JPS6050620B2 - Vehicle vibration predictive control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a vehicle vibration control device, and more particularly to a vehicle vibration predictive control device for improving riding comfort.

In a vehicle, vibrations of the vehicle generated from the front wheels are detected, and after a time based on the delay time determined by T = 1/V based on the distance 1 between the front wheels and the rear wheels and the traveling speed V, the vibrations are detected on the front wheels. It is known to perform predictive control by outputting a detected vibration signal to an actuator between the rear wheels and the vehicle body.

In the case of railway vehicles, the distance between the front and rear is long and the running speed varies widely, so more accurate control is required.

An object of the present invention is to provide a predictive control device that further improves riding comfort.

The present invention detects vibrations on the front bogie side of a vehicle, and performs predictive control of the fluid operating mechanism between the rear bogie and the vehicle body, as well as feedback control of the fluid operating mechanism between the front bogie and the vehicle body. Furthermore, vibrations on the rear truck side 9 are detected and the fluid operating mechanism on the rear truck side is feedback-controlled.

An embodiment of the present invention will be described below with reference to FIGS. 1 and 2.

In Fig. 1, the vehicle body 9 includes a rear bogie 5 and a front bogie 5.
a through vehicle body support springs 4 and 4a, respectively.

Each of the vehicle body support springs 4 and 4a is provided with a cylinder 8 which is a fluid operating mechanism. 2 is a speed detector that detects the running speed of the vehicle; 1 is a front truck 5a provided on the front truck 5a;
This is a vibration acceleration detector.

Reference numeral 1a denotes a vibration acceleration detector for the rear truck 5 provided on the rear truck 5.

In FIG. 2, 43 is a microcomputer;
The vehicle speed is determined based on the speed signal from the speed detector 2, and clock pulses at intervals inversely proportional to the vehicle speed are output to the delay element 44.

The delay element 44 is a known element, and after inputting the clock pulse and the acceleration signal of the vibration acceleration detector 1 and counting a predetermined number of clock pulses, the delay element 44 transfers the acceleration signal input before the predetermined number to the compensation element. 45. Controlling the cylinder of the rear truck 5 based on the signal from the front vibration acceleration detector 1 after a delay time of τ=1/■ determined by the distance 1 between the front truck 5a and the rear truck 5 and the running speed ■. is necessary. For this reason, the design is such that counting a predetermined number of advance clock pulses results in the delay time τ. Therefore, since the predetermined number is constant, the pulse interval of the clock pulses outputted from the microcomputer 43 is inversely proportional to the running speed and is divided by the predetermined number. The control signal after the delay time τ is sent to the compensation circuit 4.
5, and the system is compensated by the amplifier 46 and the servo valve 47.
given to ring 8.

Since the servo valve 47, the cylinder 8, and the vehicle body control system have time constants, it is necessary to compensate for these time constants, ie, operation delays, and output them to the amplifier 46.

The compensation circuit 45 is used for this purpose. ”,
As in the past, it is composed of an integrating circuit and a phase lead circuit, and compensates for the frequency characteristics of the control system. 45a is a feedback compensation circuit for feedback controlling the vibration of the rear truck 5, and outputs an output to the amplifier 46.

Cylinder 8 is operated by a combination of predictive control and feedback control. In order to perform feedback control of the cylinder 8a of the front bogie based on the signal from the front vibration acceleration detector 1, it is equipped with a feedback compensation circuit, an amplifier, and a servo valve like the rear side, but these are not shown in the figure. Not yet. 50 is the excitation force applied to the truck.

According to this configuration, the microcomputer 3 calculates the travel distance and the distance between the front and rear bogies, appropriately determines the delay time of the front bogie and the rear bogie according to the speed change, and further calculates the delay time of the control equipment. Since the vibrations are separated and compensated, it is possible to control the vibrations at the rear of the vehicle body to be significantly reduced.

In addition, since front and rear feedback control is performed, feedback compensation is added to enable more stable control, making it possible to configure an excellent predictive control system for vehicle vibration regardless of changes in driving speed, and improving ride quality. can be further improved. In particular, since this feedback control uses a part of the control device for predictive control, the configuration can be simplified. In the embodiment shown in FIG. 3, the functions of the delay element 44 and the compensating element 45 are performed by a microcomputer 43a.

In this case, the microcomputer 43a operates as the functions of the microcomputer 43 and the delay element 44 as follows. That is, as can be understood from the above embodiment, the microcomputer 43a inputs the speed signal of the speed detector 2 at predetermined intervals to determine the delay time τ, and uses this delay time (time inversely proportional to the speed) as a reference. The signal from the vibration acceleration detector 1 is detected and stored at the specified time interval.
The signal is then output to the amplifier 46 after the delay time τ. In the above embodiment, an amplifier 6, a servo valve 7, and a cylinder 8 are used as the control device, but a solenoid valve may be used instead of the servo valve 7, and an air spring may be used instead of the cylinder 8. Further, the working fluid may be air or oil. Furthermore, the cylinder 8 may be one that controls the internal pressure of an air spring that supports the vehicle body 9. As described above, according to the present invention, the rear bogie is predictively controlled, and a part of this predictive control system is used to feedback control the front and rear bogies, so ride comfort can be significantly improved with an inexpensive configuration. This is something that can happen.

[Brief explanation of the drawing]

FIG. 1 is a side view of a vehicle equipped with a predictive control device for vehicle vibration according to the present invention, FIG. 2 is a circuit diagram showing an embodiment of the predictive control device for vehicle vibration according to the present invention, and FIG. 3 is a side view of a vehicle equipped with a predictive control device for vehicle vibration according to the present invention. FIG. 2 is a circuit diagram of main parts of the embodiment. Lla... Vibration acceleration detector, 2...
Traveling speed detector, 4, 4a...Vehicle body support spring, 5,
5a...Dolly, 8,8a...Cylinder, 9.
...Vehicle body, 43, 43a...Computer, 44...Delay element, 45,45a...
...Compensation circuit, 46...Amplifier, 47...
... Servo valve, 9 ... Vehicle body, 50 ... Excitation force.

Claims (1)

[Claims] 1. A first vibration detector that detects vibrations of a bogie in front of the vehicle, a traveling speed detector that detects the speed of the vehicle, and a second fluid operating mechanism disposed between the rear bogie and the vehicle body; Determine the delay time from the front truck to the rear truck based on the distance from the front truck to the rear truck and the speed of the vehicle, and after the time based on the delay time, detect the detection signal of the first vibration detector. a preview control circuit that controls the second fluid operating mechanism based on the detection signal of the first vibration detector; a first feedback control circuit that controls the fluid actuation mechanism of the vehicle, a second vibration detector that detects vibrations of the rear truck, and an output side of the predictive control circuit based on the detection signal of the second vibration detector A vehicle vibration predictive control device comprising a second feedback control circuit that outputs an output.