JPS6042153A - Controller for vibration of pendulum streetcar - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a vibration control device for a pendulum train that improves riding comfort when passing through straight lines and curves.

[Background of the invention]

Currently, we are preventing the deterioration of riding comfort caused by centrifugal force when passing through curves,
Pendulum trains are effective and are put into practical use in order to run at high speeds. (Japanese Patent Publication No. 48-4728) As shown in Fig. 5, the structure is such that the car body 7 is tilted inward in order to cancel out the lateral acceleration due to the excess centrifugal force that could not be sufficiently removed due to the cant of the track 1. ing. This pendulum train is designed so that the center of rotation of the car body 7 is above the center of gravity so that the car body 7 automatically tilts on the rollers 4. In the figure, 2 is a truck, and 3 is a support base that rolls on rollers 4 and supports the vehicle body 7 via a spring 6. In the conventional pendulum train constructed in this way, even if it enters the relaxation section of the curve due to the influence of the friction of the rollers 4, the car body 7 does not tilt until it overcomes the friction, and once it overcomes the friction, it tilts rapidly. It was causing discomfort to passengers. In addition, due to the swinging action of the air spring 6, there is a drawback that the tilt cannot be made to a geometrically necessary position.

Furthermore, the friction of the rollers 4 has a negative effect on the vibrations in straight lines and curves, resulting in a deterioration in riding comfort due to vibrations.

Another example is a structure in which the height of left and right air springs supporting the vehicle body is changed to tilt the vehicle body. (
Special Publication No. 50-6927, Special Publication No. 50-31692
However, in the above configuration, the detection of curved roads is performed with equipment installed on the ground, which is disadvantageous in terms of cost due to the increase in equipment, and the amount of air consumed increases, requiring a large air supply. The disadvantage was that it required additional means.

[Object of the Invention] It is an object of the present invention to provide a vibration control device for a pendulum train that can significantly improve curve passing performance and ride comfort against vibration with a simple configuration.

[Summary of the invention]

The present invention provides a vibration acceleration detector for detecting lateral vibrations in a vehicle body, and a fluid operating mechanism disposed between a support stand and a bogie, and converts the output signal of the vibration acceleration detector into a low frequency component corresponding to centrifugal force ( 03 or less) and components corresponding to the oscillation, and after the respective outputs are added and fed back by a servo amplifier, the fluid operating mechanism is controlled by the output via a servo valve,
This is intended to improve the ride comfort against vibrations when passing through curves and in straight lines.In particular, the system is arranged so that the phase of low frequency components of 0°3Hz or less is delayed against centrifugal force. This is characterized in that phase advance control of frequency components of 0.8 to 2 Hz can be effected.

[Embodiments of the invention]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a vibration control device for a pendulum train according to the present invention will be described below with reference to FIGS. 1 to 4. In addition, the first
This figure and FIG. 2 are applied to a superconducting magnetic levitation vehicle. In FIG. 1, a levitation coil IA and a guide and propulsion coil IB are provided on a track l. The truck 2 is provided with a cryostat 2A containing a superconducting magnet, running wheels 2B at low speed, guide wheels 2C, and the like. Reference numeral 3 denotes a support stand that supports the vehicle body 7 via an air spring 6, as in the conventional example, and is placed on rollers 4. 5 is a hydraulic cylinder of a fluid operating mechanism connecting between the support base 3 and the trolley 2;
is a lateral acceleration detector attached to the vehicle body 7. In Fig. 2, 9 is the centrifugal force applied to the vehicle body 7 when passing through a curve, and 1
0 is a disturbance from the track that causes the vehicle body 7 to oscillate.

The circuit is a centrifugal force compensation circuit into which one of the branched outputs of the lateral acceleration detector 8 is input, and in this embodiment is formed of a low-pass filter 13, a phase lead circuit 14, and a gain adjuster 15. The other branched output of the lateral acceleration detector 8 is input to the oscillation compensation circuit P. In this embodiment, the oscillation compensation circuit P includes an integrating circuit 16, a phase lead circuit 17,
It is formed from a gain adjuster 18. 21 is a servo amplifier that adds and amplifies the outputs of the centrifugal force compensation circuit and the oscillation compensation circuit μ, which are these two compensation circuits; 21 is a servo valve that controls the hydraulic cylinder 5 by one output of the servo amplifier; and η is connected to the hydraulic cylinder 5 via the servo valve 21.
This is the hydraulic power source that operates the

FIG. 3 is a Bode diagram showing the frequency characteristics of the centrifugal force compensation circuit product, and FIG. 4 is a Bode diagram showing the frequency characteristics of the oscillation compensation circuit μ. In the centrifugal force compensation circuit M, the low-pass filter 13 normally reduces the frequency to 0.3 Hz or less.

Maximum 0.1! i'(51' is gravitational acceleration) picks up only the centrifugal acceleration when passing the curve, compensates for it in the phase advance circuit 14 by the phase delayed by the low-pass filter 13, and adjusts the gain with the oscillation compensation circuit μ in the gain adjuster 15. The output is output to the servo amplifier after matching.

On the other hand, the oscillation compensation circuit 12 focuses on the natural frequency of oscillation between 0.8 Hz and 2 Hz, so frequency components below 11 (z) are delayed by approximately 90° by the integrating circuit 16 and reduced by a gain of 20 dB/dC. However, at IHz or higher, the gain amplifier and the phase advance in the opposite direction from 0 to 30 degrees, and the gain is configured to decrease rapidly for high frequency components, thereby performing vibration control for good riding comfort against vibrations.

According to the vibration control device for a pendulum train with such a configuration,
The hydraulic cylinder 5 forcibly solves the negative effects of friction that were a problem with conventional pendulum trains.
Excluding the compensation circuit (with only one control device each, centrifugal force control when passing through curves and vibration control against oscillation can be performed,
Good riding comfort can be obtained.

In this embodiment, since the centrifugal force compensation circuit also acts slow for vibration components of 0.3 Hz or less, the vibration control ability is reduced accordingly. The vehicle body lateral acceleration of this frequency component is 0.005p or less, and if the gain adjuster 14 of the centrifugal force compensation circuit is provided with a dead band for 000/57 or less, it is easy to eliminate such adverse effects. be.

〔Effect of the invention〕

As explained above, according to the present invention, the vehicle body inclination on a curved road is controlled by a fluid operating mechanism, and the Qi
Riding comfort can be improved with a simple configuration.

[Brief explanation of the drawing]

FIG. 1 is a cross-sectional view in the width direction of a pendulum train equipped with an embodiment of the vibration control device according to the present invention, FIG. 2 is a block diagram showing the control system of the vibration control device of FIG. 1, and FIGS. The figure is a Bode diagram showing the frequency characteristics of the compensation circuit in Figure 2.
The figure is a cross-sectional view in the width direction of a car body showing the configuration of a conventional pendulum train. 5...Hydraulic cylinder, 8...Lateral acceleration detector, U...Centrifugal force@supply circuit, road...
・Sway compensation circuit, 13...Low pass filter,
14.17...:...Phase advance circuit. 15.18... Gain adjuster, 16...
Integral circuit, addition... = 305 Figure 3 Figure Figure 4 + sW

Claims (1)

[Scope of Claims] 1. A support stand that supports the car body via an elastic support device, a bogie that supports the support stand via rollers and supports the car body in a tiltable manner, and an expandable and retractable platform provided between the support stand and the bogie. a fluid operating mechanism for tilting the vehicle body; a control valve provided corresponding to the fluid operating mechanism to control expansion and contraction thereof; and a lateral acceleration detector provided on the vehicle body for detecting lateral acceleration of the vehicle body. , a vibration compensation circuit connected to the lateral acceleration detector and compensating for the vibration component of its output, and a vibration compensation circuit connected to the centrifugal compensation circuit and vibration compensation circuit to add and feed the respective outputs, and supply fluid actuation to the control valve. A vibration control device for a pendulum train consisting of a control circuit that outputs the control input of the mechanism. 2. In claim 1, the centrifugal force compensation circuit is a low-pass filter, and the phase advance circuit 1. A vibration control device u0 for a pendulum train, characterized in that it is formed by a gain adjuster, and the oscillation compensation circuit is configured by an integrating circuit, a phase lead circuit, and a gain adjuster.