KR101155038B1 - A controll system of the tilting train and method for controlling using the same - Google Patents

Abstract

A track information acquisition unit for acquiring information of a track on which the train operates, a traveling speed detection unit for detecting a traveling speed of the train, a tilting device for tilting a train when the train runs a curved track, and a track information acquisition unit A tilting angle calculator for calculating a tilting angle of the train based on the curvature information of the track and the speed of the train detected by the speed detecting unit, a tilting device checking unit for periodically testing and checking the state of the tilting device; Disclosed is a tilting train control system and a tilting train control method, comprising a control unit for selectively controlling an operation of the tilting device according to a result of the check by the tilting device checking unit.

Description

Tilting train control system and control method {A CONTROLL SYSTEM OF THE TILTING TRAIN AND METHOD FOR CONTROLLING USING THE SAME}

The present invention relates to a tilting train control system for controlling the driving of the tilting train to be stable.

In general, the train has been greatly improved the technology for improving the performance of the car body to achieve a high speed, but the performance of the car body is limited by the environment of the track, the vehicle interval. Today, a variety of devices and methods are being developed to control the operation in order to increase the speed and safety at the same time on a limited track.

For example, Automatic Train Control (ATC) is a device that automatically controls the movement of trains and automatically executes train safety and train operation commands. Automatic Train Protection (ATP), Train Auto It is equipped with sub-systems such as automatic train protection (ATO) and automatic train stop (ATS).

These subsystems compare the actual speed with the limited maximum speed so as not to exceed the maximum allowable speed given to the train, limiting the speed of the train, or maintaining sufficient separation distance between the preceding train and the following train in order to avoid a train crash on the same track. The speed is limited by the function.

On the other hand, the ground signal to be displayed to the engineer can be largely divided into a color signal signal, a parallel signal signal, a slow signal signal, a temporary signal signal and the like according to the method to display.

In order to make the best use of the track, the color signal signal is divided into the signals to express the speed of the train. The three signals of stop, caution, and progress, stop, boundary, caution, deceleration, There are five manifestations of progress. By using such a signal, a control signal according to the presence or absence of another train in a predetermined section or the distance to the preceding train is manifested.

The speed of the train is controlled by the signal transmitted from the ground apparatus to the onboard apparatus depending on the presence of other trains or the distance from the preceding train in the set track.

In the case of manual control of the engineer, because the signal displayed differs according to the distance from the preceding train, the factor according to the topographical characteristics of the section was not considered, so it was not possible to increase the speed by simply looking at the signal.

For example, in a signaling system of five manifestations, there is a case where the speed should be reduced according to the terrain even in a section in which a progress signal is manifested.

In particular, the trend of higher speed is increasing the risk of derailment due to inertia in the curve section.

In recent years, the development and application of so-called tilting trains that can operate even in a curved section without reducing the speed of the train have been actively conducted. Such a tilting train can be operated normally while preventing derailment of the train without appropriately adjusting its tilting angle according to the curve of the track, that is, curvature.

However, in the case of the tilting train as described above, the tilting device is operated to adjust the tilting angle of the train for each curved section, and the tilting device must be normally operated to maintain an appropriate tilting angle according to curvature and driving speed in the curved section. However, when the tilting device does not operate normally, there is a problem that an accident such as a derailment occurs. Therefore, it is necessary to check whether the tilting device for adjusting the tilting angle of the tilting train is normally operated and to control the operation of the tilting train accordingly.

The present invention has been made in view of the above, and an object of the present invention is to provide an improved tilting train control system capable of controlling the tilting train to be operated safely by checking the state of the tilting device.

Tilting train control system of the present invention for achieving the above object, the track information acquisition unit for obtaining information of the track on which the train operates; A traveling speed detector for detecting a traveling speed of the train; A tilting device for tilting the train when the train runs on a curved track; A tilting angle calculator for calculating a tilting angle of the train based on curvature information of the track obtained by the track information obtaining unit and a traveling speed of the train detected by the traveling speed detecting unit; A tilting device checker for periodically testing and checking a state of the tilting device; And a control unit for selectively controlling the operation of the tilting device according to the result of the check by the tilting device checking unit.

The track information acquisition unit may include a ground information generator positioned around the track and providing track information of a corresponding position; It is preferable that the train is installed on the train, the train antenna for receiving the track information provided from the ground information generator when driving the track.

The tilting device may include: a plurality of left and right airbags movably supporting the train main body with respect to the driving unit of the train, and expanding and contracting according to the supplied air pressure to tilt the train main body; And an air supply unit supplying air pressure independently to each of the plurality of left and right airbags.

The tilting device inspecting unit may further include: a supply pressure calculating unit calculating a theoretical value of the supply pressure supplied from the air supply unit to the airbag by a control signal of the control unit; A pressure measuring unit measuring an actual pressure acting on the air bag; It is preferable that the airbag status reading unit for comparing the theoretical value calculated by the supply pressure calculation unit and the measured value measured by the pressure measuring unit to read the state of the airbag.

The control unit may control the air supply unit to supply air at a pressure of 60 to 80% of the maximum allowable pressure of the airbag when the air supply unit is operated to check the tilting device.

In addition, the control unit, when it is determined that the measurement pressure of the airbag is abnormal as a result of reading the airbag status reading unit, to block the operation of the tilting device in the curve section of the track, to reduce the running speed of the train It is good to control the braking system.

In addition, when the result of the tilting device check in the tilting device check unit, it is confirmed that the abnormality of the tilting device, it is preferable to further include a wireless communication unit for transmitting the check result to the remote train control center.

In addition, the tilting train control method of the present invention for achieving the above object, the tilting device inspection step of testing by checking the state of the tilting device for tilting the train during operation of the train; Obtaining track information when the train operates; Detecting a traveling speed when the train is running; And in the tilting device checking step, when the state of the tilting device is normal, controlling the tilting of the train by driving the tilting device normally when entering the curve section of the train.

Here, when it is confirmed in the tilting device check step that the state of the tilting device is abnormal, the step of limiting the operation of the tilting device when entering the curved section of the train, and further comprising the step of reducing the running speed of the train to run It is preferable.

In addition, the tilting device check step, the step of supplying the test air pressure to the air bag inflated by the air pressure is installed and supplied to the train; Calculating a theoretical value of the air pressure supplied to the air bag; Measuring the actual pressure of the airbag; And comparing the theoretical value and the measured pressure value to determine whether the airbag is abnormal.

In addition, in the step of supplying the air pressure, it is preferable to supply 60 to 80% of the pressure as the test pressure relative to the maximum allowable pressure of the airbag.

According to the tilting train control system of the present invention, it is possible to check whether the tilting drive can be normally performed in the actual corner section by checking the state of the airbag of the tilting device periodically or frequently during the operation of the train.

Therefore, when the operating state of the airbag of the tilting device is normal, it is possible to control the vehicle to be operated by tilting control by operating the tilting device in the corner section normally, and when an abnormality occurs in the operating state of the airbag of the tilting device, By decelerating the traveling speed of the train without using a tilting device in the corner section, it is possible to prevent accidents such as derailment and overturning of the train.

In addition, when an abnormality of the tilting device is found, it is notified to a remote train operation control center so that follow-up actions can be taken to check and repair the tilting device of the corresponding train. By informing the information of the change in the operating time of the train to the engineer or station situation room of the other train, there is an advantage that can be managed so that there is no inconvenience in the operation and use of the train.

1 is a schematic configuration diagram showing a tilting train control system according to an embodiment of the present invention.
2 is a block diagram illustrating a tilting device check unit.
3 is a flowchart illustrating a tilting train control method according to an exemplary embodiment of the present invention.
4 is a flowchart for explaining a method of inspecting a tilting device.

Hereinafter, a tilting train control system according to an exemplary embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1, 2 and 3, the tilting train control system according to an exemplary embodiment of the present invention includes a track information acquisition unit 110 for acquiring track information and a train speed of the train 20. The speed detector 120, the tilt angle calculator 130 for calculating the tilt angle of the train according to the curvature of the track and the speed of the train, the tilting device 200 for adjusting the tilt angle of the train, and the tilting device. And a tilting device checking unit 140 for testing the state of the 200 and a controller 150 for controlling the operation of the tilting device 200 according to the result checked by the tilting device checking unit 140. . The track information acquisition unit 110 is installed on the periphery of the track 10, that is, on the ground and is transmitted from the ground information generator 111 and the ground information generator 111 to provide information such as the track 10. The on-vehicle antenna 113 is installed in the train 20 to receive the ground information.

The ground information generating device 111 may be installed at regular intervals along the track 10 or may be installed at curved sections, and a plurality of ground information generating devices 111 may be installed depending on the length of the curved sections. The ground information generator 111 may include an RFID transmitter, and transmits ground information including previously stored line information.

The on-vehicle antenna 113 is a track from the ground information generator 111 through communication with the ground information generator 111 installed on the ground when the train 20 passes through the section in which the ground information generator 111 is installed. Receives the information and delivers it to the controller 150. The onboard antenna 113 may include an RFID receiver.

The speed detector 120 is for detecting the traveling speed when the train 20 is running. The speed detecting unit 120 may detect the driving speed of the train by detecting the rotational speed of the wheel of the train. In addition, the Doppler or GPS function may be used. The speed of the train can also be detected. In this way, the train traveling speed information detected by the speed detector 120 is transmitted to the controller 150.

The tilting angle calculation unit 130 corresponds to the curvature curve and the traveling speed in the future based on the curvature information of the track obtained through the track information acquisition unit 110 and the driving speed information of the train detected by the speed detector 120. Calculate the tilting angle of the train. Such a tilting angle may be calculated according to a curvature condition of a track, a traveling speed of a train, and the like, and may be stored and provided in the form of a lookup table through experimental values in advance.

The controller 150 may control the tilting device 200 based on the tilting angle calculated by the tilting angle calculator 140.

The tilting device 200 is for tilting the train main body 23 to the left and right so that the train 20 may run without reducing the speed when the train 20 runs in a curved section, and the left side and the support main body 23 are supported. Each of the right airbags 210 and 220 and the left and right airbags 210 and 220 is provided with an air supply unit 230 for reducing pressure by applying pressure or exhausting air by forcibly injecting air independently. According to this configuration, the pressure of the plurality of airbags 210 and 220 can be selectively controlled by the driving of the air supply unit 230, thereby allowing the train main body 23 to be tilted left and right.

The tilting device check unit 140 is for checking whether the tilting device 200 can be normally operated. The tilting device checker 140 includes a supply pressure calculating unit 141 for calculating a theoretical value of the supply pressure supplied from the air supply unit 230 to the airbags 210 and 220, and an actual pressure acting on the airbags 210 and 220. Airbag status reading unit for reading the state of the airbag (210, 220) by comparing the detected pressure information in each of the pressure measuring unit 143 and the pressure measuring unit 143 and the supply pressure calculation unit 141 to measure the ( 145).

The supply pressure calculating unit 141 detects a pressure value that can be applied by driving the air supply unit 230, that is, a theoretical value, and supplies a control signal transmitted from the control unit 150 to the air supply unit 230. On the basis of this, the theoretical value can be obtained.

Here, when the control unit 150 controls the driving of the air supply unit 230 for the purpose of checking the state of the airbags 210 and 220, the airbags 210 and 220 may be approximated based on the maximum pressure value that the airbags 210 and 220 may allow. The air supply unit 230 is controlled such that a pressure of 60 to 80% is applied.

As described above, when the control unit 150 controls the air supply unit 230 to supply air to the airbags 210 and 220 at a predetermined pressure for test purposes, the pressure acts on the airbags 210 and 220.

The pressure measuring unit 143 measures the pressure acting on the airbags 210 and 220 when the air pressure is supplied as the test purpose. To this end, the pressure measuring unit 143 is installed inside or outside the airbags 210 and 220 to measure the pressure acting on the airbags 210 and 220.

The measured value measured by the pressure measuring unit 143 is transmitted to the airbag status reading unit 145. The airbag status reading unit 145 compares the measured value delivered with the theoretical value calculated by the supply pressure calculating unit 141 to determine whether the airbag maintains the proper pressure or the proper pressure compared to the supply pressure. Determine if you are not. For example, when the maximum allowable pressure is 10 (absolute value), it is confirmed that the theoretical pressure value supplied for the test is 7 (absolute value), and the measured value measured by the actual airbags 210 and 220 is 5 (absolute value). Absolute value), the airbags 210 and 220 do not operate normally in the airbag status reading unit 145, and leaks of pressure are generated or the airbags 210 and 220 are inflated too much. When 210, 220 is actually supplied with air pressure for tilting the train at the corner of the track, it can be determined that it is difficult to operate normally.

On the contrary, if the theoretical pressure value is 7 (absolute value) and the pressure acting on the airbags 210 and 220 is actually 9, it can be confirmed that the airbags 210 and 220 are not normally inflated. As such, if the airbags 210 and 220 are larger than the theoretical pressure values actually provided, the airbags 210 and 220 may not inflate by the required amount even if the pressure is provided for tilting at the corners of the actual track, and thus the normal tilting may not be achieved. Will be.

The controller 150 controls the overall devices for the operation of the train 20, and in particular, in the embodiment of the present invention, tilting based on the track information obtained from the track information acquisition unit 110 and the traveling speed information of the train. Driving control of the device 200 to control the train running to run at a certain speed even in the curved section of the track.

In addition, the controller 150 controls the tilting device checker 140 to check the state of the tilting device 200, that is, the airbags 210 and 220 at any time during the operation of the train, and checks whether or not it can operate normally. When it is confirmed in the normal state, the tilt control device 210 and 220 are driven to operate in the corner section of the track so that it can be safely operated in the corner portion without reducing the traveling speed of the train 20.

On the other hand, when checked by the tilting device check unit 140, when it is determined that the tilting device 200 is not in a normal state, the controller 150 does not allow the tilting device 200 to operate in the corner section, By controlling the braking device 170 of the train to reduce the running speed of the train, the speed of the train is reduced in the corner section so that even if the running time is delayed, it is possible to operate safely by preventing accidents such as derailment.

In addition, the control unit 150 checks the state of the tilting device 200 while the train is running, and if it is determined that the abnormal state is to take a follow-up action according to it, for example as a speaker and display to the engineer of the train engine room By outputting through the unit, it is possible to inform the engineer as a video signal and an audio signal.

In addition, the controller 150 transmits the abnormal occurrence information of the tilting device 200 of the corresponding train to the train operation control center 300 through the wireless communication unit 160 provided in the train, the tilting device 200 that later occurred abnormally ) Can be checked and repaired.

In addition, when the tilting device 200 of the train fails to operate normally, the train operation control center 300 confirms that a disruption occurs in the operating time to the destination, and the information about this to another train or station situation room, etc. By transmitting it, it becomes possible to control the operation of the train smoothly.

A tilting train control method using a tilting train control system according to an exemplary embodiment of the present invention having the above configuration will be described in detail.

1 to 4, when the train 20 starts to operate (S10), the tilting device 200 through the tilting device check unit 140 periodically or as necessary during the operation of the train 20. It is to check the state of (S11).

In addition, while the train 20 is running, the track information acquisition unit 110 acquires information on the track 10, and specifically, information on a curved track (S12).

When it is confirmed in step S12 that the train 20 is to enter the curved section, the controller 150 checks whether the result of checking the tilting device 200 in step S11 is normal. (S13).

When the tilting device 200 is normal in the step S13, the controller 150 may be driven by tilting the train 20 without reducing the traveling speed of the train in the curved section by controlling the tilting device 200 to drive. (S14). That is, the tilting angle calculation unit based on the curve information (curvature, curve length, etc.) of the track obtained by the track information acquisition unit 110 and the traveling speed of the train 20 detected by the speed detection unit 120 ( The tilting angle of the train is calculated at 130 and the tilting of the train 20 is controlled by controlling the tilting device 200 so as to correspond to the calculated tilting angle so that the train 20 can be controlled to operate the curved section.

The controller 150 checks whether the corner section of the track passes through the information acquired through the track information acquisition unit 110 (S16), and terminates the driving of the tilting device 200.

On the other hand, if it is confirmed in the step S13 that the tilting device 200 is not in a normal state, the controller 150 controls the braking device 170 of the train before the train 20 enters the corner section. By controlling to decelerate the operating speed of the train (S15). Further, by not driving the tilting device 200, it is possible to safely drive while preventing the occurrence of a safety accident due to abnormal tilting operation.

Meanwhile, a method of checking the tilting device 200 in step S11 will be described in detail with reference to FIG. 4.

That is, when the train is running, the controller 150 periodically or occasionally drives the air supply unit 230 to supply air pressure for testing to the airbags 210 and 220 (S20).

Here, in the case of supplying pressure air to the airbags 210 and 220 for the purpose of testing, it is preferable to supply a pressure of 60 to 80% relative to the maximum allowable pressure of the airbags 210 and 220. Therefore, it is possible to accurately check the state of the airbags 210 and 220 with respect to the pressure supplied for the tilting during the actual corner section driving without being overwhelmed by the airbags 210 and 220.

The supply pressure calculating unit 141 obtains a theoretical value of the supply pressure based on a control signal for driving control of the air supply unit 230 by the controller 150 (S21).

The pressure measuring unit 143 measures an actual pressure value acting on the airbags 210 and 220 (S22).

As described above, the theoretical value and the measured value measured by each of the supply pressure calculating unit 141 and the pressure measuring unit 143 are transmitted to the airbag state reading unit 145, and the airbag state reading unit 145 receives the theoretical value received. And the measured value (pressure value) are compared (S23).

If it is determined in the step S23 that the tilting device is normal (S24), the inspection of the tilting device 2000 is ended, and if the tilting device 200 is determined to be non-normal, the control unit 150 may follow this. Control to take action (S25).

Subsequent actions taken in the step (S25), it can be controlled to inform the engineer of the abnormal state of the tilting device 200 through the speaker or display unit of the engine room, and also remote train operation control through the wireless communication unit 160 The center 300 may be informed about the abnormal state of the tilting device 200 of the corresponding train 20, so that repair and inspection of the train may be performed later.

As described above, according to the tilting train control system and the control method according to an embodiment of the present invention, the airbags 210 and 220 by checking the state of the airbags 210 and 220 of the tilting device 200 at any time or periodically during the operation of the train. ) Is checked to see if it can operate normally. As such, the airbags 210 and 220 are frequently checked to check whether they are normally operated. When the train 20 actually passes through the corner section, the airbags 210 and 220 are based on the result of checking the air bags 210 and 220 in advance. It is possible to control the train operation by determining whether to use the tilting operation or to decelerate without using the airbag (210,220) without the tilting operation.

Therefore, when the airbags 210 and 220 are difficult to operate normally, the train 20 can be controlled to perform deceleration without tilting, thereby derailing or overturning a train due to abnormal operation of the tilting device 200. The safety accident can be prevented in advance, and there is an advantage that the safe operation of the train can be made.

While the invention has been shown and described in connection with preferred embodiments for illustrating the principles of the invention, the invention is not limited to the construction and operation as shown and described. Those skilled in the art will readily appreciate that many modifications and variations of the present invention are possible without departing from the spirit and scope of the appended claims.

10 .. 20 .. Train
21. Driving part 23. Train body
100 .. track information acquisition unit 111. ground information generator
113. Car antenna 120. Speed detector
130. Tilting angle calculator 140. Tilting device check
150. Control unit 160. Wireless communication unit
170. Braking 200. Tilting
210,220..airbag 230..air supply
300. Train operation control center 400. Communication network

Claims (11)

A track information acquisition unit for obtaining information of a track on which the train operates;
A traveling speed detector for detecting a traveling speed of the train;
A tilting device for tilting the train when the train runs on a curved track;
A tilting angle calculator for calculating a tilting angle of the train based on curvature information of the track obtained by the track information obtaining unit and a traveling speed of the train detected by the traveling speed detecting unit;
A tilting device checker for periodically testing and checking a state of the tilting device; And
And a controller configured to selectively control an operation of the tilting device according to the result of the check by the tilting device checking unit.
The tilting device,
A plurality of left and right airbags movably supporting the train main body with respect to the driving unit of the train, and expanding and contracting according to the supplied air pressure to tilt the train main body; And
Tilting train control system comprising a; air supply unit for independently supplying air pressure to each of the plurality of left and right airbags. According to claim 1, wherein the track information acquisition unit,
A ground information generator positioned around the track and providing track information of a corresponding position;
Tilting train control system that is installed in the train, the train receiving the track information provided from the ground information generator when the train is running on the track. delete According to claim 1, The tilting device inspection unit,
A supply pressure calculating unit calculating a theoretical value of the supply pressure supplied from the air supply unit to the airbag by a control signal of the control unit;
A pressure measuring unit measuring an actual pressure acting on the air bag;
And an airbag state reading unit which compares the theoretical value calculated by the supply pressure calculating unit with the measured value measured by the pressure measuring unit and reads the state of the airbag. The method of claim 4, wherein
And the control unit controls the air supply unit to supply air at a pressure of 60 to 80% of the maximum allowable pressure of the airbag when the air supply unit is operated to check the tilting device. 5. The apparatus of claim 4,
If it is determined that the measured pressure of the airbag is abnormal as a result of reading of the airbag status reading unit, the braking device is controlled to cut off the operation of the tilting device in the curved section of the track and to decelerate the running speed of the train. Tilting train control system characterized by. The method of claim 4, further comprising a wireless communication unit for transmitting a check result to a remote train operation control center when it is determined that the tilting device check result in the tilting device check unit is abnormal. Tilting train control system. A tilting device checking step of testing and checking a state of the tilting device for tilting and driving the train when the train is running;
Obtaining track information when the train operates;
Detecting a traveling speed when the train is running;
And tilting control of the train by driving the tilting device when the curve section of the train enters the normal state when the tilting device is checked in the tilting device checking step.
The tilting device check step,
Supplying test air pressure to an air bag inflated by the air pressure installed in the train;
Calculating a theoretical value of the air pressure supplied to the air bag;
Measuring the actual pressure of the airbag;
And comparing the theoretical value and the measured pressure value to determine whether there is an abnormality of the airbag. The method of claim 8, wherein when the tilting device is checked in the tilting device checking step, the tilting device is restricted when the curved section of the train enters, and the driving speed of the train is reduced. Tilting train control method further comprising a. delete The method of claim 8, wherein in the step of supplying air pressure,
Tilting train control method characterized in that for supplying a test pressure of 60 to 80% of the maximum allowable pressure of the air bag.

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