JPS5851509B2 - tilting device - Google Patents

Description

[Detailed Description of the Invention] In the latest type of high-speed railway currently being developed, the body of the vehicle is tilted relative to the bogie of the vehicle, and the influence of centrifugal acceleration is completely or partially affected by the lateral gravity component. It is now cancelled.

A device with the above-mentioned purpose is disclosed in Swedish patent application no. 12995/1971 (Swedish patent no. Special public award granted to the Knorr-Bremse Company in 1974-403
No. 65 and British Patent No. 1313192 awarded to the Springwell Company of Frankfurt/Main, Germany.
This number also has a similar purpose.

Among these, in the above-mentioned Japanese Patent Publication No. 46-40365, a pendulum is used to measure lateral acceleration caused by vehicle motion.

On a curved trajectory, that is, when the vehicle approaches a curve, the arm of the pendulum points in the direction of the combined acceleration of gravitational acceleration and centrifugal acceleration.

A curved trajectory with a non-uniform radius of curvature, i.e. a transition curve (tr
A gyro device is used to detect when a vehicle enters an angle curve, and the gyro device detects the yaw angular velocity (ya
w angular velocity), and similar rotational angular acceleration, yaw angular acceleration (yaw angular velocity).
lar acceleration), of which the sway angular acceleration signal is used to start the terminal.

When passing along a trajectory with a constant radius of curvature, there is in principle no oscillating angular acceleration, so that the signal representing the oscillating angular velocity is used to determine the inclination angle of the terminal.

When the vehicle then enters the transition curve just before the straight track, a signal representing the yaw angular acceleration appears again.

The sway angular acceleration signal at this time has a direction opposite to the value in the previous transition curve of the constant curvature trajectory.

Upon receiving this signal, the above-mentioned terminal device starts to orient the vehicle in the vertical direction.

The pendulum has the effect of limiting the final velocity without considering the shape of the transition curve.

In this gyro device, when the traveling direction of the vehicle is reversed even on the same curved track, not only the sign of the sway angular acceleration but also the sway angular velocity changes.

Furthermore, even when vehicles are traveling in the same direction on the same curved track, the signs of the sway angular velocity and sway angular acceleration are different depending on whether the vehicle is being driven forward or backward. .

Therefore, when using the device disclosed in the above-mentioned patent, a complex logic system is required to correctly determine the direction of operation of the terminal device.

Oo Santanera, R. Furlini, C. Bianchi, Report at the 20th International Telecommunications Conference, October 8-13, 1972.
, FL, F rul 1ini and C, B 1a
nchi.

” II convoglio ad asetto
variable delle F.

S,primi risultani superior
XX Convegno I intern
azionale delle Communica-
zione Genova, 0ctover 8
A″13, 1972) and U.S. Patent No. 3,844,225 based thereon disclose the roll angular velocity (Roll angular velocity), which is the rotational angular velocity about the axis of the front bogie of the train in the traveling direction, that is, the rotational angular velocity of rolling about the so-called X axis. roll an
Descriptions can be found of trains in which the gular velocity is measured by means of a gyroscopic device, thereby controlling a system having hydraulic cylinders.

In the transition curve region of the trajectory curve, the roll angular velocity has the same properties as the oscillating angular acceleration, and on a trajectory with a constant radius of curvature, the roll angular velocity becomes zero.

In the trains described in the above-mentioned report, the terminal equipment is controlled by a composite signal that combines a slope signal and a delay signal obtained by a conventional type of accelerometer.

The composite signal simulates a curve in the transition curve domain.

In the constant curvature section, which makes up the majority of the curved trajectory, the terminals are controlled by accelerometers.

However, using the accelerometer signal in a control system requires filtering the signal, which significantly delays the signal.

The purpose of using the composite signal as described above is to compensate for such delays.

The tilt signal is necessary to perform the compensation described above, and the roll angular velocity is used to start and stop the tilt signal.

On the other hand, "Superelevation Compensation for Higher Speed and Comfort of Passenger Trains," 14th Modern Railway Vehicle Conference, October 1, 1972.
6th to 18th, Graz (ゞIa comp-ensat
iond' 1nsuffisance de div
ers pour am-eliorer le c
onfort et accroitre la vi
tessedes trains de voyage
urs”, 14 eme CongressVehic
ules F erroviaire Moderne
s, Graz 16 P'18 octobre
In the 1972 report, French test trains and
The problems associated with urinalysis devices on high-speed trains are discussed.

It is stated on pages 8-10 and 14 of this report that the use of filters introduces substantial delays and cannot be used without compensating for such delays.

Furthermore, in paragraphs 17 to 20i of the above report, it is stated that this type of urinalysis device cannot achieve stable performance at high speed unless it has greater braking characteristics against roll motion than that of a normal rail vehicle. is stated.

In the Swedish Patent No. 366.513, a low-pass filter is connected after the detection device, and the cut-off frequency of the filter is appropriately selected to suppress the parasitic signal (pa
A device is disclosed in which signals from rasitic signals and track irregularities are filtered.

This filter introduces undesirable delays as described above.

To compensate for this drawback, the urinalysis device is further controlled by a gyro signal.

This gyro signal acts in parallel with the control signal of the delay filter, and is used to start the urinalysis operation regardless of the control signal from the delay filter.

In addition, in order to quickly start the operation of the urinalysis device when approaching a curved trajectory, a device is provided for comparing the output signal of the acceleration detection device before passing through the filter with a control signal to be applied to the urinalysis device; If the result of the comparison by the device is that the leaning part of the vehicle should be made to stand upright, a control signal is generated to cause the above-mentioned uprighting operation.

All of the above devices, with the exception of the device on the French test train, use a combination of acceleration detectors, such as pendulums or accelerometers, and gyro devices.

The purpose of using a gyroscopic device is in all cases to provide an output signal that directs the vehicle into and out of a curved track section without delay, and which is sufficiently high level to make the use of delay-causing filters superfluous. The goal is to output high-quality signals.

The applicant's said Swedish Patent No. 12995/19
In 1971, a device was disclosed that combines the sway angular velocity and the traveling speed of a vehicle to obtain a control signal for a urinalysis device of the vehicle.

In this way, in the above-mentioned Swedish patent, the signal representing the swaying angular velocity of the vehicle obtained by the gyro device is combined with the signal representing the traveling speed of the vehicle to become an acceleration signal, and therefore a separate acceleration detection means is provided. This makes it unnecessary to provide one.

The present invention is based on the above-mentioned Swedish Patent No. 12995/1
The present invention is a further improvement on the invention disclosed in 1971 and eliminates the drawbacks contained in the device according to the above-mentioned patent and other prior art mentioned above.

The device according to the present invention controls the urinalysis device so that the vehicle body moves relative to the trolley in a roll direction, which is a rotational direction around an axis with respect to the traveling direction of the vehicle body, in response to a control signal applied to the urinalysis device. A speedometer and a gyro device that generate signals representing the traveling speed, sway angular velocity, and roll angular velocity when the vehicle passes on a curved track; Usually a value of 1 depending on each of the above values. , the coefficient m indicating the degree of cancellation, the vehicle's advancing speed ■, and the vehicle's swaying angular velocity θg.
It is obtained by integrating the gravitational acceleration g and the roll angular velocity θroll with a signal having a value expressed by the expression m・■・θgir by ir and a coefficient that usually takes a value of 1. By the roll angle θrol l expressed as the sum of the slope angle and the angle formed by the car body and the bogie, -
In the device according to the present invention, the device generates a signal having a value expressed by the expression g・θroll; and the device according to the present invention further includes:
Difference in l 1m'■・θgir l-1k"g"θroll
a device for generating a signal representing the roll angle θrot l; a device for applying the signal as a control signal to the urinalysis mechanism, thereby causing the vehicle body and the trolley to move relative to each other in a direction corresponding to the sign of the signal representing the roll angle θrot l; Contains.

It is therefore an object of the invention to greatly simplify the logic device which specifies the direction in which the vehicle body should lean in response to control signals.

Such a logic device is necessary because the signal representing the yaw angular acceleration changes sign depending on the direction in which the vehicle passes along the curved track.

Another object of the invention is to replace the device for generating the composite signal with another device.

The above composite signal is used as a combined control signal in the transition curve when the present device is not used, and replaces the signal obtained from the gyro device.

Yet another object of the present invention is to generate a signal that optimizes the braking characteristics and response speed of a urinalysis device.

The signal generating device according to the invention not only generates appropriate control signals for controlling the urinalysis mechanism, but also generates feedback signals from the urinalysis mechanism.

The feedback signal is obtained by detecting the sway angular velocity and roll angular velocity of the tilted portion of the vehicle, that is, the vehicle body, using a two-axis gyro device.

The above-mentioned gyro device for receiving signals representing two angular velocities belongs to the prior art, and is JFOA2 report C2640-E4.
, 1973 11 states ("FOA2Report C26
40-E4, November 1973'').

This report was issued by the Swedish Defense Research Institute.
The title is ``Ball Gyro - Its conversion function, circuit constants,
and Electronics”, “The Bal l Gy
ro-Transition Function
, C1rcuit Con5tants, and
ElectronicsJ Author: VLF Ekstr'om.

The above report deals with a two-axis gyro device.

Next, embodiments of the present invention will be described in detail based on the drawings.

FIG. 1 shows the main principle of the present invention, and is a block diagram showing a control signal generating device for a urinalysis device.

The above-mentioned urinalysis device is installed and operated between a truck of a vehicle and a vehicle body provided on the truck.

A known device is used for each block.

Reference numeral 1 denotes a two-axis gyro device that generates signals representing angular velocities around two orthogonal axes, that is, a vertical axis when considering yawing and rolling of the vehicle, and an axis related to the traveling direction of the vehicle.

In this case, the above two angular velocities are the sway angular velocity θgir and the roll angular velocity θgir of the vehicle portion on which the gyro device 1 is mounted.
Corresponds to roll.

2 is a speedometer that generates an output signal representing the traveling speed of the vehicle.

3 is a multiplier which receives the traveling speed 2 and the oscillating angular velocity θgir from the speedometer 2 and the gyro device 1 as human signals through conductors 7 and 8, respectively, and multiplies the two signals together.

If the scale of the human input signal is selected appropriately, the output of the multiplier 3 is m
・■・θgir, which is proportional to the centrifugal acceleration.

Further, when m=1, the output signal represents the magnitude of centrifugal acceleration.

On the other hand, a signal representing the roll angular velocity θroll is sent from a conductor 9 to an integrator 4 at a suitable scale.

The integrator 4 multiplies the above signal by time and outputs a roll angle θroll which is an output signal corresponding to the inclination angle in the vertical plane of the gyro mounting portion of the vehicle.

The above roll angle θr when the vehicle is traveling on a straight trajectory
ol l is related to the initial position, in which the integrator 4 is set to zero.

The output signal of the integrator 4 is input via a connection line 10 to a multiplier 5 with a suitable scale.

The multiplier 5 applies −g·θrol to the output signal on a suitable scale.
Output l.

Here, g is the gravitational acceleration, k is a coefficient representing a scale, and its value is usually 1, and θroll l is the roll angle of the part of the vehicle on which the gyro device 1 is mounted (for example, the body of the vehicle or the truck).

-g・θr011 in the output signal indicates that the vehicle has a roll angle θ
It represents the lateral component of the gravitational acceleration g when tilting in a roll.

Specifically, the lateral component of the gravitational acceleration g when the roll angle is θroll l is g・sinθroll, but since the roll angle θroll is usually small, the sine of the angle can be considered to be equal to the angle itself. .

6 is a differential device, and signals m,
θgir and the other input terminal 6 of the differential device 6 from the multiplier 5
It generates an output signal 5out representing the difference between the signal entering b and -g·θrol l.

In principle, when the centrifugal acceleration .multidot..theta.gir and the lateral component g.theta.rml of the gravitational acceleration g are equal, the output signal S.sub.out of the differential device 6 for controlling the urinalysis mechanism of the vehicle should be zero.

This can be done by appropriately choosing the scale when generating the human power signal to the differential device 6.

In order to completely cancel the centrifugal acceleration by the lateral component of the gravitational acceleration g, the coefficient m in each surface hole is required.

It is sufficient to set both k equal to 1.

At this time, the output of the differential device 6 will represent the lateral direction composite acceleration.

However, from the point of view of servo technology, it may be convenient to set one or both of m and k to a value other than 1.

This is the case, for example, when it is impossible or inappropriate to tilt the vehicle body to a degree that completely cancels out the centrifugal force due to mechanical or other reasons.

If m is given a value less than 1 and k is set equal to 1, the output of the differential 6 will be zero before complete cancellation occurs.

The same result can also be obtained if a value larger than 1 is chosen as k and m is set equal to 1.

The output of the differential device 6 can thus be used as a control signal to control the urinalysis servomechanism depending on its type.

The differential device 6 has a swing angular velocity θgir and a roll angular velocity θr.
oll has the opposite sign, it has the property of generating the sum of the meat input signals.

That is, the device is 1m・■・θgixl−lkl”θrol
A signal having a value represented by ll is generated.

The sway angular velocity θgir has the property of changing its sign when the direction of travel of the vehicle is reversed, whereas the roll angular velocity θro
Since ll is unrelated to the direction of travel of the vehicle and the inclination angle at the same point within a particular curved track is always in the same direction, it is necessary to provide the differential device 6 as described above.

Therefore, for example, the differential device 6, as shown in FIG. 2a,
The amplifier 14 may be provided with two inverting input terminals 14a, 14b and one non-inverting input terminal 14c.

The signals m, ■, and θgir representing centrifugal acceleration are relay 15.
Non-inverting input terminal 14 via a changeover switch such as
c or the inverting input terminal 14b.

Such a relay 15 may be provided to be controlled by a transistor 17 which becomes conductive when a signal appears at the output terminal of an AND gate 16.

For the above AND gate 16, there is another AND gate 1.
8 and the output of the NAND gate 19 are applied, and both the AND gate 18 and the NAND gate 19 are connected to the AN
When D logic and NANDAND are established, the output becomes zero.

The above two AND gates 18 and NAND gates 19 have the sign of the swing angular velocity θgir and the roll angular velocity θrol.
A signal representing the sign of l is applied.

The AND gate 9 connected to the relay 10 has a swing angular velocity θg
An output signal is generated only when the signs of ir and roll angular velocity θroll are different.

As another arrangement of the differential device 6, as shown in FIG.
An arrangement may be used that includes an amplifier 20 having a non-inverting input terminal 20a and an inverting input terminal 20b, and full-wave rectifier circuits 21, 22 or equivalent means connected in front of each of the input terminals 20a, 20b.

The non-inverting input terminal 20a of the amplifier 20 is connected with a signal representing the centrifugal acceleration m, 2, θgir, and the inverting input terminal 20b is connected with a signal representing the gravitational acceleration -g·θroll l.

By providing the full-wave rectifier circuits 20 and 21 in this way, the signal representing the roll angular velocity θroll l and the signal representing the swing angular velocity θgir always have the same polarity.

The output signal of the amplifier 20 is then applied via a relay 23 to either the non-inverting input terminal 24a or the inverting input terminal 24b of another amplifier 24.

The switching operation by the relay 23 is performed using the same gate device as described above.

The differential device 6 may be constructed from a part of a computer program, or another digital circuit may be used as long as it generates the intended control signal.

FIG. 3 is a block diagram showing the servo tilting device.

The gyro device 1 is mounted on a vehicle body that is to be tilted with respect to the truck, and is connected to the control signal generator MA described in connection with FIG.
is shown within the dashed block in FIG.

The differential gear 5 (SKBl) in FIG. A control signal 5out is sent to the urinalysis mechanism LTA of the vehicle FO through the line 13.

Block LDF indicates a vehicle body which is a tilting part of the vehicle, and by fixing the block LDF and the gyro device 1, the above part and the control signal generator MA are mechanically connected.

The control signal generator MA thus represents the movement of the block LDF, which is the tilting part of the vehicle.

The urinalysis mechanism LTA tilts the block LDF until the control signal generator MA outputs a zero signal from its differential device 6, and a predetermined operation is achieved.

That is, the whole or a portion of the centrifugal acceleration .multidot..theta.gir is canceled by the lateral component g.theta.roll of the gravitational acceleration g.

FIG. 4 shows another embodiment of the servo device shown in FIG.

An electronic circuit device S is installed between the vehicle FO and the control signal generator MA.
E is inserted, and the electronic circuit device SE includes an amplifier 1 and an amplifier 2 second differential device 5KB2.

Difference 1m・■・θgirl −1 to −g・θroll l
In addition to the output signal 5outΦ of the differential device 6 representing , the roll angular velocity θrol l is obtained from the control signal generator MA,
A signal representing the roll angular velocity θrol l is sent to an amplifier at 2
and the output of the second differential device 5KB is applied to the amplifier.
2.

The second input terminal of the second differential device 5KB2 is connected to the amplifier.
The signal sent from the differential device 6 of the control signal generator MA is received via the control signal generator MA.

The output signal of the second differential device 5KB2 acts as a control signal for controlling the urinalysis mechanism LTA.

Gyro device 1 is installed on the block LDF, which is the tilting part of the vehicle.
is installed, the control signal generator MA and the tilting portion of the vehicle are mechanically coupled.

Block MK shows this.

The roll angular velocity θrol l is the second
Since it is fed to the differential 5KB2, this type of servo system is of the velocity feedforward type and can have as much damping in the servo loop as desired.

If the amplifier inserted in the speed loop has a sufficiently large amplification factor of 2, the nature of the loop will represent the dynamic characteristics of the leaning part of the vehicle.

It is proved mathematically that the dynamics of the leaning part of the vehicle is approximately equal to the reciprocal of the amplification of the velocity loop.

If you would like to consider the above mathematical calculations in more detail, please refer to "Principles of Automatic Control" by Freud E. Nixon (Prentice-Hall Publishing, 1953 New York Edition), 219-
Page 221 (F 1oyd E-N 1xon,
” principles of automatic
Controls”, Now York 1953
.

prentice hall inc,, pages
219-221).

Since a signal representing the swing angular velocity θgir is also obtained from the control signal generator MA, this signal can also be used as a feedback signal suitable for use in a velocity feedforward type servo mechanism.

In many important examples, the control signal generator MA can also be fixed not to the tilting part LDF of the vehicle, but to other parts.

A bogie of a vehicle is particularly suitable as the other portion, and it is preferably fixed to the front part of the bogie in the traveling direction.

FIG. 5 shows such an embodiment.

In this embodiment, the control signal generator MA fixed to the bogie of the vehicle provides the residual acceleration as the output signal 5out of the differential device 6.

The residual acceleration is the acceleration component that remains after the centrifugal acceleration is partially canceled out by the lateral component of the gravitational acceleration generated by the so-called superelevation normally provided in curved trajectory sections.

In this case, the detection means G generates a signal representing the angle θB between the vehicle body, which is the tilted portion LDF of the vehicle, and the bogie.

In this way, the signal generated by the detection means G is multiplied by the gravitational acceleration g in the multiplier θB''g, and becomes a signal represented by the table hole of θB''g, which is further input to the human power of one side of the third differential gear 5KB3. applied.

The output signal 5out of the differential device 6 of the control signal generator MA is input to the other input terminal of the third differential device 5KB3.

The output signal of the third differential device 5KB3 acts as a control signal for controlling the vehicle's terminal mechanism LTA.

When this control signal becomes zero due to the operation of the terminal mechanism LTA, the tilting part of the vehicle is tilted by the necessary angle θB with respect to the bogie, and therefore the tilting part is tilted again by the necessary roll angle θrol IvB with respect to the horizontal plane. Lean.

That is, since θroll is the roll angle of the part on which the gyro device 1 is mounted, the case shown in FIG. The roll angle θrollvB of the vehicle body portion on which passengers ride is the value obtained by adding the angle θB to the roll angle, θ
rol lv B-θro Ll+θB.

In addition, in the case shown in Fig. 3 and Fig. 4, θTo l l vB
=θrol l.

As is clear from the above explanation, in this specification, the shaking angular velocity θ
gir is the sway rotational angular velocity during yawing about the vertical axis of the vehicle, and sway angular acceleration is the sway angular velocity θ
This is the derivative of gir.

Further, the roll angle θroll is the inclination angle at the time of rolling around the axis in the traveling direction of the vehicle, and the roll angular velocity θ
Roll represents the rotational angular velocity at the time of inclination.

As described above, according to the present invention, the centrifugal acceleration and the lateral component of the gravitational acceleration are derived based on the angular velocity of the swing and the angular velocity of the roll, and the urine test is performed so that the two cancel each other out, which requires complicated logical means. The desired purpose can be suitably achieved without any trouble.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the control signal generating device of the present invention, FIGS. 2 a and b are circuit diagrams showing the differential device part in more detail, and FIG. 3 is a block diagram showing an embodiment of the present invention. line diagram,
FIG. 4 is a block diagram showing another embodiment of the present invention;
The figure is a block diagram showing a third embodiment of the present invention. In the drawing, 1 is a gyro device, 2 is a speedometer, 6°5KB2
．． 5KB3 is the differential gear, θgir is the swing angular velocity, θro
ll is the roll angular velocity, m is the coefficient, LTA is the final mechanism, ■ is the traveling speed, and g is the gravitational acceleration.

Claims (1)

[Scope of Claims] 1. In a device for tilting a vehicle body placed on a bogie of a vehicle around an axis related to the traveling direction of the vehicle, a swing angular velocity θgir, which is a rotational angular velocity about a vertical line of the vehicle, and an axis related to the traveling direction. a gyro device mounted on the vehicle body that sends out a signal representing a roll angular velocity θroll that is a rotational angular speed of the vehicle; a speedometer that sends out a signal representing the traveling speed of the vehicle; m・■・θ along with the first coefficient m based on the signal
a multiplier that calculates gir and sends a signal representing centrifugal acceleration; and a multiplier that integrates a signal representing roll angular velocity θroll sent from the gyro device to send a signal representing roll angle θroll, which is the inclination angle of the vehicle body with respect to a horizontal plane. Based on the signal sent from this integrator, -g·θrol l (where g is the acceleration of gravity) is calculated as a second coefficient to obtain a signal representing the lateral component of the acceleration of gravity. Considering the multiplier to send and the sign based on the signals sent from both multipliers, 1m-■・θgir l-1k
-g·θroll l; and a terminal mechanism that controls the vehicle body so that the output signal of the differential becomes zero. 2. In a device for tilting a vehicle body placed on a truck of a vehicle around an axis in the traveling direction of the vehicle, the sway angular velocity θgir is the rotational angular velocity of the vehicle around the vertical line, and the rotational angular velocity around the axis in the traveling direction is A gyro device mounted on the truck that sends out a signal representing the roll angular velocity θrol l, a speedometer that sends out a signal representing the vehicle's traveling speed, and a signal based on the signals sent from the gyro device and the speedometer. with the first coefficient m
A multiplier that calculates θgir and sends out a signal representing centrifugal acceleration, and a signal that integrates the signal representing the roll angular velocity θrolll sent from the gyro device to generate a signal representing the roll angle θroll, which is the inclination angle of the truck with respect to the horizontal plane. Based on the integrator that is sent out and the signal sent out from this integrator, -g・θroll (where g is the acceleration of gravity) is calculated along with the second coefficient to generate a signal that represents the lateral component of the gravitational acceleration. 1m・■・θgirl−1k considering the sign based on the multiplier to send and the signals sent from both multipliers.
"g" θrol l l A differential device that calculates θB−g(
where g is the acceleration of gravity), another differential device that subtracts the signal sent from this multiplier from the signal sent from the differential device, and the output signal of this differential device is zero. A final device comprising: a final mechanism for controlling the vehicle body so that the following is achieved.