JPH0488806A - Air-gap controller for linear motor - Google Patents

Abstract

PURPOSE:To form air gaps at an optimum value by transmitting values obtained by correcting the difference of the target values and actual values of air gaps of a car piece and a ground piece by a head car and air gap values predicted by weight and speed over succeeding cars at every spot information and controlling air gap values by each car. CONSTITUTION:The air-gap target value 26 of a car piece and a ground piece is obtained from the speed 25 of the truck 2a1 of a head car, the position 27 of its own car, the conditions 28 of a track and the deflection 30 of car piece currents 29. The actual air gap of an actuator 9 is detected 15, difference 40 with the target value 26, speed 25 and total weight 44 are input to a function generating section 42, and an air gap value is predicted, and stored 48, and transmitted over a succeeding truck 2a2 at every spot information 49. In the succeeding truck, an air-gap target value 55 is acquired from the position 56 of its own car, speed 25, the conditions 28 of a track and the deflection 30 of car piece currents 29. An air-gap predictor acquired by a function arithmetic section 53 from data read 51 from the head truck, spot information 49, speed 25 and car weight 44 and the air-gap target value 55 are added, and input to the control section of an actuator 18. Accordingly, the air gaps of the car piece and the ground piece are controlled and held at best values at each car.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a device for controlling the air gap between an onboard element and a ground element in a linear motor used for propulsion of a vehicle such as a railway.

Prior Art A typical prior art is disclosed in Japanese Patent Application Laid-Open No. 59-164264. This prior art has a configuration in which yaw displacement of an axle provided on a truck is allowed, and an upper part of a linear motor is directly mounted on the axle. In such prior art, it is difficult for the air gap between the onboard coil mounted directly on the axle and the ground coil fixed on the ground to be less than 12 mm in the so-called standard state, and therefore the linear motor The efficiency has decreased to about 55% with a gap of 12 mm.

Factors that inevitably increase the air gap between the upper coil and the ground coil of a linear motor include mounting tolerances of the lower coil and wheel wear on the coil side; installation tolerance and maintenance regression, etc.
Regardless of these factors, it is considered that a gap of 6 to 7 mm is necessary to prevent collision between the onboard element and the ground element.

Furthermore, when power is supplied to the upper car element and the ground element that make up the linear motor, an attractive force is generated between the lower car element and the ground element, and this attraction force and vibration cause the lower car element and the ground element to bend. , the deformation amount of this bending is about 2 mm. Furthermore, approximately 2mm due to sinking of the running rail and depression of the joints, etc.
Furthermore, a minimum margin of about 2 mm is required.

This gap needs to be made larger as the vehicle speed increases. Therefore, in the above-mentioned prior art, it is difficult for the air gap between the onboard shear and the ground shear to be less than 12 mm.
Efficiency decreases.

Another prior art is disclosed in Japanese Patent Application Laid-Open No. 57-68608. In this prior art, an air gap detector having a contact element that comes into contact with the ground element is provided on the upper part of the bogie, and a voltage representing the air gap from this air gap detector and a reference voltage from a reference voltage generator are provided. voltage is applied to a comparator, the output of the comparator is amplified and applied to a servo motor, and this servo motor drives a hydraulic switching valve to transfer pressure oil from the hydraulic source to the side beams of the bogie and the upper car body. Operate the double-acting hydraulic cylinder installed between the
This has a configuration in which the onboard upper element is vertically displaced to control the gap between the onboard element and the ground element. In such prior art, the air gap between the upper car body and the ground element is controlled by operating a servo motor and operating a hydraulic cylinder using only the information obtained from the air gap detector.

Problems to be Solved by the Invention In such prior art, since the gap detector is installed at the same position as the onboard shear, it is difficult to detect the problem of sinking of the rail, depression of the joint, and level difference in the ground shear. Since the vehicle speed is high, even if the response speed of the servo motor and double-acting hydraulic cylinder is improved, it is impossible to sufficiently control the air gap due to the response delay. Moreover, since the inertia of the onboard child is large, increasing the response speed of the onboard child results in an increase in the size of the structure and a waste of energy. Furthermore, the attraction force and vibrations that occur when power is supplied to the berm and undercarriage element cause the undercarriage element and beacon to flex, and it is difficult to achieve an appropriate air gap despite these fluctuations in the air gap. This is difficult in view of the fact that the gap detector is installed on the vehicle's upper body. Therefore, in such prior art, - the amount of reduction in the air gap due to air gap control is approximately 6
It is mm.

An object of the present invention is to improve efficiency by reducing the air gap between an onboard shear and a ground shear, and to simplify air gap control for a linear motor to simplify the ellipse for driving the onboard shear. The purpose is to provide equipment.

Means for Solving the Problems The present invention forms a linear motor by an upper part provided on each of a plurality of bogies and a ground member fixed along a running route, and vertically displaces each upper part. A driving means for driving, a speed detecting means for detecting the running speed of the vehicle, a means for generating an own vehicle position signal representing the own vehicle position of each bogie in the vehicle formation, and a speed detecting means provided for each bogie. a gap target value setting means for setting a target value of the gap between the upper car body and the ground piece for each bogie in response to each output from the own vehicle position signal generating means, and provided corresponding to each drive means, A gap detection means for detecting the gap between the onboard element and the ground element is provided corresponding to each drive means, and the detected gap is detected in response to the air gap command value and the output of the detected gap from the air gap detection means. tlJ 111 means for operating the drive means so as to achieve the command value; and means provided on the leading truck for detecting a gap error between the gap target value and the detected gap; A means for controlling the air gap of the leading bogie by giving the gap target value as a gap command value to the control means for the leading bogie, and further generating information regarding the point at which each upper car is traveling along the traveling route. and a weight detection means for detecting the weight of the vehicle and a gap error from the gap error detection means to obtain a prediction signal by associating the gap error from the gap error detection means with the detected speed from the speed detection means and the detected weight from the weight detection means, and generate point information. a prediction signal generation means for storing point information from the means; A gap control device for a linear motor, comprising a correction means for correcting a gap target value from a gap target value setting means and giving the corrected value as a gap command value to a control means for a following bogie. be.

Further, in the present invention, the point information generating means includes: a transmitting means that generates a signal representing the position of each of a plurality of fixed points provided at intervals along the driving route; The method is characterized in that it includes means for receiving the output and calculating and determining a point between the fixed points.

Further, the present invention is characterized in that the point information generating means generates point information based on the leading bogie and corresponding to the relative positions of the following bogies in the formation from the leading bogie.

Further, the present invention includes means for generating a track condition signal representing the condition of the track on which each bogie is running, and the gap target value setting means also responds to the track condition signal to set the target value of the gap. It is characterized by

According to the present invention, an onboard element of a linear motor such as a linear induction motor is provided on each of a plurality of bogies, and the ground element is fixed to the ground along the running path of a track such as a rail. The bogie is equipped with a driving means such as a double-acting hydraulic cylinder for vertically displacing each car upper element to adjust the air gap between it and the ground element, and the vehicle running speed detected by the speed detection means and , and the own vehicle position signal representing the own vehicle position of each bogie.1. Set the target value of air gap. In the leading bogie, the driving means is operated by the control means so that the gap reaches the target gap value, and in this leading bogie, the gap is set to be thicker, thereby preventing collision between the upper car body and the ground element. make sure you don't.

A gap target value is similarly set for the bogies following the leading bogie, and the gap target value for the following bogie is corrected by a correction means, and the thus corrected value is applied to the control means for the following bogie. is given as a gap command value to control the gap between the upper car element and the ground element in the following bogie to be small so as to improve efficiency.

In order to correct the gap target value in the following bogie, the leading bogie detects the gap error between the gap target value and the gap actually detected, and converts this gap error into the speed and speed detected by the speed detection means. A prediction signal is created according to a preset function in relation to the total weight of the vehicle or the weight acting on each bogie, and this prediction signal is stored in correspondence with the point information from the point information generating means. Among the predicted signals, the predicted signal corresponding to the traveling point of the following bogie is read out, and the gap target value for the following bogie is corrected. In this way, the amount of control delay, which is the air gap error in the leading bogie caused by the sinking of the rail and the falling of the wheel into the joint, the accompanying vibration of the vehicle, and the level difference in the ground element, changes from time to time to the speed. , in the form of a function related to the weight of the vehicle, including passengers, etc., is temporarily stored as a predicted signal in correspondence with the point information, and for the bogies following the leading bogie, the gap target value for each subsequent bogie is stored. In addition, the air gap is controlled using a prediction signal representing the amount of control delay corresponding to the traveling point of the following truck, which is also taken into consideration as control information for predictively controlling the upper part of the following truck. As a result, the gap between the upper car body of the following bogie and the ground piece can be controlled to be small, and by predictively controlling the air gap of the following bogie as described above, the drive that drives the car upper child of the following bogie can be controlled to be small. It is no longer necessary to unnecessarily improve the responsiveness of the drive means, etc., so the configuration can be made smaller, energy wastage can be prevented, and the capacity of the drive means can be reduced. This makes it possible to reduce the weight of the vehicle.

The point information generating means causes the transmitting means to send a signal representing the position of each of a plurality of fixed points provided at intervals along the traveling route, in order to obtain a point having an absolute position along the traveling route. In order to represent the absolute position of a point between these fixed points, calculation may be performed.

The unique point information generating means may generate information regarding the point in accordance with the relative position of each bogie in the formation with the leading bogie as a reference.

Further, according to the present invention, in order to be able to set the gap target value in detail, depending on the conditions of the track on which each bogie is running, such as a straight line, a curve, a transition curve, and the amount of cant, It is also possible to set a void target value.

Embodiment FIG. 1 is a block diagram showing the electrical configuration of an embodiment of the present invention. Such a gap control device for a linear motor for a vehicle is used for vehicles 1a, lb,
lc, . . . 11. These vehicles 1a to 11 are interconnected. 1 car M 1
On the vehicle body a, bogies 2a1.2a2 are provided at intervals along the running direction 2, and similarly, bogies 2b1.2b2 are provided on the vehicle 1b, and the other bogies 10 to
The same applies to 11. The bogie frame of each bogie 2a1.2a2 has an upper carriage member 3a1.3 whose longitudinal direction extends in the running direction 2.
a2 are provided respectively. Similarly, trolley 2b1
．． 2b2 is provided with on-vehicle components 3b1 and 3b2, and this configuration is the same for other vehicles as well.

FIG. 3 is a simplified side view of the leading bogie 2''al.
It is supported by a bogie frame 6. Wheels 7 are provided on this bogie frame 6 via shaft springs 8.

An actuator 9, which is one driving means, is provided on the bogie frame 6 of the bogie 2al near the front in the running direction 2,
Further, a pair of actuators 10.11, which are drive means on the left and right, are provided near the rear, and these actuators 9, 10.11 support the vehicle upper 3al so that it can be driven to be displaced up and down.

The wheels 7 run on a pair of left and right rails 12 laid on the ground, and a linear motor 14 is configured by a ground element 13 fixed between these rails 12 along the running path of the rails 12. Propulsive force in direction 2 is obtained.

The actuator 9° 1011 is realized by, for example, a double-acting hydraulic cylinder.

Corresponding individually to each actuator 9, 10.11,
Gap detection means 15, 16, and 17 for detecting a gap between the onboard element 3al and the ground element 13 are provided, respectively.

Similarly, the second truck 3a2 is also provided with actuators 18, 19, 20 and gap detection means 2122.23, and this configuration is the same for the other trucks.

Referring again to FIG. 1, the speed detection means 25 detects the speed of the vehicle 1a.
~11 traveling speed is detected, and air gap target value setting circuit 26
give to The self-vehicle position signal generating means 27 generates a self-vehicle position signal indicating the self-vehicle position of the bogie 3al in the train formation, that is, the leading bogie, and sends the self-vehicle position signal to the air gap target value setting circuit 2.
Give to 6. When the detected speed from the speed detection means 25 is high, the gap target value is set so that the gap target value becomes large. The air gap target value setting means 26 selects the target value of the air gap between the upper carriage 3al of the leading bogie 2al and the ground element 13 in response to the respective outputs of the speed detection means 25 and the own vehicle position signal generation means 27. and set. This top truck 2
The gap target value in al is the following bogie 2a2, 2bl
, 2b2. ... is set to be slightly larger than the above-mentioned air gap, thereby reliably preventing collision between the onboard shear 3al and the ground shear 13. That is, in the leading bogie 2al, the air gap target value 26 is set to a slightly larger value to prevent the onboard member 3al and the ground member 13 from coming into contact with each other due to control delay.

The air gap target value set in this air gap target value setting means also depends on the trajectory condition signal from the means 28 for generating a signal representative of the trajectory condition. The track condition represented by the track condition signal represents the linear state of the rail 12, which is the track on which the leading bogie 2a1 is running, such as a transition curve, a circular curve, and a straight line, as well as the amount of cant. Depending on the conditions, the air gap target value is set so that the onboard shear 3al and the ground shear 13 do not collide. The reason why the track condition signal generating means 28 sets the air gap target value depending on the track conditions is that on the above-mentioned transition curves and circular curves, due to the effects of torsion and cant of the rail 12, the onboard shear 3al and the ground Since the relative positions of the children 13 approach each other, it is necessary to prevent a collision between the onboard child 3al and the ground child 13 even in such a case.

The drive current of the onboard child 3al is detected by the current detection means 29. Onboard child 3a corresponding to this detected current
A deformation amount signal representing the amount of downward deformation of the ground element 13 and the amount of deformation of the ground element 13 that is deformed upward is generated by the deformation amount signal generating means 3.
Generated by 0. This deformation amount signal is the line 31
is applied to the air gap target value setting means 26 via the air gap target value setting means 26, and the air gap target value is set depending on the drive current and therefore also on the amount of deformation. That is, the amount of deformation such as the amount of deflection of the onboard shear 3al and the ground shear 13 is used as one factor for setting the air gap target value as the number of drive currents.

To explain what this means, when a drive current is applied to the onboard shelving element 3al, the attraction force generated between the onboard shear 3al and the ground element 13 causes the onboard element 3al and the ground element 13 to move as described above. Also, a bending deformation occurs, and the maximum value of the bending occurs near the center position 32 in the longitudinal direction (horizontal direction in FIG. 3) of the vehicle upper part 3a1. Therefore, although it is preferable that the air gap detection means 1516.17 be placed at the longitudinal center position 32 of the onboard shelving member 3al, doing so may adversely affect the characteristics of the onboard shelving member 3al and the ground member 13. There is. Therefore, in order to solve this problem, the air gap detection means 1516.17 is arranged near the actuators 9, 10.1i at a location away from the central position 32.
The air gap target value is corrected and set depending on the value of the drive current of l. The attraction force generated between the onboard element 3al and the ground element 13 is determined by taking into consideration the air gap target value which depends on the speed of both 3al and 13, the position of the own vehicle, and the track conditions.
The gap target value is set by correcting the gap target value depending on the drive current.

The air gap target value thus derived from the air gap target value setting means 26 via the line 33 is given as an air gap command value to the subtraction circuit 35 constituting the negative feedback control system via the switch 34 in the leading bogie 2a1, and is used for air gap detection. The signal representative of the detection gap from the means 15 is also sent to the subtractor 3 via a switch 36.
given to 5.

In this way, a signal representing the difference between the air gap target value and the detected air gap is given to the control circuit 37, which causes the actuator 9
is operated such that the detected air gap matches the air gap target value, which is the air gap command value input to the subtracter 35.

FIG. 4 is a block diagram showing a part of the structure related to such actuators 9, 10 and 11. As shown in FIG. The control means 37 controls the actuator 9, which is a hydraulic double-acting cylinder, to
Controlled by pressure oil from a hydraulic source, the ground element 3
al is driven to be displaced up and down. remaining actuator 1
0.11 also has a configuration similar to that related to actuator 9, and drive control of actuator 10.11 is performed by control means 38.39.

The signal derived from the subtracter 35 corresponding to the actuator 9 of the leading truck 2al is given to the air gap error detection means 40. This air gap error detection means 40 detects the air gap error between the air gap target value from the air gap target value setting means 26 and the detected air gap from the air gap detection means I5, and sends a signal representing the air gap error via a line 41. is given to the interval number generator 42. This function generator 42 is supplied with a signal representing the speed detected by the speed detection means 25 via a line 43.

The weight detection means 44 includes a sensor provided in relation to the air spring 5 of the truck 2al, etc., and detects the total weight of the vehicle 1a or the weight acting on the truck 2al, thereby preventing the flexural deformation of the shaft spring 8, etc. A spring deflection signal generating means 45 generates a signal representing the spring deflection amount, and a spring deflection signal, which is thus related to the weight of the vehicle, is provided to the function generator 42 via line 46.

The amount of depression of the rail 12 and the amount of depression of the joint affect the gap error detected by the gap error detection means 40,
In particular, this gap error is mainly influenced by the speed and also by the detected weight. Therefore, the function generator 42 is associated with the gap error related to the actuator 9 in the leading truck 2al in advance as a function I of the spring deflection deformation amount corresponding to the detected speed and the detected weight,
The associated predicted signal is determined and generated on line 47.

The predicted signal derived from this function generator 42 on line 47 is stored in memory 48 as shown in FIG. This memory 48 includes a point information generating means 49.
Information regarding the point where the onboard child 3al travels along the rail 12, which is the travel route, is provided via the line 50. The point information from the point information generating means 49 is a signal representing the absolute position of the point where the leading truck 2a1 is traveling. In order to obtain the absolute position of such a point, a transmitting means generates a signal representing the position of each of a plurality of fixed points provided at intervals along the travel route, and in the vehicle 1a, the transmitting means A calculating means is provided for receiving the output from the fixed points and calculating a point between the fixed points. Such calculating means includes a pulse generating means that generates pulses having a number corresponding to the number of rotations of the wheels 7 on the trolley 2al, a counter that counts the number of pulses, and a distance that corresponds to the output of the counter. and means for determining the absolute position of a point between the fixed points by adding the fixed points to the absolute position of the fixed points detected in the fixed points.

In this way, based on the point information from the point information generating means 49, the prediction signal given from the line 47 for each point is sequentially stored and stored in the store cells C1 to Cn of the memory 48, and each cell For example, the stored contents of C2, C3, C4 are stored in the following carts 2a2, 2b1.2b2.・・・
・Used as a prediction signal corresponding to .

As another embodiment of the present invention, the point information signal derived from the point information generating means 49 to the line 50 is
1 as a reference, from the leading truck 2al to the following truck 2a2.2
bl, 2b2. The information regarding the point may be created and generated in response to the relative position in the formation of -.

In this way, by using the prediction signal stored in the memory 48 in the following bogies, the sinking of the rail 12, the depression of the joints of the wheels 7, and the accompanying vibrations of the vehicles 1a, lb can be prevented from time to time. A control delay amount, which is a gap error in the leading bogie 2al due to a difference in level of the ground member 13, etc., can be temporarily stored in the memory 48 in correspondence with the point information according to a function depending on the speed and weight of the vehicle. In this way, the prediction signal stored in the memory 48 is transmitted to the following bogies 2a2, 2bl, 2'b2, at a distance of 111112.121 from the leading bogie 2al.・・・
・Corresponding to (see FIG. 5), it is possible to read out and perform predictive control of voids.

In the electrical configuration of the second bogie 2a2 shown in FIG. 1, for convenience of illustration, the same components as those used in the first bogie 2a are designated with the same reference numerals. It is. In this trolley 2a2, the reading means 51 reads the prediction signal stored in the memory 48 from the point information signal from the point information generating means 49 and the speed detecting means 25 when the trolley 2a2 passes the corresponding point. The predicted signals are read out sequentially in accordance with the detection speed of , and the read prediction signals are supplied to the function discriminator 53 via the line 52. The function discriminator 53 is also connected to a signal representing the detected speed from the speed detector 25 and a line 46 from means 45 for detecting the amount of spring deflection based on the output from the vehicle total weight detecting means 44. A signal is given.

The control delay amount, which is the gap error in the leading bogie 2al, is
Since the function I in the function generator 42 is stored in the memory 48 together with the point information, the function discriminator 53 corresponding to the actuator 18 of the second subsequent truck 2a2 uses this stored prediction signal. , based on the detected speed and the spring deflection displacement signal regarding the weight of the vehicle,
It has a function to back-calculate the amount of control delay. This function discriminator 53 calculates the amount of control delay at the point ahead where predictive control is possible based on the function that is calculated in 1), and uses the back calculated amount of control delay and the air gap control at the leading bogie 2al. Negative feedback air gap control is performed using the actuator 18 based on the same type of information that is the basis for the process.

In order to control the air gap in the bogie 2a2, a gap target value setting means 55 is provided.
A vehicle position signal representing the vehicle position is given, and the speed detection means 25
A signal representing the detected speed is given from the track condition signal generating means 28, and a signal representing the track condition on which the bogie 2a2 runs is given from the track condition signal generating means 28. The deflection deformation amount signal is applied from the amount signal generating means 30 via the line 31, and a signal representing the target gap value in the bogie 2a2 is derived from the line 57 in the same manner as described above. The air gap target value from this line 57 is given to a subtracter 59 via a switch 58, and the air gap detection means 2
A signal representative of one detection gap is provided via switch 62, and thus the outputs from the five subtracters are provided to adder 60. In the adder 6o, the signal representing the control delay amount derived from the function discriminator 53 via the line 54 is added and corrected. The actuator 18 drives the onboard member 3a2 up and down so that the gap is given as the gap command value and thus corrected. In this way, with regard to factors related to control delays in the leading truck 2al, the following truck, for example, the second truck 2a,
In No. 2, since the gap can be adjusted by performing predictive control, the gap can be controlled to be smaller in each of the second and subsequent bogies, and the efficiency of the linear motor can be improved.

The actuator 9 of the truck 2al and the following truck 2a2
Although the above embodiment has been described in connection with the actuator 18 of
Actuator 19 predicts fj! In addition, the actuators 20 of the following truck 2a2 are also predictively controlled in the same manner in correspondence with the actuator 11, and in this way, each actuator 9.10 in the leading truck 2al
．． Similar control delay amounts are used for other subsequent actuators corresponding to No. 11.

Furthermore, the vehicle weight detection means 44 includes a vehicle weight detection means 44 for each vehicle la, l.
b, lc, -=, 1 An onboard element drive current detection means similar to the means 29 for detecting the drive current of the onboard element 3al, which is provided for each i, is provided for each drive current control unit. Moreover, the speed detection means 25 is used in common for all the vehicles 1a to 11. Furthermore, each output from the orbit condition signal generating means 28 and the four point information generating means is as follows.
Based on the position of the leading truck 2al, the speed detection means 25
Based on the detected speed of each trolley 2al, 2a22b1.
2b2.・Use the corrected value with a delay at the position.

A beacon detection means 71 for detecting the presence or absence of the beacon 13 is provided near the front of the beacon 3al of the leading bogie 2al in correspondence with the actuator 15.
Ground element detection means 72 for detecting the presence or absence of the ground element 13 is provided in correspondence with the actuators 16 and 17 near the rear of the ground element 1. Similarly, the bogie 2a2 is also provided with ground element detection means 73, 74, which means that the other bogies 2b1
．． The same applies to 2b2, . . . . When the ground element 13 is detected by the ground element detection means 71,
The switches 34 and 36 are in the switching state shown in FIG. 1, and air gap control is performed so that the efficiency of the linear motor 14 is improved.

When the beacon detecting means 71 detects that the beacon 13 is absent, the switching states of the switches 34 and 36 are changed to be different from the state shown in FIG. The actuator 9 is operated so as to rise. The stroke determining means 76 determines the stroke of the actuator 9 immediately before the ground member 13 disappears.
The stroke of 5, that is, the vertical position of the upper onboard member 3al is detected by the displacement detection means 77, and the air gap is slightly larger than the vertical position of the onboard lower member 3al immediately before the ground member 13 disappears. The stroke of actuator 9 is determined, and a signal representing the determined stroke is applied from line 78 to subtracter 35 via switch 34. The subtracter 35 is also given the output from the displacement amount detection means 77 via the switch 4-36.

In this way, when the ground element 13 is no longer detected, the actuator 9 is driven so that the air gap becomes larger, and as a result, even if there is a laying error of the ground element 13, vibration of the vehicle 1a, and control delay amount, the ground element 3al is , it is possible to avoid collision with the next ground coil 13. In this way, when the ground element 13 is no longer detected, the onboard element 3al is raised under negative feedback control so that the air gap becomes larger.

Such a configuration indicated by reference numeral 92 in FIG.
The same applies to actuator 17.
8, a stroke determining means 79 and a displacement detecting means 80 are similarly provided in relation to the ground element detecting means 73, and this configuration 93 is similar to that of the other actuators 19.2.
The same applies to 0, and the same applies to subsequent carts.

The specific configuration of the ground element detection means 71 is shown in FIG. This ground element detection means 71 includes (a) a ground element detection body 82 for detecting the ground element 13; and (b) a speed detection means 25.
(c) a time setting means 83 for setting a predetermined time in response to a signal representing the detected speed from the ground element detector 82;
When the beacon 13 is detected again after detecting the absence of the beacon 13, the presence of the beacon 13 is continuously detected for a predetermined time corresponding to the speed set by the time setting means 83. output means 84 for applying a signal to the switches 34, 36 indicating that the ground element 13 is present to return the switching states of the switches 34, 36 to those shown in FIG. This enables air gap control so that the efficiency of the linear motor is improved.

In this way, even if the ground element 13 is detected by the ground element detector 82, air gap control is not performed immediately;
The higher the speed, the shorter the time in the time setting means 83 is set, and air gap control is enabled only when the ground element 13 is continuously detected for the set time. This can prevent a rail crossing between a pair of rails 12 from being mistakenly detected as the ground element 12 when passing through a branching part of the rails 12.

FIG. 7 shows ground element detection means 71a according to another embodiment of the present invention.
FIG. 2 is a block diagram showing a specific configuration.

The ground element detector 85 detects the presence or absence of the ground element 13, and the speed discrimination means 86 responds to a signal representing the detected speed from the speed detection means 25, and determines whether the traveling speed is a predetermined speed, for example, 5 km/h. Determine whether it is less than or equal to. After the beacon 13 is once no longer detected by the beacon detector 85, when the traveling speed is less than the predetermined speed, the output means 87 derives a signal indicating that the beacon 13 is not present and switches the switch. 34.Give to 36 and switch 3
4. The switching state of 36 is kept switched from the state shown in FIG. 1, thereby preventing the onboard element 3al from lowering and erroneously performing air gap control.

FIG. 8 shows ground element detection means 7 of still another embodiment of the present invention.
FIG. 1b is a block diagram showing a specific configuration of 1b. In this beacon detection means 71b, a pair of beacon detectors 88 and 89 are provided at intervals in the traveling direction of the vehicle a, and the output means 90 detects the beacon 12 simultaneously by each of the beacon detectors 88 and 89. When detected, a signal indicating the presence of the ground element is derived, and the switching states of the switches 34 and 35 are set as shown in FIG. 1 to perform air gap control.

In this way, the ground element detection means 71a and 71b shown in FIGS. 7 and 8 enable the detection of intersections near branching points of the rails 12 even when the speed of the vehicle is very low or when the vehicle is stopped. The rails etc. that are
To reliably prevent erroneous air gap control such as erroneously detecting and lowering a vehicle upper part 3al.

In the above embodiment, the control system including the ground element presence/absence detection means 71 and the stroke determination means 76 of the actuator 9 is configured independently for each actuator 9, similar to the negative feedback control system of the air gap detection means 15. However, vehicle 1
When the speed of a is very constant or stopped, the ground element detection means 71 and the stroke determination means 7
6, onboard child 3al, 3a2. . . . may be used in common.

Furthermore, as another embodiment of the present invention, the output of the ground element detection means 71 is applied to the memory 48 via the line 91, and when it is detected that the ground element 13 is missing, the following bogies 2a2.2b1. 2b2. ... may be used as information for predictive control of air gaps, that is, when it is detected that there is no ground element, storage in the memory 48 may be stopped.

Furthermore, when the ground element detection means 71 detects that there is no ground element, the following bogie 2a22b1.2b2
．． When determining the actuator stroke in ..., the amount of increase in the gap may be determined by taking into consideration the predictive control of the gap.

Furthermore, the ground element detection means 73, 74 of the following bogie 2a2.2b1.2b2. It is also possible to perform this function using the prediction signal stored in the memory 48 of the leading truck 2al and the point information from the point information generating means 49.

The ground element detection means 71 may be provided in the vehicle body 1a.

FIG. 9 is an overall block diagram showing the electrical configuration of still another embodiment of the present invention. This embodiment is similar to the previous embodiment and corresponding parts are provided with the same reference numerals. What should be noted is that in this embodiment, the onboard element drive current detection means 29
The ground element detection means 71 to 74 and related components, and the orbit condition signal generation means 28 are omitted. Also with such a configuration, the efficiency of the linear motor can be improved by predictively controlling the gap between the onboard element and the ground element to be small.

Instead of separately providing the air gap detection means 15 and the ground element detection means 71, a means is provided for determining that there is no ground element when the air gap detected by the air gap detection means 15 reaches a predetermined large value, The configuration may be simplified.

The air gap detection means 15 and the ground element detection means 71 are configured to be able to detect the width of the seam of the ground element 13 sufficiently, or to obtain information on the direction in which the air gap suddenly increases, as described above. Similar to the configuration for preventing false detection of children, the speed of the vehicle is taken into account, and a normal detection value is derived only when the gap continues for a predetermined period of time corresponding to the speed. In this way, it is possible to prevent the actuator from moving the vehicle up and down undesirably, and to prevent collisions between the vehicle upper element and the ground element.

As another embodiment of the present invention, as described above, the point information generating means 49 is configured to generate information for each of the following bogies 2 with the leading bogie 2al as a reference.
a2.2bl, 2b2. The configuration is such that point information is generated based on the relative position in the formation of... At this time, information regarding the track condition signal generating means 28 and onboard element drive current is omitted, and information regarding speed information, vehicle weight, and Based on the own vehicle position information, the leading bogie 2al may perform negative feedback control of the air gap using the output of the air gap target value setting means 26. By doing this, each piece of information required for air gap control can be obtained from the onboard child 3a1.
When these are part of the coils of the linear motor, only those that can be easily obtained in the vehicle 1a, lb, lc, -, 1l can be used, and the configuration can be simplified. Due to this, the amount of increase in voids lost in terms of control is at most about 2 to 4 mm, which is well within the practical range. By installing the ground element low when making curves, there is no effect of track conditions on straight lines.

Effects of the Invention As described above, according to the present invention, a linear motor is constituted by an upper car element provided on each of a plurality of bogies and a ground element fixed along a running route, and the upper car element and the ground element are connected to each other. A gap detection means for detecting a gap between the bogie and the child is provided corresponding to each drive means for driving vertical displacement, and a gap target value is set based on the running speed of the vehicle and the own vehicle position of each bogie in the vehicle formation,
In the leading bogie, this gap target value is used as a gap command value of the control means to control the gap of the leading bogie, and in this leading bogie, a gap error between the gap target value and the gap actually detected is detected, This gap error, which is the amount of control delay in the leading bogie, is associated with the traveling speed and vehicle weight according to a predetermined function to obtain a predicted signal, and this predicted signal is stored in correspondence with point information along the traveling route. However, in the following bogies, the gap target value for each subsequent bogie is corrected by adding the control delay amount at the point of each subsequent bogie based on the prediction signal corresponding to the traveling point of the subsequent bogie. death,
Since this corrected value is used as the air gap command value to drive the vertical displacement of the upper car body, the air gap between the car upper child and the ground child in the following bogie is made sufficiently small, for example, to about 2 to 4 mm. This makes it possible to improve the efficiency of the linear motor.

Further, according to the present invention, there is no need to unnecessarily improve the response speed of the drive means for driving the upper and lower parts of the vehicle to displace it up and down, so the structure can be made smaller and energy can be prevented from being wasted. , its power consumption can be reduced,
The capacity of such a drive means can be reduced, and in this way it becomes possible to reduce the weight of the vehicle.

[Brief explanation of the drawing]

FIG. 1 is an overall block diagram showing the electrical configuration of an embodiment of the present invention, FIG. 2 is an overall plan view of a vehicle according to the embodiment,
Figure 3 is a side view of the leading truck 2al, Figure 4 is the upper carriage 3a.
5 is a diagram showing the configuration of the memory 48, FIG. 6 is a block diagram showing the specific configuration of the ground element detection means 71, and FIG. 7 is a system diagram showing a part of the configuration related to the present invention. FIG. 8 is a block diagram showing a specific configuration of a ground element detecting means 71a according to another embodiment of the present invention, and FIG. FIG. 9 is a block diagram showing a specific configuration of another embodiment of the present invention. 1 a , 1 b , 1 c , --・1 i
- Vehicle, 2al, 2a2, 2b1.2b2-... trolley,
3a1.3a2゜3bl, 3b2・Onboard child, 9 10.
11 1819.20...actuator, 13...
Ground coil, 14...Linear motor, 15.16, 17.2
1.22.23... Gap detection means, 25 Speed detection means, 2655... Gap target value setting means, 27.56a
Military position signal generating means, 28...Trajectory condition signal generating means, 29...Onboard element drive current detecting means, 37, 63...
Control means, 42...Function generator, 44.Vehicle weight detection means, 48.Memory, 49.Point information detection means, 5
3...Function discriminator, 71, 72.73.74.71a
, 71b... Ground element detection means, 76.79... Stroke determination means, 77.80... Displacement amount detection means, Agent Patent attorney Number of strokes Keiichi A1 Figure i

Claims (4)

[Claims] (1) A driving means that constitutes a linear motor by a plurality of upper carriages provided on each of the bogies and a ground element fixed along the running route, and drives each upper carriage up and down to displace each carriage; a speed detection means for detecting the traveling speed of the vehicle; a means for generating an own vehicle position signal representing the own vehicle position of each bogie in the vehicle formation; a gap target value setting means for setting a target value of the air gap between the upper car body and the ground piece for each bogie in response to each output of the above; a gap detection means for detecting a gap in the air gap; and a gap detection means provided corresponding to each driving means, and driven so that the detected gap becomes the gap command value in response to the gap command value and the output of the detected gap from the gap detection means. a control means for operating the means; and a means provided on the leading truck for detecting a gap error between the gap target value and the detected gap; A means for providing information as a value to a control means for the leading bogie to control the clearance of the leading bogie, and further for generating information regarding the point at which each upper vehicle travels along the travel route, and detecting the weight of the vehicle. A prediction signal is obtained by associating the gap error from the weight detection means and the gap error detection means with the detected speed from the speed detection means and the detected weight from the weight detection means, and corresponds to the point information from the point information generation means. and a prediction signal generating means for storing a target value of a gap provided in the following truck, and a prediction signal corresponding to the traveling point of the succeeding truck from the prediction signal generating means. 1. A gap control device for a linear motor, comprising a correction means for correcting a gap target value and providing the corrected value as a gap command value to a control means for a following bogie. (2) The point information generating means includes a transmitting means that generates a signal representing the position of each of a plurality of fixed points provided at intervals along the driving route, and a transmitting means that is installed in the vehicle and receives the output from the transmitting means. 2. The gap control device for a linear motor according to claim 1, further comprising means for receiving and calculating a point between said fixed points. (3) The point information generating means is characterized in that the point information generating means generates information regarding the point based on the leading bogie and corresponding to the relative position of the following bogies in the formation from the leading bogie. air gap control device for linear motors. (4) Means for generating a track condition signal representing the condition of the track on which each bogie is traveling is provided, and the gap target value setting means also responds to the track condition signal to set the gap target value. A gap control device for a linear motor according to claim 1, characterized in that: