JPH05254441A - Automatic operation control device - Google Patents

Abstract

PURPOSE:To perform control of operation at a fixed time through correction of a target speed pattern even when a delay in the speed of a running train occurs in the way of running. CONSTITUTION:The necessary minimum limit of a target speed correction amount is determined by a correction calculating means 12 based on a delay time and the target speed pattern, coming after a correction position, among target speed patterns and this target speed correction amount is added to a target speed by means of a target speed correcting means 13. As a result, a running vehicle 2 runs according to a corrected target speed, a delay time is eliminated, so that operation may be controlled at a fixed time.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic operation control device for automating operation of a train, for example, for controlling operation between stations at regular time intervals.

[0002]

2. Description of the Related Art An automatic train operation device is an automatic train operation that is controlled by a computer and enables one-man operation or unmanned operation. In this case, the current speed of the train is generally detected by a tacho-generator or the like, and a control command (notch command) is issued to the drive / control system of the train based on this speed.

As one of the automatic train operation devices, a target speed pattern of a target speed with respect to a traveling position is predetermined as shown in FIG. 3, and the train speed is controlled to follow the target speed pattern. .. As a result, the train operates at regular intervals between the predetermined stations.

However, for example, if the preceding train is delayed and the speed limit of the train is temporarily reduced due to this,
The train cannot follow the target speed pattern, resulting in a delay in driving. For this reason, it becomes impossible to comply with regular driving between stations.

[0005]

As described above, when the train speed changes and it is not possible to perform follow-up control according to the target speed pattern, there is a time delay in the operation and it is not possible to operate between stations at regular times. Therefore, an object of the present invention is to provide an automatic driving control device capable of correcting the target speed pattern and controlling the driving at a fixed time even if the speed of the traveling vehicle is delayed.

[0006]

SUMMARY OF THE INVENTION The present invention is directed to an automatic driving control device for automatically controlling a speed of a traveling vehicle to follow a target speed pattern preset with respect to a position and automatically driving the traveling vehicle. When the correction position is reached, a delay time calculation means for obtaining a delay time with respect to the target arrival time to reach the correction position, and a target speed pattern based on the delay time and the target speed pattern after the correction position among the target speed patterns An automatic driving control device that includes a correction amount calculation unit that obtains a speed correction amount and a target speed correction unit that adds the target speed correction amount to a target speed to achieve the above object.

[0007]

By providing such means, the minimum necessary target speed correction amount is calculated by the correction amount calculating means based on the delay time and the target speed pattern after the correction position in the target speed pattern. The target speed correction amount is added to the target speed by the target speed correction means. As a result, the traveling vehicle travels according to the corrected target speed, the delay time is eliminated, and the operation is controlled on a regular basis.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram of an automatic driving control device applied to a train. The target speed pattern storage means 1 stores a target speed pattern indicating the relationship between the traveling position x of the train 2 and the target speed r as shown in FIG.

The target speed reading means 3 has a function of reading the target speed r from the target speed pattern storage means 1 according to the traveling position of the train 2 and sending it to the target speed following means 5 via the adder 4. In this case, the target speed reading means 3
The traveling position x detected by the train 2 is switched to the switch sw.
Input through 3. Further, the target speed reading means 3 has a function of reading a temporary target speed r ′ other than the current position from the target speed pattern when the train 2 reaches the correction position xa and obtains the target speed correction amount.

The target speed follow-up means 5 compares the target speed r with the current speed v of the train 2 and drives the train by the arithmetic unit 6 having a proportional constant K based on the difference speed between the target speed r and the current speed v. It has a function of obtaining the command N and sending it to the drive unit of the train 2.

When the train 2 reaches the correction position xa, the train regular operation device 10 obtains a delay time D from the target time at which the train 2 should reach the correction position xa, and uses this delay time D and the target speed pattern as the delay time D. It has a function of obtaining the target speed correction amount S on the basis of it and sending it to the adder 4. Specifically, it has a clock signal generation means 11, a target speed correction amount calculation means 12, and a target speed correction means 13. The clock signal generating means 11 has a function of generating a clock signal and counting the clock signal to obtain the running time T of the train 2.

The target speed correction amount calculation means 12 is, when the train 2 reaches the correction position xa, a delay time calculation means for obtaining a delay time D with respect to the target arrival time to reach the correction position xa, and the delay time D. And a correction amount calculation means for obtaining the target speed correction amount S based on the target speed pattern after the correction position xa in the target speed pattern.

The delay time D is the difference between the time T at which the correction position xa is actually reached and the time when the vehicle travels according to the target speed of the target speed pattern. It is determined from the following formula.

[0015]

[Equation 1] When the delay time D is D <0, it is regarded as D = 0.
When the delay time D occurs at the correction position xa, the travel distance from the correction position xa to the correction end position xb is

[0016]

[Equation 2]

It is represented by In the equation, Q is a target speed correction amount, and traveling time S that the train 2 travels completely following the target speed pattern to reach the correction end position xb. Where the left side of equation (2) is

[0018]

[Equation 3] From the above equations (2) and (3),

[0019]

[Equation 4]

The following relationship is established. When the target speed correction amount S is obtained from this equation (4), ∴ (Q−T) · S = xb−f (Q−D) Therefore, S = {xb−f (Q−D)} / (Q− T) (5) Here, f (Q-D) sequentially integrates the target speed pattern in the reverse direction from the correction end position xb with respect to the provisional target position x ', and if the provisional target position x'is satisfied if f (Q -D) = x '... (6). However,

[0021]

[Equation 5]

The target speed correction amount calculation means 12 is
In order to read a required portion of the target pattern when the target speed correction amount S is calculated, the provisional traveling position x ′ is sent to the target speed reading means 3 through the switch sw1, and the target speed reading means 3 provisionally targets the speed r. ′ Is received through the switch sw2. The target speed correction means 13 instructs the timing for calculating the correction amount and detects the correction start position and the correction end position. Next, the operation of the device configured as described above will be described.

When the train 2 reaches the correction position xa, the target speed correction means 13 opens the switch sw3 and closes the switches sw1 and sw2, and sends a command to the target speed correction amount calculation means 12 to reach the correction position xa. ..

The target speed correction amount calculation means 12 sends the temporary traveling position x'to the target speed reading means 3 through the switch sw1 and receives the temporary target speed r'from the target speed reading means 3 through the switch sw2. .. Then, the equation (7) is calculated to obtain the delay time D.

Next, the target speed correction amount calculation means 12 receives the arrival time T of the correction position xa from the clock generation means 11 and calculates the above equation (5) according to the delay time D and the correction end position xb to calculate the target speed. The correction amount S is calculated. Next, the target speed correction means 13 receives the target speed correction amount S and sends it to the adder 4. Thus, the adder 4 adds the target speed correction amount S to the target speed r, and the added and changed target speed r ″ is sent to the target speed follower 5.

Thereafter, this target speed r "is sent to the adder 4 until the train 2 reaches the correction end position xb. When the train 2 reaches the correction end position xb, the target speed correction means 13 The target speed correction amount S is set to zero.

As a result, even if the train 2 has the delay time D at the correction position xa, the time at which the train 2 reaches the correction amount end position xb is the same as when the train 2 travels at a speed that completely matches the target speed pattern. It will be the same as the arrival time.

As described above, in the above-described embodiment, the delay time D of the train 2 at the correction position xa is obtained, and the minimum required time is calculated based on this delay time D and the target speed pattern after the correction position in the target speed pattern. Target speed correction amount S
Since the target speed correction amount S is added to the target speed r, the train 2 travels according to the corrected target speed r ″ even if the delay time D occurs, and the delay time D is eliminated. You can arrive at the target position on time.

The present invention is not limited to the above-mentioned embodiment, and may be modified within the scope of the invention. For example, although the correction position xa is one in the above-described embodiment, a plurality of correction positions may be provided and the target speed correction amount S may be obtained for each of these correction positions. In this case, the target speed correction amount S may be a value up to the next correction position.

[0030]

As described above in detail, according to the present invention, it is possible to provide an automatic driving control apparatus capable of correcting the target speed pattern and controlling the driving at a fixed time even if the traveling speed of the traveling vehicle is delayed.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an embodiment of an automatic driving control device according to the present invention.

FIG. 2 is a diagram for explaining automatic operation control in the same device.

FIG. 3 is a diagram showing a target speed pattern.

[Explanation of symbols]

1 ... Target speed pattern storage means, 2 ... train, 3 ... target speed reading means, 4 ... adder, 5 ... target speed following means, 10
... Train regular operation device, 11 ... Clock signal generating means, 1
2 ... Target speed correction amount calculation means, 13 ... Target speed correction means, sw1 to sw3 ... Switches.

Claims (1)

[Claims] 1. An automatic driving control device for automatically controlling the speed of a traveling vehicle according to a target speed pattern preset for a position to automatically drive the traveling vehicle, wherein the traveling vehicle reaches a predetermined correction position. Sometimes, a target time correction amount is calculated based on the delay time calculating means for calculating a delay time with respect to the target arrival time to reach the correction position and the target speed pattern after the correction position among the target delay time and the target speed pattern. An automatic driving control device comprising: a correction amount calculating means to be obtained; and a target speed correcting means for adding the target speed correction amount to the target speed.