KR800001580B1 - Travelling object control system utilising power control - Google Patents

Abstract

A travelling object control not using the signal communication method and controlled with three phase A.C power has t three phase induction motor drived with the phase control Two phases among three phases of the power are controlled by each block control tower and each block has three trolleys for each phase of the power and a trolley of the neutral.

Description

Control method of traveling body by power control

1 is a circuit diagram showing a power feeding circuit and a traveling body motor circuit used in another shape of the present invention designed to perform power control of a three-phase AC supply.

2 is a traveling body in which the current oil of the neutral trolley wire is used for excitation, and the electromagnet is designed to perform magnetic braking by co-operation with a magnetic plate or an electrically conductive plate. A circuit diagram showing a motor circuit.

Fig. 3 is a diagram showing the ground equipment and the vehicle equipment for use in other shapes of the present invention designed to cause the vehicle to slow down and stop at a point designated by power control of a three-phase AC supply.

4 is a circuit diagram showing a three-phase AC power supply circuit that uses the traveling body shown in FIG. 2 for low speed and stop at a designated point.

5 is a graph showing the speed curve of a traveling body which is slow and stops in the shapes of FIGS. 2 and 3 designed for the control of stopping at a designated point.

The present invention relates to an automatic driving control method of a traveling vehicle by power control, which uses an AC power source as a power source as a control method for completing the automatic operation of the traveling vehicle only by a power supply system without using a signal communication method. .

In the present invention, a three-phase AC power source is used to install four controller wires, one of which is a neutral trolley wire and the other three trolley wires are supplied to each phase of AC power.

Each of these three AC powered trolley wires is separated and insulated into sections each of a predetermined length, one of these three trolley wires is always supplied with phase power, and the power to the other two is connected and disconnected by running the vehicle. Is switched to. Each traveling body is equipped with an induction motor with a star-connected field coil so that when the power of the two AC powered trolley wires is switched off, the unbalanced current in the field coil is neutral. Flowing through the trolley wire, this unbalanced current is used for braking purposes. Also published in the text is a method designed to achieve high accuracy with low speed and stopping of the vehicle entering the station.

The present invention relates to an improved occlusion control scheme for a vehicle using power control. More specifically, the present invention provides power to a vehicle without the control by means of communication or signal, usually or specially designed. The present invention relates to a metering occlusion control method designed to perform automatic driving of a vehicle only with power control of a feeding power supply circuit.

Until now, a practical driving method has been completed by supplying a vehicle driving signal from a driving control apparatus through a vehicle driving control signal circuit provided in addition to a power supply circuit.

Therefore, this type of vehicle driving method requires automatic operation control circuit, signal communication device operation control device, etc. in addition to vehicle power device method, and requires huge equipment cost, labor and time for excessive maintenance, and management of these devices. In the event that vehicle operation cannot be carried out due to the destruction of the vehicle or control method, it takes a long time to recover, and it is uneconomical for the economic maintenance of the complete automatic vehicle operation.

In addition, in the case of a circulation line used as an urban railway for intermediate transit vehicles, it is also difficult to combine with the automatic vehicle operation method and realize the full practical use due to the cost of the massive equipment and the excessive labor required to secure the required reliability. Is difficult.

In view of overcoming the disadvantages and the combination of automatic operation, which is a conventional technology of a traveling body using a signal communication device, a driving control device, etc., the present invention provides only the power control of a power supply circuit for supplying driving power to the traveling body. Provides a control method of the traveling body designed to complete the operation.

It is therefore an object of the present invention to provide a traveling body control method for controlling the traveling body only by power control of a three-phase AC supply.

Another object of the present invention is to provide a section controller in each closed section and not apply voltage to the trolley wire of the closed section following the section in which the traveling body exists in the traveling direction of the traveling body. It is to provide a control method for controlling the vehicle by the power control, including the power supply circuit in a non-way method.

It is still another object of the present invention to provide a trolley wire of a closed section subsequent to a section in which no voltage is applied to the trolley wire of a closed section following a section in which the traveling body exists in the travel direction of the traveling body. It is to provide a control method for controlling the traveling body by the power control, including a power supply circuit provided in each occluded section, the section controller that can control the traveling body to be supplied at a low voltage to the low speed.

Another object of the present invention is to provide a power control designed to automatically control the driving body by the power control of the three-phase AC power supply using various advantages and features of the three-phase induction motor used as the driving source of each driving body. It is to provide a control method for controlling the running of the vehicle.

A further object of the present invention is an unbalanced field current generated in a three-phase induction motor of a traveling body under the control of voltage in two trolley wires following a section in which the traveling body exists in the traveling direction of the traveling body. It is to provide a control method for controlling the vehicle by the power control to control the three-phase AC power supply to the power generation braking using a.

A further object of the present invention is the electric current for conducting magnetic braking by co-operation with a magnetic plate or an electrically conducting plate, and the phase current flowing through the neutral trolley wire is used to excite the electromagnet as the traveling body enters the section of the trolley wire without voltage. It is to provide a control method for controlling the traveling body by the control.

Another object of the present invention is to provide a traveling body in a desired position by using a magnetic belt mechanism suitable for synchronously decelerating the traveling body by using a magnetic force generated between the magnetic belt mechanism and the magnetic mechanism in the traveling body. It is to provide a control device for controlling the operation of the vehicle to the power control to stop the.

Next, FIG. 1 shows another form of the control method of the present invention in which the driving of the vehicle is controlled by the power control, which is an induction motor in the motor circuit only by the power control by the three-phase AC power supply control. It is designed to complete the automatic control of the traveling body.

In this figure, the feeder circuit comprises three-phase AC feeders 200, 202 and 204, AC supply trolley wires 206, 208 and 210, and neutral trolley wires 212 installed along the track. . The trolley wires 206, 208 and 210 are divided into appropriate sections for each section constituting a predetermined occlusion section, i.e., air gap sections 214, 216,. … At 230, electricity is separately insulated. Segment controllers 232, 234 and 236 are provided for each occlusion section.

These section controllers 232, 234, and 236 connect feed lines 200, 202, and 204 to the trolley wires 206, 208, 210. Taking the section controller 232 as an example, the current relay coil 268 is press-fitted to the branch line 262 and the branch line 262 connects the feed line 200 to the divided trolley wire 238 and the current relay coil. The normally closed contacts 270 for the two circuits operated by 268 are branch lines 264 and 266 connecting the feed lines 202 and 204 to the separate trolley wires 248 and 256. Is inserted into the cable).

When the supply current flows in the trolley wire 238 of the preceding occlusion section, the current relay coil 268 is excited so that the contact 270 is opened. Contact 270 is opened so that no voltage is applied to subsequent occlusion section trolley wires 248 and 256.

The same circuit connection as the above section controller 232 is applied to the following section controllers 234 and 236. Next, the motor circuit of the traveling body 300 will be described as an example of the traveling body motor circuit.

This motor circuit includes current collectors 302, 304, 306, and 308 that collect current from the trolley wires 206, 208 and 210, and the neutral trolley wire 212, respectively.

Current relay coils 316, 318, and 320 are field coils 310, 312 that connect to current collectors 302, 304, and 306, and current collectors 302, 304, and 306, respectively. And (314) are respectively inserted and connected to each other so as to be suitable for rotating the rotor 315 of the three-phase induction motor, and each current relay coil is excited by the voltage applied by each coil from the trolley wire The coil is designed to be excited when no voltage is applied to it from the trolley wire.

The current relay coil 316 has a normally closed contact 322 which comes out toward the current collector and is inserted into a branch line through the resistor 324 to the current collector 308, and the current relay coils 318 and 320 are these Normally closed contacts 326 and 328 respectively coming out from the field coil side of the coils 318 and 320 and inserted into branch lines respectively through the resistors 330 and 332 to the current collectors 308 respectively. Have.

When no voltage is applied to the trolley wires 208 and 210, respectively, the current relay coils 318 and 320 are energized so that their contacts 326 and 328 are closed so that the resistors 330 and 332 are closed. ) Is inserted as a load on the field coils 312 and 314, thereby generating power braking.

The resistor 324 acts as a protective resistor so that when the field coil 310 is cut, the resistor 324 continues the flow of supply current from the trolley wire 206 that is always powered. In other words, when the field coil 310 is cut off, the current relay coil 316 is excited and the contact 322 is closed.

Thus, the resistor 324 is inserted to flow the supply current which is normally supplied from the trolley wire 206 in the presence of the traveling body to enable the excitation of the current relay coil of the section controller.

To do this, the AC impedance of the resistor 324 must be the same as that of the field coil 310. The common junction point, ie, the neutral point 334, of the field coils 310, 312 and 314, connected in the most suitable shape as the induction motor installed in the traveling body 300, is the desired braking load 336. Is connected to current collector 308 and then to neutral trolley wire 212.

The current flowing from the neutral point 334 to the braking load 336 is an unbalanced current flowing from the trolley wire 206 to the field coil 310 continuously supplied when no voltage is applied to the trolley wires 208 and 210. Becomes

Thus, the unbalanced current flowing in the braking load 336 is used to actuate braking mechanisms such as hydraulic braking disk braking and magnetic braking constant velocity.

The braking action by the unbalanced current is performed even if the traveling body 300 is stopped. The following traveling body 300 'has the same circuit connection as the traveling body 300 so that its components are denoted by the same reference numerals in basic numerals.

The operation of the body by AC power control will now be described. Now imagine that the vehicle 300 is present between the section controller 232 and 234 and no other vehicle exists in the preceding section in the travel direction of the vehicle 300. Thus, the supply current does not flow through the trolley wire 238 so that the current relay coil 268 of the section controller 232 is not excited and the contact 270 is closed so that the AC supply current is supplied to the trolley wires 248 and 256. To be supplied.

On the other hand, the current relay coil 272 of the section controller 234 is excited by the supply current flowing to the traveling body 300 by the trolley wire 240 so that its contact 274 is opened so that the traveling body 300 exists. The voltage is not supplied from now to the trolley wires 250 and 258 placed in the section immediately following the section. In this case, the motor circuit of the traveling body 300 is operated as follows.

The field coils 310, 312 and 314 of the three-phase induction motor are supplied from the trolley wires 240, 248 and 256 with AC supply current to rotate the rotor 315 to move the traveling body 300. ) Is the running speed.

At this time, the current relay coils 316, 318 and 320 are all excited to open their contacts 322, 326 and 328. Thus, unbalanced current is not supplied from the neutral point 334 to the braking load 336.

In this state, it will now be imagined that the next traveling body 300 ′ is inserted into the section between the section controller 234 and the section controller 236 which is immediately after the section occupied by the traveling body 300. .

As described above, since no voltage is applied to the trolley wires 250 and 258, the current relay coils 318 ′ and 320 ′ of the traveling body 300 ′ are excited and their contacts 326 ′. ) And (328 ') are closed and resistors 330' and 332 'are connected to field coils 312' and 314 ', respectively, to generate power braking.

At the same time, an unbalanced current flowing in the field coil 310 'by the voltage from the trolley wire 242 flows to the neutral trolley wire 212 through the braking load 336' yesterday.

Thus, the desired braking mechanism acts to decelerate the traveling body 300 'and the traveling body 300' is stopped as necessary. The current relay of the section controller 234 when the preceding traveling body 300 passes through the section between the section controller 232 and 234 and at the same time after the traveling body 300 'becomes slow or stops. The coil 272 is excited so that its contacts 274 S are closed and an AC voltage is applied to the trolley wires 250 and 258. Thus, the current relay coils 318 'and 320' of the traveling body 300 'are excited so that their contacts 326' and 328 'are opened to release the power generating lamp and thus the traveling body 300'. ) To accelerate to circulation speed.

Therefore, the desired automatic control of the traveling body by this shape is accomplished only by the power control that controls the three-phase AC power supply to the three-phase induction motor installed in the traveling body. In particular, the automatic control of the traveling body is performed by the three-phase induction motor. And co-operation such as oscillating agent using the features of the desired braking mechanism operated by unbalanced current, and complete the desired driving state of the vehicle, ie constant speed, deceleration, stop, acceleration, etc., only with 3-phase AC power control. Let's do it. FIG. 2 shows another shape of a traveling motor circuit having a magnetic device 354 having an excitation coil 355 instead of the power generation braking 336 of the traveling body 300 shown in FIG. Plate 350 is mounted on the ground for cooperative operation with magnetic device 354.

The plate 350 is made of a magnetic material or an electrically conductive material. When the plate 350 is made of a magnetic material, the desired lantern is performed by the magnetic force generated between the plate 350 and the magnetic device 354.

When the plate 305 is made of an electrically repainted material, braking is performed by vortices generated between the plate 305 and the magnetic device 350. The driving control of the traveling body equipped with the magnetic device 354 will be described later in more detail.

3 and 4, there is yet another form of the present invention that combines a feeder circuit and a mechanism designed to automatically stop a traveling body at a predetermined designated position with high accuracy by power control of a three-phase AC feed. It is shown.

In FIG. 3, arrows 340 'and 342 form a closed section therebetween and arrow 340 indicates the intended stop position for the traveling body. In this case, the appropriate stopping position should be a position not blocked between the occluded sections.

Magnetic belt devices 344 and 346 are arranged in the obstruction section at predetermined intervals between them. Each magnetic belt device 344 and 346 has a belt made of magnetic material and is suitable for rotating in a circle. On the outlet side of the magnetic belt device 344 is a plate 350 made of a magnetic material or an electrically conductive material to cover the regular position 340. On the other hand, the magnetic device 354 and the magnetic belt device 346 and (when the traveling body 300 crosses the branch belt devices 346 and 344 by installing the magnetic device 354 on the traveling body 300. 344) to generate magnetic force.

The magnetic device 354 uses an electromagnet or a permanent magnet. The magnetic belt devices 346 and 344 are designed so that the one belt surface rotates at a predetermined speed in the direction of movement of the traveling body indicated by arrows 548, respectively.

Thus, when the traveling body 300 proceeds to the magnetic belt devices 346 and 344 respectively, the speed of the traveling body is between the magnetic device 354 and the magnetic belt devices 346 and 344 in the traveling body. By the magnetic force generated in each of them, the rotation speed and the registration of the magnetic belt are made. When the traveling body 300 is registered with the magnetic belt devices 346 and 344 in this way, if the plate 350 is made of magnetic material, the magnetic braking is performed between the plate 350 and the magnetic device 354 in the traveling body. Vortex is induced in the plate 350 by the magnetic flux of the magnetic device 354 relative to the plate 350 if it is made by the magnetic force generated between the stop or if the plate 350 is an electric conducting material The reaction of electromagnetic induction due to this causes a drag on the traveling body 300 to stop it.

FIG. 4 shows a three-phase AC power supply circuit in which the apparatus and position shown in FIG. 3 are shown correspondingly, which is the same as the circuit structure for the section between section controller 232 and 234 in FIG. Thus the same parts are marked with the same reference numerals. The traveling body is also the same as shown in FIG. Therefore, its circuit connection is not described.

The only difference is that the stationary contact 356 is inserted into the branch lines 264 and 266 of the segment controller 232. The contact 356 is designed to stop the traveling body entering the closed section by opening the contact, and also to submit the traveling body closed by closing the contact.

The operation of the variant is now described with reference to FIGS. 3 and 4. In FIG. 3, when the traveling body 300 enters the colored section at the position of the arrow 342, the traveling body 300 has a contact point 356 open in FIG. 4 so that the voltage is applied to the trolley wires 246 and 256. FIG. It is slowed down by power generation system due to the fact that it is not applied.

Now imagine that the magnetic belt device 346 rotates at speed V1 and the magnetic belt device 344 rotates at speed V2, ie V1 > V2.

In addition, it is conceivable that the traveling body 300 is designed to be excited by an unbalanced current supplied from the field coil of the three-phase induction motor in the traveling body as the magnet device 354 using the electromagnet is generated.

In this state, when the traveling body 300 proceeds to the position of the magnetic belt device 346, the traveling body 300 moves while the traveling body 300 moves through the magnetic belt device 346. And the magnetic belt device 346 are simultaneously decelerated at the magnetic belt speed V1 by magnetic force.

Then, when the traveling body 300 is decelerated again by the power generating agent or the like and proceeds to the position of the magnetic belt device 344, the traveling body 300 is simultaneously decelerated so that the speed of the traveling body 300 is determined by the magnetic belt device ( When passing through 344, it is synchronized with the magnetic belt speed V2. After starting from the magnetic belt device 344, the traveling body 300 proceeds to the plate 350 to apply magnetic braking if the plate 350 is made of magnetic material, or if the plate 350 is made of magnetic free conductor. Vortex braking force is applied to cause the traveling body 300 to stop at the designated position indicated by the arrow 340. This stop operation will be described in more detail with reference to the graph of FIG.

The graph of FIG. 5 is a speed graph, in which the ordinate indicates the speed V meter seconds of the traveling body 300, the abscissa indicates the length L meter, and the arrow 342 indicates the entry point of the closed section in which the traveling body has the speed Vp. And an arrow 340 indicates the correct position.

The linear speed 400 of V1 indicates the rotational speed of the third degree magnetic belt device 346, and the linear speed 500 of V2 indicates the rotational speed of the magnetic belt device 344. It is assumed that 15 meters / second [54 kilometers / hour] V1 = 10 meters / second [36 kilometers / hour] and V2 = 0.5 meters / second [1.8 kilometers / hour].

Consider the case where the midway of the vehicle is relatively low, such as a vacant vehicle that does not carry passengers or cargo, or when driving resistance is large.

When the traveling body at low speed by power generation braking at the point 360 reaches the point 365, the force between the traveling body and the magnetic belt device 346 causes the traveling body to move in synchronization with the magnetic belt speed V1. do. Then, when the traveling body passes through the magnetic belt device 346 at the point 370, the traveling body is again made low speed by power generation braking, so again the traveling body has the magnetic belt speed by the magnetic force between it and the magnetic belt device 344. After moving in synchronism with V2 and leaving the point 380, the traveling body is stopped at the stop position 340 by the braking action between it and the plate 350.

On the other hand, in the case where the weight of the traveling body is relatively large or the traveling trajectory is low and the driving resistance is low, the traveling body is subjected to power generation braking at point 360 and the magnetic force at the point 385 between the traveling body and the magnetic belt device 346. The magnetic belt device 346 braked by the multiplier increases at a low speed synchronized with the speed V1 of the magnetic belt device 346 at the point 370, and is subjected to power braking again and subjected to magnetic braking at the point 399. The belt device 344 is moved to increase at a low speed synchronized with the speed V2 of the magnetic belt device 344 at point 380 and then stopped by the braking force at the stop position 340 between the traveling body and the plate 350. .

If the speed is simply lowered according to the weight of the traveling body without using the predetermined position stop method of the present invention, the traveling body stops at a point 395 or point 396 which is significantly deviated from the predetermined stop position. Therefore, the traveling body can be stopped exactly at the predetermined predetermined position in spite of the fluctuation of the weight of the traveling body or the change of the road friction by the predetermined position stop method of the present invention. Therefore, the present invention does not use a special traveling body detection mechanism or signal control method. It has the advantage of being able to complete the automatic stop control of a predetermined position.

In addition, according to the present invention, the traveling body is synchronously decelerated by the magnetic force generated between the traveling body and the magnetic belt device, so that the speed control of the traveling body is performed based on the weight of the traveling body and the running resistance, that is, the track surface state. It is executed accurately until the traveling body reaches a predetermined stop position without being affected by the fluctuation.

In addition, the use of magnetic braking after synchronous deceleration with a magnetic belt has the effect of further metering the accuracy of the stop. In addition, since the synchronous deceleration by the magnetic belt uses magnetic force, the traveling body can proceed to the magnetic belt and pass it smoothly, thereby preventing sudden changes in acceleration, thereby ensuring a comfortable riding comfort.

In addition, due to the fact that the magnetic belt, the plate and the magnetic mechanism of the traveling body are operated with or without contact with each other, there is no danger of generating noise and vibration in using the predetermined point stop method of the present invention and mechanical abrasion in the apparatus and equipment. There is no cause of destruction. Thus, it is possible to achieve considerable simplification of the ground apparatus and also the vehicle and the apparatus, and to reduce the cost of the apparatus by a large amount compared to the conventional technology of automatic train operation.

Claims (1)

In a three-phase alternating current current control system, a three-phase alternating current supply system having a divider for every occlusion section specified in accordance with a track in a traveling body control method by electric power control for traveling control of a traveling body. Line control trolley wire and neutral trolley are installed to always feed one wire of trolley wire for three-phase AC feed current, while the remaining two wire trolley wires are used to control the feed current by the current feed change accompanying the moving body. The driving body driven as a current collector from each trolley wire is driven by a three-phase induction motor in accordance with an alternating current supply from a two-wire trolley wire where current supply is controlled. A traveling body control method by power control, characterized in that it comprises a circuit.

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