WO2017007029A1 - 列車制御装置 - Google Patents
列車制御装置 Download PDFInfo
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- WO2017007029A1 WO2017007029A1 PCT/JP2016/070316 JP2016070316W WO2017007029A1 WO 2017007029 A1 WO2017007029 A1 WO 2017007029A1 JP 2016070316 W JP2016070316 W JP 2016070316W WO 2017007029 A1 WO2017007029 A1 WO 2017007029A1
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- train
- control device
- separation line
- control unit
- current collector
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- 238000000926 separation method Methods 0.000 claims description 44
- 238000001514 detection method Methods 0.000 claims description 26
- 230000001133 acceleration Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 2
- 230000001172 regenerating effect Effects 0.000 abstract description 10
- 238000010891 electric arc Methods 0.000 abstract description 6
- 230000006866 deterioration Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 230000000903 blocking effect Effects 0.000 description 4
- 239000003990 capacitor Substances 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0072—On-board train data handling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0076—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Definitions
- Embodiments of the present invention relate to a train control device.
- Railway vehicles are provided with a motor that drives the vehicle, and a vehicle control device that collects power from an overhead line or a third rail, receives electric power, converts it into necessary voltage / current, and supplies it to the motor.
- the driver changes the acceleration due to the occurrence of a separation line during power running, the driver can perform the operation of returning the power running to coasting temporarily.
- ATO automatic train operation device Since the speed did not increase as expected, there was a possibility that a power running command would continue to be issued, and a large current (rush current) would flow during re-connection, adversely affecting the equipment.
- the present invention has been made in view of the above, and provides a train control device capable of reducing the deterioration of riding comfort due to the occurrence of power running or regenerative braking due to the occurrence of separation, and damage to overhead wires and third rails due to arc discharge.
- the purpose is to do.
- the train position detection unit of the train control device of the embodiment detects the travel position of the train.
- the on-board controller causes the train to coast in the predetermined section when the train travels in the predetermined section including the separation line position with reference to the travel position and storage section of the train.
- Drawing 1 is an outline explanatory view of a train provided with a train control device of an embodiment.
- Drawing 2 is an outline composition block diagram of a train control system provided with a train control device of an embodiment.
- FIG. 3 is an operation flowchart of the embodiment.
- FIG. 4 is an explanatory diagram of calculation of a travel plan when there is no separation line information.
- FIG. 5 is an explanatory diagram of travel plan calculation when there is separation line information.
- Drawing 1 is an outline explanatory view of a train provided with a train control device of an embodiment.
- the train 1 includes vehicles 10A and 10B that are electric locomotives and vehicles 10C and 10D that are electric vehicles.
- Each of the vehicle 10A and the vehicle 10B includes a pantograph 15 as a current collector, and is driven by electric power supplied from the overhead line OCL, and the ATC ground device is on the track RW constituting the track circuit by the wheels 16A and 16B. It is possible to run while communicating with AG.
- Drawing 2 is an outline composition block diagram of a train control system provided with a train control device of an embodiment.
- the vehicle 10A will be described as an example for easy understanding.
- the vehicle 10A is roughly divided into a train control device 11, a main circuit device 12, a control transmission device 13, a brake control device 14, a pantograph 15 as a current collector, and wheels 16A. 16B and a motor 17 are provided.
- the train control device 11 cooperates with the ATC ground device AG to control the speed of the train below the speed limit (deceleration control), an ATC on-board device 21 that outputs a first brake command B1, and a speed generator (TG) )
- the speed is detected based on the TG pulse from 22, and the position of the train is detected in cooperation with the position detecting vehicle core 23 and the position detecting ground element 61, and the speed position detection information VP is output.
- a speed position detection unit 24 for performing the above.
- the train control device 11 includes a storage unit 25 that stores route conditions, operation conditions, vehicle performance, the position where the pantograph 15 is disconnected from the overhead line, and the date and time of the disconnection, and the storage information of the storage unit 25 and the ATC onboard device 21 to the track RW.
- an ATO device 26 that outputs a power running command DR and a second brake command B2 in order to control the operation of the vehicle 10 based on the signal indication (information) SG received via the power receiver RD, and an RTC (Real Time And a clock unit 27 that counts the current time and outputs it as current time information NT.
- the main circuit device 12 includes a circuit breaker 31 for cutting off power from the overhead line supplied via the pantograph, a filter reactor 32 for removing noise from the power supplied via the pantograph, and a filter reactor 32.
- Filter capacitor 33 for smoothing the supplied power together with the power and the power from the overhead wire or the motor based on the power running command DR, the first brake command B1 or the second brake command B2
- a VVVF inverter 34 that outputs a cut-off detection signal Sbk when the power from the overhead line OCL is cut off, and a power running command DR, a brake command B1,
- the motor 17 is controlled based on B2.
- the filter capacitor 33 and the VVVF inverter 34 constitute a main controller 40.
- the control transmission device 13 transmits the power running command DR, the first brake command B1 or the second brake command B2 output from the train control device 11 to the main circuit device 12 or the brake control device 14.
- the brake device 51 is a brake device 51 that is a mechanical brake based on the first brake command B1, the second brake command B2, and the regenerative torque generation amount information TR output by the VVVF inverter 34 transmitted via the control transmission device 13. Is controlled to decelerate or stop.
- FIG. 3 is an operation flowchart of the embodiment.
- FIG. 4 is an explanatory diagram of calculation of a travel plan when there is no separation line information.
- the ATO device 26 refers to the storage unit at the time of departure from the station (step S11), and determines whether or not there is separation line information corresponding to the planned travel route (step S12).
- step S12 When there is no derailment information corresponding to the planned travel route If there is no derailment information corresponding to the planned travel route in the determination in step S12 (step S12; No), the ATO device 26 detects the speed position detection unit 24. Is detected and outputted, the speed and position of the train 1 corresponding to the speed position detection information VP, the route information to the next station read from the storage unit 25, operation information, vehicle information, and the signal received by the ATC onboard device 21 Based on the present information SG, a run curve (travel curve) corresponding to the travel plan that arrives at the next station earliest (referred to as the fastest travel plan) within a range not exceeding the speed limit (speed limit curve LLIM) is calculated (step) S13). Specifically, for example, a run curve LC11 corresponding to the fastest travel plan as shown by a broken line in FIG. 4 is calculated.
- a run curve LC11 corresponding to the fastest travel plan as shown by a broken line in FIG. 4 is calculated.
- the ATO device 26 replaces the constant speed traveling part and the power running part in the run curve LC11 corresponding to the fastest traveling plan with coasting, and the train travels to the next station with as little energy consumption as possible, and at a predetermined position at the next station at a predetermined time.
- a run curve corresponding to the travel plan is calculated so as to stop at a short time (step S14). Specifically, for example, a run curve LC12 corresponding to a travel plan as indicated by a solid line in FIG. 4 is calculated.
- the ATO device 26 outputs the power running command DR or the second brake command B2 to the main circuit device 12 and the brake device 51 via the control transmission device 13 based on the calculated run curve LC12, that is, the travel plan.
- the vehicle travels according to the calculated run curve LC12 (step S15).
- the ATO device 26 may calculate and output the power running command DR and the second brake command B2 so that the train speed follows the travel curve (run curve) of the travel plan. Further, the ATO device 26 may output the power running command DR and the second brake command B2 specified in the travel plan. Further, the ATO device 26 may calculate and output the power running command DR and the second brake command B2 corresponding to the travel mode (power running mode / constant speed mode / collision mode / deceleration mode) in the travel plan.
- the ATO device 26 detects when the departure time of the station is around the schedule, when the deviation from the running curve (run curve) becomes larger than a preset threshold during running, or when the signal status received by the ATC onboard device 21 is received.
- the indication information SG no longer matches the speed limit information read from the storage means, the travel plan is recalculated based on the current position / speed / time, and the power running / brake command is calculated based on the latest travel plan. To do.
- the ATO device 26 determines whether or not the shut-off detection signal Sbk is received while traveling according to the travel curve (run curve) (step S16). If it is determined in step S16 that the blocking detection signal Sbk has not been received (step S16; No), the process proceeds to step S18.
- the data are stored in the storage unit 25 in association with each other (step S17).
- the separation detection information can be stored in an arbitrary number according to the storage capacity of the storage unit 25, but for example, the latest 100 is stored.
- the ATO device 26 determines whether or not it has arrived at the next station that is the destination of the travel according to the travel plan calculated at the previous station (step S18). If it is determined in step S18 that the station has not yet arrived at the next station (step S18; No), the process proceeds to step S15 again, and the same process is repeated thereafter.
- step S18 If it is determined in step S18 that the next station has been reached (step S18; Yes), the process is terminated. If the next station that arrived is not the end station, the process proceeds to step S11 again, and the process is continued.
- FIG. 5 is an explanatory diagram of travel plan calculation when there is separation line information. If it is determined in step S12 that there is separation information corresponding to the planned travel route (step S12; Yes), the ATO device 26 is detected by the speed position detection unit 24 and corresponds to the output speed position detection information VP. Based on the speed and position of the train 1, the route information to the next station read from the storage unit 25, operation information, vehicle information, the signal display information SG received by the ATC on-board device 21, and the separation line position corresponding to the separation line information Thus, a predetermined section including the separation line position corresponding to the separation line information is set as a coasting section.
- the ATO device 26 calculates a run curve (travel curve) corresponding to the fastest travel plan along with the setting of the coasting section (step S13). Specifically, for example, when the point P is a separation line position corresponding to the separation line information, the ATO device 26, as shown by the broken line in FIG. A run curve LC21 corresponding to the travel plan is calculated.
- the ATO device 26 shortens the section (distance) of the predetermined section L or increases the traveling speed when the next station cannot be reached in a predetermined time. It is also possible to adjust to raise.
- one pantograph 15 of the train 1 can pass through the point P in the coasting state, and the other pantograph 15 is configured to pass through the point P in the powering state. It is also possible to do.
- the ATO device 26 replaces the constant speed traveling part and the power running part in the run curve LC21 corresponding to the fastest traveling plan with coasting, and the train travels to the next station with as little energy consumption as possible, and at a predetermined position at the next station at a predetermined time.
- a run curve corresponding to the travel plan is calculated so as to stop at a short time (step S14). Specifically, for example, a run curve LC22 corresponding to a travel plan as indicated by a solid line in FIG. 5 is calculated.
- the ATO device 26 outputs the power running command DR or the second brake command B2 to the main circuit device 12 and the brake device 51 via the control transmission device 13 based on the calculated run curve LC22, that is, the travel plan.
- the vehicle travels according to the calculated run curve (step S15).
- the ATO device 26 further detects the signal present when the station departure time is around the schedule, or when the deviation from the run curve becomes larger than a preset threshold during traveling or when the ATC onboard device 21 receives the signal. If the indication information SG does not match the speed limit information read from the storage means, the travel plan is recalculated based on the current position, speed, and time, and a power running / brake command is issued based on the latest travel plan. Try to calculate.
- the ATO device 26 determines whether or not the cutoff detection signal Sbk has been received while traveling according to the run curve (step S16). If it is determined in step S16 that the blocking detection signal Sbk has not been received (step S16; No), the process proceeds to step S18.
- the data are stored in the storage unit 25 in association with each other (step S17). Also in this case, the latest line separation detection information is stored, for example, up to the latest 100 pieces.
- the ATO device 26 determines whether or not it has arrived at the next station that is the destination of the travel according to the travel plan calculated at the previous station (step S18). If it is determined in step S18 that the station has not yet arrived at the next station (step S18; No), the process proceeds to step S15 again, and the same process is repeated thereafter. If it is determined in step S18 that the station has arrived at the next station (step S18; Yes), the process is terminated. If the next station that arrived is not the end station, the process of step S11 is performed again.
- the case where there are a plurality of points where the separation line detection information is stored has not been described in detail, but there are a plurality of points (locations) where the separation line detection information is stored between the stations. If the coasting travel is performed in all the predetermined sections including the travel time, when the travel time between the predetermined stations cannot be observed, the travel plan is calculated so that the coasting is performed with priority on the part having the higher occurrence frequency. As a result, it is possible to suppress power running, regenerative braking interruption, and arc discharge at the part where the separation occurs without causing a delay.
- a coasting command may be given to the subordinate motor, and a power running or brake command may be given to the motor under the current collector passing through another location.
- the coasting command is given to the motor under the current collector that is effectively passing through the separation line as being coasting.
- the ATO device transmits the separation detection information to the operation control center on the ground by a communication device (not shown), and the operation management center collects and transmits the information to each train.
- the train refers to the aggregated data.
- the travel plan may be calculated as follows. As a result, even a train that has not yet traveled in a location where a separation line has been detected can pass through the location from the beginning by coasting, and the ground side can quickly grasp the location where the track maintenance work is necessary.
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Abstract
Description
記憶部は、集電装置が離線した前記列車の走行位置を記憶する。
これにより、車上制御部は、列車の走行位置及び記憶部を参照して当該列車が離線位置を含む所定区間を走行する場合に、所定区間において列車を惰行走行させる。
図1は、実施形態の列車制御装置を備えた列車の概要説明図である。
列車1は、電気機関車である車両10A、10Bと、電気車である車両10C、10Dと、を備えて構成されている。
車両10A及び車両10Bは、それぞれ集電装置としてのパンタグラフ15を備えており、架線OCLから供給される電力により駆動され、車輪16A、16Bにより軌道回路を構成している線路RW上をATC地上装置AGと通信しつつ走行可能とされている。
図2においては、理解の容易のため、車両10Aを例として説明する。
車両10Aは、大別すると、図2に示すように、列車制御装置11と、主回路装置12と、制御伝送装置13と、ブレーキ制御装置14と、集電装置としてのパンタグラフ15と、車輪16A、16Bと、モータ17と、を備えている。
上記構成において、フィルタコンデンサ33及びVVVFインバータ34とは主制御装置40を構成している。
ブレーキ装置51は、制御伝送装置13を介して伝送された第1ブレーキ指令B1、第2ブレーキ指令B2及びVVVFインバータ34が出力した回生トルク発生量情報TRに基づいて機械的ブレーキであるブレーキ装置51を制御して減速あるいは停止させる。
図3は、実施形態の動作フローチャートである。
図4は、離線情報が無い場合の走行計画算出の説明図である。
ATO装置26は、駅出発時に、記憶部を参照し(ステップS11)、走行予定路線に対応する離線情報が存在するか否かを判別する(ステップS12)。
ステップS12の判別において、走行予定路線に対応する離線情報がない場合には(ステップS12;No)、ATO装置26は、速度位置検出部24が検出し、出力した速度位置検出情報VPに対応する列車1の速度と位置、記憶部25から読みだした次駅までの路線情報、運行情報、車両情報、ATC車上装置21の受信した信号現示情報SGに基づいて、制限速度(制限速度曲線LLIM)を超えない範囲で次駅に最も早く到着する走行計画(最速走行計画という。)に対応するランカーブ(走行曲線)を算出する(ステップS13)。具体的には、例えば、図4に破線で示すような最速走行計画に対応するランカーブLC11を算出する。
また、ATO装置26は、走行計画における走行モード(力行モード/定速モード/惰行モード/減速モード)に対応した力行指令DR及び第2ブレーキ指令B2を算出して出力するようにしてもよい。
ステップS16の判別において、遮断検知信号Sbkを受信していない場合には(ステップS16;No)、処理をステップS18に移行する。
この場合において、離線検知情報は、記憶部25の記憶容量に従って任意の数を記憶することが可能であるが、例えば最新の100個まで記憶する。
ステップS18の判別において、未だ次駅に到着していない場合には(ステップS18;No)、処理を再びステップS15に移行し、以下、同様の処理を繰り返す。
図5は、離線情報がある場合の走行計画算出の説明図である。
ステップS12の判別において、走行予定路線に対応する離線情報がある場合には(ステップS12;Yes)、ATO装置26は、速度位置検出部24が検出し、出力した速度位置検出情報VPに対応する列車1の速度と位置、記憶部25から読みだした次駅までの路線情報、運行情報、車両情報、ATC車上装置21の受信した信号現示情報SG、離線情報に対応する離線位置に基づいて、離線情報に対応する離線位置を含む所定区間を惰行区間として設定する。さらにATO装置26は、この惰行区間の設定とともに、最速走行計画に対応するランカーブ(走行曲線)を算出する(ステップS13)。
具体的には、ATO装置26は、例えば、地点Pが離線情報に対応する離線位置である場合に、図5に破線で示すように、当該地点Pを含む所定区間Lを惰行区間とする最速走行計画に対応するランカーブLC21を算出する。
ステップS16の判別において、遮断検知信号Sbkを受信していない場合には(ステップS16;No)、処理をステップS18に移行する。
この場合においても、離線検知情報は、例えば最新の100個まで記憶する。
ステップS18の判別において、未だ次駅に到着していない場合には(ステップS18;No)、処理を再びステップS15に移行し、以下、同様の処理を繰り返す。
ステップS18の判別において、次駅に到着した場合には(ステップS18;Yes)、処理を終了する。なお、到着した次駅が終点駅では無い場合には、再びステップS11の処理を行うこととなる。
これにより、遅延を発生させることなく、離線発生個所での力行や回生ブレーキの中断やアーク放電を抑制することができる。
これにより、離線の検知された箇所をまだ走行していない列車も、最初から当該箇所を惰行で通過することができ、地上側でも保線作業の必要な個所を迅速に把握することができる。
Claims (5)
- 列車の走行位置を検出する列車位置検出部と、
集電装置が離線した前記列車の走行位置を離線位置として記憶する記憶部と、
前記列車の走行位置及び前記記憶部を参照して当該列車が前記離線位置を含む所定区間を走行する場合に、前記所定区間において前記列車を惰行走行させる車上制御部と、
を備えた列車制御装置。 - 前記列車の駆動及び制動制御を行うとともに、集電装置が離線したことを検出する駆動/制動制御部と、
走行計画を算出し、前記走行計画に基づいて前記駆動/制動制御部を制御するための制御指令を出力するとともに、前記駆動/制動制御部により前記集電装置が離線したことが検出された場合に、前記離線位置を前記記憶部に記憶させる車上制御部と、
を備えた請求項1記載の列車制御装置。 - 前記駆動/制動制御部は、前記集電装置を介して、架線からの電力の供給が遮断されたことを検出する遮断検知部を備えた請求項2記載の列車制御装置。
- 前記車上制御部は、前記離線位置を通過する前記集電装置から電力が供給されている駆動モータ以外の駆動モータで賄える範囲の加減速度で走行計画を立てるとともに、前記所定区間を通過している前記集電装置から電力が供給されている駆動モータに対し惰行指令を与える、
請求項3記載の列車制御装置。 - 地上制御装置との間で通信を行う通信手段を備え、
前記車上制御部は、検出した前記離線位置を地上制御装置に通知し、地上制御装置が前記離線位置を記憶し、通知してきた前記離線位置及び前記離線の発生頻度の情報のうち少なくとも前記離線位置の情報に基づいて、前記惰行走行の制御を行う、
請求項1乃至請求項4のいずれか一項記載の列車制御装置。
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KR1020187000023A KR20180014811A (ko) | 2015-07-09 | 2016-07-08 | 열차 제어 장치 |
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JP7050439B2 (ja) * | 2017-08-30 | 2022-04-08 | 東海旅客鉄道株式会社 | ブレーキ制御システム |
JP7273531B2 (ja) * | 2019-02-18 | 2023-05-15 | 株式会社東芝 | 列車制御システム及び方法 |
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US10766367B2 (en) | 2020-09-08 |
CN107848438A (zh) | 2018-03-27 |
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