring that supports the static load of a car body, and A device comprising a control valve for controlling supplied fluid, a detector for detecting vibration of the vehicle body, and a controller for determining control input to the control valve from the output of the detector, according to modern control theory. When designing a multivariable digital controller, we add the vibration acceleration of the vehicle body, which is an index of vehicle ride comfort, to the state variables that indicate the internal state of the controlled object.

[0019]

[Operation] When the equation of motion of the simple one-degree-of-freedom system shown in Fig. 7 is converted to the form of equation 3, the state equation becomes as shown in equation 4, and the state variable to be fed back includes the vibration acceleration ¨Z. . Therefore, normally, as shown in FIG. 5, a state variable 21 including vibration acceleration is estimated using a state estimator 10 based on the actual measurement value from a controlled object 9, and the state variable 21 is fed back using a feedback gain 11. However, according to the present invention, , as shown in FIG. 4, the vibration acceleration constitutes the state variable 21 based on the actually measured value without passing through the state estimator 10, and a feedback loop can be formed using the feedback gain 11. As a result, it is sensitive to vibration acceleration and provides good ride comfort.

[0020]

[Embodiment] An embodiment of the present invention will be explained based on the drawings. FIG. 1 is an explanatory diagram of a vehicle having a vibration control device according to the present invention. The vehicle body 12 is supported by a truck 16 by an air spring 13, and a double-acting pneumatic cylinder 14 as a fluid operating mechanism and an oil damper 15 as a damping force generating mechanism are installed between the vehicle body 12 and the truck 16. The vehicle body 12 is provided with an acceleration detector 17 as a detector for detecting vehicle body vibration. Air is supplied to the double-acting pneumatic cylinder 14 via a control valve 19, and a detection signal of vehicle body vibration detected by an acceleration sensor 17 is input to a multivariable digital controller 18, which controls the air. It is configured to calculate the amount of air sent from the air source 20 and to control and supply the air sent from the air source 20 by the control valve 19.

The multivariable digital controller 18 has the vibration acceleration of the vehicle body in a state variable indicating the internal state, and forms a feedback loop by multiplying the vibration acceleration actually measured without passing through a state estimator by a feedback gain. .

In the above device, the vibration of the vehicle body is detected by the acceleration sensor 17, the control amount is calculated by the controller 18, and the air sent from the air source 20 is controlled by the control valve 19. In addition to generating force, vibrations of the vehicle body can be suppressed based on the magnitude and frequency of acceleration detected by the acceleration sensor 17.

FIG. 2 shows the vehicle body vibration acceleration ratio before and after implementing the present invention, that is, the vibration acceleration ratio based on the calculated value through the state estimator with respect to the actual vibration acceleration. The figure shows that the vehicle body vibration acceleration ratio varies greatly from 0.83 to 0.98.

According to the implementation of the present invention, the vibration acceleration of the vehicle body is not determined as a calculated value through a state estimator;
Since a feedback loop is constructed by multiplying the actually measured vibration acceleration by a feedback gain, the frequency response is significantly improved. The results are shown in FIG. g0 in the diagram
is the case without control, g1 is the case where the state variable does not include vibration acceleration, and g2 is the case where the state variable includes vibration acceleration according to the implementation of the present invention. From the figure, it can be seen that in the case (g2) according to the present invention, vibrations are reduced in a wide frequency range, and as a result, good ride comfort is obtained.

[0025]

[Effects of the Invention] In a vibration control device for a railway vehicle, by including the vibration acceleration of the vehicle body in the state variable of a multivariable digital controller for vehicle vibration, control is performed that is more sensitive to vibration acceleration and provides better ride comfort. Can be done.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram showing an example of a vibration control device for a railway vehicle according to an embodiment of the present invention.

FIG. 2 is a graph showing the vibration acceleration ratio before and after implementation of the present invention.

FIG. 3 is a graph showing frequency response gain characteristics in a vehicle vibration control device.

FIG. 4 is an explanatory diagram showing the configuration of a controller having vibration acceleration as a state variable according to the embodiment of the present invention.

FIG. 5 is an explanatory diagram showing the configuration of a controller that does not have vibration acceleration as a state variable.

FIG. 6 is an explanatory diagram showing an example of a conventional vibration control device for a railway vehicle.

FIG. 7 is an explanatory diagram of a simple vertical vibration model with one degree of freedom.

[Explanation of symbols]

1, 12 Vehicle body 2 Spring 3, 14 Double acting pneumatic cylinder 4, 16 Trolley 5 Pneumatic servo valve 6, 17 Acceleration detector 7 Analog compensation circuit 8, 20 Air source 9 Controlled object 10 State estimator 11 Feedback gain 13 Air spring 15 Oil damper 18 Controller 19 Control valve 21. State variables

Claims (1)

[Claims] 1. A fluid operating mechanism is provided in parallel with an air spring that supports the static load of a vehicle body, a control valve for controlling fluid supplied to the fluid operating mechanism, and a detection meter for detecting vibrations of the vehicle body. In a device consisting of a controller that determines the control input to the control valve from the output of the detector, when designing a multivariable digital controller based on modern control theory, the state variable indicating the internal state of the controlled object is A vibration control device for a railway vehicle characterized by using vibration acceleration of a vehicle body as an index of ride comfort.