JPS5935506A - Regular point stop control system - Google Patents

Abstract

PURPOSE:To accurately stop a vehicle at a regular position with good riding feeling by varying the deceleration of the vehicle from a point isolated at the prescribed distance from the regular point along a secondary curve. CONSTITUTION:Information that a vehicle arrives at a deceleration control starting ground point is fed through a zone transmission line and an energization controller to a central control unit at the moment that a vehicle arrives at a deceleration control starting ground point. The central control unit immediately calculates the speed V0 of the vehicle, and reads out the time t0 by the speed. Then, the central control unit calculates the maximum deceleration betamax and a brake force F1, where W is the weight of the vehicle, by formulae ( I ), (II), and flows a current corresponding to the brake force to a trolley wire. The brake force F2 after the t0 seconds is elapsed upon transferring to the deceleration control is calculated by a formula (III), and the current of the trolley wire is controlled until the vehicle stops. In this manner, the vehicle is accurately stopped to the regular point with good riding feeling.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a fixed point stop control method for stopping a vehicle at a fixed point.

In conventional general vehicles, running control is performed by an on-board control device, and the fixed-point stopping control system controls the vehicle by receiving signals sent from a group of ground switches installed near the stopping point. Set the speed to a deceleration pattern and stop at a fixed position.

If this method is applied to a railway that runs under ground control, in addition to detecting the position of the vehicle in the normal running section, position detection using separately installed ground elements near the stopping point will be added, and the vehicle control system will This has the disadvantage that the configuration becomes complicated. In addition, if position detection using a beacon is omitted and position detection is integrated, it becomes necessary to generate detailed travel patterns over the entire travel section in order to ensure stopping accuracy, and Most of the patterns between stations are wasted, and the efficiency of the pattern generation area is reduced.
The disadvantage is that it gets much worse.

An object of the present invention is to use a vehicle control system that includes power supply equipment and control equipment installed on the ground, without using a control system mounted on a running vehicle, to stop a vehicle at a fixed point while providing a comfortable ride and with high precision. The name lies in the fact that it provides a stop control method.

FIG. 1 shows the relationship between deceleration β and time t. In the figure, if the time from when the vehicle starts deceleration control to when it stops is 210, and the maximum value of deceleration is β□8, the deceleration pattern is as follows.

When 0≦t≦1o, β1=(β-x/lδ)・β2...
...(1) Also, when to≦t≦2t0, β2=(βm□/1g>・(β2 tO)”・
...(2) Now, if the speed at the moment of transition to deceleration control is vo, the travel distance until stopping at a fixed point is 81, and the speed at the time of transition to pattern 2 of deceleration control is v2, (
1) When 0≦t≦to (ii) When to≦t≦2to When t=2to, the speed becomes zero, so from (3-2), S becomes as follows.

-4 words♂ t))dt
... (3-4) Formula (3-3), (
From 3-4), if the speed v is constant, the travel distance S until stopping is t. The value of tO can be calculated from equation (3-4) by setting the value of S, that is, the point from which the fixed point is more likely than not to shift to deceleration control.

By determining the value of to, equations (1) and (2)
), the pattern of deceleration will be determined.

Next, if the weight of the vehicle is W and the braking force is F, then 0≦t≦1
When 0, .

In addition, when to≦t≦2to, the following is true, and when time t is Q-1o, formula (4) is used, to~2t
.

During this period, the vehicle is stopped at a fixed position by calculating and controlling the braking force according to equation (5).

When the above processing is performed by a control computer installed on the ground, t in equation (3-4). The time required to calculate is calculated using the formula (
4) Certain b is quite long compared to the time to calculate F in (5), and there is a possibility that the actual braking force is calculated much later than when deceleration control is started. Yes, calculating 10 while driving is not good for control purposes.

Therefore, in advance, if S is constant, vo is changed to, for example, Q, lkm/h unit and 1° is calculated, and vo
By storing the -to pattern in the control computer, responsiveness can be improved by performing processing such as reading out a value of 10 from the speed v0 at the moment of transition to deceleration control.

The above processing was a method that only required switching of deceleration patterns once, but as shown in Figure 2, deceleration and
If the four turns are divided into three types and the pattern is changed twice, the riding comfort will be further improved.

Next, an example will be shown. FIG. 3 shows the configuration of a vehicle control device using ground control. A feeder line 2 and a section transmission line 3 are installed parallel to the track on which the vehicle 1 runs. The central control device 7 is connected to a plurality of power supply control devices 5 via a transmission path 6, and each of the power supply control devices 5 is connected to a power supply facility.

The feeder line 2 is divided into multiple sections with respect to the power supply equipment 4,
Further, a section transmission line 3 is provided for each section, and each power supply control device 5 can perform data transmission with the vehicle 1 via the section transmission line 3 to which it is connected.

In the figure, the moment the vehicle reaches the deceleration control starting point A, the information is sent to the central control device 7 via the section transmission line 3 and the power supply control device. The central control device 7 immediately calculates the speed of the vehicle and calculates t according to the speed. ′! After reading f-, the maximum deceleration β□8 is determined by formula (3-3), the braking force is determined by formula (4), and the braking force is determined through the transmission line 6, the power supply control device 5, and the power supply equipment. Current is passed through the electric wire 2. After this, the central control device calculates and outputs the braking force according to equation (4) at certain regular intervals. Furthermore, the deceleration control is started and 16
After seconds have elapsed, the braking force is calculated and output according to equation (5) until the vehicle stops.

According to the present invention, when the vehicle approaches the stopping target point by a predetermined distance, the vehicle is stopped at a fixed position with good riding comfort and accuracy by shifting to deceleration control at an arbitrary speed of the vehicle. can be done.

[Brief explanation of the drawing]

Figure 1 shows the relationship between deceleration β and time t, with two patterns.
Indicates the type of case. FIG. 2 shows a case where there are three types of patterns in relation to the deceleration β and the time t. FIG. 3 shows the basic configuration of a vehicle control device using ground control according to the present invention. 1...Vehicle, 2...Feeder line, 3...Section transmission line,
4... Power feeding equipment, 5... Power feeding control device, 6... Transmission path, 7... Central control device. Figure 7 Oto 2-to CEq&
'f) Bamboo 2 diagram λ -Cθ 2λ7θ
Go ηCo (If 昂7) Hajime 3 figure

Claims (1)

[Claims] 1. A feeder line that supplies power to the route on which the vehicle travels, a feeder that divides this feeder line into sections of a certain distance, a power supply equipment that sends current to the feeder line for each section, and a current that should be passed to this power feeder equipment. A power supply control device that commands a value and has an interval transmission line corresponding to a distance section, a transmission i that connects these power supply control devices, and each of all power supply control devices connected to this transmission line,
A vehicle control device for ground control equipped with a central control device that separately gives power supply commands to the vehicle is characterized by changing the deceleration along a quadratic curve from a point a predetermined distance away from a fixed point. Fixed point stop control method.