JPH08265908A - Method and apparatus for driving truck - Google Patents

Abstract

PURPOSE: To realize smooth running of a truck on a curved track like a rolling stock. CONSTITUTION: A current position is determined and a stored data of track, corresponding to the current position, is read out and a decision is made whether the track is straight or curved based on the data thus read out. In case of a straight track, motors for respective wheels located on at least one axis are rotated at identical r.p.m. based on a speed command value. In case of a curved track, the motor for a wheel located on the inside of the curve is set lower than that of the motor for outer wheel based on a curve data and a speed command value. With such arrangement, the truck runs smoothly along the curve. In case of a coasting command, a voltage of zero slip rate is imparted to the motor thus preventing the truck from running while being shifted with respect to the track.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a trolley having a traveling electric motor installed on each wheel of the trolley, and more particularly to a control method and apparatus for a trolley.

[0002]

2. Description of the Related Art There are trucks and electric vehicles in which a traveling electric motor is provided for each wheel. (Japanese Utility Model Laid-Open No. 2-26303, Japanese Patent Laid-Open No. 2-26303).

[0003]

The former of the above-mentioned prior art is based on the assumption of a truck traveling on a straight track, and is not shown to travel on a curved track. The latter of the above-mentioned prior arts is an automobile, and it is considered that the rotation speed of each wheel is determined by the steering angle, and a vehicle without a steering wheel such as a railway vehicle is not shown.

An object of the present invention is to enable smooth running of a bogie that travels on a curved track such as a railroad car.

A second object of the present invention is to prevent the wheels from running in a biased manner on the track in response to a coasting command.

[0006]

SUMMARY OF THE INVENTION An object of the present invention is to obtain a current position, read trajectory data stored from the present position in correspondence with the position, and read each data based on the read data and speed command value. This can be achieved by determining the rotation speed of each electric motor provided corresponding to the wheel.

A second object of the present invention is to apply a voltage of zero slip ratio to each electric motor installed corresponding to each wheel located at at least one axis based on a coasting command. Can be achieved by.

[0008]

The present position is obtained, the orbit data stored corresponding to the position is read from the present position, and the rotation of each electric motor provided corresponding to each wheel is read based on the read data and the speed command value. Determine the number. Therefore, in the case of the straight line portion, the electric motors of the wheels located on at least one shaft center are rotated at the same rotation speed based on the speed command value, and the carriage travels straight. In the case of a curved portion, the rotational speed of the electric motor of the wheel located inside the curve is made smaller than the rotational speed of the electric motor of the outer wheel based on the curve data of the above data and the speed command value. Therefore, the carriage naturally bends at the curved portion. Therefore, passengers are comfortable to ride.

In rail vehicles, there is coasting. In this case, since the wheels are independent, it is possible that the left and right wheels have different rotational speeds. For this reason, it is conceivable that the carriage is offset in the width direction of the track, and the flange of one wheel contacts the track and travels.

According to the means for the second object of the present invention, since the torque increases as the sliding speed increases due to the deviation, the rotational speed changes, which can be prevented.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. In FIG. 3, electric motors 11, 11 are installed on the wheels 10, 10 located on one axis. The electric motors 11, 11 are VVVF inverters 26, 2
6 can rotate independently. As a means for detecting the rotation speed of a wheel or an electric motor, speed generators 12, 1
2 are installed. 16 is a rail.

Reference numeral 20 denotes a traveling position recognizing device, which is currently operated by a ground child detection signal detected by a ground child 17 installed on the vehicle and a rotation speed signal from the speed generators 12, 12. Find the position. The vehicle top 17 and the speed generator 12 constitute a current position detecting means. The line data 21 is stored in advance according to the calculated current position value.
Read out. If the current position is the straight line portion, the command from the operation command device 18 is output to the rotation speed command device 25. If the current position is a curved portion, the curve data (curve radius, length, etc.) is combined with the command from the operation command device 18 and information is transmitted to the rotation speed command device 25. Based on this information, the rotation speed command device 25 executes calculation and outputs the optimum rotation speed command in each of the curved portion and the straight portion to the inverters 26, 26 provided for each wheel.

A traveling position recognition device 20 and a rotation speed command device 2
The operation of No. 5 will be described with reference to the flowcharts of FIGS. Ground child detection signal from the car child 17 and speed generator 1
The current position is recognized by the signals 2 and 12. The current position between the ground elements 17 and 17 is two speed generators 1.
It is determined by the average value of 2 and 12. Then, the line data at the position corresponding to the obtained current position is read out. The line data includes whether or not it is a curve and curve data (curve radius, length, etc.) (step S11).

If the read line data is a straight line portion,
It is determined whether or not the command from the operation command device 18 is power running (step S15). If the command from the operation command device 18 is a powering command, the speed command value is output to the rotation speed command device 25. The rotation speed command device 25 outputs the same rotation speed command to the inverters 26, 26 of the electric motors 11, 11 connected to the left and right wheels 10, 10. That is, the voltage having the slip ratio is output to the electric motors 11, 11. (Step S17). The speed generator 12, 12, the wheel 10,
The number of rotations of 10 is monitored, and they are rotated at the same number of rotations.

When the command from the operation command device 18 is a coasting command, the rotation speed command device 25 outputs a voltage with a slip rate of zero to the motors 11 and 11 to the inverters 26 and 26. (Step S19) As a result, even if the wheels 10 and 10 rotate freely, the torque increases as the slip speed increases due to the deviation, so the rotation speed changes and the carriage shifts to the track. It is possible to prevent running.

If the read line data is a curved line portion,
It is determined whether or not the command from the operation command device 18 is power running (step S23). If the command from the operation command device 18 is a powering command, the speed command value and data such as the curve radius of the current position are output to the rotation speed command device 25. The rotation speed command device 25 calculates the rotation speed of each of the inner wheel and the outer wheel of the track based on the curve radius and the speed command value. This is output to the inverters 26, 26 at frequencies corresponding to the respective rotation speeds. That is, a voltage having a slip ratio is output to the electric motors 11 and 11 (step S2
5). The speeds of the wheels 10, 10 are monitored by the speed generators 12, 12 so that they rotate at the same speed. For this reason, the dolly smoothly runs along a curved line, and passenger comfort is improved.

If the command from the operation command device 18 is a coasting command, the data such as the curve radius of the current position is sent to the rotation speed command device 2.
5 is output. Depending on the current speed up and the curve radius,
The frequencies of the respective inverters 26, 26 are obtained, and a voltage with a slip ratio of zero is output.

[0018]

According to the present invention, since the present position is obtained and the rotation speed of each wheel is determined by the stored line data, the vehicle can travel smoothly on a curved portion.

[Brief description of drawings]

FIG. 1 is a flowchart of control according to an embodiment of the present invention.

FIG. 2 is a flowchart of control according to an embodiment of the present invention.

FIG. 3 is a configuration diagram of a carriage according to an embodiment of the present invention.

[Explanation of symbols]

10 ... Wheels, 11 ... Electric motors, 17 ... Vehicle tops, 18 ... Operation command device, 20 ... Running position recognition device, 25 ... Rotation speed command device, 26 ... Inverter.

Claims (5)

[Claims] 1. An electric motor provided for each wheel based on a current position, reading out trajectory data stored corresponding to the current position, and reading out the data and a speed command value. A method for driving a trolley, characterized in that the number of revolutions of the vehicle is determined. 2. The method for driving a trolley according to claim 1, wherein it is determined whether the portion is a straight line portion or a straight line portion based on the read data, and in the case of a straight line portion, the position is at least one shaft center based on a speed command value. Rotate the electric motor of each wheel at the same rotation speed, and in the case of a curved portion, based on the curve data and the speed command value of the above data, change the rotation speed of the electric motor of the wheel located inside the curve to that of the outer wheel. A method of driving a trolley, which is characterized in that the rotation speed of the electric motor is set to be smaller than that of the electric motor. 3. A method of driving a bogie according to claim 1, wherein a voltage of zero slip ratio is applied to each electric motor installed corresponding to each wheel located at at least one axis based on a coasting command. A method of driving a dolly, which is characterized by: 4. A current position detecting means for detecting a current position,
Trajectory data stored corresponding to the position, the inverter provided for each motor provided for each wheel,
The data is read from the current position obtained by the current position detecting means, and by the data and the speed command value,
A drive device for a trolley, comprising: a control device for instructing an output frequency to each of the inverters. 5. The trolley driving method according to claim 4, wherein the control device instructs the inverter to output a voltage with a slip ratio of zero based on a coasting command. The drive device for the trolley.