JPS63217904A - Controlling method for vehicle - Google Patents

Abstract

PURPOSE:To improve the traveling performance of a whole vehicle composition by exchanging information, such as target control values, control results of controllers which are dispersively disposed among the controllers. CONSTITUTION:A target pattern generator 1 in a controller receives a control command from a command generator via a control command line 10, and generates a target command value 7 of its own vehicle. The value 7 is added to or subtracted from a slip and slide control value 13 from a slip and slide control unit 3 as a target value 8. Further, a deviation from a control current value 9 detected by a current sensor 18 is obtained, and applied to a phase controller 2. An information transmission terminal 12 in each controller transmits information in the own controller to other controller, and receives information of the same type from other controller. A control command is altered or corrected on the basis of the pieces of information.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method for controlling a vehicle, and particularly to a method for controlling a vehicle in which a plurality of vehicles are equipped with the same type of control device and are controlled in a distributed manner.

[Conventional technology]

2. Description of the Related Art In general, a method of controlling a vehicle through distributed control in which vehicle drive devices provided in a plurality of vehicles are controlled for each vehicle is well known. In this type of conventional technology, each control device controls the drive device of each vehicle that is controlled by the control device, and each control device transmits and receives control information etc. between the control devices. There is no known prior art related to a vehicle control method similar to the present invention in which a device controls a vehicle by referring to this information.

[Problem that the invention seeks to solve]

In the prior art vehicle control method using distributed control, in which a vehicle drive device using a VVVF inverter device or the like is arranged in a plurality of vehicles and these are controlled by individual control devices, each control device controls the control range of the control device. Optimum control was performed within the system, and no consideration was given to coordination or cooperation with other control devices of the same type that were operating at the same time. For this reason, the conventional technology, for example,
Oil when O etc. is performing constant deceleration control.

If a wheel skids due to deterioration of the tread due to adhesion of dirt or poor adhesion due to rainy weather, ATO to other vehicles is applied to compensate for the loss of torque of the vehicle with the skidded wheel. There was a problem in that the command torque from the vehicle increased, causing the wheels of other vehicles to skid all at once. That is, in the above case, the control device of the vehicle that is not skidding does not know whether the increase in the command torque from the ATo is caused by the skidding of another vehicle, and simply follows the command and increases the torque. There was no choice but to increase it.

SUMMARY OF THE INVENTION An object of the present invention is to provide a three-table vehicle controller that can solve the problems of the prior art and improve the running performance of the vehicles as a whole.

[Means for Solving the Problems] According to the present invention, the objective is to collect information such as control target values, control results, intermediate output values for obtaining control results, etc. of each distributed control device for each control. This is achieved by exchanging information between the devices so that the winter control device performs control based on this information and commands from the command generation device.

[For production]

The separate distributed control devices independently control output according to command values from the command generation device, and also control output according to the control status of other control devices based on information exchanged between the control devices. It becomes possible to change the control contents.

For example, when another vehicle skids during the above-mentioned constant deceleration, the output current of the vehicle that skids is reduced.

A sudden decrease in rotational acceleration, a decrease in target torque, etc. should be observed, and each control device should know the control status of other vehicles and take appropriate measures in advance or in parallel. This makes it possible to control the own vehicle accordingly.

In addition, normal torque control is performed by feedback control between control results and target values within each control device.
In a control device that is given similar control targets at the same time, it becomes possible to use information from other control devices as prior feedback information.

Furthermore, each control unit can collect the phase control angles of the VVVF inverter units that each control unit is controlling, thereby reciprocating the aforementioned phase control angles so as to reduce induction disturbances for the vehicle fleet as a whole. It is also possible to perform control so as not to increase the guidance disturbance caused by the coincidence of the phase control angles. When such vehicle control is performed, some torque imbalance occurs between the vehicles, but according to the configuration of the present invention, this can be done intentionally.

〔Example〕

Hereinafter, one embodiment of the vehicle control method according to the present invention will be described in detail with reference to the drawings.

FIG. 1 is a block diagram of one embodiment of a control device to which the present invention is applied, and FIG. 2 is a vehicle formation configuration diagram showing interconnection of control devices installed in each of two vehicles. Figures 1 and 2
In the figure, 1 is a target pattern generator, 2 is a phase controller, 3 is a slip-sliding control unit, 4 is a silisk controller, 5 is a motor, 6 is a rotation sensor, 7 is a command target value, 8 is a target value,
9 is a control current value, 10 is a control command line, 11 is an information transmission system, 12 is an information transmission terminal, 13 is a slip sliding control unit, 14
15 is a motor rotation value, 15 is a cyrisk phase control angle, 16 is a command generation device, 17 is a control device, and 18 is a current sensor.

Figure 2 shows a control device 1 for each of two vehicles M+ and Mt.
7 is provided, and these control devices control the drive device of each vehicle, and the vehicle Ml
, Mt is connected to the command generation device 16 by a control command line 10 in order to receive control commands from the command generation device 16 provided in the driver's cab of the vehicle M1. In order to exchange information, a target pattern generator 1 receives a control command from an information transmission system 11 and generates a command target value 7, and a phase controller 2 controls a cyrisk controller 4 that drives a motor 5. Then, information is exchanged between the slipping and sliding control unit 3 which receives the rotation value 14 of the motor 5 from the rotation sensor 6 and outputs the slipping and sliding control value 13, and other control devices, and receives and receives information from the low control device. and an information transmission terminal 12 that provides the target pattern generating section 1 with the information.

The target pattern generating section 1 in the control device 17 receives a control command from the command generating device 16 via the control command line 10, and generates a specific command target value 7 for the own vehicle.

This command target value 7 is set to a target value 8 by adding or subtracting the slipping/skiing control value 13 from the slipping/skiing control unit 3, and then the deviation from the control current value 9 detected by the current sensor 18 is taken to control the phase. given to vessel 2.

The phase controller 2 thereby controls the si-risk phase control angle 15 for the si-risk controller 4, and makes the control current value 9 of the motor 5 coincide with the target value 8 so that the above-mentioned deviation becomes zero. The slip/slide control unit 3 monitors the rotation value 14 of the motor 5 from the rotation sensor 6, detects the slip/slide state of the wheels from changes in rotational acceleration, etc., and outputs a slip/slide control value 13. This slipping/sliding control value 13 is used to correct the command target value 7 as described above.

On the other hand, the information transmission terminal 12 in each control device transmits the information in the own control device, in this example, the command target value 7. Target value 8. Control current value9. Idle skid control value 13. Motor rotation value 14. It collects information such as the cyrisk phase control angle 15, transmits this information to other control devices, and receives the same type of information from other control devices.

For example, the control device 17 of the vehicle Mt thereby obtains the same type of information in the control devices of the vehicle M+, the vehicle M (not shown), and subsequent vehicles, and based on this information,
An instruction to change or correct the control command can be given to the target pattern generation section 1, and the target pattern generation section 1 not only receives the control command from the command generation device 16, but also receives the control command from the command generation device 16.
Optimal command target values can be set according to the control status of other vehicles.

For example, motor rotation value 14. Using the wheel slipping control value 13, it is possible to detect wheel slipping when the vehicle is moving or wheel slipping when decelerating, and the control device that detects this can respond to the control command from the command generating device 16. Therefore, by reducing the torque command, it is possible to prevent the wheels of the own vehicle from spinning in advance, and by performing control to weaken the braking force, it is possible to prevent the own vehicle from skidding.

Furthermore, by monitoring the control current values 9 from all other control devices, it is possible to correct the load balance in each vehicle during normal driving.

In addition, the sirisk phase control angle 1 from all other control devices
Each control device that collects 5 can set its own military's Cyrisk phase control angle 15 to be different from the phase control angle of other vehicles, thereby preventing guidance failure. It is not necessary to always perform this control to shift the si-risk phase control angle 15, and it may be performed only when it is detrimental to guidance.

As mentioned above, the control device 17 optimally controls the own vehicle according to the information from the low control device, but the control according to the information from the low control device is simply based on the information from the low control device. Rather than using it as is, corrections such as changing the weighting of its use are performed based on the results of the control history within a certain period of time in the self-control device.

According to the embodiment described above, each control device distributed within the vehicle formation controls its own vehicle by exchanging information within the control devices with each other, so that optimal control for the vehicle formation is performed. Is possible.

〔Effect of the invention〕

As described above, according to the present invention, it is possible to improve the running performance of the vehicle as a whole of the vehicle formation.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of one embodiment of a control device to which the present invention is applied, and FIG. 2 is a vehicle formation configuration diagram showing interconnection of control devices installed in each of two vehicles. 1... Target pattern generation section, 2... Phase controller, 3
... Idle sliding control section, 4 ... Thyristor controller, 5
...Motor, 6...Rotation sensor, 7...Command target value, 8...Target value, 9...Control current value, 10...
Control command line, 11... Information transmission system, 12... Information transmission terminal, 13... Idle sliding control value, 14... Motor rotation value, 15... Thyristor phase control angle, 16...
Command generation device, 17...control device, 18...current sensor. Ryo 1 Figure 2

Claims (1)

[Claims] 1. Based on control commands given to a plurality of control devices from a command generation device in a driver's cab etc., each control device individually sets a control target value corresponding to the control command, In a vehicle control method for controlling a vehicle, each control device exchanges information such as a control target value of each control device, a control result, an intermediate output value for obtaining a control result, etc. between each control device, A method for controlling a vehicle, characterized in that a control amount of the own control device is set based on this information from another control device and a control command from a command generation device. 2. The control device according to claim 1, wherein each of the control devices changes the weight of use of information from other control devices depending on the result of the control history of the own control device within a certain period of time. How to control the vehicle.