US3764985A - Method and means for controlling the distance between two moving conveyances - Google Patents

Method and means for controlling the distance between two moving conveyances Download PDF

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Publication number
US3764985A
US3764985A US00202926A US3764985DA US3764985A US 3764985 A US3764985 A US 3764985A US 00202926 A US00202926 A US 00202926A US 3764985D A US3764985D A US 3764985DA US 3764985 A US3764985 A US 3764985A
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Prior art keywords
conveyance
speed
line
signal
frequency
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Expired - Lifetime
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US00202926A
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English (en)
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J Hochreiter
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Airbus Defence and Space GmbH
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Messerschmitt Bolkow Blohm AG
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Priority claimed from DE19702059173 external-priority patent/DE2059173C3/de
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L3/00—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal
    • B61L3/16—Continuous control along the route
    • B61L3/18—Continuous control along the route using electric current passing between devices along the route and devices on the vehicle or train
    • B61L3/20—Continuous control along the route using electric current passing between devices along the route and devices on the vehicle or train employing different frequencies or coded pulse groups, e.g. using currents carried by traction current

Definitions

  • a control circuit in the following conveyance receives and de- Foreign n 'fi pfib fiy' 1T modulates the signal and subtracts it from a signal corresponding to a desired or nominal speed.
  • the control 1970 Germany 2059 circuit also multiplies the result with a measure of departure from a predetermined distance between con- [52] 340/171 180/98 340/23 veyances, namely with the attenuated amplitude of the 4 340/207 340/268 received signal.
  • the control circuit then regulates the [51] he. Cl. H04q9/l2, G08g 1/00 speed of the following conveyance therewith.
  • This invention relates to transport systems using spaced conveyances that follow one another, and particularly to methods and means for maintaining desired distances between conveyances following each other as part of a transport system.
  • the invention also concerns circuit arrangements which form these means.
  • the conveyances may constitute cabins, cars, containers, vehicles, etc. for conveying either people, cargo, messages, or combinations of these.
  • one method of spacing such conveyances involves dividing the entire track of a conveyer system into block sections and allowing a conveyance to enter a block section only when this block section is free, that is, when there is no other conveyance within this block section.
  • This method is disadvantageous in that the length of the individual block sections determines the minimum distance between two cabins, regardless of the speed of the cabins. High conveyer efficiencies and outputs cannot be achieved in this manner.
  • An object of the invention is to improve presently available systems of this kind.
  • Another object of this invention is to eliminate the disadvantages mentioned above.
  • Still another object of the invention is to provide a method and means, such as a circuit arrangement, which permits a transport system or conveyer system to achieve a high output, that is, to operate at high speeds with small inter-conveyance distances, while nevertheless, operating independent of the geometry of the track of the conveyer system.
  • the invention proceeds from a number of premises.
  • the first premise is that the second or following cabin can travel at the nominal value v, of the speed when the nominal value v of the speed of the leading or first cabin is equal to the nominal value v of the speed of the second cabin.
  • the second premise is that there should be no difference between the actual value v and the nominal value v of the speed of the first cabin and thus between the actual value v of the speed of resulting speed.
  • control value v includes a term Vii max d)'b, where x denotes the distance between the two cabins or carriers which exceeds the nominal value x and where b is a constant retardation or delay selected so that, starting from a maximum distance max between the two cabins and the nominal value v of the speed of the cabin, this second cabin stops at the nominal value x of the distance from the stationary first cabin or carrier.
  • the control quantity v thus represents a parabolic function of the distance x,, exceeding the nominal value x This brings up another feature of the invention which is of particular importance.
  • the control quantity v is determined according to the equationy e"" %(v2--v1
  • e isthe base of natu?afi ldgarithms
  • x the distance between two conveyances exceeding the nominal value x a is a constant
  • v is the nomimal value of the speed of the second conveyance
  • v is the actual value of the speed of the first conveyance.
  • the parabola 2(max I is thus approximated by the exponential function-r results from the line constant of the high frequency line and approximates R'/2 C'IL'.
  • R' denotes the specific resistance of the line
  • C the specific capacitance in L the specific inductance.
  • the actual value v of the speed of each preceding conveyance is transmitted to the immediately following conveyance by frequency modulating the high frequency voltage with a modulation frequency corresponding to the actual value v of the speed of the first conveyance.
  • the system in each conveyance includes transmitter means for transmitting a carrier signal modulated by a signal corresponding to the actual speed of the conveyance toward the subsequent conveyance along a high frequency line extending from one conveyance to the next, receiver means for receiving the correspondingly transmitted signal along the line of the previous conveyance for re as to produce a result V -e-" KV MAL and circuit means for superposing the value v on the nominal value v for regulating the speed of the conveyance.
  • capacitor means connects the output of said transmitter means with the input of the receiver means at the high frequency line for forming a parallel resonant blocking circuit with the distributed inductance of the high frequency line at and about the carrier frequency.
  • the transmitter means in each conveyance is connected to the line closer to the trailing end of the conveyance than is the receiver means.
  • the transmitter means includes a transmitter and a cascade connection of a voltage-frequency converter and a modulation connected to the input of the transmitter.
  • Voltage forming means form a voltage proportional to the value v of the speed of the second conveyance and feed this to the voltage-frequency converter.
  • a demodulator cascaded with a frequency-voltage converter connected to a receiver form the receiver means.
  • the actual value v, of the nth conveyance is transmitted in the form of the frequency modulation to the (n+1 )th conveyance, while the n-th conveyance receives the actual value "(n-l )A as a frequencymodulation of the high frequency carrier.
  • the high frequency line is composed of a neutral conductor of the power supply line and a high frequency bus or bar.
  • a high frequency bus or bar has to be provided.
  • the high frequency bus or bar is composed of a material having a pre-determined specific ohmic resistance R to achieve a predetermined attenuation constant a and utilizing the so-called skin effect.
  • the high frequency bus or bar is composed of iron having a conductance x of about 10 and a permeability p. of about 1500, while operating with a transmitter carrier frequency of about 500 MHz.
  • a part of the signal from the transmitter means is negatively fed back to the receiver means in the conveye de rees? ne at f ed k is iss dss. that the exponential function e-" corresponds to the parabola V2("max d)b.
  • the negative feedback is adjusted so as to compensate for any finite impedance exhibited by the parallel resonant circuit formed by the capacitor means and the distributed inductance of the line.
  • the above described error or failure of the parallel resonant circuit to exhibit an infinite impedance, and the negative feedback are used to check the transmitter and the receiver.
  • the advantages achieved by the invention can be summarized as follows.
  • the method defined above, and the apparatus or network arrangement or system defined above, permit a transportation system to achieve an extremely high conveyer output. That is, it results in a small distance between individual conveyances travelling at high speeds without the risk of one conveyance colliding with another. Beyond that, the fact that the conveyances are wire or line bound ensures that the geometry of the track of the transport system does not influence the efficiency of the method and apparatus embodying the invention.
  • FIG. 1 is a block diagram illustrating, in simplified form, a transport system embodying features of the invention.
  • FIG. 2 is a block diagram illustrating a network forming a part of one of the conveyances in FIG. 1 and embodying features of the invention.
  • the n-th and (n+1)th conveyances C, and C, are powered by a power line P to travel to the right along with preceding and following conveyances not shown.
  • An actual distance x separates the two conveyances shown.
  • the leading conveyance C travels at an actual speed v, and is followed by the conveyance C travelling at the actual speed v
  • the desired or nominal speeds of these conveyances is v,,- and v transmitter 1 and corresponding to the value v of the forrne d by a rectifier
  • a pair of conveyances such as that shown may be considered alone.
  • FIG. 2 illustrates, in block diagram form, the electrical control network of any conveyance in the system of FIG. 1.
  • an actual value transmitter senses the actual speed of the conveyance illustrated and applies a voltage corresponding to that speed to a modulator system 12 composed of a voltage-frequency converter 13 and a modulator 14.
  • the modulator system 12 modulates a high frequency transmitter 1 at a frequency value corresponding to the actual speed of the conveyance illustrated in FIG. 2 and carrying the transmitter
  • the transmitter 1 produces a modulated carrier signal and applies it to a line 3 so that the signal travels along the line to the following conveyance at the left.
  • each of the conveyances have identical electrical networks connected to the line 3 so that each transmits a frequency modulated signal along the line 3.
  • a high frequency receiver senses signals propagated by the transmitter of the preceding conveyance, on the right. These signals also correspond, in attentuated form, to the actual value of the speed of the preceding conveyance.
  • a capacitor 5 connecting the output of the high frequency transmitter 1 to the input of the high frequency receiver 2 forms a parallel resonant circuit with the distributed inductance of the line 3.
  • the capacitor 9 tunes the parallel resonant circuit to a frequency corresponding to and about the carrier frequency of the transmitter 1 in each of the conveyances. Therefore, the parallel resonant circuit formed by the capacitor and distributed inductance produces a high impedance to carrier frequency signals.
  • the energy of the transmitter l is propagated principally to the left to the following conveyance, while the receiver 2 receives energy mainly from the transmitter l in the conveyance immediately preceding the conveyance illustrated.
  • the parallel resonant circuit formed by the capacitor 4 and the distributed inductance further prevents continued propagation of the signal passing from the preceding conveyance to the left.
  • each conveyance receives signals only from the preceding conveyance.
  • a demodulator system 16 composed of a demodulator 17 and a frequency-voltage converter 18 produces a voltage corresponding to the value v of the speed at which the preceding conveyance actually travels. This is' so because the signal transmitted by the transmitter 1 of the preceding conveyance was modulated at a frequency corresponding to the value v of the speed of the preceding conveyance. Similarly, the following or subsequent conveyance will demodulate the signal emerging from the actual speed of the conveyance shown.
  • a subtractor 4 receives the voltage corresponding to the value v and subtracts it from a value v received from a nominal value transmitter 24 and corresponding to the desired or nominal value of the speed of the conveyance illustrated in FIG. 2.
  • a multiplier 5 multiplies the subtracted value y v A with a value M 23 fro mi t he ouiaitafihe receiver 2. This produces an output signal corresponding in value 11% O M m)
  • a subtractor circuit 6 responding to the output of the multiplier 5 and the nominaljvalue transmittergipro: Jerusalem a signal from the actual value transmitter corresponding to the value v
  • the speed regulator controls the operation and speed of the conveyance illustrated in FIG. 2.
  • an embodiment of the invention involves a number of conveyances, along a track, with a high frequency transmitter 1 and a high frequency receiver 2 in each conveyance, a high frequency line extending along the track of the conveyer system, a subtractor 4, a multiplier 5, and a second subtractor 6.
  • each conveyance the circuit therein superimposes a control quantity v on the nominal value v of the speed of one of several conveyances. Two conveyances, one following the other, are considered in so far as the subscripts are concerned.
  • the entire network is mounted on the plurality of conveyances, with the exception of the line 3.
  • the control quantity v is derived from the actual value v of the speed of the first or leading conveyance of a pair, and the distance x between the first and second. conveyances being considered.
  • the factor e a is obtained by utilizing the law of propagation of high frequency voltages on a homogeneous high frequency line such as the line 3.
  • the constant a is the attenuation constant of the high frequency line 3. This is obtained from the lineconstant of the high frequency line 3 and is equal approximately to R/2 VCl where R denotes the specific ohmic resistance, C denotes the specific capacitance, and L denotes the sPecific inductance.
  • the capacitor 9 is arranged between the connection 7 of the transmitter l with the high frequency line 3 and the connection 8 of the receiver 2 with the hig frequency line 3.
  • This capacitor 9 forms a blocking circuit, namely a parallel resonant circuit with the corresponding inductance 10 of the high frequency line 3. This permits propagation of the high frequency voltage only from the transmitter 1 of the n-th conveyance to the receiver 2 of the (n+1 )-th conveyance.
  • the actual value v of thespeed .of the first conveyance is reported to the second conveyance by frequency modulation of the high frequency voltage corresponding to the actual value v of the first conveyance.
  • the transmitter l is provided with an input that receives the output of a modulator system 12 composed of a voltagefrequency converter 13 and of a modulator 14.
  • the voltage proportional to the actual value V of the speed I I of the second cabin is fed from the actual value transmitter to the voltage-frequency converter 13 (or more precisely the voltage -to-frequency converter 13).
  • the demodulator system 16 is connected to the output of the receiver 2.
  • the system 16 is composed of the demodulator 17 and the frequency-voltage converter 18 (or more precisely the frequency-to-voltage converter 18) in cascade connection.
  • the high frequency line consists of the neutral conductor 19 of the power supply line P and of a high frequency bar or bus 20 which is made of iron with a conductance K of about 10 and a permeability of about 1500.
  • a part of the modulated output voltage produced by the transmitter is connected in negative feedback relation to the receiver 2 within the same conveyance. This is indicated by the arrow 21.
  • the apparatus embodying features of the invention operates as follows.
  • the actual value transmitter generates a voltage corresponding to the actual value v of the speed of the second conveyance illustrated in FIG. 2. This voltage is applied to the speed regulator 22 on one hand, and to the, voltage-to-frequency converter 13, on the other hand.
  • the high frequency voltage of the transmitter 1 is frequency modulated by means of the modulator 14.
  • the connection 7 supplies the frequency-modulated high frequency carrier to the high frequency line 3. The latter transmits the signal to the following conveyance.
  • a frequency modulated high-frequency voltage is transmitted from the first conveyance preceding the conveyance illus trated in FIG. 2 to the high frequency line 3 and received by the receiver 2 in the second conveyance over the connection 8.
  • the demodulator 17 and frequency -to-voltage converter 18 deliver the high frequency voltage received by the receiver 2 to the subtractor 4.
  • a rectifier 23 supplies the high frequency signal from the receiver 2 to the multiplier S.
  • the subtractor 4 which also receives the theoretical nominal value v of the speed of the second conveyance from a nominal value transmitter 24, forms a value corresponding to the difference v, v,,,.
  • the multiplication member 5 multiplies the difference v jg by the quantity e-" arriving from the rectifier 23.-
  • the method of maintaining the distance between two conveyances moving at predetermined nominal speeds along an electric line having a given electrical characteristic along its length which comprises sensing the actual speed of the first conveyance in the second conveyance, detecting the distance between the two conveyances as a function of the characteristic of the line along which the conveyances travel, deriving a control quantity from the sensed value of the speed of the first conveyance and the detected distance between the conveyances, deriving an additional quantity representing the nominal speed of the second conveyance, and controlling the speed of the second conveyance by superimposing the control quantity on the nominal speed of the second conveyance.
  • control quantity is determined according to the equation Eu a) where e equals the base of natural logarithms,
  • x is the nominal distance between the two conveyances
  • x is the distance between the two conveyances exceeding the nominal value x a is a constant
  • v is the nominal vilue of the speed of the second conveyance
  • v is the actual value of the speed of the first conveyance.
  • step of sensing the actual speed includes the steps of coupling each of the conveyances to the line, propagating a highfrequency voltage in the first conveyance along the line, and receiving the propagated voltage in the second conveyance, and wherein the step of detecting the distance between the two conveyances includes deriving a factor e'"% in response to the attenuation of the transmitted voltage.
  • step of propagating the high frequency voltage includes forming a high impedance block along the line between a rear transmitter and a forward receiver of the same conveyance so as to permit propagation of the signals only in one direction along the line.
  • step of determining the speed of the first conveyance includes modulating the high frequency voltage transmitted along the line inthe first conveyance and receiving and demodulating the frequency modulated high frequency voltage in the second conveyance.
  • step of determining the speed of the first conveyance includes modulating the high frequency voltage transmitted along the line in the first conveyance and receiving and demodulating the frequency modulated high frequency voltage in the second conveyance.
  • An apparatus for controlling the speed of one of a plurality of conveyances travelling so as to follow one another along a line having a known electrical attenuation characteristic comprising transmitter means on said one conveyance responsive to the speed of the one conveyance and coupled to the line for generating a high-frequency signal modulated according to the speed of the one conveyance and for applying the signal along the line in the direction of a following conveyance, receiver means on the one conveyance and coupled to the line for receiving high-frequency signals from a preceding conveyance, signal-producing means on the one conveyances and coupled to said receiver means for generating a control signal dependent upon the modulation of the signal received and the effect imposed upon the signal received by the characteristic of the line, and regulating means on the one conveyance and coupled to said signal-producing means for regulating the speed of the one conveyance.
  • said transmitter means includes modulating means on the one conveyance responsive to the speed of the one conveyance, for modulating the signal transmitted by said transmitter means in response to the speed of the one conveyance.
  • said signalproducing means includes a demodulating portion for producing an indication dependent upon the modulation of the signal received and indicating the speed of the preceding conveyance.
  • said signal-producing means including subtracting means for producing a subtract signal corresponding to the differences of the indications and the nominal speed of the one conveyance, signal generating means coupled to said receiver means for generating an exponential signal responsive to the effect imposed by the line on the characteristic of the line, and multiplying means connected to said signal generator means and said subtracting means for multiplying the subtract signal with the exponential signal to produce the control signal.
  • said transmitter means includes a transmitter and transmitter coupling means for coupling said transmitter to the line
  • said receiver means includes a receiver and receiver coupling means for coupling the receiver to the line.
  • said transmitter means includes a transmitter and transmitter coupling means for coupling the transmitter to the line
  • said receiver means includes a receiver and receiver coupling means for coupling the receiver to the line.
  • said conveyance has a predetermined nominal speed
  • said signal-producing means includes nominal speed generating means for generating a value corresponding to the nominal speed of the conveyance, said nominal speed generating means applying the valueto said subtracting means to represent the nominal speed of the conveyance.
  • said modulator means further includes a voltage-to-frequency converter connected to said speed sensing means and a modulator responsive to said voltage-to-frequency converter and connected to said transmitter means for modulating said transmitter means, said demodulating means including a demodulator connected to said receiver means and a frequency-to-voltage converter responsive to said demodulator and connected to said subtracting means.
  • a transport system comprising a path along which conveyances can travel, a plurality of conveyances aligned to travel serially along the path, a highfrequency line having a predetermined characteristic extending along the path; said conveyances each including transmitter means responsive to the speed of the conveyance and coupled to the line for generating high-frequency signals modulated according to the speed of the conveyance along the line in the direction of a following conveyance, receiver means coupled to the line for receiving the modulated high-frequency signal from a preceding conveyance, signal-producing means coupled to the receiver means for generating a control signal dependent upon the modulation of the signal received and the effect imposed upon the signal received by the characteristic of the line, and regulating means coupled to said signal-producing means for regulating the speed of the conveyance; said line being a homogeneous high-frequency line.
  • said transmitter means in each of said conveyances includes modulating means responsive to the speed of the conveyance for modulating the transmitter means in accordance with the speed of the conveyance.
  • said signalproducing means includes demodulating means for producing an indication responsive to the modulation of the received signaland representing the speed of the previous conveyance.
  • each of said conveyances is assigned a nominal value of speed; and wherein said signal-producing means include subtracting means for producing a subtract signal corresponding to the differences of the indication and the nominal speed of the conveyance, signal generating means coupled to said receiver means for generating an exponential signal responsive to the effect imposed on the line by the characteristic of the line, and multiplying means connected to said signal generating means and said subtracting means for multiplying the subtract signal with the exponential signal to produce the control signal.
  • each of said conveyances has a predetermined nominal speed
  • said signal producing means includes nominal speed generating means for generating a value corresponding to the nominal speed of the conveyance, said nominal speed generating means applying the value to said subtracting means to represent the nominal speed of the conveyance.
  • said transmitter means includes modulator means and said modulator means includes sensing means for sensing the speed of the conveyance and producing a voltage therewith and voltage to frequency converter means for producing a frequency modulating signal corresponding to the speed of the conveyance.
  • said transmitter means includes a transmitter portion and coupling means for coupling the transmitter to the line
  • said receiver means including a reciver portion and coupling means for coupling the receiver to the line, a capacitor connected between the coupling means and forming a resonator with the high-frequency line having a resonance frequency between the coupling means corresponding to the frequency being transmitted by said transmitter means.
  • said modulator means includes speed-sensing means responsive to the speed of the conveyance for producing a voltage corresponding to the speed of the conveyance and voltage-frequency converter means for producing a signal having a frequency corresponding to the speed, said converter means being connected to modulate the signal from said transmitter means.
  • the highfrequency line includes a neutral conductor and a highfrequency bus bar.
  • the highfrequency bus bar is composed of iron with a conductance of about 10 Sm/mm and a relative permeability a of about 1500.
  • the highfrequency bus bar is composed of iron with a conductance of about lOSm/mm and a relative permeability p of about 1500.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Control Of Conveyors (AREA)
US00202926A 1970-12-02 1971-11-29 Method and means for controlling the distance between two moving conveyances Expired - Lifetime US3764985A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19702059173 DE2059173C3 (de) 1970-12-02 Anordnung zur Abstandsteuerung von aufeinanderfolgenden spurgebundenen Kabinen

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US3764985A true US3764985A (en) 1973-10-09

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US00202926A Expired - Lifetime US3764985A (en) 1970-12-02 1971-11-29 Method and means for controlling the distance between two moving conveyances

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US (1) US3764985A (de)
AT (1) AT310246B (de)
FR (1) FR2117124A5 (de)
GB (1) GB1377977A (de)
IT (1) IT941380B (de)
NL (1) NL7116434A (de)
SE (1) SE377203B (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4006790A (en) * 1974-01-11 1977-02-08 Hitachi, Ltd. Electromagnetic guidance system
US4335432A (en) * 1980-01-28 1982-06-15 United States Of America Optimal vehicle following control system

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2211334A (en) * 1987-10-20 1989-06-28 Plessey Co Plc Transportation system having an inter-vehicle distance control arrangement

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3287555A (en) * 1963-02-01 1966-11-22 Gen Signal Corp Automatic vehicle control system
US3648228A (en) * 1970-02-09 1972-03-07 Bendix Corp Control system for vehicles
US3655962A (en) * 1969-04-01 1972-04-11 Melpar Inc Digital automatic speed control for railway vehicles

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3287555A (en) * 1963-02-01 1966-11-22 Gen Signal Corp Automatic vehicle control system
US3655962A (en) * 1969-04-01 1972-04-11 Melpar Inc Digital automatic speed control for railway vehicles
US3648228A (en) * 1970-02-09 1972-03-07 Bendix Corp Control system for vehicles

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4006790A (en) * 1974-01-11 1977-02-08 Hitachi, Ltd. Electromagnetic guidance system
US4335432A (en) * 1980-01-28 1982-06-15 United States Of America Optimal vehicle following control system

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Publication number Publication date
SE377203B (de) 1975-06-23
AT310246B (de) 1973-09-25
GB1377977A (en) 1974-12-18
DE2059173B2 (de) 1975-08-21
FR2117124A5 (de) 1972-07-21
NL7116434A (de) 1972-06-06
IT941380B (it) 1973-03-01
DE2059173A1 (de) 1972-07-06

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