WO2019065434A1 - 鉄道車両用振動制御装置 - Google Patents
鉄道車両用振動制御装置 Download PDFInfo
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- WO2019065434A1 WO2019065434A1 PCT/JP2018/034770 JP2018034770W WO2019065434A1 WO 2019065434 A1 WO2019065434 A1 WO 2019065434A1 JP 2018034770 W JP2018034770 W JP 2018034770W WO 2019065434 A1 WO2019065434 A1 WO 2019065434A1
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- roll data
- damper
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- vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
- B61F5/02—Arrangements permitting limited transverse relative movements between vehicle underframe or bolster and bogie; Connections between underframes and bogies
- B61F5/04—Bolster supports or mountings
- B61F5/12—Bolster supports or mountings incorporating dampers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
- B61F5/02—Arrangements permitting limited transverse relative movements between vehicle underframe or bolster and bogie; Connections between underframes and bogies
- B61F5/22—Guiding of the vehicle underframes with respect to the bogies
- B61F5/24—Means for damping or minimising the canting, skewing, pitching, or plunging movements of the underframes
- B61F5/245—Means for damping or minimising the canting, skewing, pitching, or plunging movements of the underframes by active damping, i.e. with means to vary the damping characteristics in accordance with track or vehicle induced reactions, especially in high speed mode
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
- B61F5/02—Arrangements permitting limited transverse relative movements between vehicle underframe or bolster and bogie; Connections between underframes and bogies
- B61F5/04—Bolster supports or mountings
- B61F5/12—Bolster supports or mountings incorporating dampers
- B61F5/127—Bolster supports or mountings incorporating dampers with fluid as a damping medium
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
- B61F5/02—Arrangements permitting limited transverse relative movements between vehicle underframe or bolster and bogie; Connections between underframes and bogies
- B61F5/22—Guiding of the vehicle underframes with respect to the bogies
- B61F5/24—Means for damping or minimising the canting, skewing, pitching, or plunging movements of the underframes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K13/00—Other auxiliaries or accessories for railways
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/002—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion characterised by the control method or circuitry
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
- F16F15/027—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means comprising control arrangements
Definitions
- the present invention relates to, for example, a vibration control device for a railway vehicle that is suitably used to reduce vibrations and the like of the railway vehicle.
- a total of four for detecting the sprung mass acceleration of the vehicle body at four corner positions spaced apart in the front, back and left and right directions of the vehicle body In general, in a railway vehicle having a long full length vehicle body, a total of four for detecting the sprung mass acceleration of the vehicle body at four corner positions spaced apart in the front, back and left and right directions of the vehicle body.
- An acceleration sensor and a plurality of damping force variable dampers in which the generated damping force is variably adjusted are provided.
- the control device variably controls the generated damping force of each damper based on the detection signal detected by each acceleration sensor (see, for example, Patent Documents 1 and 2).
- acceleration sensors are respectively provided on a plurality of bogies, and acceleration detection signals from these sensors are compared to determine the presence or absence of sensor abnormality.
- the sensor abnormality is determined based on the output code of the three-axis acceleration sensor. That is, these conventional techniques only determine abnormality or failure of the acceleration sensor, and do not perform failure diagnosis (judgement of normality or not) about a plurality of damping force variable dampers (force generation mechanisms). .
- An object of the present invention is to provide a vibration control device for a railway vehicle, which can perform failure diagnosis of a force generation mechanism and take quick measures.
- a vibration control device for a railway vehicle includes a force generation mechanism which is provided between a bogie on which wheels are mounted and a vehicle body and generates an adjustable force in the vertical direction, and the force generation mechanism.
- a vibration control device for a railway vehicle comprising: a control unit that controls the generation force of the motor; and an abnormality detection and estimation unit that detects and estimates an abnormality of the force generation mechanism, the abnormality detection Whether the force generation mechanism is broken by comparing a roll data output device that outputs roll data that changes depending on the roll data, the roll data output from the roll data output device, and a failure determination value under predetermined traveling conditions And a failure judging device for judging whether or not it is not.
- an abnormality in a force generation mechanism can be detected, and a reduction in ride comfort associated with the abnormality can be minimized.
- FIGS. 1 to 4 show a first embodiment of the present invention.
- a railway vehicle 1 includes a vehicle body 2 on which, for example, passengers, passengers and the like get on, and front and rear bogies 3 provided below the vehicle body 2. These carriages 3 are disposed separately on the front side and the rear side of the vehicle body 2, and each of the carriages 3 is provided with four wheels 4.
- the railcar 1 is driven to travel along the rail 5 in the direction of arrow A, for example, when it is advanced, as the wheels 4 roll (rotate) on the left and right rails 5 (only one is shown).
- a damping force variable damper 7 (hereinafter referred to as the variable damper 7) is provided. These variable dampers 7 are provided between the carriage 3 and the vehicle body 2 and constitute a force generating mechanism that generates an adjustable force in the vertical direction.
- variable damper 7 is disposed in two axes with respect to one carriage 3, that is, four axes in one vehicle.
- these variable dampers 7 are single-axis dampers 7A and 2-axis dampers 7B disposed respectively on the left and right sides (FL and FR sides) of the front carriage 3 positioned on the front side of the vehicle body 2
- the three-axis damper 7C and the four-axis damper 7D which are disposed on the left and right sides (RL and RR sides) of the rear truck 3 located on the rear side, are illustrated.
- variable dampers 7 (1-axis to 4-axis dampers 7A to 7D) use cylinder units (for example, damping force adjustment type hydraulic shock absorbers called semi-active dampers) capable of individually adjusting their damping forces. It is configured.
- Each variable damper 7 is provided with a damping force adjusting valve (not shown) composed of, for example, a proportional solenoid, and the damping force adjusting valve has damping characteristics of hard characteristics and soft characteristics to reduce vibration of the vehicle body 2. It has become the constitution which adjusts to the optional feature with.
- each variable damper 7 buffers the vibration of the vehicle body 2 with respect to the front and rear bogies 3 separately in the left and right directions and reduces them according to control signals individually output from the control device 9 described later.
- the damping force is variably controlled.
- the variable damper 7 may be configured to continuously adjust the damping force characteristic between hard characteristics and soft characteristics, or may be adjustable in two or more steps.
- the damping force characteristic of the variable damper 7 is variably adjusted from soft to hard according to the current value supplied (energized) from the controller 9 to the solenoid (not shown) of each variable damper 7.
- the variable damper 7 cuts off the conduction current to the solenoid, and when the current value is 0 A (zero ampere), the damping of the middle equivalent (the generated damping force of the variable damper 7 is about halfway between hard and soft) as described later It is configured to be a force. For this reason, the variable damper 7 at the time of failure is fixed to the damping force characteristic equivalent to the middle by turning off (cut off) the current supplied from the control device 9.
- the vehicle body 2 detects accelerations in the upper and lower directions of the vehicle body 2 as sprung accelerations at respective positions on four corner sides separated in the front and back directions and left and right directions.
- a total of four acceleration sensors 8A, 8B, 8C, 8D are provided.
- the acceleration sensors 8A to 8D are respectively mounted on a plurality of different places of the railcar 1 to constitute a plurality of sensors (behavior sensors) for detecting the behavior of the railcar 1.
- an analog acceleration sensor such as a piezoelectric sensor or a piezoresistive sensor is used, and in particular, it is preferable to use an acceleration sensor excellent in water resistance and heat resistance.
- the acceleration sensor 8A is disposed at a position near the FL single-axis damper 7A on the front left side of the vehicle body 2, and the acceleration sensor 8B is located at a front right side of the vehicle body 2 near the FR two-axis damper 7B. It is arranged.
- the acceleration sensor 8C is disposed on the rear left side of the vehicle body 2 at a position close to the 3-axis damper 7C of RL, and the acceleration sensor 8D is disposed on the rear right side of the vehicle body 2 close to the 4-axis damper 7D of RR.
- the acceleration sensors 8A to 8D output detection signals of acceleration detected at respective positions to the control device 9 described later as different detection signals.
- the acceleration sensors 8A to 8D are not limited to the front left side, front right side, rear left side and rear right side of the vehicle body 2.
- the sensor arrangement on the vehicle body 2 may be in any form, such as at the center of the rear and the right side of the vehicle.
- the number of acceleration sensors 8 is not limited to four, and may be freely selected according to the purpose of measurement and control. However, it is desirable to arrange at least two.
- the control device 9 as a control unit that variably controls the generated damping force of each variable damper 7 will be described.
- the control device 9 is installed at a predetermined position of the railcar 1 (for example, a position substantially at the center of the vehicle body 2 as shown in FIG. 2).
- the control device 9 is composed of, for example, a microcomputer, and the acceleration sensors 8A to 8D are connected to the input side of the control device 9 via cables 15A to 15D described later (as a whole referred to as the cable 15).
- the front left side (FL) 1-axis damper 7A, front right side (FR) 2-axis damper 7B, rear left side (RL) 3-axis damper 7C, rear right RR) 4-axis dampers 7D are connected via cables 16A to 16D (generally referred to as cables 16).
- control device 9 is connected to a control device (not shown) of another vehicle connected (connected) to the vehicle 2 shown in FIG. (For example, the traveling position of the vehicle, the traveling speed, etc.) are input / output via the communication line 10.
- One control device 9 is disposed on one vehicle body 2, performs communication internally with the upper part of the vehicle via the communication line 10, and performs calculation internally based on a sensor signal, and gives a damping force command to each variable damper 7 And carries out failure diagnosis and abnormality detection of each of the variable dampers 7, for example.
- the control device 9 has a memory 9A as a storage unit comprising, for example, a ROM, a RAM, a non-volatile memory, etc., in the memory 9A, for example for fault diagnosis processing of the variable damper 7 shown in FIG.
- the program and the failure judgment value etc. are stored.
- the failure determination value is a threshold value used to determine whether the operating state of the variable damper 7 (1-axis to 4-axis dampers 7A to 7D) is in the normal range.
- the roll data storage unit 14C (see FIG. 3), which is a part of the memory 9A, can update the judgment value (that is, the failure judgment value) for making the normal judgment or the failure judgment of the variable damper 7 Stored.
- the control device 9 determines whether or not roll data obtained from a roll data output device including an acceleration sensor 8 mounted on the vehicle body 2, a gyro sensor, a vehicle height sensor (not shown), etc. is within a normal range. Failure diagnosis of 7 (1-axis to 4-axis dampers 7A to 7D) can be performed.
- the control device 9 includes a damper control device 11 as a control unit that variably controls the generated damping force of the 1-axis to 4-axis dampers 7A to 7D, and a force generation mechanism (1-axis to 4-axis dampers 7A to 7D) and includes an abnormality detection estimation unit 12 for detecting and estimating the abnormality.
- the abnormality detection / estimation unit 12 outputs a roll data output unit that outputs roll data that changes according to the roll (left and right swings) of the vehicle body 2, and the roll data calculation unit 13 (roll data output (roll data output) Device) compares the roll data output from the device with the failure determination value (stored in the memory 9A) under a predetermined traveling condition to determine whether or not the one-axis to four-axis dampers 7A to 7D have a failure And an apparatus 14.
- the damper control device 11 of the control device 9 detects detection signals from the acceleration sensors 8A to 8D every sampling time in order to reduce vibrations such as roll (rolling) and pitch (swinging in the front and rear directions) of the vehicle body 2. While reading the control signal (current value of control command) by calculation according to, for example, skyhook theory (skyhook control law), the control signal at this time is variable damper 7 (1-axis to 4-axis dampers 7A to 7D) , And variably control the damping force characteristics of each of the variable dampers 7.
- the control law of the variable damper 7 is not limited to the skyhook control law. For example, an LQG control law or an H ⁇ control law may be used.
- the failure determination device 14 of the control device 9 includes a vehicle position detection unit 14A that detects the traveling position of the railway vehicle 1, a vehicle speed detection unit 14B that detects the traveling velocity of the railway vehicle 1, and roll data under the predetermined traveling conditions.
- a roll data storage unit 14C for storing the roll data output from the calculation unit 13; and a failure judgment value calculation unit 14D for calculating a failure judgment value as the threshold from the traveling position, the traveling speed and the roll data. It is comprised including.
- the vehicle position detection unit 14A and the vehicle speed detection unit 14B may detect the traveling position and traveling speed of the railway vehicle 1 moving along the track (rail 5) based on the vehicle information via the communication line 10. it can.
- the roll data storage unit 14C is configured of, for example, the memory 9A of the control device 9. With the failure judgment value calculated by the failure judgment value calculation unit 14D, the failure judgment device 14 judges (determines) whether or not the variable damper 7 (1-axis to 4-axis dampers 7A to 7D) is operating normally. It is also a judgment value to be updated, and is stored in the roll data storage unit 14C so as to be updated.
- the failure judgment value which is also a normal / abnormal threshold, is sequentially output from the roll data calculation unit 13 by repeating the traveling test of the railway vehicle 1 when, for example, the variable damper 7 (1-axis to 4-axis dampers 7A-7D) is normal.
- the roll data stored in the roll data storage unit 14C is determined based on the roll data in the normal state.
- the failure determination value calculation unit 14D determines whether the roll data output from the roll data calculation unit 13 under a predetermined traveling condition (for example, a predetermined traveling position and traveling speed) is within the range of the normal roll data described above.
- the failure judgment value as a threshold is calculated by using At this time, it is preferable to determine in advance an appropriate evaluation section and an evaluation speed based on the signal from the vehicle position detection unit 14A and the signal from the vehicle speed detection unit 14B.
- the roll data of the vehicle body 2 is normal when the traveling speed of the railway vehicle 1 is within the range of the prescribed evaluation velocity.
- the failure determination device 14 correctly determines whether the operation of each of the variable dampers 7 (1-axis to 4-axis dampers 7A to 7D) is normal or abnormal. be able to.
- Failure determination value calculation unit 14D integrates and correlates the roll data stored in roll data storage unit 14C with the signals from vehicle position detection unit 14A and vehicle speed detection unit 14B, from the roll data at this time.
- a failure judgment value is calculated as a threshold value for determining whether the range is normal.
- each variable damper 7 by the failure determination device 14 may be performed by comparing roll data of one vehicle body 2 and another vehicle body 2 among the plurality of vehicle bodies 2 connected to each other.
- the roll data of the vehicle body 2 traveling in the curve section becomes large, but the roll data of the vehicle body 2 traveling in the entrance side or the exit side of the curve section is low and erroneous detection There is a fear.
- the weight of the vehicle body 2 and the number of passengers for each vehicle body 2 are different, it is preferable to set a threshold value for abnormality determination in consideration of them.
- the roll data output device includes a plurality of sensors (acceleration sensor 8) for detecting a vehicle behavior provided in the vehicle body 2, and a roll data calculation unit 13 for calculating the roll data from values derived by the acceleration sensor 8. And is comprised.
- the roll data output device is not limited to this.
- the roll data output device may be configured by a roll sensor such as a gyro sensor.
- a vehicle height sensor or the like may be used as a plurality of sensors for detecting the vehicle body behavior.
- the control device 9 is connected on its input side to the acceleration sensors 8A to 8D via long cables 15A to 15D (generally referred to as the cables 15) as wires.
- the output side of the control device 9 is connected to the variable damper 7 (1-axis to 4-axis dampers 7A to 7D) etc. via cables 16A to 16D (generally referred to as a cable 16).
- the railway vehicle vibration control apparatus has the above-described configuration, and its operation will be described next.
- the acceleration sensors 8A to 8D detect the vibrations in the upper and lower directions at this time. That is, the acceleration sensor 8A detects the vibration of the front left side (FL) of the vehicle body 2, and the acceleration sensor 8B detects the vibration of the front right side (FR) of the vehicle body 2. The acceleration sensor 8C detects the vibration of the rear left side (RL) of the vehicle body 2, and the acceleration sensor 8D detects the vibration of the rear right side (RR) of the vehicle body 2.
- the damper control device 11 of the control device 9 discriminates the signals detected by the acceleration sensors 8A to 8D as individual acceleration detection signals, and suppresses the vibration of the railway vehicle 1, for example, FL, FR, RL, RR.
- the target damping force to be generated by each of the variable dampers 7 (1-axis to 4-axis dampers 7A to 7D) on the side is calculated.
- the one-axis to four-axis dampers 7A to 7D are variably controlled so that the generated damping forces have characteristics in accordance with the target damping forces, in accordance with control signals individually output from the damper control device 11.
- failure diagnosis of the acceleration sensors 8A to 8D and the like is known, the failure diagnosis and abnormality detection of the variable damper 7 (1-axis to 4-axis dampers 7A to 7D) are always effective. Means not provided. Therefore, in the first embodiment, failure diagnosis of each variable damper 7 is performed, for example, in the failure judging device 14 of the control device 9 shown in FIG. 3 in accordance with the processing procedure shown in FIG.
- step 1 the roll data output from the roll data calculation unit 13 is read.
- step 2 the failure judgment value under predetermined traveling conditions (for example, stored in advance in the roll data storage unit 14C shown in FIG. 3) is compared with the roll data, and the roll data at this time is within the normal range. It is determined whether or not.
- step 2 While the determination in step 2 is “YES”, the roll data is within the normal range, and the variable dampers 7 (1-axis to 4-axis dampers 7A to 7D) operate normally. As a result, it can be determined that the roll control of the railcar 1 is stable, so the processing returns to step 1 and the subsequent processing is executed. However, when the determination in step 2 is “NO”, the roll data is out of the normal range and becomes an abnormal value.
- step 3 it can be determined that the variable damper 7 (1-axis to 4-axis dampers 7A to 7D) is malfunctioning and is broken.
- the damping control may be stopped for each vehicle body 2 (i.e., the control device 9) to set the fail mode.
- the railway vehicle 1 a plurality of vehicle bodies 2) connected to each other Control may be stopped.
- each variable damper 7 of the railway vehicle 1 is determined to be at fault, and the current is cut off and fixed to the damping force characteristic equivalent to the middle, so that the damping action equivalent to the middle is secured.
- the driver's seat (for example, the control device 9) indicates that the variable damper 7 (one of the 1-axis to 4-axis dampers 7A to 7D) is broken and an abnormality occurs in the present damping system. From the communication line 10) to the railway management system of the upper part may be notified. By notifying the upper part in this manner, it is possible to promptly carry out repair. Therefore, according to the present embodiment, the abnormality of the variable damper 7 can be properly determined. After the abnormality detection of the variable damper 7, for example, the control of the variable damper 7 may be turned off, and an appropriate response may be taken, such as setting the fail mode (that is, fixing the variable damper 7 to the damping force characteristics equivalent to middle).
- the control of the variable damper 7 may be turned off, and an appropriate response may be taken, such as setting the fail mode (that is, fixing the variable damper 7 to the damping force characteristics equivalent to middle).
- abnormality determination of roll data you may extract an appropriate evaluation area from the driving
- the failure judgment value (threshold value) of the roll data is determined by the failure judgment value calculating unit 14D, the evaluation section is a large curve section traveling at high speed, and the failure judging device 14 performs only within the corresponding curve section. Perform fault diagnosis and abnormality detection. At this time, it is better to combine the traveling section and the traveling speed. In the railway vehicle 1, basically, the traveling place and the traveling speed are approximately determined, and it is more effective that the abnormality diagnosis is performed only when the traveling section and the traveling speed fall within the specified values. Abnormality detection can be realized.
- the failure judgment device 14 determines the evaluation section and the traveling speed by a plurality of traveling tests, analyzes the traveling data in the case of simulating each abnormality, and uses this as a failure judgment value (threshold).
- 9A roll data storage unit 14C
- an appropriate threshold is set in the evaluation section and the corresponding speed, so that abnormality detection (that is, failure diagnosis of the variable damper 7) becomes possible without erroneous detection.
- abnormality detection that is, failure diagnosis of the variable damper 7
- the traveling conditions are different, the operation itself may not be properly performed, such as operation delay or failure of the vehicle, and the operation of the vehicle may need to be prioritized over abnormality detection.
- abnormality determination of roll data that is, failure diagnosis of the variable damper 7
- roll data of one vehicle body 2 and another vehicle body 2 may be compared.
- the threshold value for abnormality determination of the target vehicle body 2 compares roll data between adjacent vehicle bodies 2 and determines that the target vehicle body 2 is abnormal if the roll data of the determination target vehicle body 2 is larger than a specified value.
- the difference in roll data becomes large and it is determined as abnormal
- FIG. 5 shows a second embodiment of the present invention.
- the same components as those in the first embodiment described above are denoted by the same reference numerals, and the description thereof will be omitted.
- the feature of the second embodiment is that when the variable damper 7 becomes abnormal and the roll data deviates from the normal range, the cause is miswiring, ie, the variable damper 7 (1-axis to 4-axis damper 7A
- This embodiment is configured to determine whether or not the wiring (for example, the cables 16A to 16D) connecting the 7D to the control device 9 is a miswiring.
- step 1 of FIG. 4 the roll data is read in step 11, and in the next step 12, the failure judgment value under a predetermined traveling condition (for example, the roll data is stored in the roll data storage unit 14C shown in FIG. 3 and the roll data, and it is determined whether the roll data at this time is within the normal range. Since it can be determined that the variable damper 7 (1-axis to 4-axis dampers 7A to 7D) is operating normally while “YES” is determined in step 12, the process returns to step 11 and the subsequent steps Execute the process
- step 12 when it is determined “NO” in step 12, the roll data is out of the normal range and becomes an abnormal value, so that it proceeds to “abnormality diagnosis mode” in the next step 13.
- this "abnormality diagnosis mode” first, in order to inspect the presence or absence of erroneous wiring of the variable damper 7, the one-axis and two-axis dampers 7A, 7B disposed on the left and right (FL, FR) of the same carriage 3 Swap the control (step 14).
- the damping force command or current output from the controller 9 to the single-axis damper 7A can be replaced with the two-axis damper 7B and output.
- the damping force command or current output from the control device 9 to the two-axis damper 7B can be replaced with the one-axis damper 7A and output.
- step 14 when it is determined by the failure determination device 14 that the force generation mechanism (variable damper 7) is in failure, in step 14, the controller 9 controls the single-shaft damper 7A and the two-axis damper as the force generation mechanism.
- the control exchange with 7B is performed as a reverse operation control that is operated in the reverse direction to that in the normal state (in fact, at the time of failure).
- step 15 roll data in a state in which the control of the 1-axis and 2-axis dampers 7A and 7B is replaced is read from the roll data calculation unit 13 in a predetermined evaluation section (traveling section of the vehicle).
- the failure determination value prestored in the roll data storage unit 14C under a predetermined traveling condition is compared with the roll data to determine whether the roll data at this time is within the normal range. . While the determination in step 16 is “YES”, the variable dampers 7 (1-axis to 4-axis dampers 7A to 7D) operate normally.
- next step 17 it is determined that the wiring (cables 16A and 16B) of the 1-axis and 2-axis dampers 7A and 7B has been switched. Then, in the next step 18, the control of the one-axis and two-axis dampers 7A and 7B is stored while being replaced. As a result, the control of the one-axis and two-axis dampers 7A and 7B thereafter can continue the damping control of the vehicle body 2 in the state where the incorrect wiring of the cables 16A and 16B is repaired (corrected).
- step 16 When it is determined “NO” in step 16, it is determined that the roll data has not returned to the normal range, and the control of the one-axis and two-axis dampers 7A and 7B is returned in the next step 19. As a result, the damping force command or current output from the controller 9 to the single-axis damper 7A is output and controlled as in the normal case. Similarly, the damping force command or current output from the control device 9 to the two-axis damper 7B is output and controlled as in the normal case. Then, in the next step 20, the control of the 3-axis and 4-axis dampers 7C and 7D disposed on the left and right (RL and RR) of the same carriage 3 is switched.
- the damping force command or current output from the control device 9 to the three-axis damper 7C can be replaced with the four-axis damper 7D and output.
- the damping force command or current output from the controller 9 to the 4-axis damper 7D can be replaced with the 3-axis damper 7C and output. If it is determined that there is no incorrect wiring between the 3-axis damper 7C and the 4-axis damper 7D, it is preferable to restore the control replacement between the 3-axis and 4-axis dampers 7C and 7D. .
- the control device 9 when it is determined by the failure determination device 14 that the force generation mechanism (variable damper 7) is in failure, the control device 9 performs the three-axis damper 7C and the four-axis damper as the force generation mechanism in step 20.
- the control exchange with 7D is performed as a reverse operation control that is operated in the opposite direction to that in the normal state (actually, in the failure state).
- roll data in a state in which the control of the 3-axis and 4-axis dampers 7 C and 7 D is replaced is read from the roll data calculation unit 13.
- the failure determination value (prestored in the roll data storage unit 14C) under a predetermined traveling condition is compared with the roll data to determine whether the roll data at this time is within the normal range. . While the determination at step 22 is “YES”, the variable dampers 7 (1-axis to 4-axis dampers 7A to 7D) operate normally.
- next step 23 it is determined that the wiring (cables 16C and 16D) of the 3-axis and 4-axis dampers 7C and 7D has been switched. Then, in the next step 24, the control of the 3-axis and 4-axis dampers 7C and 7D is replaced and stored. As a result, the control of the subsequent 3-axis and 4-axis dampers 7C and 7D can continue damping control of the vehicle body 2 in a state in which the incorrect wiring of the cables 16C and 16D is repaired (corrected).
- step 25 it is determined whether "wiring replacement” has occurred between the 1-axis damper 7A and the 2-axis damper 7B or between the 3-axis damper 7C and the 4-axis damper 7D.
- step 25 the control is exchanged between the single-axis damper 7A and the two-axis damper 7B or between the three-axis damper 7C and the four-axis damper 7D.
- step 26 the "normal control mode" is entered, and the processing after step 11 is continued.
- step 25 it is determined in the next step 27 that the variable damper 7 (1-axis to 4-axis dampers 7A-7D) is malfunctioning and is broken. That is, the cause of the operation abnormality of the variable damper 7 is miswiring, that is, miswiring due to misplacement of the wiring (for example, cables 16A to 16D) connecting the variable damper 7 (1 axis to 4 axis dampers 7A
- the damping control is stopped for each vehicle body 2 (i.e., the control device 9), and the failure mode is set. In this case, when each variable damper 7 of the railcar 1 is determined to be faulty, the supplied current is cut off and fixed to the damping force characteristic equivalent to that of the middle, and the damping action by this can be secured.
- erroneous wiring is detected between the 1-axis damper 7A and the 2-axis damper 7B or between the 3-axis damper 7C and the 4-axis damper 7D.
- the control is exchanged between the single-axis damper 7A and the two-axis damper 7B or between the three-axis damper 7C and the four-axis damper 7D.
- the erroneous wiring of each variable damper 7 can be detected, and when the abnormality is detected, by changing the output to the correct axis for control, it is possible to secure an appropriate ride quality in the railway vehicle 1.
- variable dampers 7 becomes possible. Then, when it is detected (judged) that there is a miswiring, control replacement of the left and right dampers is performed as reverse operation control that operates in the opposite direction to normal (in fact, at the time of failure) By performing the correction or the like, the damping control of the vehicle body 2 can be continued, and the operation of the railway vehicle 1 can be safely enhanced with reliability and maintained.
- the present invention is not limited to this.
- the presence or absence of miswiring between the 3-axis damper 7C and the 4-axis damper 7D is determined, and then the presence or absence of misconnection between the 1-axis damper 7A and the 2-axis damper 7B is determined. It may be configured to
- FIGS. 6 and 7 show a third embodiment of the present invention.
- the same components as those in the first embodiment described above are denoted by the same reference numerals, and the description thereof will be omitted.
- the feature of the third embodiment is that when the variable damper 7 becomes abnormal and the roll data deviates from the normal range, any one of the 1-axis to 4-axis dampers 7A to 7D is a damper It is in the configuration that the fault diagnosis and identification are made as to whether or not it is abnormal.
- step 1 of FIG. 4 the roll data is read in step 31 and in the next step 32, the failure judgment value under a predetermined traveling condition ( For example, the roll data is stored in the roll data storage unit 14C shown in FIG. 3 and the roll data, and it is determined whether the roll data at this time is within the normal range. Since it can be determined that the variable damper 7 (1-axis to 4-axis dampers 7A to 7D) is operating normally while “YES” is determined in step 32, the process returns to step 31 and thereafter. Execute the process
- step 34 the damper control device 11 of the control device 9 fixes the middle (intermediate) characteristic to all the axes (all the 1st to 4th axis dampers 7A to 7D) of the variable damper 7 It outputs a force command (ie, a current of zero).
- the damping force command corresponding to the middle may be fixed, for example, so that the current value supplied to the solenoids of the 1-axis to 4-axis dampers 7A to 7D becomes a predetermined intermediate value.
- the section used as the middle damping force command may be limited within, in front of, and behind the specific evaluation section determined in advance.
- the roll data in this state is read from the roll data calculation unit 13 in a predetermined evaluation section (traveling section of the vehicle).
- the roll data in this state is stored as a temporary "stored value" in the roll data storage unit 14C of the failure determination device 14.
- the damper control device 11 of the control device 9 outputs a damping force command to the one-axis damper 7A so as to temporarily fix the one-axis damper 7A to the damping force characteristic equivalent to software.
- the other variable dampers 7 (2-axis to 4-axis dampers 7B to 7D) are fixed to the above-described damping force characteristics equivalent to the middle.
- the roll data under the setting condition of step 37 is read from the roll data calculation unit 13 (roll data output device) in a predetermined evaluation section (traveling section of the vehicle).
- step 39 it is determined whether the roll data read in step 38 is a roll value equivalent to the above-mentioned temporary "stored value".
- the roll data read in step 38 is a roll value equivalent to the above-mentioned temporary "stored value”.
- step 39 it is equivalent to the “stored value” of all-axis middle fixed (refer to steps 34 to 36), and the single-axis damper 7A is equivalent to the software according to the damping force command from the controller 9. Not adjusted to the damping force characteristics of Therefore, in the next step 40, it is diagnosed that the one-axis damper 7A is broken.
- step 41 for example, the damper control device 11 of the control device 9 performs 2-axis to temporarily fix the 2-axis damper 7B to the damping force characteristic equivalent to software. A damping force command is output to the damper 7B. At this time, the other variable dampers 7 (one-axis, three-axis, and four-axis dampers 7A, 7C, 7D) remain fixed to the above-described damping force characteristics equivalent to the middle.
- the roll data under the setting condition of step 41 is read from the roll data calculation unit 13 in a predetermined evaluation section (traveling section of the vehicle).
- step 43 it is determined whether the roll data read in step 42 is a roll value equivalent to the above-mentioned temporary "stored value".
- step 43 it is equivalent to the “stored value” of all-axis middle fixed (refer to steps 34 to 36), and the 2-axis damper 7B is equivalent to the software according to the damping force command from the controller 9. Not adjusted to the damping force characteristics of Therefore, in the next step 44, it is diagnosed that the two-axis damper 7B is broken.
- the damper control device 11 of the control device 9 is configured to temporarily fix, for example, the three-axis damper 7C to a damping force characteristic equivalent to software in the next step 45 shown in FIG. Output a damping force command to the three-axis damper 7C.
- the other variable dampers 7 one-axis, two-axis, and four-axis dampers 7A, 7B, 7D
- the roll data under the setting condition of step 45 is read from the roll data calculation unit 13 in a predetermined evaluation section (traveling section of the vehicle).
- step 47 it is determined whether the roll data read in step 46 is a roll value equivalent to the above-mentioned temporary "stored value”.
- step 47 it is equivalent to the “stored value” of all-axis middle fixed (refer to steps 34 to 36), and the 3-axis damper 7C is equivalent to the software according to the damping force command from the controller 9. Not adjusted to the damping force characteristics of Therefore, in the next step 48, it is diagnosed that the three-axis damper 7C is broken.
- step 49 for example, the damper control device 11 of the control device 9 performs 4-axis to temporarily fix the 4-axis damper 7D to the damping force characteristic equivalent to software. A damping force command is output to the damper 7D. At this time, the other variable dampers 7 (1-axis to 3-axis dampers 7A to 7C) are fixed to the above-described damping force characteristics equivalent to the middle.
- the roll data under the setting condition of step 49 is read from the roll data calculation unit 13 in a predetermined evaluation section (traveling section of the vehicle).
- next step 51 it is determined whether or not the roll data read in step 50 is a roll value equivalent to the above-described temporary "stored value".
- the 4-axis damper 7D is equivalent to the software according to the damping force command from the controller 9. Not adjusted to the damping force characteristics of Therefore, in the next step 52, it is diagnosed that the four-axis damper 7D is broken.
- step 51 the process proceeds to the next step 53, and in the “abnormality diagnosis mode” after the step 33, is there any faulty axis among the 1 axis to 4 axis dampers 7A to 7D? It is determined whether or not.
- step 53 it is determined in the next step 54 that at least one of the variable dampers 7 (1-axis to 4-axis dampers 7A-7D) is abnormal in operation and is broken. Informs early removal and replacement of the identified damper.
- “NO” is determined in the step 53, the abnormal axis which has failed is not identified, so the process proceeds to the “normal control mode” in the next step 55, and the processing after the step 31 is continued.
- any one of the 1-axis to 4-axis dampers 7A to 7D It is possible to diagnose and identify whether or not the variable damper 7 of the above is abnormal. For this reason, until now, the damper can be removed to identify the abnormal axis, and the operation of identifying the abnormal axis such as confirmation of the damping force characteristic can be simplified, and the damper can be quickly replaced when an abnormality occurs.
- FIGS. 8 to 10 show a fourth embodiment of the present invention.
- the same components as those in the first embodiment described above are denoted by the same reference numerals, and the description thereof will be omitted.
- the feature of the fourth embodiment is that, when the variable damper 7 malfunctions and the roll data deviates from the normal range, first, it is checked whether there is a miswiring abnormality in the left and right dampers, When no abnormality is confirmed, it is configured to specify which variable damper 7 among the one-axis to four-axis dampers 7A to 7D is a damper abnormality.
- step 61 the roll data is read in step 61, and in the next step 62, the failure judgment value under a predetermined traveling condition (for example, the roll data is stored in the roll data storage unit 14C shown in FIG. 3 and the roll data, and it is determined whether the roll data at this time is within the normal range. Since it can be determined that the variable damper 7 (1-axis to 4-axis dampers 7A to 7D) is operating normally while “YES” is determined in step 62, the process returns to step 61, and the subsequent steps Execute the process
- step 64 in order to inspect the presence or absence of miswiring of the variable damper 7, the 1-axis and 2-axis dampers 7A arranged on the left and right (FL, FR) of the same carriage 3 , 7B control is replaced.
- the damping force command or current output from the controller 9 to the single-axis damper 7A can be replaced with the two-axis damper 7B and output.
- the damping force command or current output from the control device 9 to the two-axis damper 7B can be replaced with the one-axis damper 7A and output.
- step 64 when it is determined by the failure determination device 14 that the force generation mechanism (variable damper 7) is in failure, in step 64, the controller 9 determines the single-shaft damper 7A and the two-axis damper as the force generation mechanism.
- the control exchange with 7B is performed as a reverse operation control that is operated in the reverse direction to that in the normal state (in fact, at the time of failure).
- step 65 roll data in a state in which the control of the 1-axis and 2-axis dampers 7A and 7B is switched is read from the roll data calculation unit 13 in a predetermined evaluation section (traveling section of the vehicle).
- the failure determination value prestored in the roll data storage unit 14C
- the variable damper 7 (1-axis to 4-axis dampers 7A to 7D) operates normally.
- next step 67 it is determined that the wiring (cables 16A and 16B) of the 1-axis and 2-axis dampers 7A and 7B has been switched.
- the control of the one-axis and two-axis dampers 7A and 7B is stored while being replaced.
- the control of the one-axis and two-axis dampers 7A and 7B thereafter can continue the damping control of the vehicle body 2 in the state where the incorrect wiring of the cables 16A and 16B is repaired (corrected).
- step 66 When it is determined "NO" in step 66, it is determined that the roll data has not returned to the normal range, and the control of the 1-axis and 2-axis dampers 7A and 7B is returned in step 69. Then, in the next step 70, the control of the 3-axis and 4-axis dampers 7C and 7D disposed on the left and right (RL and RR) of the same carriage 3 is switched.
- the damping force command or current output from the control device 9 to the three-axis damper 7C can be replaced with the four-axis damper 7D and output.
- the damping force command or current output from the controller 9 to the 4-axis damper 7D can be replaced with the 3-axis damper 7C and output.
- the control device 9 determines the three-axis damper 7C and the four-axis damper as the force generation mechanism in step 70.
- the control exchange with 7D is performed as a reverse operation control that is operated in the opposite direction to that in the normal state (actually, in the failure state).
- next step 71 roll data in a state in which the control of the 3-axis and 4-axis dampers 7C and 7D is replaced is read from the roll data calculation unit 13.
- the failure determination value (prestored in the roll data storage unit 14C) under a predetermined traveling condition is compared with the roll data to determine whether the roll data at this time is within the normal range. . While the determination at step 72 is “YES”, the variable dampers 7 (1-axis to 4-axis dampers 7A to 7D) operate normally.
- next step 73 it is determined that the wiring (cables 16C and 16D) of the 3-axis and 4-axis dampers 7C and 7D has been switched. Then, in the next step 74, the control of the 3-axis and 4-axis dampers 7C and 7D is replaced and stored. As a result, the control of the subsequent 3-axis and 4-axis dampers 7C and 7D can continue damping control of the vehicle body 2 in a state in which the incorrect wiring of the cables 16C and 16D is repaired (corrected).
- next step 75 it is determined whether "wiring replacement” has occurred between the 1-axis damper 7A and the 2-axis damper 7B or between the 3-axis damper 7C and the 4-axis damper 7D.
- the control is exchanged between the 1-axis damper 7A and the 2-axis damper 7B or between the 3-axis damper 7C and the 4-axis damper 7D.
- the "normal control mode" is entered, and the process from step 61 onward is continued.
- step 75 when "NO" is determined in the step 75, it is determined that the variable damper 7 (1-axis to 4-axis dampers 7A to 7D) is malfunctioning and is broken. Then, in step 77 shown in FIG. 9, it is determined which one of the 1st to 4th axis dampers 7A to 7D has a malfunction. That is, first, at step 77, the damping force fixed to the middle (intermediate) characteristic from the damper control device 11 of the control device 9 to all the axes of the variable damper 7 (all one-axis to four-axis dampers 7A to 7D) Output a command (ie, current value zero).
- the current supplied from the control device 9 is cut off in all the variable dampers 7 of one vehicle, and the damping force characteristic equivalent to that of the middle is fixed.
- the damping force command equivalent to the middle for example, the current value supplied to the solenoids of the 1-axis to 4-axis dampers 7A to 7D may be fixed at a predetermined intermediate value.
- the section used as the middle damping force command may be limited within, in front of, and behind the specific evaluation section determined in advance.
- the roll data in this state is read from the roll data calculation unit 13 in a predetermined evaluation section (traveling section of the vehicle).
- the roll data in this state is stored as a temporary "stored value" in the roll data storage unit 14C of the failure determination device 14.
- the damper control device 11 of the control device 9 outputs a damping force command to the one-axis damper 7A so as to temporarily fix the one-axis damper 7A to a damping force characteristic equivalent to software.
- the other variable dampers 7 (2-axis to 4-axis dampers 7B to 7D) are fixed to the above-described damping force characteristics equivalent to the middle.
- the roll data under the setting condition of step 80 is read from the roll data calculation unit 13 in a predetermined evaluation section (traveling section of the vehicle).
- step 82 it is determined whether the roll data read in step 81 is a roll value equivalent to the above-mentioned temporary "stored value". If it is determined “YES” in step 82, it is equivalent to the "stored value" of all-axis middle fixed (see steps 77 to 79), and the single-axis damper 7A is not adjusted to the damping force characteristic equivalent to software. . Therefore, in the next step 83, it is diagnosed that the one-axis damper 7A is broken.
- step 84 for example, from the damper control device 11 of the control device 9, the two-axis damper 7B is temporarily fixed to the damping force characteristic equivalent to software. A damping force command is output to the damper 7B. At this time, the other variable dampers 7 (one-axis, three-axis, and four-axis dampers 7A, 7C, 7D) remain fixed to the above-described damping force characteristics equivalent to the middle.
- the roll data under the setting condition of step 84 is read from the roll data calculation unit 13 in a predetermined evaluation section (traveling section of the vehicle).
- next step 86 it is determined whether the roll data read in step 85 is a roll value equivalent to the above-mentioned temporary "stored value”. If “YES” is determined in the step 86, it is equivalent to the “stored value” of all the axes middle fixed (refer to the steps 77 to 79), and the two-axis damper 7B is not adjusted to the damping force characteristic equivalent to the software. . Therefore, in the next step 87, it is diagnosed that the two-axis damper 7B is broken.
- the damper control device 11 of the control device 9 is configured to temporarily fix, for example, the three-axis damper 7C to a damping force characteristic equivalent to software in the next step 88 shown in FIG. Output a damping force command to the three-axis damper 7C.
- the other variable dampers 7 one-axis, two-axis, and four-axis dampers 7A, 7B, 7D
- the roll data calculation unit 13 reads the roll data under the set conditions in step 88 in a predetermined evaluation section (traveling section of the vehicle).
- step 90 it is determined whether the roll data read in step 89 is a roll value equivalent to the above-mentioned temporary "stored value". If it is determined “YES” in step 90, it is equivalent to the "stored value" of all-axis middle fixed (see steps 77 to 79), and the 3-axis damper 7C is not adjusted to the damping force characteristic equivalent to software. . Therefore, in the next step 91, it is diagnosed that the three-axis damper 7C is broken.
- step 92 the damper control device 11 of the control device 9 performs 4-axis to temporarily fix the 4-axis damper 7D to the damping force characteristic equivalent to software.
- a damping force command is output to the damper 7D.
- the other variable dampers 7 (1-axis to 3-axis dampers 7A to 7C) are fixed to the above-described damping force characteristics equivalent to the middle.
- the roll data under the set conditions in step 92 is read from the roll data calculation unit 13 in a predetermined evaluation section (traveling section of the vehicle).
- step 94 it is determined whether the roll data read in step 93 is a roll value equivalent to the above-mentioned temporary "stored value”.
- the roll data read in step 93 is a roll value equivalent to the above-mentioned temporary "stored value”.
- step 94 it is determined in the next step 96 whether or not there is a broken axis among the 1-axis to 4-axis dampers 7A to 7D in the "abnormality diagnosis mode" after the step 33. Do. When it is determined “YES” in step 96, it is determined in the next step 97 that at least one of the variable dampers 7 (1-axis to 4-axis dampers 7A to 7D) is abnormal in operation and is broken. Informs early removal and replacement of the identified damper. On the other hand, when “NO” is determined in the step 96, since the faulty abnormal axis is not identified, the “normal control mode” is entered in the next step 98, and the process after the step 61 is continued again. Do.
- variable damper 7 when the variable damper 7 operates abnormally and the roll data deviates from the normal range, first, erroneous wiring abnormality of the left and right dampers occurs. If no abnormality is confirmed, it is possible to diagnose and identify which variable damper 7 among the 1-axis to 4-axis dampers 7A to 7D is abnormal. For this reason, incorrect wiring abnormality of the left and right dampers and the specification of the abnormal axis can be comprehensively performed, and when abnormality occurs, the damper replacement can be performed promptly.
- the force generating mechanism is constituted by the variable damper 7 formed of a hydraulic shock absorber of damping force adjustment type provided between the vehicle body 2 and each carriage 3 is exemplified.
- the present invention is not limited to this, and, for example, an electromagnetic linear actuator, an electromagnetic damper, an air suspension, etc., is provided between the bogie and the vehicle body to configure a force generating mechanism that generates adjustable force in the vertical direction. May be This point is the same as in the second to fourth embodiments.
- a force generating mechanism which is provided between a bogie on which a wheel is mounted and a vehicle body and generates an adjustable force in the vertical direction, and a control unit which controls the generated force of the force generating mechanism.
- a vibration control device for a railway vehicle comprising: an abnormality detection estimation unit that detects and estimates an abnormality of the force generation mechanism, wherein the abnormality detection estimation unit outputs roll data that changes according to the roll of the vehicle body.
- a data output device, and a failure determination device that determines whether or not the force generation mechanism is failure by comparing the roll data output from the roll data output device with a failure determination value under a predetermined traveling condition; , And is characterized by. Thereby, the failure of the force generation mechanism can be determined.
- the roll data output device is derived from a sensor that detects one or more vehicle body behaviors provided on the vehicle body, and the sensor And a roll data calculation unit that calculates the roll data from the calculated value.
- the failure determination device includes a vehicle position detection unit that detects a traveling position of the vehicle, a vehicle speed detection unit that detects a traveling speed of the vehicle, and A roll data storage unit for storing the roll data output from the roll data output device under a predetermined traveling condition, and a failure judgment value for calculating the failure judgment value from the traveling position, the traveling speed and the roll data And a calculating unit.
- the abnormality detection estimation unit is provided to one or a plurality of other vehicle bodies connected to the vehicle body, and the failure determination value calculation unit includes the other The failure judgment value is calculated from the roll data of the vehicle body. This makes it possible to detect an abnormality in the force generation mechanism without erroneous detection.
- the control unit when the failure determination device determines that the force generation mechanism is in failure, the control unit is configured to It is characterized by turning off the control. As a result, the operation of the railway vehicle can be safely and reliably maintained.
- the control unit when the failure determination device determines that the force generation mechanism is in failure, causes the force generation mechanism to It is characterized in that it is reverse operation control that is operated in the reverse direction to the normal time.
- the cause of the failure is a damper miswiring, it is possible to minimize the deterioration of the ride comfort caused by the abnormality by switching the control and performing the reverse operation control.
- the control unit when the failure determination device determines that the force generation mechanism is in failure, the control unit is configured to It is characterized in that the generated power is middle control. Thereby, when a damper failure occurs, an abnormal axis can be identified in advance, and the total time from abnormal axis identification to damper replacement can be shortened.
- the present invention is not limited to the above-described embodiment, but includes various modifications.
- the above-described embodiment is described in detail to explain the present invention in an easy-to-understand manner, and is not necessarily limited to one having all the described configurations.
- part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment.
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Abstract
Description
第6の態様としては、前記第1ないし第4の態様の何れかにおいて、前記故障判断装置により前記力発生機構が故障であると判断された際に、前記制御部は、前記力発生機構に正常時とは逆向きに作動させる反転作動制御とすることを特徴としている。この場合には、故障原因がダンパ誤配線とするならば、制御を入れ替えて反転作動制御とすることにより、異常に伴う乗り心地の悪化を最小限に抑えることができる。
Claims (7)
- 鉄道車両用振動制御装置であって、該鉄道車両用振動制御装置は、
車輪が装着された台車と車体との間に設けられ、上下方向に調整可能な力を発生する力発生機構と、
該力発生機構の発生力を制御する制御部と、
前記力発生機構の異常を検出し推定する異常検出推定部と、
を備え、
前記異常検出推定部は、前記車体のロールによって変化するロールデータを出力するロールデータ出力装置と、
前記ロールデータ出力装置から出力された前記ロールデータと、所定の走行条件における故障判断値とを比較して前記力発生機構が故障であるか否かを判断する故障判断装置と、を備えることを特徴とする鉄道車両用振動制御装置。 - 請求項1に記載の鉄道車両用振動制御装置において、
前記ロールデータ出力装置は、前記車体に一または複数設けられた車体挙動を検出するセンサと、該センサにより導出された値から前記ロールデータを算出するロールデータ算出部と、を有することを特徴とする鉄道車両用振動制御装置。 - 請求項1または2に記載の鉄道車両用振動制御装置において、
前記故障判断装置は、
車両の走行位置を検出する車両位置検出部と、
車両の走行速度を検出する車両速度検出部と、
前記所定の走行条件において前記ロールデータ出力装置から出力された前記ロールデータを記憶するロールデータ記憶部と、
前記走行位置と前記走行速度と前記ロールデータとから、前記故障判断値を算出する故障判断値算出部と、
を有することを特徴とする鉄道車両用振動制御装置。 - 請求項3に記載の鉄道車両用振動制御装置において、
前記異常検出推定部は、前記車体に連接された一または複数の他の車体にそれぞれ設けられ、前記故障判断値算出部は、前記他の車体の前記ロールデータから前記故障判断値を算出することを特徴とする鉄道車両用振動制御装置。 - 請求項1乃至4の何れか1項に記載の鉄道車両用振動制御装置において、
前記故障判断装置により前記力発生機構が故障であると判断された際に、前記制御部は、前記力発生機構の制御をオフとすることを特徴とする鉄道車両用振動制御装置。 - 請求項1乃至4の何れか1項に記載の鉄道車両用振動制御装置において、
前記故障判断装置により前記力発生機構が故障であると判断された際に、前記制御部は、前記力発生機構に正常時とは逆向きに作動させる反転作動制御とすることを特徴とする鉄道車両用振動制御装置。 - 請求項1乃至4の何れか1項に記載の鉄道車両用振動制御装置において、
前記故障判断装置により前記力発生機構が故障であると判断された際に、前記制御部は、前記力発生機構の発生力をミドル制御とすることを特徴とするに記載の鉄道車両用振動制御装置。
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CN110667630A (zh) * | 2019-09-18 | 2020-01-10 | 西南交通大学 | 一种基于垂向减振器控制车体异常抖动装置及控制方法 |
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JP2021126912A (ja) * | 2020-02-10 | 2021-09-02 | 日立Astemo株式会社 | 作動状態診断装置 |
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