JPS5852402B2 - Traveling body control method using electric power control - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic driving control method for a traveling body using electric power control, and in particular, to control automatic driving of a vehicle without using a special control circuit.
The present invention relates to a method for realizing automatic driving control of a traveling body by controlling only the power of a main electric circuit that supplies power to a vehicle.

Patent application No. 1989-1089000 filed by the same applicant
No. 3-36809), they published an invention titled ``Traveling body control system using electric power control'' that performs main electric control so that the area immediately behind where the vehicle is located is set as a stopping zone, and further behind that area, normal driving is carried out. Proposed.

That is, in the above invention, a dividing device, for example, an air section, is provided on two contact wires for positive power supply that perform constant voltage supply to a suitable vehicle load to form a block section, and one contact wire is connected to each block section. 0), and the other contact wire is controlled at a constant voltage according to the running condition of the vehicle.
This electric power control was to make the section directly behind the vehicle without power supply, and apply dynamic braking to the following vehicles entering this section to stop or decelerate them.

However, in this method, a following vehicle that enters block 4 which is in an unpowered state is subject to sudden deceleration due to dynamic braking, and if the preceding vehicle passes the section immediately ahead where the following vehicle is present, , the dynamic braking is released and acceleration is carried out by the constant voltage supply, which is good for low-speed operation, but is insufficient for controlling a traveling body that operates at high speed.

In other words, if both vehicles are traveling at high speeds or the vehicle weight is large, the following vehicle may not be able to stop completely in the braking/stopping section, and may enter the section where the preceding vehicle is present, giving the impression that it will collide with the preceding vehicle, especially in the event of an accident. It is also necessary to consider the possibility that when a vehicle suddenly stops, a vehicle following it may collide with the vehicle from behind.

Considering this situation, it is necessary to lengthen the block section,
It was considered necessary to equip the vehicle with special brakes.

The present invention has been devised to solve the problems that may occur with the previously proposed system as described above, and by forming a slow-moving section following the braking/stopping section formed behind the preceding vehicle, the preceding vehicle The present invention provides a traveling body control method using electric power control for the purpose of increasing the driving safety of a following vehicle that is automatically operated according to the driving state of the vehicle.The present invention will be described in detail below with reference to the drawings.

The figure is a circuit diagram showing an embodiment of the running body control system using electric power control according to the present invention.
00 (Japanese Unexamined Patent Publication No. 53-36809).

That is, power is supplied from the constant voltage substation SS to the sectional control station SCi through the positive power line PF, and each sectional control station SCi is connected to the branch line 7.
i1. A constant voltage electric current is applied to the train line through Ai and 2.

There are two train tracks, FTi and ATi, and a dividing device, such as an air section AL, is used for each block section.
It is equipped with ita2i.

In addition, a negative current wire NT is also laid.

It is advantageous to use rigid contact wires for the electric contact lines FTi, ATi and the negative conductor NT, but of course other suitable ones may also be used.

The divisional control station SCi inserts a current relay ■1 operated by electric current between the branch line li1 and the electric train line FTi,
On the other hand, between the branch line li2 and the overhead contact line ATi, there is a switch S11 which is normally closed and opens when the current relay ■1 is activated.
Insert.

Next to the basic cattle electric circuit configured as described above, in order to form a crawling section following the braking/stopping section, the cattle electric circuit configuration of the present invention first includes an open/close switch inserted into the branch line li2 of the divisional control center SCi. A resistor r is inserted in series with the resistor S11, and a switch Si2 is connected in parallel with the resistor ri, which is normally closed and opened and closed by the voltage relay Vi.
Insert.

The voltage relay vi connects the electric line ATi and the negative electric line N
It operates when the electric voltage between T and T becomes zero.
Set to

Further, the value of the resistor r is selected so that a predetermined creeping speed can be obtained when the overhead contact line ATi is +0 through the resistor ri.

Further, the additional code i used in the above explanation is t=1.2,
3. ..., indicating overlapping and identical parts.

Next, the control operation of the present invention will be explained using a DC motor vehicle Ml 2M2 having a circuit using a DC motor as a drive source as shown in the figure.
An example of the case will be explained.

This vehicle M19M2 was previously filed by the same person←Unexamined Japanese Patent Publication No. 53
36809), it has three sets of current collectors PI j P2 j P3 that can collect current from each electric contact line FTi, ATi and negative current line NF, and the field is connected to the electric power line ETi. The electric train is connected to the electric train, and the armature M is connected to the train track A.
Receives constant voltage electric current from Ti.

Further, a switch s3 is inserted in series with the electric machine 7'm, and the switch S3 is operated by a potential relay E2 which operates by detecting the speed electromotive force e of the armature m.

This operating condition is as follows: eo=speed electromotive force at a specified speed, for example, half of the steady speed.

In addition, a resistor R is connected between the field power receiving circuit and the armature power receiving circuit.
A switch s1 is inserted through the switch 1, and a switch s2 is inserted in parallel with the switch s1 together with a resistor R2.

These switches 5l182 operate according to the electric power status between the electric power line ATi and the electric power line NT, and are operated by the military relay E1.
It will be held in

This operating condition is That is, regenerative braking occurs when the electric voltage is zero.

Of course, vehicles M12M2... are disclosed in Japanese Patent Application No. 51-83949 (Japanese Unexamined Patent Publication No. 53-11464) filed by the applicant.
It can also be applied to vehicles using the drag linear motor system proposed in 2013, as well as other circuits.

In the figure, it is assumed that there are no other vehicles in at least two blocked sections in front of vehicle M1 in its direction of travel.

Therefore, current relay ■1 is de-energized and switch S1□ is closed, and potential relay v1 is energized and switch S1□ is also closed.
The field current and armature voltage to achieve the set maximum speed are given through Tl.

In this state, looking at the block section immediately behind vehicle M1, current relay ■2 is energized by the raw current to vehicle M1 and switch S2 is open, so the overhead contact line AT2 becomes unpressurized and this The section will become a power outage section and will be closed.

When the electric train line AT2 becomes unpressurized in this way, the potential relay v3 in the section control station SC3 becomes de-energized, and the switch 832 is opened.

Of course, it is assumed that there is no vehicle between the divisional control stations 5C2 and 8C3.

When the switch S3□ is opened, power is supplied to the overhead contact line AT3 through the resistor r3, and the sectional control station 5C3-8C
Vehicle M2, which has entered between 4 and 4, is decelerated to a speed determined by resistor r3 and moves slowly.

That is, the control center 5C3 located two places behind the vehicle M1
-8C4 is a slow speed section.

Subsequently, when the vehicle M1 passes through the section control station 5c1-sc2, the switch S21 of the section control station SC2 is closed.
As a result, the potential relay V3 of the sectional control station SC3 is energized, and the shutoff switch S3□ is also restored and closed, and the sectional control station 5C3
During the period -8C4, the slow speed control is canceled and switched to the +0 state which provides the armature voltage to achieve the set maximum speed.

In FIG. 1, the potential relay V1 and the switch Si2 are explained as those which operate in the a-contact mode, but it is of course possible to operate them using other types of voltage relays.

The traveling body control system using electric power control of the present invention having the circuit configuration described above is capable of not only performing block and slowing control but also braking and stopping without providing a conventional signal system using only the electric power control circuit. By forming a slow section following the block section, it is possible to avoid sudden deceleration of the vehicle, which not only improves ride comfort but also ensures that the vehicle will stop even if the preceding vehicle suddenly stops due to the block in the section ahead of the slow section. Furthermore, the occurrence of vehicle failure due to sudden acceleration/deceleration can be reduced, and the life of the vehicle can be maintained for a long time.

Furthermore, by forming a slow-moving section, the block section can be lengthened and the vehicle can stop reliably within the block section without requiring a special brake system.

Of course, the number of block sections that are braking stop sections can be easily increased depending on the amount of transportation.

[Brief explanation of drawings]

The drawing is a circuit diagram showing an embodiment of a traveling body control system using electric power control according to the present invention. SS... Constant voltage substation, PF... Positive electric wire, FTl
. AT: Tram line, (trolley wire), NT: Negative electric wire, SCi: Control division, 110. li2...Branch line, ■,...Current relay, ■i...Potential relay, Si1, Si2...Switch % rl...
...Resistor, ail, Si2...Air section, Ml, M2...Vehicle, L...
...Field, m...Armature, El, R2...
...Potential relay, sl, s2゜s3...Switch, R1, R2...Resistance, P1jP2jP3...
...Current collector, D...Diode.

Claims (1)

[Scope of Claims] 1. Along the track, there is a positive power line to which constant voltage power is applied, and a first line which has a dividing device for each predetermined block section and is always kept in a constant voltage power state with respect to the vehicle load. The contact wire of
A second contact wire that is subject to power control by turning off, and a negative power wire consisting of a contact wire or rail are provided, and a branch line from the positive power wire is provided in each block section to the first and second contact wires. A current relay that responds to the current of the vehicle load existing in the block section is inserted into the branch line connected to the first contact wire, and the current relay is inserted into the branch line connected to the second contact wire. In the warehouse control system by power control using a power circuit consisting of a normally closed switch inserted when the switch is opened by the operation of the In series with the switch, a voltage drop resistor that provides a voltage corresponding to an appropriate slow running speed can be inserted by another switch, and each one of the second contact wires is inserted in series with the switch.
A traveling body control method using electric power control, characterized in that the speed of the traveling body in each block section is controlled by opening and closing the separate switch according to the detection result of the pressurized state of the preceding block section.