JPS63259B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a fixed position stopping device for a track vehicle that automatically stops the track vehicle at a predetermined position.

When stopping a vehicle in a fixed position, it is required to stop the vehicle in a fixed position with extremely high precision, and it is also desirable that the ride comfort is not impaired during the stopping process.

In order to satisfy these conditions, for example, a group of point information generating devices for the vehicle should be installed before the stopping position, and a large number of brake stages should be provided for the vehicle, so that the brakes can be braked according to a preset speed for each point. A method of selecting is used.

However, such a method requires highly accurate brake deceleration, which complicates onboard equipment and ground equipment.

Conventionally, from this point of view, brake control has been performed by calculating the vehicle speed based on the ground signal using a ground computer system.

That is, as shown in FIGS. 1a and 1b, when the vehicle reaches the section A ₁ to _{A 2} a predetermined distance before the target stopping point B, the vehicle is coasted at a speed within a certain range, and A ₂
When passing A ₃ , the vehicle speed changes due to the time difference between the detection signals of ground elements C ₁ and C ₂ and the installation distance between the ground elements.
V _s is calculated, and after a calculated time T _x , which is calculated by subtracting the brake activation delay time T ₀ from passing the reference point A ₃ , has elapsed, an operation command for a constant brake pressure P is issued to stop the vehicle at the target stopping point B. This time T _x is T _x = S ₀ /V _s − (T ₀ + V _s /2β) where V _s : Vehicle speed S ₀ : Distance between (A ₃ ) and (B) T ₀ : Brake delay time β : Obtained from the deceleration corresponding to the brake pressure P.

However, although this method is good if the coasting speed after passing the reference point _A3 is constant, it is not necessarily constant due to the influence of the track slope, road surface condition, etc.

Furthermore, variations in computer processing time and communication transmission time with the vehicle also contribute to lowering the stopping accuracy.

The purpose of the present invention has been made in consideration of the above-mentioned points.When a vehicle traveling at a speed within a certain range reaches a reference point a predetermined distance before a target stopping point, a The control device sequentially calculates the grace period for when to issue a brake command, taking into account the vehicle speed, and when the grace period becomes less than a predetermined time, the brakes are applied at a constant pressure, achieving high accuracy at the target stopping point. To provide a fixed position stopping device for a track vehicle that can be stopped at a fixed position.

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 2a shows the relationship between the vehicle speed and the trajectory point, where B is the target stopping point, A' ₃ is a reference point at a constant distance from the target stopping point, and V ₀ is the set speed. At the reference point _A'3 , a ground element _C'2 is installed on the track, which can be detected on the vehicle when the vehicle passes by.

FIG. 3 shows a stop control device for a vehicle 1 running on a track. This stop control device includes a vehicle speed detector 2 for detecting the actual speed of the vehicle 1, a reference point
A passing detector ₃ that detects ground element C′ ₂ when passing A′ 3;
Arithmetic control that calculates the time until the brake command according to the actual vehicle speed until the target stopping point is reached by inputting the speed signal from the vehicle speed detector 2 and the interrupt signal from the passing detector 3, and outputs the brake command after a predetermined time elapses. It consists of a device 4 and a braking device 5 which applies a brake pressure P to stop the vehicle at the target stopping point B.

Next, the operation of the present invention in the above configuration will be explained.

Assume that a vehicle enters the vehicle, which has received a set speed V ₀ and whose speed is controlled so that it completes deceleration at a point before the reference point A′ ₃ . When the vehicle, which has completed its deceleration and is traveling at a speed within a certain range, reaches the beacon _C'2 , the passage detector 3 performs detection, and a detection signal is input to the arithmetic and control unit 4 in an interrupt manner.

At this time, as a first step, the arithmetic and control unit 4 calculates a brake command grace period T1 for stopping the vehicle at the target point B with the brake pressure P, taking into account the delay in brake operation based on the speed signal from the vehicle speed detector ₂ . This time T ₁ is T ₁ = S ₀ /V ₁ - (T ₀ + V ₁ /2β) where V ₁ : Vehicle speed when passing reference point A' ₃ S ₀ : Between (A' ₃ ) and (B) Distance T ₀ : Brake delay time β : Determined from deceleration corresponding to brake pressure P. Next, as a second step, a preset time ΔT is compared. If the result is ΔTT ₁ , the calculation is ended and the next process is performed. In the case of ΔT<T ₁ , the brake command grace period T _o is calculated n times (n=2, 3...) until the condition of ΔTT _o is satisfied, every time ΔT (n-1) elapses in the first step and the second step. Repeat according to the steps. this time
T _o is: T _o =S ₀ −ΣV _o-1 ΔT _(o-1) /V _o −(T ₀ +V _o /2β) (n=2, 3…) Here, V _o : Reference point (A′ ₃ ) Vehicle speed after passing ΔT _(o-1) ΔT: A certain fixed time set in the arithmetic and control device. For example, this ΔT is 50 msec to 500 msec depending on the vehicle speed _V0 .
The degrees S ₀ , T ₀ , and β are obtained using the same content as in the previous equation.

The arithmetic and control unit calculates _the brake delay time when the brake delay _time becomes _less than _or equal to _ΔT , that is, after the _time T As shown in enlarged views in FIGS. 4a and 4b, a brake command is issued to the braking device 5 to apply a brake with a brake pressure P. When this brake is applied, the vehicle is at the speed immediately after being read by the vehicle speed detector, so the vehicle decelerates a predetermined distance and stops at point B, which is the target stopping point.

Thus, according to the present invention, the speed of the approaching vehicle is controlled to decelerate within a certain range at a reference point a predetermined distance before the target stopping point, and then the grace period until the brake command is controlled according to the actual speed of the vehicle. When this grace period becomes less than a predetermined value, a command is given to apply the brake at a predetermined pressure to stop the motor, making it possible to stop at a fixed position with extremely high precision against external disturbances. It is possible to do this without compromising riding comfort.

[Brief explanation of the drawing]

Figures 1a and b are explanatory diagrams showing the stopping characteristics of the conventional fixed position stopping device using the ground computer system, and Figures 2a and b and 4 a and b show the stopping characteristics of the fixed position stopping system of the present invention. The explanatory diagram shown in FIG. 3 is a configuration diagram of a vehicle-mounted stopping device showing an embodiment of the present invention. A ₁ , A ₂ , A ₃ , A' ₃ ...Reference point, B...Target stopping point,
C ₁ , C ₂ , C' ₂ ... Ground element, P ... Brake pressure, T _x ...
Brake command grace time, T ₀ ...Brake delay time,
V ₀ ...Set speed, 1...Vehicle, 2...Vehicle speed detector, 3
...Passage detector, 4... Arithmetic control device, 5... Braking device.

Claims (1)

[Claims] 1. A vehicle is controlled to approach a reference point set a predetermined stopping distance before a target stopping point on the track at a speed within a predetermined range, and after the vehicle reaches the reference point, the brakes are applied with a constant pressure at a predetermined timing. A fixed position stopping device for a tracked vehicle configured to stop by giving a command, comprising a speed detection means provided on the vehicle to detect the speed of the vehicle, and a reference point arrival means provided in the vehicle to detect arrival at the reference point. a detecting means, and based on vehicle speed information obtained from the speed detecting means provided on the vehicle and after detecting arrival at the reference point, successively determining grace period for starting brake operation necessary for stopping at the target stopping point according to the vehicle speed. A fixed-position stopping device for a track vehicle, characterized in that it also comprises arithmetic control means for generating a brake command at the constant pressure when the brake operation start delay time becomes less than a predetermined time.