JPH0826109A - Method for processing data on track shape - Google Patents
Method for processing data on track shapeInfo
- Publication number
- JPH0826109A JPH0826109A JP18413494A JP18413494A JPH0826109A JP H0826109 A JPH0826109 A JP H0826109A JP 18413494 A JP18413494 A JP 18413494A JP 18413494 A JP18413494 A JP 18413494A JP H0826109 A JPH0826109 A JP H0826109A
- Authority
- JP
- Japan
- Prior art keywords
- curve
- data
- curvature
- track
- relaxation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Machines For Laying And Maintaining Railways (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、実際の軌道形状に対応
した鉄道車両の車体傾斜制御などを行うための軌道形状
データを作成する方法に関するものである。特に、一定
距離間隔毎に直接測定した走行線区の軌道の曲率データ
またはカント量データから軌道の制御対象曲線のデータ
を抽出し、該制御対象曲線のデータから車体傾斜制御に
必要な曲線形状データを計算機によりまたは本計算の手
順を記憶させた軌道形状データ処理装置により算出する
ことができるようにした軌道形状データ処理方法を提供
する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of creating track shape data for controlling the inclination of a vehicle body of a railway vehicle corresponding to an actual track shape. In particular, the curve shape data necessary for vehicle body tilt control is extracted from the curve data of the track to be controlled of the track from the curvature data or the cant amount data of the track of the running line section that is directly measured at each constant distance interval. Is provided by a computer or a trajectory shape data processing device that stores the procedure of this calculation.
【０００２】[0002]
【従来の技術】曲線を高速で走行すると、軌道の曲線半
径や速度に応じて発生する遠心加速度により乗心地が悪
くなるため、国内では、コロ式自然振子車を開発し実用
化している。このコロ式自然振子車は、車体をコロ装置
で支持し、車体の傾斜中心高さを高くして、曲線走行時
に車体に作用する遠心力で自然に傾斜させるようにして
おり、曲線高速走行時の乗心地の向上に寄与してきた。
しかし、車体の傾斜制御力が遠心力のみによる自然振子
のため、緩和曲線長さが短い曲線や連続した曲線では、
コロ装置の転動抵抗などにより、曲線入口付近で車体傾
斜の開始が遅れたり、緩和曲線中の車体傾斜角速度が大
きくなり乗心地が悪化する場合があった。そこで、自然
振子車の場合の遠心力による車体傾斜作用に加えて走行
速度や曲線条件に応じて空気圧アクチュエータで車体傾
斜の開始時点や車体傾斜角、車体傾斜角速度の制御を行
う制御付振子方式（特公平３−７３５１１号、特開昭６
１−１０８０５３号）を開発し、実用化している。な
お、前述の「円曲線」、「緩和曲線」とは、曲線の構成
要素で、一定半径、一定カント量の曲線部を「円曲
線」、曲線入口および出口の直線部と円曲線部を結ぶ曲
率やカント量が漸増、漸減する曲線部を「緩和曲線」と
称する。「曲率」とは、軌道の曲線半径の逆数で、「曲
率データ」とは、曲率が軌道に沿って変化する状態を表
し、「カント量」とは、曲線部では外側のレールを内側
のレールより高くしているが、その高さの差が「カント
量」で、「カント量データ」とは、カント量が軌道に沿
って変化する状態を表す。「曲率変化率データ」とは、
或る地点間における「曲率」の変化の割合（曲率／距
離）が、軌道に沿って変化する状態を表し、「カント量
変化率データ」とは、或る地点間における「曲率」の変
化の割合（曲率／距離）が、軌道に沿って変化する状態
を表す。「自動列車停止装置」とは、鉄道信号システム
の一種で、線路の間に設置した地上子上を車両が通過す
ると、地上子から車上の車上子に信号情報が伝達され、
信号が「赤」の場合は列車を自動的に停止させる装置
で、以後、ＡＴＳ（Automatic Train Stop）と称する。
ここでは、一定位置に敷設された地上子上を車両が通過
した際に得られる地上子の検知信号を車両の走行位置を
算出する軌道上の基準点として利用している。2. Description of the Related Art When a vehicle travels at a high speed on a curve, the riding comfort becomes worse due to centrifugal acceleration generated according to the curve radius and speed of the track. Therefore, a roller type natural pendulum wheel has been developed and put into practical use in Japan. This roller-type natural pendulum vehicle supports the vehicle body with a roller device, raises the height of the center of inclination of the vehicle body, and naturally inclines by the centrifugal force acting on the vehicle body when traveling on a curved road. Has contributed to the improvement of ride comfort.
However, since the tilt control force of the car body is a natural pendulum only due to the centrifugal force, in a curve with a short relaxation curve or a continuous curve,
In some cases, due to rolling resistance of the roller device, the start of vehicle body leaning was delayed near the entrance of the curve, or the angular velocity of the vehicle body leaning in the relaxation curve became large, resulting in poor riding comfort. Therefore, in addition to the vehicle body tilting action due to the centrifugal force in the case of a natural pendulum vehicle, a pneumatic pendulum system is used to control the starting point of the vehicle body tilting, the vehicle body tilting angle, and the vehicle body tilting angular velocity according to the traveling speed and curve conditions ( Japanese Patent Publication No. 3-73511, Japanese Patent Laid-Open No. Sho 6
1-108053) has been developed and put into practical use. The above-mentioned “circular curve” and “relaxation curve” are constituent elements of the curve, and a “circular curve” is a curve part with a constant radius and a constant cant amount, and a straight line part of the curve entrance and exit and a circular curve part are connected. A curve portion in which the curvature and the amount of cant gradually increase and decrease is referred to as a "relaxation curve". The "curvature" is the reciprocal of the curve radius of the track, the "curvature data" is the state in which the curvature changes along the track, and the "cant amount" is the curve where the outer rail is the inner rail. Although the height is made higher, the difference in height is “the amount of cant”, and “the amount of cant data” represents a state in which the amount of cant changes along the trajectory. What is "curvature change rate data"?
The rate of change in curvature (curvature / distance) between certain points represents a state in which it changes along the trajectory, and the “cant amount change rate data” is the change in “curvature” between certain points. The ratio (curvature / distance) represents the state of changing along the trajectory. An "automatic train stop device" is a type of railroad signal system. When a vehicle passes over a ground guard installed between tracks, signal information is transmitted from the ground guard to the car top on the train.
A device that automatically stops the train when the traffic light is "red", and is hereinafter referred to as ATS (Automatic Train Stop).
Here, the detection signal of the ground element obtained when the vehicle passes over the ground element laid at a fixed position is used as a reference point on the track for calculating the traveling position of the vehicle.
【０００３】ただし、前述の制御付振子方式は、軌道形
状データに基づき車体の傾斜制御を行うために、走行線
区の各制御対象曲線の緩和曲線開始位置、円曲線開始位
置、円曲線終了位置、緩和曲線終了位置など曲線の位置
データ、曲率、カント量などの曲線形状データ、各曲線
位置と最寄りの自動列車停止装置（ＡＴＳ）の地上子位
置との相対距離データなどが必要になる。従来は、これ
らのデータを作成するため、各曲線の半径や向き、カン
ト量などの曲線形状データは軌道の保守部門が管理して
いる軌道管理台帳の数値を読み取って使用し（図８の
、）、各曲線の位置データや最寄りのＡＴＳの地上
子位置との相対距離データは、各曲線の緩和曲線開始位
置、円曲線開始位置、円曲線終了位置、緩和曲線終了位
置の各枕木に車上からセンサで検知できるような標識を
貼付して（図８）、これらの距離を測定するための測定
車を走行させ、ＡＴＳの地上子検知信号および枕木上の
標識の検知信号とその間の走行距離を車輪の回転数を用
いて実測し（図８の、、、）、前記の曲線形状
データと共にこれらのデータを制御用データとして手作
業で整理して表形式に直し（図９）、車上の記憶装置に
入力している。However, in the above-mentioned pendulum system with control, in order to control the inclination of the vehicle body on the basis of the track shape data, the relaxation curve start position, the circular curve start position, and the circular curve end position of each curve to be controlled in the traveling line section. , Curve position data such as the end position of the relaxation curve, curve shape data such as curvature and cant amount, relative distance data between each curve position and the ground station position of the nearest automatic train stop (ATS) are required. Conventionally, in order to create these data, the curve shape data such as the radius and direction of each curve and the cant amount are read by using the numerical values of the track management ledger managed by the track maintenance department (see FIG. 8, ), The position data of each curve and the relative distance data to the ground position of the nearest ATS are available on the sleepers at the relaxation curve start position, the circular curve start position, the circular curve end position, and the relaxation curve end position of each curve. A sign that can be detected by a sensor from the car is attached (Fig. 8), a measurement vehicle for measuring these distances is run, and the ATS ground child detection signal and the detection signal of the sign on the sleeper and the distance traveled between them. Was measured using the number of rotations of the wheels (Fig. 8, ...), and these data were manually arranged as control data together with the above curve shape data and converted into a table format (Fig. 9). Input to the storage device.
【０００４】しかし、曲線形状データの基本にしている
軌道管理台帳の数値は、線路敷設時の設計値であり、保
守による変更や車両が走行したことによる線路形状の変
化まで含めた軌道の実態を正確に表しているとは言い難
く、こうしたデータをもとにした車体傾斜制御では、そ
の性能を十分に発揮させることが難しい。また、各曲線
の緩和曲線開始位置、円曲線開始位置、円曲線終了位
置、緩和曲線終了位置などの各枕木に検知用の標識を貼
付して、ＡＴＳ地上子などとの距離を実測する方式は、
これらの作業を該制御付振子車を投入する線区の全制御
対象曲線に対して実施し、更に、これらのデータを手作
業で整理する必要があることから、膨大な人手と費用が
掛かっていた。However, the numerical values of the track management ledger, which is the basis of the curve shape data, are design values at the time of laying the track, and show the actual state of the track including changes due to maintenance and changes in the track shape due to running of the vehicle. It is hard to say that it is an accurate representation, and it is difficult for the vehicle body tilt control based on such data to fully demonstrate its performance. In addition, a method for actually measuring the distance from the ATS ground element, etc. by attaching a detection marker to each sleeper such as the relaxation curve start position, the circular curve start position, the circular curve end position, and the relaxation curve end position of each curve ,
It is necessary to carry out these operations for all the control target curves in the line section into which the pendulum with control is put, and further to organize these data by hand, which requires enormous manpower and cost. It was
【０００５】そこで、台車枠に装架したジャイロスコー
プ等のセンサを用いて、走行線区の曲線の曲率やカント
量などの線路形状を直接測定して軌道形状データをアナ
ログ信号の形で作成し、その軌道形状データ信号に一定
距離間隔のパルス信号やＡＴＳ地上子の検知信号など距
離の基準信号も同時に記録する「軌道形状データ収集装
置（特願平５−２３９０６９号）」を提案した。「軌道
形状データ収集装置」によれば、軌道形状を直接測定し
てそのまま車体傾斜制御用データとするので、データが
正確で、従来のように手作業でデータを整理する必要が
ないので、人手を大幅に省略することが可能であるし、
曲線区間の枕木に標識を貼付する作業も必要が無くな
り、車体傾斜制御の性能向上や省力化に寄与する。しか
し、従来の制御付振子システムの制御用データは、軌道
に沿ったアナログ信号の形で与えるのではなく、制御対
象曲線毎に曲線形状や位置を数値で表形式で与えるよう
にしているため、「軌道形状データ収集装置」の軌道形
状データ信号をそのままの形で用いることはできない。
従来の制御付振子システムの制御用データの入力形態を
前提とすると、「軌道形状データ収集装置」で得られた
軌道形状データ信号を各曲線毎に曲線形状や位置を数値
で表形式で与えるような計算機などによる処理方法を開
発するか、「軌道形状データ収集装置」で得られたアナ
ログ信号を直接制御用データとして利用できる制御付振
子システムを開発する必要がある。Therefore, by using a sensor such as a gyroscope mounted on the bogie frame, the track shape data such as the curvature of the curve and the cant amount of the traveling line section is directly measured and the track shape data is created in the form of an analog signal. Proposed a "trajectory data collection device (Japanese Patent Application No. 5-239069)" which simultaneously records a reference signal of a distance such as a pulse signal at a constant distance and a detection signal of ATS ground element in the orbit shape data signal. According to the track shape data collection device, the track shape is directly measured and used as the data for vehicle body tilt control as it is, so the data is accurate and there is no need to manually organize the data as in the conventional method. Can be largely omitted, and
There is no need to put a sign on the sleepers in the curved section, which contributes to the performance improvement of the body tilt control and labor saving. However, since the control data of the conventional controlled pendulum system is not given in the form of an analog signal along the trajectory, the curve shape and position of each curve to be controlled are given in numerical form in a tabular form. The track shape data signal of the “track shape data collection device” cannot be used as it is.
Assuming the input form of the control data of the conventional pendulum system with control, the track shape data signal obtained by the "track shape data collection device" should be given in numerical form in the form of a curve for each curve. It is necessary to develop a processing method using a simple computer, or to develop a pendulum system with control that can directly use the analog signals obtained by the "orbit shape data collection device" as control data.
【０００６】[0006]
【発明が解決しようとする課題】本発明が解決しようと
する課題は、従来の制御付振子システムの制御用データ
の収集方法や制御装置への入力方法が、例えば、曲線形
状データの基本にしている軌道管理台帳の数値は軌道の
実態を正確に表しているとは言い難く、車体傾斜制御用
軌道形状データとしては精度が低いことや各曲線の緩和
曲線開始、終了位置、円曲線開始、終了位置などの枕木
に検知用の標識を貼付して、ＡＴＳ地上子などとの距離
を実測してデータを作成する方法は膨大な人手と費用が
掛かり改善の必要があるため、「軌道形状データ収集装
置」で得られた軌道形状データ信号を従来の制御付振子
システムの制御用データとして使用できるようにする計
算機などによる処理方法を開発することである。The problem to be solved by the present invention is that a conventional method for collecting control data of a pendulum system with control and an input method to a control device are based on, for example, curve shape data. It is hard to say that the values in the track management ledger accurately represent the actual state of the track, and the accuracy is low as the track shape data for vehicle body tilt control, and the relaxation curve start, end position, circular curve start, end of each curve The method of attaching the detection signs to the sleepers such as the position and measuring the distance to the ATS ground element, etc., and creating the data requires an enormous amount of manpower and cost and needs to be improved. It is to develop a processing method by a computer or the like that enables the trajectory shape data signal obtained by the "device" to be used as the control data of the conventional pendulum system with control.
【０００７】[0007]
【課題を解決するための手段】本発明は、制御付振子シ
ステムなど軌道形状を基に制御を行うシステムで必要と
なる軌道形状データを収集する方法として、従来方式に
代えて、軌道の実態を正確に表し、かつ、その収集に多
くの人手や費用を要しない「軌道形状データ収集装置」
で得られた軌道形状データ信号を計算機などで処理をし
て制御付振子システムの制御用データとして使用できる
ようにする方法を提案するものである。すなわち、台車
に装架したジャイロスコープにより得られる台車枠のロ
ール角信号データやヨー角速度信号データ、ＡＴＳ地上
子検知信号データ、車軸や主電動機軸に取り付けたパル
ス式速度発電機より得られるパルス信号データを計算機
などで処理をして、軌道データの曲線部分を抽出し、制
御付振子システムの制御用データとして各曲線のカント
量や曲率などの形状やＡＴＳ地上子との相対距離を数値
データとして作成する。SUMMARY OF THE INVENTION The present invention is a method of collecting trajectory shape data required for a system for performing control based on a trajectory shape such as a pendulum system with control. "Orbital shape data collection device" that accurately represents and does not require much labor and cost to collect it
This is to propose a method of processing the orbit shape data signal obtained in 1. above so that it can be used as control data for the pendulum system with control. That is, roll angle signal data and yaw angular velocity signal data of a bogie frame obtained by a gyroscope mounted on a bogie, ATS ground child detection signal data, pulse signals obtained from a pulse type speed generator attached to an axle or a main motor shaft. The data is processed by a computer and the curve part of the orbital data is extracted, and the data such as the cant amount and curvature of each curve and the relative distance to the ATS ground element are used as numerical data for controlling the pendulum system with control. create.
【０００８】[0008]
【実施例】本発明による軌道形状データ処理方法の１実
施例を図１、図２、図３、図４、図５、図６、図７に示
す。図１は、本発明の軌道形状データ処理方法を用い
て、パルス式速度発電機のパルス信号、ＡＴＳ地上子検
知装置の検知信号、ジャイロスコープで計測した台車枠
ヨー角速度から計算される曲線の曲率信号とジャイロス
コープで計測した台車枠ロール角から計算される曲線の
カント量信号を処理して車体傾斜制御に必要な軌道形状
データ（曲線の位置、曲線の半径、カント量など）を作
成し、車体傾斜制御装置の軌道データ記憶部に入力して
車体傾斜制御を行う場合の制御信号の流れを示してい
る。曲線の曲率と曲線のカント量は、DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of a method for processing trajectory shape data according to the present invention is shown in FIGS. 1, 2, 3, 4, 5, 6 and 7. FIG. 1 is a curvature of a curve calculated from a pulse signal of a pulse type speed generator, a detection signal of an ATS ground child detection device, and a bogie frame yaw angular velocity measured by a gyroscope by using the track shape data processing method of the present invention. The signal and the cant amount signal of the curve calculated from the bogie frame roll angle measured by the gyroscope are processed to create the trajectory shape data (curve position, curve radius, cant amount, etc.) necessary for vehicle body tilt control, The flow of the control signal when inputting to the track data storage unit of the vehicle body inclination control device and performing vehicle body inclination control is shown. The curvature of the curve and the amount of cant of the curve are
【０００９】[0009]
【数１】 [Equation 1]
【００１０】で算出する。本発明の軌道形状データ処理
方法では、まず、軌道形状データ収集装置で収集、処理
したデータの取り込みを図２のように軌道形状データ収
集装置で車軸などに装架したパルス式速度発電機のパル
ス信号から計算した一定距離（例えば軌道に沿った１
ｍ）間隔毎のパルス信号をトリガとしてその地点の曲率
信号、カント量信号、ＡＴＳ地上子を検知した場合には
検知信号を入力し、図２のフローに従って信号処理をし
て、後の軌道形状データ算出処理をする際に利用するデ
ータ記憶領域にこれらの信号データを格納する。It is calculated by In the track shape data processing method of the present invention, first, as shown in FIG. 2, the data of the data collected and processed by the track shape data collecting device is loaded into a pulse type speed generator which is mounted on an axle or the like by the track shape data collecting device. A constant distance calculated from the signal (eg 1 along the orbit
m) A pulse signal at every interval is used as a trigger to input a curvature signal, a cant amount signal, and an ATS ground signal at that point, perform detection signal processing according to the flow of FIG. These signal data are stored in the data storage area used when performing the data calculation process.
【００１１】前記のデータ記憶領域に格納した曲率信
号、カント量信号、ＡＴＳ地上子検知信号データから各
曲線部を抽出し、曲線形状と曲線位置を算出するが、曲
率信号データとカント量信号データは、図３の（Ｂ）、
図４の（Ｂ）のように振動成分を含むため、データを扱
い易くするように両データに移動平均による平均化処理The curve shape and the curve position are calculated by extracting each curve portion from the curvature signal, the cant amount signal, and the ATS ground detector detection signal data stored in the data storage area. Is the (B) of FIG.
Since the vibration component is included as shown in FIG. 4B, the averaging processing by moving average is performed on both data so that the data can be easily handled.
【００１２】[0012]
【数２】 [Equation 2]
【００１３】を施す。平均化処理の平均化の個数(2・ｋ
＋１）は、その地点を中心として軌道に沿った１４ｍか
ら３５ｍの範囲に相当するデータ個数が適当である。Apply Number of averaging processes (2k
+1) is suitable for the number of data corresponding to the range of 14 m to 35 m along the track centering on that point.
【００１４】平均化処理後の曲率データまたはカント量
データ（図３の（Ｃ）または図４の（Ｃ））の絶対値が
所定値を超えた部分を曲線部として、当該曲線部とその
前後の軌道データを後の計算処理に用いる記憶装置上に
取り出す。こうして取り出した平均化処理後の曲率デー
タまたはカント量データに対して、A portion in which the absolute value of the curvature data or the cant amount data ((C) in FIG. 3 or (C) in FIG. 4) after the averaging process exceeds a predetermined value is defined as a curved portion, and the curved portion and its front and rear sides. The orbital data of is taken out to the storage device used for the later calculation processing. For the curvature data or the cant amount data after the averaging process extracted in this way,
【００１５】[0015]
【数３】 (Equation 3)
【００１６】のように一定の長さの区間（２・Lh・ΔL
）について曲率またはカント量の差分を求め、その区
間の距離で割ることによって曲率変化率（図３の
（Ｄ））またはカント量変化率（図４の（Ｄ））を求め
る。曲率変化率またはカント量変化率を求める際の区間
の長さとしては、短い円曲線についても正しく求められ
るように１０ｍから２０ｍ程度とする。図３の（Ｄ）ま
たは図４の（Ｄ）に示す通り、曲率変化率またはカント
量変化率が大きい部分が緩和曲線に対応し、該緩和曲線
に挟まれた曲率変化率またはカント量変化率の小さい部
分が円曲線に相当していることが判る。そこで、曲率変
化率またはカント量変化率の絶対値が所定値を超えた部
分を緩和曲線の区間とみなし、また、曲線部のうち緩和
曲線に挟まれた区間を円曲線の区間とみなして円曲線部
分の曲率データおよびカント量データの平均値を求め、
それぞれ円曲線の曲率平均値およびカント量平均値とす
る。A section of constant length (2 · Lh · ΔL
), The difference in curvature or the amount of cant is obtained and divided by the distance in that section to obtain the rate of change in curvature ((D) in FIG. 3) or the rate of change in cant ((D) in FIG. 4). The length of the section for obtaining the curvature change rate or the cant amount change rate is set to about 10 to 20 m so that a short circular curve can be obtained correctly. As shown in (D) of FIG. 3 or (D) of FIG. 4, a portion having a large curvature change rate or cant amount change rate corresponds to the relaxation curve, and the curvature change rate or cant amount change rate sandwiched between the relaxation curves. It can be seen that the small part of corresponds to a circular curve. Therefore, the part where the absolute value of the curvature change rate or the cant amount change rate exceeds the specified value is regarded as the section of the relaxation curve, and the section of the curve part sandwiched by the relaxation curves is considered as the section of the circular curve. Calculate the average value of the curvature data and the cant amount data of the curve part,
The curvature average value and the cant amount average value of the circular curve are respectively set.
【００１７】次に、緩和曲線とみなされた区間のうちで
平均化処理後の曲率またはカント量が、当該緩和曲線の
前後の直線または円曲線の区間の曲率平均値またはカン
ト量平均値の１／２の値となる点を求め緩和曲線の中間
点とする（図６の（Ａ）、図７の（Ａ））。この緩和曲
線の中間点を基にして、当該円曲線の曲率平均値または
カント量平均値の１／４および３／４となるＰ1 点およ
びＰ2 点を求め（図６の（Ｂ）、図７の（Ｂ））、該Ｐ
1 点およびＰ2 点間の曲率変化率またはカント量変化率
を求め、該緩和曲線前後の曲率平均値の差を算出した曲
率変化率で割ることによりまたは該緩和曲線前後のカン
ト量平均値の差を算出したカント量変化率で割ることに
より、該緩和曲線区間の長さすなわち緩和曲線長を求め
る（図６の（Ｃ）、図７の（Ｃ））。このようにして求
めた緩和曲線長を先に求めた緩和曲線の中間点（図６の
（Ａ）、図７の（Ａ））を中心に割り振り、その両端を
入口の緩和曲線の場合であれば入口緩和曲線開始点と円
曲線開始点、出口の緩和曲線の場合であれば円曲線終了
点と出口緩和曲線終了点とする。Next, the curvature or the cant amount after the averaging process in the section regarded as the relaxation curve is 1 of the curvature average value or the cant amount average value of the straight or circular curve section before and after the relaxation curve. A point having a value of / 2 is obtained and set as an intermediate point of the relaxation curve ((A) of FIG. 6 and (A) of FIG. 7). Based on the midpoint of this relaxation curve, P 1 and P 2 points that are 1/4 and 3/4 of the curvature average value or cant amount average value of the circular curve are obtained ((B) of FIG. 6, 7 (B)), the P
The curvature change rate or the cant amount change rate between the 1 point and the P 2 point is obtained, and the difference between the curvature average values before and after the relaxation curve is divided by the calculated curvature change rate or the cant amount average value before and after the relaxation curve. The length of the relaxation curve section, that is, the relaxation curve length is obtained by dividing the difference by the calculated change rate of the cant amount ((C) of FIG. 6, (C) of FIG. 7). The relaxation curve length obtained in this way is allocated around the middle point ((A) of FIG. 6 and (A) of FIG. 7) of the previously obtained relaxation curve, and both ends thereof are the relaxation curve of the inlet. For example, the entrance relaxation curve start point and the circular curve start point, and the exit relaxation curve end point, the circle curve end point and the exit relaxation curve end point.
【００１８】以上のようにして求めた曲線形状の円曲線
開始点から円曲線終了点の区間における曲率平均値を当
該円曲線の曲率とし、カント量平均値を当該円曲線のカ
ント量とする。The curvature average value in the section from the circular curve start point to the circular curve end point of the curve shape obtained as described above is the curvature of the circular curve, and the cant amount average value is the cant amount of the circular curve.
【００１９】さらに、軌道に沿って数キロ置きに設置し
た信号システム用のＡＴＳ地上子を基準として各曲線の
位置を算出するため、軌道形状データと共に記録してお
いたＡＴＳ地上子の検知地点のデータの中から当該曲線
の前にある最寄りのＡＴＳ地上子の位置データと前述の
処理により得られた当該曲線の入口緩和曲線開始点、円
曲線開始点、円曲線終了点、出口緩和曲線終了点との距
離を算出し、各曲線の位置データを作成する。Further, in order to calculate the position of each curve with reference to the ATS ground element for signal system installed every several kilometers along the track, the detection point of the ATS ground element recorded with the track shape data is recorded. The position data of the nearest ATS ground element in front of the curve from the data and the entrance relaxation curve start point, circle curve start point, circle curve end point, exit relaxation curve end point of the curve obtained by the above-mentioned processing Calculate the distance to and create position data for each curve.
【００２０】以上のように、軌道データ計測装置（ジャ
イロスコープ、ＡＴＳ地上子検知装置、パルス式速度発
電機など）と軌道形状データ収集装置により計測、信号
処理された軌道データ（図１）は、本発明の軌道形状デ
ータ処理を計算機によりまたは本発明の軌道形状データ
処理手順を記憶させた軌道形状データ処理装置によりデ
ータ解析され、得られた曲線位置、曲率、カント量とい
った曲線形状データは車体傾斜制御装置の軌道データ記
憶部または外部印字装置に出力され、車体傾斜制御装置
の軌道形状データとして利用される（図１）。車体傾斜
制御装置は、該軌道データ記憶部の軌道形状データを基
に、その時の車両の速度に応じた最適な車体傾斜角度や
車体傾斜角速度を実現するため車体傾斜制御用アクチュ
エータを動作させる（図１）。As described above, the orbit data (FIG. 1) measured and signal-processed by the orbit data measuring device (gyroscope, ATS ground detector, pulse type speed generator, etc.) and orbit shape data collecting device is The curve shape data such as the curve position, the curvature, and the cant amount obtained by data analysis of the track shape data processing of the present invention by a computer or a track shape data processing device in which the track shape data processing procedure of the present invention is stored is the vehicle body inclination. The data is output to the track data storage unit of the control device or an external printing device and used as track shape data of the vehicle body tilt control device (FIG. 1). The vehicle body inclination control device operates a vehicle body inclination control actuator to realize an optimal vehicle body inclination angle or vehicle body inclination angular velocity according to the vehicle speed at that time, based on the trajectory shape data of the trajectory data storage unit (see FIG. 1).
【００２１】[0021]
【発明の効果】本発明の軌道形状データ処理方法は、車
両の支持ばね装置の変形による影響を受け難い台車枠上
に装架したジャイロスコープで測定した台車枠のヨー角
速度やロール角のデータを基にして曲線の曲率（曲線半
径）や曲線のカント量、ＡＴＳ地上子など軌道の基準点
を距離基準とした曲線位置データを表形式の数値データ
として算出できるので、現在、国内で普及している制御
付振子方式（特公平３−７３５１１号、特開昭６１−１
０８０５３号）のように実際の軌道形状に対応した車体
傾斜制御を行うために必要な軌道形状データが、新たな
地上設備の付加や多くの人手を要することなく、しか
も、正確な軌道形状データが得られるという利点があ
り、制御付振子方式を実用化する場合の運用コストの低
減と制御付振子方式の乗心地の向上に寄与する。According to the track shape data processing method of the present invention, the yaw angular velocity and roll angle data of the bogie frame measured by the gyroscope mounted on the bogie frame which is not easily affected by the deformation of the support spring device of the vehicle are obtained. Based on this, the curvature (curve radius) of the curve, the amount of curve cant, and the curve position data with the reference point of the orbit such as the ATS ground element as the distance reference can be calculated as tabular numerical data. Controlled pendulum system (Japanese Patent Publication No. 3-73511, JP-A-61-1)
(08053), the track shape data necessary for controlling the vehicle body inclination corresponding to the actual track shape can be obtained without the addition of new ground equipment and a lot of manpower, and the accurate track shape data can be obtained. There is an advantage that it can be obtained, and it contributes to the reduction of the operating cost when the pendulum system with control is put into practical use and the riding comfort of the pendulum system with control.
【図１】本発明の軌道形状データ処理方法を用いて、ジ
ャイロスコープ、パルス式速度発電機、ＡＴＳ地上子検
知装置で計測した信号を処理して制御付車体傾斜制御に
必要な軌道形状データ（曲線の位置、曲線の半径、カン
ト量など）を作成し、車体傾斜制御装置の軌道データ記
憶部に入力して車体傾斜制御を行う場合のデータおよび
制御信号の流れを示しており、本発明の軌道形状データ
処理方法の一実施例を示した説明図である。FIG. 1 is a view showing the track shape data necessary for controlling the vehicle body tilt control by processing signals measured by a gyroscope, a pulse type speed generator, and an ATS ground detector using the track shape data processing method of the present invention. The position of the curve, the radius of the curve, the cant amount, etc.) are created and input to the track data storage unit of the vehicle body tilt control device to carry out the vehicle body tilt control, showing the flow of data and control signals. It is explanatory drawing which showed one Example of the track shape data processing method.
【図２】本発明による軌道形状データ処理方法におい
て、軌道形状データ収集装置からのデータの取り込みと
本発明による軌道形状データ処理時に使用するデータ記
憶領域への軌道形状データの書き込み要領など実施例の
うち入力部を示した説明図である。FIG. 2 shows a method of processing track shape data according to an embodiment of the present invention, in which data from a track shape data collecting device is taken in and how track shape data is written to a data storage area used when processing track shape data according to the present invention. It is an explanatory view showing an input unit.
【図３】本発明による軌道形状データ処理方法におい
て、台車枠で測定した曲率データと該曲率データを平均
化処理した後、各曲線部を抽出し、曲率変化率データを
求め、曲率変化率データから緩和曲線部、円曲線部を推
定する手順を示した図である。In the track shape data processing method according to the present invention, after the curvature data measured on the bogie frame and the curvature data are averaged, each curve portion is extracted to obtain the curvature change rate data, and the curvature change rate data. It is a figure showing the procedure which presumes a relaxation curve part and a circular curve part from.
【図４】本発明による軌道形状データ処理方法におい
て、台車枠で測定したカント量データと該カント量デー
タを平均化処理した後、各曲線部を抽出し、カント量変
化率データを求め、カント量変化率データから緩和曲線
部、円曲線部を推定する手順を示した図である。In the track shape data processing method according to the present invention, after the cant amount data measured in the bogie frame and the cant amount data are averaged, each curve portion is extracted to obtain the cant amount change rate data. It is the figure which showed the procedure which estimates a relaxation curve part and a circular curve part from quantity change rate data.
【図５】本発明による軌道形状データ処理方法におい
て、曲線形状データおよび曲線位置データを算出する場
合の処理の流れと各処理方法の内容についての説明図で
ある。FIG. 5 is an explanatory diagram of a flow of processing when calculating curve shape data and curve position data and contents of each processing method in the trajectory shape data processing method according to the present invention.
【図６】本発明による軌道形状データ処理方法におい
て、抽出した各曲線部の曲率と曲率変化率から緩和曲線
長を算出し、曲線形状を推定する場合の処理の流れを示
した説明図である。FIG. 6 is an explanatory diagram showing a flow of processing in the case of estimating a curve shape by calculating a relaxation curve length from the extracted curvatures of respective curve portions and curvature change rates in the method for processing trajectory shape data according to the present invention. .
【図７】本発明による軌道形状データ処理方法におい
て、抽出した各曲線部のカント量とカント量変化率から
緩和曲線長を算出し、曲線形状を推定する場合の処理の
流れを示した説明図である。FIG. 7 is an explanatory view showing a flow of processing in the case of estimating a curve shape by calculating a relaxation curve length from the extracted cant amount of each curve portion and a cant amount change rate in the trajectory shape data processing method according to the present invention. Is.
【図８】制御付振子方式の軌道形状データ作成方法とし
て、従来の軌道形状データ収集方法を説明した図で、曲
線の半径やカント量などの軌道形状データは、軌道管理
台帳から読み取り（、）、また、曲線の位置データ
は、曲線の入口緩和曲線開始点、円曲線開始点、円曲線
終了点、出口緩和曲線終了点などを示す軌道上の標識を
目印にして付近の枕木に測定標識を貼付し、該測定標識
を検知できる測定装置を搭載した測定車を走行させて最
寄りのＡＴＳ地上子からの距離を実測して（）、車体
傾斜制御のための軌道形状データを作成する。FIG. 8 is a diagram for explaining a conventional track shape data collection method as a method for creating a track shape data of a pendulum with control. Track shape data such as a radius of a curve and a cant amount is read from a track management ledger (,). In addition, the position data of the curve should be measured on the sleepers in the vicinity by using the signs on the track that indicate the start point of the curve, the start point of the curve, the end point of the circle curve, the end point of the exit curve, etc. The measurement vehicle equipped with a measurement device that is attached and detects the measurement mark is run to measure the distance from the nearest ATS ground element (), and track shape data for vehicle body tilt control is created.
【図９】制御付振子方式の軌道形状データ表の一例で、
基準ＡＴＳ番号、制御対象曲線番号、曲線半径、曲線の
向き、カント量、入口緩和曲線始点、入口緩和曲線長、
円曲線長などを整理して車体傾斜制御装置の軌道データ
記憶部に入力する。本表は、図８で説明した従来の軌道
形状データ収集方法で作成した例である。FIG. 9 is an example of a trajectory shape data table of a pendulum system with control,
Reference ATS number, control target curve number, curve radius, curve direction, cant amount, inlet relaxation curve start point, inlet relaxation curve length,
The length of a circle curve is arranged and input to the track data storage unit of the vehicle body tilt control device. This table is an example created by the conventional trajectory shape data collection method described in FIG.
Claims (1)
車体傾斜制御を行うには、走行線区の各制御対象曲線の
開始点や終了点、緩和曲線や円曲線の長さ、カント量、
曲線半径（曲率）など車体傾斜制御に必要な軌道の形状
情報が必要であるが、こうした軌道の形状情報を軌道の
形状測定データから計算機処理により直接求めるため
に、 軌道の形状を測定する鉄道車両の車軸や主電動機軸に取
り付けたパルス式速度発電機が発生するパルス信号と車
輪の直径から一定距離間隔のパルス信号、その瞬時の走
行速度、基準点からの走行距離を算出し、 該パルス信号の一定距離間隔毎に、軌道の形状を測定す
る鉄道車両の支持ばね装置の変形による影響を受け難い
台車枠上に装架したジャイロスコープで測定した台車枠
のロール角から走行線区の各曲線のカント量データを、
また、軌道の形状を測定する鉄道車両の台車枠に装架し
たジャイロスコープで測定した台車枠のヨー角速度と瞬
時の走行速度から走行線区の各曲線の曲率データを算出
して記録し、更に、基準点からの走行距離を補正するた
め、自動列車停止装置の地上子など軌道に沿って数キロ
おきに設置した基準点を車上から検知した際に得られる
基準点検知信号を距離の基準データとして前記の曲率デ
ータおよびカント量データと同時に記録し、 該測定し、記録した走行線区の各曲線の曲率データまた
はカント量データの高周波振動成分を除去するための平
均化処理をした後、該曲率データまたはカント量データ
の絶対値が基準値を超えた部分を各曲線部のデータとし
て抽出し、 該抽出した各曲線部の曲率データから曲率変化率データ
をまたは抽出した各曲線部のカント量データからカント
量変化率データを求め、該曲率変化率データまたはカン
ト量変化率データの絶対値が基準値を超えた部分を抽出
した各曲線部の緩和曲線と見做し、抽出した各曲線部の
データのうち緩和曲線に挟まれた部分を各曲線部の円曲
線と見做して、 該抽出した各曲線部の円曲線の曲率およびカント量の平
均値を求めて各曲線部の円曲線の曲率およびカント量と
し、更に、該抽出した各曲線部の緩和曲線中の２点間の
曲率変化率またはカント量変化率を求めて該円曲線の曲
率またはカント量をそれぞれ該緩和曲線の曲率変化率ま
たはカント量変化率で割ることにより緩和曲線長さを算
出して、該抽出した各制御対象曲線部の緩和曲線開始
点、円曲線開始点、円曲線終了点、緩和曲線終了点を算
出し、 該算出した各制御対象曲線の緩和曲線開始点、円曲線開
始点、円曲線終了点、緩和曲線終了点と前記の自動列車
停止装置の地上子など軌道に設置した基準点の検知信号
データの中から各制御対象曲線に近い基準点との相対距
離を算出して、軌道の最寄りの基準点から各制御対象曲
線の緩和曲線開始点、円曲線開始点、円曲線終了点、緩
和曲線終了点までの距離を算出するようにし、 以上の軌道形状データ処理を計算機によりまたは以上の
軌道形状データ処理の手順を記憶させた軌道形状データ
処理装置により処理するようにしたことを特徴とする軌
道形状データ処理方法。1. In order to perform a vehicle body inclination control corresponding to an actual track shape, start and end points of each control target curve of a running line section, lengths of a relaxation curve and a circular curve, and a cant amount. ,
The shape information of the track, such as the radius of curvature (curvature), that is necessary for vehicle body tilt control is necessary. To obtain such shape information of the track directly from the shape measurement data of the track by computer processing, the railway vehicle that measures the shape of the track The pulse signal generated by the pulse type speed generator installed on the axle or the main motor shaft, the pulse signal at a constant distance interval from the wheel diameter, the instantaneous traveling speed, and the traveling distance from the reference point are calculated. Each curve of the running line section from the roll angle of the bogie frame measured by the gyroscope mounted on the bogie frame that is not easily affected by the deformation of the railcar support spring device that measures the shape of the track at regular intervals Cant amount data of
In addition, the curvature data of each curve of the running line section is calculated and recorded from the yaw angular velocity of the bogie frame measured by the gyroscope mounted on the bogie frame of the railway vehicle that measures the shape of the track and the instantaneous traveling speed. To correct the distance traveled from the reference point, the reference point detection signal obtained when detecting the reference points installed every several kilometers along the track such as the ground train of the automatic train stop device from the vehicle is used as the distance reference. Data was recorded at the same time as the curvature data and the cant amount data, and after the measurement, the curvature data of each curve of the recorded running line section or the averaging process for removing the high frequency vibration component of the cant amount data was performed, A portion in which the absolute value of the curvature data or the cant amount data exceeds a reference value is extracted as data of each curve portion, and curvature change rate data is extracted from the extracted curvature data of each curve portion. The cant amount change rate data is obtained from the cant amount data of each curve portion, and the portion where the absolute value of the curvature change rate data or the cant amount change rate data exceeds the reference value is extracted as a relaxation curve of each curve portion. Of the extracted data of each curve part, the part sandwiched by the relaxation curves is regarded as a circular curve of each curve part, and the average value of the curvature and cant amount of the extracted circular curve of each curve part is obtained. The curvature and the cant amount of the circular curve of each curve portion are used as the curvature and the cant amount of the circular curve, and the curvature change rate or the cant amount change rate between two points in the relaxation curve of each of the extracted curve portions is obtained. The relaxation curve length is calculated by dividing each by the curvature change rate or the cant amount change rate of the relaxation curve, and the relaxation curve start point, the circular curve start point, the circular curve end point of each of the extracted control target curve portions, The end point of the relaxation curve was calculated, and each calculated Each control object from the detection signal data of the relaxation curve start point, circular curve start point, circular curve end point, relaxation curve end point of the target curve and the reference point installed on the track such as the above-mentioned automatic train stop device ground track Calculate the relative distance from the reference point close to the curve, and calculate the distance from the reference point closest to the trajectory to the relaxation curve start point, circular curve start point, circular curve end point, relaxation curve end point of each control target curve In this way, the above-mentioned trajectory shape data processing is processed by a computer or by a trajectory shape data processing device which stores the procedure of the above trajectory shape data processing.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18413494A JP3238012B2 (en) | 1994-07-14 | 1994-07-14 | Track shape data processing method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18413494A JP3238012B2 (en) | 1994-07-14 | 1994-07-14 | Track shape data processing method |
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| Publication Number | Publication Date |
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| JPH0826109A true JPH0826109A (en) | 1996-01-30 |
| JP3238012B2 JP3238012B2 (en) | 2001-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| JP18413494A Expired - Fee Related JP3238012B2 (en) | 1994-07-14 | 1994-07-14 | Track shape data processing method |
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