JPH07108933A - Travel position correcting method for rolling stock - Google Patents

Abstract

PURPOSE:To provide a method of correcting the travel position of a rolling stock without using a ground element. CONSTITUTION:A rolling stock is provided with an inclination detector for detecting the inclination of a body to the horizontal ground surface, a lateral acceleration detector for detecting the lateral acceleration of a body parallel to the floor face, a wheel rotating speed detector, and a control device for performing the relative operation of detection signals from these detectors and railway line data previously inputted and recorded. In this case, a curve radius computed from the inclination and lateral acceleration of the body, and the travel position of a vehicle based on the travel distance integrated from the wheel rotating speed are compared with the curve radius and curve position of the railway line data. In the case of a corresponding curve existing in the railway line data, the travel position of the vehicle is corrected with the difference between the travel position d1 integrated from the wheel rotating speed and the curve position D1 of the railway line data as the correction quantity.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for correcting a traveling position of a railway vehicle, which is necessary for accurately controlling a vehicle body inclination when passing a curve.

[0002]

2. Description of the Related Art A railroad track consists of a straight road and a curved road, but an upper limit is set to the passing speed of the train by the radius of the curve in order to facilitate smooth passage of the train through the curved road. In order to improve the passing speed on a curved road beyond this speed limit and to travel at high speed and comfortably, it is necessary to forcibly incline the vehicle body inward of the curve by some method.

The above-mentioned forced vehicle body leaning method is a method of forcibly leaning the vehicle body by, for example, an actuator, and it is necessary to detect the position of the curved road in order to lean the vehicle body when the vehicle enters the curved road. One of the methods for detecting the position of this curved road is to use a ground element installed along the track.

In this curved road position detecting method using the ground element, the data of the track on which the vehicle is traveling (the position of the ground element, the position of the curved road, etc.) is read into the control device, and the rotational speed of the wheel is determined. The mileage of the vehicle is calculated by counting, the mileage is corrected based on the track data each time the vehicle passes the ground element, and the curved road position is determined by comparing the mileage with the curved road position in the track data. It is detected (see, for example, Japanese Patent Publication No. 3-73511).

[0005]

As described above, in the conventional method of detecting the position of a curved road using a ground element, it is necessary to install the ground element along the track, and this method is not applicable to a line without a ground element. I can not use it. Therefore, in order to adopt this curved road position detection method in a track without a ground element, it is necessary to install a new ground element, which increases costs. Also,
In addition to the curved road position data, the ground track position data is also read in the track data, so that there is a large amount of data, and it is necessary to rewrite the data when the position or number of ground tracks is changed.

In view of the above situation, the present invention uses a ground element to detect the traveling position of a vehicle, which is necessary to accurately control a vehicle body inclination when a train passes a curved road without delaying the curved road. The present invention provides a method of correcting the traveling position of a vehicle without any operation.

[0007]

In order to achieve the above object, a traveling position correcting method for a railway vehicle according to the present invention comprises a vehicle body inclination angle detector with respect to a ground horizontal plane, and an acceleration detector in a lateral direction parallel to the vehicle body floor surface. In a railway vehicle equipped with a wheel rotation speed detector and a control device that compares and calculates the detection signals from these detectors with previously recorded and recorded track data, the inclination angle of the vehicle body and the lateral acceleration of the vehicle body Compare the running position of the vehicle based on the running distance calculated from the calculated curve radius and wheel rotation speed with the curve radius and curve position of the track data, and if there is a corresponding curve in the track data, the wheel rotation speed The traveling position of the vehicle is corrected using the difference between the accumulated traveling position and the curve position of the track data as a correction amount.

Further, the inclination angle detector of the vehicle body with respect to the horizontal plane above the ground, the acceleration detector in the left-right direction parallel to the vehicle body floor, the rotational speed detector of the wheels, and the detection signals from these detectors are input and recorded in advance. In a railway vehicle equipped with a control device that compares and calculates with the track data that is present, the combination of the curve radius and the cant calculated from the inclination angle of the vehicle body and the lateral acceleration of the vehicle body and the vehicle distance based on the travel distance accumulated from the wheel rotation speed Comparing the running position with the curve radius, cant and curve position of the track data, and if there is a corresponding curve in the track data, correct the difference between the running position integrated from the wheel rotation speed and the curve position of the track data. The traveling position of the vehicle is corrected as a quantity.

[0009]

As shown in FIG. 1, the detection signals from the inclination angle detector 1 of the vehicle body installed on the vehicle body 6 and the lateral acceleration detector 2 parallel to the floor surface are input to the controller 4, and inside this detector. Then, the curve radius R is calculated by the following equation 1. α = V ² /(12.96 gR) −θ ₁ 1 Formula α: lateral acceleration [G] V: traveling speed [Km / s] g: gravitational acceleration {= 9.8 [m / s ² ]} R: Curve radius to be obtained [m] θ ₁ : Inclination angle of the vehicle body with respect to the horizontal plane [rad] Further, the pulse signal 7 generated from the speed generator 3 for detecting the rotation speed of the wheel is input to the controller 4, The number of pulses is integrated, and the running position is calculated from the wheel rotation speed and the wheel diameter. Then, this traveling position, the track data recorded in advance in the controller 4, and the curve radius R calculated by the above equation 1
Is checked, and if there is a corresponding curve in the track data, the traveling position is corrected.

The correction amount at this time is calculated from a pulse signal when the entrance position D ₁ of the corresponding curve in the track data and the inclination angle detector 1 and the lateral acceleration detector 2 detect the curve entrance. The difference from the position d ₁ is (D ₁ −d ₁ ).

As shown in FIG. 4, when a height detector of an air spring is provided instead of the inclination angle detector, the detection signal of the height detector 12 is input to the controller so that the inside of the controller can be controlled. 2 below
The inclination angle θ _{2 of the} vehicle body with respect to the carriage is calculated by the formula.

Θ ₂ = {(h ₂ −h ₁ ) / b ₁ + (h ₄ −h ₃ ) / b ₁ } / 2 2 equation where θ ₂ : inclination angle h _{1 to} h ₄ of the vehicle body with respect to the trolley: Air spring position 1st to 4th position air spring height b ₁ : Left and right height detector mounting interval

The relationship between the lateral acceleration α, which is the detection signal from the lateral acceleration detector 2, and the tilt angle θ ₂ obtained by the above equation ₂ has the following three equations.

Α = V ² /(12.96 gR) −C / G−θ ₂ 3 Formula Here, α: lateral acceleration [G] V: running speed [Km / h] g: gravity acceleration {= 9.8 [M / s ² ]} R: Desired curve radius [m] C: Desired cant [mm] G: Gauge [mm] θ ₂ : Vehicle body inclination angle [rad]

The above-mentioned lateral acceleration α and vehicle body inclination angle θ ₂
And substituting the traveling speed V obtained from the pulse signal from the speed generator 3 into the equation 3, the equation 3 becomes a relational expression of the curve radius R to be obtained and the cant C to be obtained.

On the other hand, the running position obtained by integrating the number of pulses from the speed generator, the curve position of the track data recorded in advance in the controller, the curve radius, and the cant curve radius R calculated.
And the relationship with the cant C are compared, and when the corresponding curve exists, the traveling position of the vehicle is corrected.

By repeating the correction of the traveling position on each curve, the cumulative error of the traveling position can be reduced.
As a result, the error between the curve position based on the measured traveling position of the vehicle and the actual curve position can be made small, and the accuracy of the curve position detection can be improved. Accurate vehicle body inclination on the road.

[0018]

【Example】

Embodiment 1 An embodiment of the invention described in claim 1 of this application will be described based on an example of an apparatus for carrying out the traveling position correction method. As shown in FIG. 1, an inclination angle detector 1 for detecting the inclination of the vehicle body 6 and a lateral acceleration detector 2 for detecting the lateral acceleration parallel to the floor surface are installed below the floor surface of the vehicle body 6, and their detection is performed. It is provided so that the detection signal from the container is input to the controller 4. Further, the speed generator 3 is installed on the wheel set, and the pulse signal 7 generated from the generator is input to the controller 4.

The detection value detected by the tilt angle detector 1 is
As shown in FIG. 2, the inclination angle θ ₁ of the vehicle body 6 with respect to the horizontal plane on the ground is substantially equal to the sum of the inclination angle due to the cant of the track and the inclination angle due to the vehicle body inclination. The inclination angle due to the deflection of the shaft spring is so small that it can be ignored.

Inclination angle θ ₁ Horizontal acceleration detector 2
The relationship of the lateral acceleration α, which is the detected value from, is expressed by the above equation 1. Therefore, the curve radius R can be calculated by obtaining the traveling speed V from the pulse signal from the speed generator 3.

On the other hand, the number of pulses from the speed generator 3 is integrated, and the running position is calculated from the wheel rotation speed and the wheel diameter.
Then, this traveling position is compared with the curve position of the track data previously recorded in the controller, the curve radius and the calculated curve radius R, and if there is a corresponding curve, the traveling position of the vehicle is corrected.

The above traveling position correction is repeated on each curved road of the track, and the cumulative error in the traveling position can be reduced by repeating the correction.

FIG. 3 schematically shows a vehicle in which the invention of claim 1 is applied to a pendulum truck with control. A pendulum beam 9 is provided on the dolly 5 so as to be swingable in the left-right direction via a pair of left and right rollers 10, and a control cylinder 11 regulates a left-right movement amount. The air spring 8 is provided between the side and the side, and the inclination angle detector 1 and the lateral acceleration detector 2 are provided on the bottom surface of the vehicle body 6.
Equipment similar to the equipment necessary for traveling position correction shown in FIG. 1 is installed. Also in this case, the traveling position of the vehicle body is corrected by the same procedure as that of the vehicle shown in FIG.

Embodiment 2 An embodiment of the invention described in claim 2 will be described with reference to FIG. In this case, the height detector 1 for detecting the height of the air spring is used instead of the inclination angle detector 1 for detecting the inclination of the vehicle body 6.
Two are provided for each air spring. Further, as in the first embodiment, a lateral acceleration detector for the vehicle body and a speed generator are provided,
The detection signals from them are input to the controller.

The detection signal from the height detector 12 is input to the controller, and the inclination angle θ _{2 of the} vehicle body with respect to the trolley is calculated by the equation ( ₂₎ . On the other hand, the running position obtained by integrating the number of pulses from the speed generator, the curve position of the line data recorded in advance in the controller, the curve radius, the cant, and the curve radius R and the cant C calculated from the above three equations The relationship is compared, and the traveling position of the vehicle is corrected when the corresponding curve exists.

FIG. 5 shows a flow chart when the traveling position is corrected by the invention described in claims 1 and 2 of this application. First, the detection of the straight section and the curved approach is determined from the vehicle body inclination angle and the lateral acceleration obtained on the basis of the detection signals from the vehicle body inclination angle detector 1 and the lateral acceleration detector 2. Then, the traveling position d ₁ calculated from the pulse signal 7 when entering the curve is written in the memory.

The circular curve is detected by the change in the inclination angle of the vehicle body and the lateral acceleration. The curve radius is calculated from the above equations 1 to 3.

Then, the traveling position d ₁ at the time of entering a curve and the curve radius R are collated with the track data. In the matching method, a curve near the traveling position d ₁ is calculated from the track data, and the calculated curve radius is compared with the calculated curve radius. In this case, since the curve radius R includes an error, it is determined whether the curve radius R matches the curve in the line data within the error range. As a result, when the curve matches the curve in the track data, the difference between the starting point position D ₁ of the curve and the traveling position d ₁ when the curve enters is corrected. This correction improves the accuracy of curve position detection.

[0029]

According to the present invention, the error between the curve position based on the measured traveling position of the vehicle and the actual curve position can be made small without using the ground element, and the accuracy of curve position detection is improved. Therefore, the vehicle body inclination can be easily followed, the vehicle body inclination control on the curved road can be accurately performed, and safe high speed traveling on the curved road can be secured.

[Brief description of drawings]

FIG. 1 is an explanatory view showing an example of a railway vehicle equipped with a device necessary for carrying out the invention described in claim 1 of this application.

FIG. 2 is an explanatory diagram showing a positional relationship between a vehicle body and a bogie when the vehicle of FIG. 1 is traveling on a curved road.

FIG. 3 is an explanatory diagram showing a positional relationship between a vehicle body and a bogie when a pendulum vehicle equipped with a device necessary for carrying out the invention described in claim 1 of this application is traveling on a curved road. .

FIG. 4 is an explanatory view showing a positional relationship between a vehicle body and a bogie when a railway vehicle equipped with a device necessary for carrying out the invention described in claim 2 of this application is traveling on a curved road. .

FIG. 5 is a flowchart for correcting a traveling position by implementing the present invention.

[Explanation of symbols]

1 Tilt angle detector 2 Left-right acceleration detector 3 Speed generator 4 Controller 5 Bogie 6 Car body 7 Pulse signal 8 Air spring 9 Pendulum beam 10 Roller 11 Control cylinder 12 Height detector D ₁ Curve start point d ₁ Travel Position α Left-right acceleration θ ₁ , θ ₂ Tilt angle h ₁ ~ h ₄ 1st-4th height of air spring b ₁ Left-right height Detector mounting interval C Cant G Track R Curve radius V Travel speed

Claims (2)

[Claims] 1. A vehicle body inclination angle detector with respect to a ground horizontal plane, an acceleration detector in a lateral direction parallel to the vehicle body floor surface, a wheel rotation number detector, and detection signals from these detectors are input and recorded in advance. In a railway vehicle equipped with a control device that compares and calculates with the track data, the traveling position of the vehicle based on the traveling distance accumulated from the curve radius calculated from the inclination angle of the vehicle body and the lateral acceleration of the vehicle body and the wheel rotation speed, When the curve radius and curve position of the track data are compared with each other, and there is a corresponding curve in the track data, the running position of the vehicle as a correction amount based on the difference between the running position integrated from the wheel rotation speed and the curve position of the track data. A method for correcting a traveling position of a railway vehicle, which comprises: 2. A vehicle body inclination angle detector with respect to a ground horizontal plane, an acceleration detector in a lateral direction parallel to the vehicle body floor, a wheel rotation speed detector, and detection signals from these detectors are input and recorded in advance. In a railway vehicle equipped with a control device that compares and calculates with the track data, the combination of the curve radius and the cant calculated from the inclination angle of the vehicle body and the lateral acceleration of the vehicle body,
The traveling position of the vehicle based on the traveling distance accumulated from the wheel rotation speed is compared with the curve radius of the track data, the cant and the curve position, and when there is a corresponding curve in the track data,
A travel position correction method for a railway vehicle, which comprises correcting a travel position of a vehicle by using a difference between a travel position integrated from wheel rotation speeds and a curve position of track data as a correction amount.