WO2021130938A1 - Brake control device, drive control system, and brake control method - Google Patents

Abstract

This brake control device (5) is provided with: a target adjustment unit (11) which acquires an actual deceleration and a target deceleration and which then makes an adjustment to the target deceleration so as to bring the actual deceleration closer to the target deceleration; a required brake force calculation unit (12) which calculates a required brake force that is necessary to obtain the adjusted target deceleration; and a mechanical brake control unit (14) which performs control on a mechanical brake device (9) according to the difference between the required brake force and an electric brake force. The target adjustment unit (11) adjusts the target deceleration according to the ratio of the electric brake force to the required brake force.

Description

Brake control device, drive control system, and brake control method

The present disclosure relates to a brake control device, a drive control system, and a brake control method.

Electric railway vehicles accelerate by receiving driving force from a rotating motor that receives electric power from a power source, and decelerates by receiving the mechanical braking force of a mechanical braking device. Specifically, the electric railroad vehicle has a power conversion device that converts the electric power supplied from the power source into electric power for supplying the electric motor, and an electric railroad vehicle that receives power from the power conversion device and rotates. It is equipped with an electric motor that generates a driving force, a mechanical brake device that generates a mechanical braking force by pressing a wheel control element against a wheel, and a brake control device that controls the mechanical braking device. The brake control device performs feedback control to bring the actual braking force, which is the actually generated braking force, closer to the required braking force, which is the braking force required to obtain the deceleration indicated by the brake command. This type of brake control device is disclosed in Patent Document 1.

Japanese Unexamined Patent Publication No. 2015-147485

Some electric railcars decelerate by receiving the mechanical braking force generated by the mechanical braking and the electric braking force generated by the consumption of the electric power generated by the electric motor operating as a generator. In this type of electric railroad vehicle, when the feedback control of the brake control device disclosed in Patent Document 1 is performed, the followability of the actual braking force with respect to the required braking force is lowered due to the difference in responsiveness between the mechanical brake and the electric brake. Brake stability can be reduced. The actual braking force indicates the total of the actually generated mechanical braking force and the actually generated electric braking force.

Specifically, the responsiveness of the mechanical brake is lower than the responsiveness of the electric brake. Therefore, if the feedback gain is lowered in accordance with the mechanical brake in order to prevent the occurrence of overshoot in the mechanical brake having low responsiveness, the followability of the actual braking force to the required braking force during the feedback control of the electric brake is lowered. Sometimes. Further, if the feedback gain is increased in accordance with the electric brake in order to improve the followability with the highly responsive electric brake, overshoot may occur during the feedback control of the mechanical brake, and the stability of the brake may be lowered.

The present disclosure has been made in view of the above circumstances, and enhances the followability of the actual braking force to the required braking force and the stability of the brake in the brake control of the vehicle that decelerates in response to the electric braking force and the mechanical braking force. It is an object of the present invention to provide a brake control device, a drive control system, and a brake control method capable of this.

In order to achieve the above object, the brake control device of the present disclosure operates as a generator by obtaining a driving force from a rotating electric motor supplied from a power source and being supplied with the power converted by the power converter. The brake control of the vehicle that decelerates by receiving the electric braking force generated by the consumption of the electric power supplied from the electric motor and the mechanical braking force generated by the mechanical braking device is performed. The brake control device includes a target adjusting unit, a required braking force calculation unit, and a mechanical brake control unit. The target adjusting unit acquires the actual deceleration of the vehicle and the target deceleration of the vehicle indicated by the brake command, and adjusts the target deceleration in order to bring the actual deceleration closer to the target deceleration. The required braking force calculation unit calculates the required braking force, which is the braking force required to obtain the target deceleration adjusted by the target adjusting unit, and issues the required brake command signal indicating the value of the required braking force to the required brake command. It is sent to the power converter control unit that controls the power converter according to the signal. The mechanical brake control unit controls the mechanical brake device according to the difference between the required braking force and the electric braking force to generate the mechanical braking force. The target adjusting unit adjusts the target deceleration according to the difference between the actual deceleration and the target deceleration and the ratio of the electric braking force to the required braking force.

According to the present disclosure, the target deceleration is adjusted according to the difference between the actual deceleration and the target deceleration and the ratio of the electric braking force to the required braking force, and according to the required braking force based on the adjusted target deceleration. The power converter is controlled. Further, the mechanical braking device is controlled according to the difference between the required braking force and the electric braking force based on the adjusted target deceleration. Since the target deceleration is adjusted according to the ratio of the electric braking force to the required braking force, it is possible to improve the followability of the actual braking force to the required braking force and the stability of the brake.

Block diagram showing the configuration of the drive control system according to the first embodiment The block diagram which shows the structure of the brake control device which concerns on Embodiment 1. The block diagram which shows the structure of the target adjustment part which concerns on Embodiment 1. The figure which shows the example of the feedback gain table which concerns on Embodiment 1. A flowchart showing an example of the operation of the brake control performed by the brake control device according to the first embodiment. The block diagram which shows the structure of the target adjustment part which concerns on Embodiment 2. Block diagram showing the configuration of the brake control device according to the third embodiment A block diagram showing a configuration of a modified example of the brake control device according to the embodiment. The figure which shows the hardware structure of the brake control device which concerns on embodiment.

Hereinafter, the brake control device, the drive control system, and the brake control method according to the embodiment will be described in detail with reference to the drawings. In the figure, the same or equivalent parts are designated by the same reference numerals.

(Embodiment 1)
The brake control device 5 and the drive control system 100 according to the first embodiment will be described by taking as an example a brake control device and a drive control system mounted on an electric railway vehicle which is an example of a vehicle.

The drive control system 100 shown in FIG. 1 performs drive control and brake control of the vehicle. By the drive control by the drive control system 100, the electric motor 8 described later rotates, so that the vehicle can obtain a driving force and accelerate. Further, the brake control by the drive control system 100 consumes the electric power generated by the electric motor 8 operating as a generator, and the mechanical braking device 9 described later operates to apply a braking force to the vehicle. As a result, the vehicle can decelerate. In other words, the drive control system 100 generates an electric braking force and a mechanical braking force, so that the vehicle decelerates. The drive control system 100 employs regenerative braking control that supplies electric power to vehicles located nearby as a method of consuming electric power generated by the electric motor 8 that operates as a generator.

Although the details will be described later, the drive control system 100 performs brake control in order to generate the required braking force, which is the braking force required to obtain the target deceleration, which is the target value for deceleration of the vehicle. At the time of brake control, the drive control system 100 controls according to the ratio of the electric braking force to the required braking force, so that the followability of the actual braking force to the required braking force and the stability of the brake can be improved. .. The actual braking force indicates the total of the actually generated mechanical braking force and the actually generated electric braking force.

The configuration of the drive control system 100 will be described. The drive control system 100 has a master controller 1 that outputs an operation command according to the operation of the operator, a target deceleration calculation unit 2 that calculates a target deceleration, and an actual deceleration that is the actual deceleration of the vehicle. It includes an actual deceleration calculation unit 3 for calculating, a weight calculation unit 4 for calculating the weight of the vehicle, and a brake control device 5 for controlling the brake of the vehicle. Further, the drive control system 100 converts the electric power supplied from the electric motor 8 for generating the driving force of the vehicle and the electric power supplied from the power source (not shown) into the electric power for supplying the electric power 8 and the converted electric power to supply the electric power 8 to the electric motor 8. The device 7 includes a power conversion device control unit 6 that controls the power conversion device 7, and a mechanical braking device 9 that generates a mechanical braking force of the vehicle.

The master controller 1 is provided in the cab of the vehicle, for example, and outputs an operation command including a power running command or a brake command according to the operation of the operator. For example, the power running command and the brake command are stepwise command values, respectively.

The target deceleration calculation unit 2 acquires an operation command from the master controller 1, and when the operation command includes a brake command, calculates the target deceleration according to the brake command. Specifically, the target deceleration calculation unit 2 holds in advance a target deceleration table in which the command value indicated by the brake command and the target deceleration are associated with each other. Then, the target deceleration calculation unit 2 calculates the target deceleration based on the brake command acquired from the master controller 1 and the target deceleration table, and sends it to the brake control device 5.

The actual deceleration calculation unit 3 obtains the rotation speed of the axle from the pulse signal output by the PG (Pulse Generator) attached to the axle of the wheel of the vehicle. Then, the actual deceleration calculation unit 3 calculates the angular velocity ω (unit: rad / s) of the wheel from the rotation speed of the axle. Then, the actual deceleration calculation unit 3 calculates the vehicle speed V1 from the angular velocity ω of the wheel and the diameter D1 (unit: m) of the wheel by using the following equation (1).
V1 = D1 ・ ω / 2 ・ ・ ・ (1)

Further, the actual deceleration calculation unit 3 calculates the speed V1 of the vehicle described above at regular intervals, calculates the actual deceleration from the change in the speed of the vehicle, and sends it to the brake control device 5.

The weight calculation unit 4 acquires the measured values of the loads of passengers and luggage from the load-bearing valve provided on the bogie of the vehicle. Then, the weight calculation unit 4 adds a predetermined weight of the vehicle body to the measured value of the load to calculate the vehicle weight which is the total weight of the vehicle body, passengers, and luggage, and the brake control device 5 Send to. It is assumed that the weight calculation unit 4 holds information about the weight of the vehicle body in advance.

Although the details will be described later, the brake control device 5 calculates the required braking force and sends the required brake command signal S1 indicating the value of the required braking force to the power converter control unit 6. Further, the brake control device 5 acquires an electronically controlled feedback signal S2 indicating the value of the electric braking force generated by consuming the electric power generated by the electric motor 8 operating as a generator from the power converter control unit 6. Then, the brake control device 5 controls the mechanical brake device 9 according to the difference between the required braking force and the electric braking force. Specifically, when the electric brake force is smaller than the required braking force, the brake control device 5 controls the mechanical braking device 9 in order to compensate the difference between the required braking force and the electric braking force with the mechanical braking device 9.

The power converter control unit 6 sends a control signal to a switching element described later that the power converter 7 has in response to at least one of an operation command acquired from the main controller 1 and a required brake command signal S1 acquired from the brake control device 5. To switch the switching element on and off. The power conversion device control unit 6 acquires a measured value of the phase current flowing from the electric motor 8 to the power conversion device 7 from a current sensor (not shown) that detects the current flowing between the power conversion device 7 and the electric motor 8. The control described later is performed based on the measured value of the current.

When the driving command includes the power running command, the power converter control unit 6 calculates the target torque for obtaining the target acceleration, which is the target value of the vehicle acceleration indicated by the power running command. Further, the power converter control unit 6 calculates the actual torque, which is the actual torque of the motor 8, from the measured value of the phase current. Then, the power converter control unit 6 sends a control signal to the switching element of the power converter 7 to switch the switching element on and off in order to bring the actual torque of the motor 8 closer to the target torque.

When the operation command includes a brake command, the power conversion device control unit 6 controls the power conversion device 7 in order to convert the power supplied from the motor 8 operating as a generator into desired power. The desired electric power indicates the electric power to be supplied to a vehicle located in the vicinity. Specifically, the power converter control unit 6 sends a control signal to the switching element of the power converter 7 to switch the switching element on and off in order to convert the electric power supplied from the electric motor 8 into a desired electric power. Further, the power converter control unit 6 supplies electricity from the electric motor 8 operating as a generator based on the measured value of the phase current, and supplies the electric power converted by the power converter 7 to a vehicle located nearby. Calculate the braking force. Then, the power conversion device control unit 6 sends an electronically controlled feedback signal S2 indicating the value of the electric braking force to the brake control device 5.

The power conversion device 7 has, for example, a switching element which is an IGBT (Insulated Gate Bipolar Transistor). The power conversion device 7 performs power conversion by controlling the switching element by the power conversion device control unit 6. Specifically, the power conversion device 7 receives the supply of electric power acquired from the overhead wire by a current collector (not shown), converts the supplied electric power into electric power for driving the electric motor 8, and converts the converted electric power into the electric motor 8. Supply to. The current collector corresponds to a power source that supplies electric power to the electric power converter 7. Further, the electric power conversion device 7 converts the electric power supplied from the electric motor 8 operating as a generator into electric power to be supplied to other vehicles located in the vicinity via the overhead wire, and outputs the electric power.

The motor 8 rotates when it receives power from the power converter 7, and transmits power from the shaft to the axle via joints and gears. As a result, the vehicle can obtain a driving force and accelerate. Further, when the vehicle is braked, the electric motor 8 operates as a generator and supplies electric power to the electric power converter 7. The electric motor 8 is, for example, a three-phase induction motor.

The mechanical brake device 9 includes a brake cylinder, a piston that displaces according to the pressure of air inside the brake cylinder, and a brake shoe attached to the piston. The pressure of the air inside the brake cylinder is controlled by the brake control device 5. When the pressure of the air inside the brake cylinder increases, the brake shoes are pressed against the wheel treads, and mechanical braking force is generated.

The details of the configuration of the brake control device 5 responsible for the brake control in the drive control system 100 having the above configuration will be described. The brake control device 5 shown in FIG. 2 acquires the actual deceleration and the target deceleration, and adjusts the target deceleration acquired in order to approach the acquired target deceleration, and the required brake. The required braking force calculation unit 12 for calculating the force, the ratio calculation unit 13 for calculating the electric brake usage rate, which is the ratio of the electric braking force to the required braking force, and the machine according to the difference between the required braking force and the electric braking force. A mechanical brake control unit 14 for controlling the brake device 9 is provided.

Target adjusting unit 11 will be described later in detail, in order to approximate the actual deceleration beta _c in the target deceleration beta _in, the target deceleration beta _in the deceleration difference is a difference between the actual deceleration beta _c (beta _{in -β c),} and electric brake duty calculated by the percentage calculation unit 13 according to the R _v, to adjust the target deceleration. Then, the target adjusting unit 11 outputs the _{adjusted target deceleration β out.}

The required braking force calculation unit 12 calculates the required braking force F1, which is the braking force required to obtain _{the target deceleration β out adjusted by the target adjusting unit 11. Specifically, the required braking force calculation unit 12 multiplies the target deceleration β out} adjusted by the target adjustment unit 11 by the vehicle weight W1 acquired from the weight calculation unit 4, as shown in the following equation (2). Then, the required braking force F1 is calculated.
F1 = β _out・ W1 ・ ・ ・ (2)

Then, the required brake force calculation unit 12 sends a necessary brake command signal S1 indicating the value of the required brake force F1 to the power conversion device control unit 6, the ratio calculation unit 13, and the mechanical brake control unit 14.

The percentage calculation unit 13 obtains the necessary brake command signal S1 indicating the value of the required braking force F1 from the need braking force calculation unit 12, electronically controlled feedback signal indicative of the power converter controller 6 a value of the electric braking force F _v Acquire S2. The percentage calculation unit 13 calculates the ratio of the electric braking force F _v of the necessity braking force F1. In particular, the percentage calculation unit 13, as shown in the following equation (3), electrically controlled value F _v of the electric braking force feedback signal S2 is shown, the value F1 of the required braking force indicated by the required brake command signal S1 Divide to calculate the electric brake usage rate _Rv. Then, the ratio calculation unit 13 sends the calculated electric brake usage rate _Rv to the target adjustment unit 11. The electric brake usage rate R _v satisfies 0 ≦ R _v ≦ 1.
R _v = F _v / F1 ... (3)

Mechanical brake control unit 14 obtains the necessary brake command signal S1 indicating the value F1 of the required braking force from the required braking force calculation unit 12, feedback electronically controlled showing a power converter controlling unit 6 the value F _v of the electric braking force Acquire the signal S2. Then, the mechanical brake control unit 14 controls the mechanical brake device 9 in order to compensate the difference between the _{required braking force F1 and the electric braking force Fv with the mechanical braking force of the mechanical braking device 9.}

Specifically, the mechanical brake control unit 14, the value F _v of the electric braking force is subtracted from the value F1 of required braking force calculates a target value F _p of the mechanical brake force. Then, the mechanical brake control unit 14, as shown in the following equation (4), the target value F _p of the mechanical brake force, coefficient of friction μ and the mechanical brake of the contact surface between the brake shoe and the wheel mechanical braking device 9 has by dividing the scaling factor S that is dependent on the sectional area of the brake cylinder of the device 9, to calculate a target value P _t of the air pressure in the brake cylinder. It is assumed that the mechanical brake control unit 14 holds in advance the values of the friction coefficient μ and the conversion coefficient S.
P _t = F _p / (μ ・ S) ・ ・ ・ (4)

Then, the mechanical brake control unit 14, the air supplied from the air reservoir (not shown), compressed in accordance with a target value P _t of the air pressure in the brake cylinder, via a relay valve (not shown) the compressed air mechanical brake device 9 Send to. As a result, the pressure of the brake cylinder of the mechanical brake device 9 changes. When the pressure of the brake cylinder becomes high, the piston is displaced and the brake shoe is pressed against the wheel tread, mechanical braking force is generated. It is preferable that the mechanical brake control unit 14 measures the pressure of the air output from the relay valve with a pressure sensor and performs pressure feedback control based on the measured value.

The target adjusting unit 11 that makes it possible to improve the followability of the actual braking force to the required braking force and the stability of the brake when the brake is controlled by the brake control device 5 having the above configuration will be described in detail.

Target adjusting unit shown in FIG. 3. 11, the target deceleration beta _in the deceleration difference is a difference between the actual deceleration _{β c (β in -β c)} , and electric brake duty calculated by the percentage calculation unit 13 The deceleration adjustment amount Δβ to be added to the target deceleration β _{in is calculated according to R v.} Then, the target adjusting unit 11, as shown in equation (5) below, and outputs the adjusted target deceleration beta _out is obtained by adding the deceleration adjustment amount Δβ to the target deceleration beta _in.
β _out = β _in + Δβ ・ ・ ・ (5)

The configuration of the target adjusting unit 11 will be described in detail. _{The target adjusting unit 11 subtracts the actual deceleration β c} acquired from the actual deceleration calculation unit 3 from _{the target deceleration β in} acquired from the target deceleration calculation unit 2, and decelerates the difference (β _{in −} β _c). ) Is calculated by the subtractor 21 and the feedback control using the feedback gain adjusted by the gain adjusting unit 24 described later is used to add the deceleration to the target deceleration β _{in based on the deceleration difference (β in −} β _c). a feedback control section 22 for calculating the speed adjustment amount [Delta] [beta], an adder 23 for adding the deceleration adjustment amount [Delta] [beta] to the target deceleration beta _in, the feedback gain in response to an electrical brake duty R _v obtained from the percentage calculation unit 13 A gain adjusting unit 24 for adjusting the speed is provided.

The subtractor 21 subtracts the actual deceleration β _{c from the target deceleration β in} , calculates the deceleration difference (β _in −β _c ), and sends it to the feedback control unit 22.

The feedback control unit 22 performs deceleration feedback control, calculates the deceleration adjustment amount Δβ, and sends the deceleration adjustment amount Δβ to the adder 23. Feedback control is performed using at least one feedback gain.

In the first embodiment, the feedback control unit 22 performs PID (Proportional Integral Different) control. Specifically, the feedback control unit 22 performs PID control based on the following equation (6). In the following equation (6), K1 indicates a proportional gain, K2 indicates an integrated gain, and K3 indicates a differential gain. The feedback control unit 22 acquires the proportional gain K1, the integrated gain K2, and the differential gain K3 from the gain adjusting unit 24.

The adder 23 adds the deceleration adjustment amount Δβ _{to the target deceleration β in} acquired from the target deceleration calculation unit 2, _{and sends the adjusted target deceleration β out} to the required braking force calculation unit 12.

Gain adjusting unit 24, one at least of the at least one feedback used in the feedback control unit 22 is adjusted according to the electric brake duty R _v obtained from the percentage calculation unit 13. Specifically, the gain adjusting unit 24, at least one of the at least one feedback used by the feedback controller 22, adjusted imparted a positive correlation with the electric brake duty R _v.

In the first embodiment, the gain adjusting unit 24 sends electric brake duty R _v proportional gain K1 corresponding to the integral gain K2, and the differential gain K3 to the feedback control unit 22. Specifically, the proportional gain K1, the integrated gain K2, and the differential gain K3 each have a positive correlation with the _{electric brake utilization rate Rv.}

For example, as shown in FIG. 4, the gain adjusting unit 24 _{holds in advance a feedback gain table that associates the electric brake usage rate Rv} with the proportional gain K1, the integrated gain K2, and the differential gain K3, respectively. For the proportional gain K1, K ₁₁ > K ₁₂ > K ₁₃ > K ₁₄ > K ₁₅ holds. Similarly, for the integrated gain K2, K ₂₁ > K ₂₂ > K ₂₃ > K ₂₄ > K ₂₅ holds. For the differential gain K3, K ₃₁ > K ₃₂ > K ₃₃ > K ₃₄ > K ₃₅ holds.

As the electric brake usage rate R _v increases, the proportional gain K1, the integrated gain K2, and the differential gain K3 each increase, and the absolute value of the deceleration adjustment amount Δβ calculated by the above equation (6) increases. In other words, since the feedback gain is increased when the electric brake duty R _v is a utilization of the highly responsive electric brake is increased, it is possible to enhance the followability to required braking force of the actual braking force.

Further, when the electric brake usage rate R _v becomes small, that is, when the mechanical brake usage rate becomes large, the proportional gain K1, the integral gain K2, and the differential gain K3 become smaller, respectively, so that the reduction calculated by the above equation (6) is performed. The absolute value of the speed adjustment amount Δβ becomes smaller. In other words, as the usage rate of the mechanical brake with low responsiveness increases, the feedback gain decreases, so that the occurrence of overshoot is suppressed and the stability of the brake can be improved.

The operation of the drive control system 100 having the above configuration will be described.
When the vehicle is power running, that is, when the driving command includes the power running command, the power converter control unit 6 calculates the target torque for obtaining the target acceleration indicated by the power running command. Further, the power converter control unit 6 calculates the actual torque of the motor 8 from the measured value of the phase current acquired from the current sensor. Then, the power converter control unit 6 sends a control signal to the switching element of the power converter 7 to switch the switching element on and off in order to bring the actual torque of the motor 8 closer to the target torque.

As a result, the power conversion device 7 converts, for example, the DC power supplied from the current collector into three-phase AC power, and supplies the three-phase AC power to the motor 8.

The motor 8 supplied with the three-phase AC power rotates, and power is transmitted from the shaft of the motor 8 to the axles of the wheels via joints and gears. As a result, the vehicle gains driving force and accelerates.

When the vehicle is braked, that is, when the driving command includes the brake command, the target deceleration calculation unit 2 calculates the target deceleration β _in according to the brake command and sends it to the brake control device 5.
Further, the actual deceleration calculation unit 3 calculates the actual deceleration β _c and sends it to the brake control device 5.
Further, the weight calculation unit 4 acquires the measured values of the loads of passengers and luggage from the load-bearing valve provided on the bogie of the vehicle. Then, the weight calculation unit 4 adds a predetermined weight of the vehicle body to the measured value of the load to calculate the vehicle weight W1 which is the total weight of the vehicle body, passengers, and luggage, and the brake control device 5 Send to.

The brake control performed by the brake control device 5 based on the target deceleration β _in , the actual deceleration β _c , and the vehicle weight W1 will be described with reference to FIG. The target adjusting unit 11 repeats the process of step S11 while the _{target deceleration β in} is not acquired from the target deceleration calculation unit 2 (step S11; No). When the target adjusting unit 11 _{acquires the target deceleration β in} (step S11; Yes), the _{target adjusting unit 11 acquires the actual deceleration β c} from the actual deceleration calculation unit 3 (step S12). Then, the target adjusting unit 11 adjusts the target deceleration _{according to the difference between the target deceleration β in} and the actual deceleration β _c , and the electric brake usage rate R _v (step S13).

The required braking force calculation unit 12 acquires the vehicle weight W1 from the weight calculation unit 4 (step S14). Then, the required braking force calculation unit 12 calculates _{the required braking force F1, which is the braking force required to obtain the target deceleration β out} adjusted in step S13, and indicates the required braking force value F1 indicating the required braking force value F1. The signal S1 is sent to the power converter control unit 6, the ratio calculation unit 13, and the mechanical brake control unit 14 (step S15).

When the power converter control unit 6 acquires the required brake command signal S1 sent in step S15, the power converter control unit 6 controls the switching element of the power converter 7 according to the required brake force value F1 indicated by the required brake command signal S1. A signal is sent to switch the switching element on and off. As a result, the electric power supplied from the electric motor 8 operating as a generator is converted by the power conversion device 7 and supplied to other vehicles located in the vicinity via the current collector and the overhead wire. By consuming the electric power generated by the electric motor 8 that operates as a generator in this way, an electric braking force is generated. The power converter controller 6 calculates the electric braking force F _v, sending the electronically controlled feedback signal S2 indicating the value F _v of the electric braking force to the percentage calculation unit 13 and the mechanical brake control unit 14 of the brake control apparatus 5 ..

The percentage calculation unit 13 obtains the electronically controlled feedback signal S2, and calculates the electric brake duty _{R v} (step S16).
When the mechanical brake control unit 14 acquires the electronically controlled feedback signal S2, the mechanical brake control unit 14 controls the _{mechanical brake device 9 in order to compensate the difference between the required braking force F1 and the electric braking force Fv} with the mechanical braking force of the mechanical braking device 9. (Step S17). When the process of step S17 is completed, the brake control device 5 repeats the above process from step S11.

As described above, the brake control device 5 according to the _{first embodiment adjusts the target deceleration β in according to the electric brake usage rate R v} , and the required braking force F1 according to the adjusted target deceleration β _out. Based on, an electric braking force and a mechanical braking force are generated. Therefore, when the usage rate of the highly responsive electric brake is high, the feedback gain can be increased to improve the followability of the actual braking force to the required braking force. Further, by reducing the feedback gain when the usage rate of the mechanical brake having low responsiveness becomes high, the occurrence of overshoot in the mechanical brake can be suppressed, and the stability of the brake can be improved.

(Embodiment 2)
The configuration of the target adjusting unit 11 is arbitrary as long as feedback control for bringing _{the actual deceleration β c} closer to the target deceleration β _{in is possible.} The target adjusting unit 15 for adjusting the target _{deceleration β in} within a range in which the absolute value of the deceleration adjusting amount Δβ is equal to or less than the threshold value will be described in the second embodiment.

The configuration of the drive control system 100 and the brake control device 5 is the same as that of the first embodiment. However, the brake control device 5 includes a target adjusting unit 15 for adjusting the _{target deceleration β in.}

The target adjusting unit 15 shown in FIG. 6 further includes a limiting unit 25 in addition to the configuration of the target adjusting unit 11 included in the brake control device 5 according to the first embodiment shown in FIG.

When the absolute value of the deceleration adjustment amount Δβ output by the feedback control unit 22 _{exceeds the threshold value Th β} , the limiting unit 25 corrects and corrects the deceleration adjustment amount Δβ according to the threshold value Th _β. Outputs the deceleration adjustment amount Δβ'. If the absolute value of the deceleration adjustment amount Δβ output by the feedback control unit 22 is equal to or less than the threshold value, the limiting unit 25 sets the deceleration adjustment amount Δβ obtained from the feedback control unit 22 as a corrected deceleration adjustment amount Δβ'. Output.

The threshold value Th _β is, for example, the magnitude of the error that can be included _{in the actual deceleration β c} calculated by the actual deceleration calculation unit 3. Note the threshold Th _beta, it is preferable that changes according to the electric brake duty R _v. For example, the error error E _c included in the actual deceleration beta _c used as the threshold value Th _beta is included as shown in the following equation (7), the actual deceleration beta _c in a case where only the electric brake force is acting It may be calculated based on the _{error E v,} which is the error _{included in the actual deceleration β c} when only the mechanical braking force is working, and the error E _p.
E _c = R _v · E _v + (1-R _v ) · E _p ... (7)

In this case, the limiting unit 25 _{holds in advance the values of the error E v} and the error E _{p calculated in advance, and uses the electric brake usage rate R v} obtained from the ratio calculation unit 13 from the above equation (7). The calculated error E _c may be used as the threshold value Th _β.

The method of calculating the error E _v and the error E _{p will be described below.}
As expressed by the following equation (8), the _{error Ev is the actual deceleration β cv} calculated by the actual deceleration calculation unit 3 when only the electric braking force is working, and only the electric braking force is working. It is defined based on the _{actual deceleration β v} that actually occurs when there is.
E _v = β _cv- β _v ... (8)

_{Further, the actual deceleration β cv} calculated by the actual deceleration calculation unit 3 when only the electric braking force is working includes an error. In particular, the actual deceleration beta _cv, as shown in the following equation (9), the electric brake force F _v actually occurring when only the electric braking force is acting, indicated electronically controlled feedback signal S2 It is defined based on the _{error E Fv} included in the value of the electric braking force F _{v , the actual vehicle weight M1, and the error E W1} included in the vehicle weight W1 calculated by the weight calculation unit 4.
β _cv = (F _v + E _Fv ) / (M1 + E _W1 ) ・ ・ ・ (9)

Further, the actual deceleration β _v that actually occurs when only the electric braking force is working is the electric brake that actually occurs when only the electric braking force is working, as shown in the following equation (10). It is defined based on the force _Fv and the actual vehicle weight M1.
β _v = F _v / M1 ・ ・ ・ (10)

_{The error E Fv} in the above equation (9) may be determined according to the upper limit of the measurement error of the current sensor. The error E _W1 in Equation (9) is only to be determined in accordance with the upper limit of the measurement error of the variable load valve. _{For example, the error E c} is calculated from the above equations (8)-(10) based on the ideal values of the actual deceleration β _v , the electric braking force F _{v, and the vehicle weight M1 obtained by the simulation.}

Further, as the error E _p , as expressed by the following equation (11), when only the mechanical braking force is applied, only the actual deceleration β cp calculated by the actual deceleration calculation unit 3 and the mechanical braking force _act. It is defined based on the _{actual deceleration β p} that actually occurs when.
E _p = β _cp -β _p ... (11)

Further, when only the mechanical braking force is working, the actual deceleration β _cp calculated by the actual deceleration calculation unit 3 includes an error. Specifically, as shown in the following equation (12), the actual deceleration β _{cp is the mechanical brake force F p} actually generated when only the mechanical brake force is applied, and the pressure of the mechanical brake control unit 14. _{The error E Fp} included in the value of _{the mechanical braking force F p} calculated based on the measured value of the sensor _{, the actual vehicle weight M1, and the error E W1} included in the vehicle weight W1 calculated by the weight calculation unit 4 Defined based on.
β _cp = (F _p + E _Fp ) / (M1 + E _W1 ) ・ ・ ・ (12)

Further, the actual deceleration β _p actually generated when only the mechanical braking force is applied is the mechanical brake actually generated when only the mechanical braking force is applied, as shown in the following equation (13). It is defined based on the force F _p and the actual vehicle weight M1.
β _p = F _p / M1 ・ ・ ・ (13)

The error E _Fp depends on the measurement error of the pressure sensor and the error of the friction coefficient μ. Specifically, the error E _Fp, as shown in the following equation (14), and the air pressure P _m in the actual brake cylinder, a measurement error E _Pm of the pressure sensor, to the error Δμ to the actual friction coefficient mu _m It is determined based on.
_{E Fp = (P m + E} Pm) · (μ m + Δμ) · S-P m · μ m · S
... (14)

Further, the error E _W1 may be determined according to the upper limit value of the measurement error of the load-bearing valve. For example, from the above equations (11)-(14) based on the ideal values of _{the actual deceleration β p} , the mechanical braking force F _p , the vehicle weight M1, the air pressure P _m , and the friction coefficient μ _m obtained by the simulation. The error E _p is calculated.

Further, the threshold Th _β preferably has a positive correlation with the target deceleration β _in. In this case, the limiting unit 25 may hold in advance a threshold table for associating the _{target deceleration β in} with the threshold Th _β. Then, the limiting unit 25 may _{acquire the target deceleration β in} from the target deceleration calculation unit 2 and correct the deceleration adjustment amount Δβ by using the threshold value Th _β corresponding to the target deceleration β _{in. When the error E c} represented by the above equation (7) is used as the threshold value Th _β , the limiting unit 25 holds in advance a threshold value table for associating _{the target deceleration β in} with the error E _v and the error E _p. Just do it.

As described above, according to the brake control device 5 according to the second embodiment, the absolute value of the deceleration adjustment amount Δβ _{is maintained below the threshold value Th β,} so that the feedback control in the feedback control unit 22 causes an overshoot. Occurrence is suppressed. As a result, the stability of the brake can be improved.

(Embodiment 3)
When there is no powering vehicle in the vicinity, it is not possible to supply electric power to other vehicles to consume the electric power generated by the electric motor 8, and the vehicle cannot be decelerated by the electric braking force. When regenerative braking occurs in which the vehicle cannot be decelerated by the electric braking force, it is necessary to operate the mechanical braking device 9 to decelerate the vehicle by the mechanical braking force. In the third embodiment, the brake control device 31 for stably operating the mechanical brake device 9 will be described.

When the brake control device 31 shown in FIG. 7 acquires the revocation signal S3 indicating that no electric braking force is generated from the power converter control unit 6, the ratio calculation unit 13 sets the value indicated by the electronically controlled feedback signal S2. Yorazu, the electric brake usage rate _{R v} to 0. As a result, the feedback gain output by the gain adjusting unit 24 becomes a value suitable for the mechanical braking device 9. Therefore, the feedback control suppresses the occurrence of overshoot of the mechanical brake.

Note that the power converter control unit 6 may determine that no electric braking force is generated when, for example, the voltage between terminals close to the power supply of the power converter 7 becomes overvoltage.

As described above, according to the brake control device 31 according to the third embodiment, when the electric braking force is no longer generated, the feedback gain used in the feedback control in the feedback control unit 22 becomes a value suitable for the mechanical brake device 9. .. As a result, the feedback control suppresses the occurrence of overshoot of the mechanical brake, and it is possible to improve the stability of the brake.

It is possible to combine each embodiment, and to appropriately modify or omit each embodiment. For example, the brake control device 31 according to the third embodiment may include the target adjusting unit 15 according to the second embodiment.

Further, the brake control devices 5 and 31 may adjust the target deceleration β _in by using the predetermined relationship between the vehicle speed and the electric brake usage rate R _v. As an example, the brake control device 32 shown in FIG. 8 does not include the ratio calculation unit 13. The target adjusting unit 11 included in the brake control device 32 holds in advance the relationship between _{the speed of the vehicle and the electric brake usage rate Rv.} Further, the target adjusting unit 11 acquires the speed of the vehicle from the actual deceleration calculation unit 3, and calculates the electric brake usage rate R _v'from the relationship between the vehicle speed and the electric brake usage rate R _v '. Then, the target adjusting unit 11, the difference between the target deceleration beta _in the actual deceleration beta _c, and calculated according to the electric brake duty R _{v ',} to adjust the target deceleration beta _in, adjusted the reduction targets Output velocity β _out.

As shown in the third embodiment, the brake control device 32 shown in FIG. 8 may acquire the revocation signal S3 from the power conversion device control unit 6. For example, when the target adjusting unit 11 acquires the revocation signal S3 from the power converter control unit 6, the electric brake usage rate _{Rv is set} to 0 regardless of the value indicated by the electronically controlled feedback signal S2. Then, the target adjusting unit 11, the difference between the target deceleration beta _in the actual deceleration beta _c, and calculated according to the electric brake duty R _{v ',} to adjust the target deceleration beta _in, adjusted the reduction targets Output velocity β _out.

As shown in FIG. 9, each of the brake control devices 5, 31 and 32 includes a processor 41, a memory 42, and an interface 43 as a hardware configuration for controlling each part. Each function of the brake control devices 5, 31 and 32 is realized by the processor 41 executing a program stored in the memory 42. The interface 43 is for connecting the brake control device 5 and another device and establishing communication. The brake control devices 5, 31 and 32 may be provided with a plurality of types of interfaces 43, if necessary.

In FIG. 9, the brake control devices 5, 31 and 32 each include one processor 41 and one memory 42, but the brake control devices 5, 31 and 32 each include a plurality of processors 41 and a plurality of memories 42, respectively. And may be provided. In this case, the functions of the brake control devices 5, 31 and 32 may be realized by the cooperation of the plurality of processors 41 and the plurality of memories 42.

It has a processor 41, a memory 42, and an interface 43, and the central part for performing control processing can be realized by using a normal computer system without relying on a dedicated system. As an example, the brake control devices 5, 31 and 32 that execute the above-mentioned processing may be realized by installing a program for executing the above-mentioned operation in a computer. As another example, the brake control devices 5, 31 and 32 may be realized by storing the computer program in a storage device of a server device on a communication network and downloading it to a normal computer system.

The above hardware configuration and flowchart are examples and can be changed and modified as desired.
As an example, the process of step S14 may be performed in parallel with the process of step S12. As another example, the process of step S16 may be performed in parallel with the process of step S17, or may be performed after the process of step S17.

The drive control system 100 can be mounted on both a DC feeder system and an AC feeder system railway vehicle. Further, the drive control system 100 may be mounted on an electric railway vehicle that acquires electric power via a third rail. Further, the drive control system 100 can be mounted on any vehicle, not limited to electric railway vehicles.

The method of generating the electric braking force is not limited to the above example, and any method can be used as long as it is a method of consuming the electric power supplied from the electric motor 8 operating as a generator and converted by the electric power converter 7. As an example, a discharge circuit connected between terminals close to the power supply of the power conversion device 7 may be used to consume the power supplied from the electric motor 8 operating as a generator and converted by the power conversion device 7.

The target deceleration calculation unit 2 may acquire an operation command from ATC (Automatic Train Control: automatic train control device), ATO (Automatic Train Operation: automatic train operation device), or the like.

The actual deceleration calculation unit 3 may calculate the speed of the vehicle by any method. As an example, the actual deceleration calculation unit 3 may acquire the wheel rotation speed from the ATC and calculate the vehicle speed from the wheel rotation speed acquired from the ATC. As another example, the actual deceleration calculation unit 3 may acquire the speed of the vehicle from TIMS (Train Information Management System).

Each part of the brake control device 5 may be realized as a function of a control system mounted on a railway vehicle.

The power converter control unit 6 may acquire an operation command from ATC, ATO, or the like. Further, the power converter control unit 6 may be realized as a function of a control system mounted on a railway vehicle.

The structure of the power conversion device 7 is not limited to the above example, and is arbitrary as long as it has an arbitrary power conversion circuit capable of bidirectional power conversion. As an example, when the drive control system 100 is mounted on a direct current electric railway vehicle and the electric motor 8 is a direct current electric motor, the power converter 7 may be a DC (Direct Current) -DC converter.

The motor 8 is an arbitrary motor capable of transmitting a driving force to the vehicle. As an example, the electric motor 8 may be a synchronous electric motor. As another example, the electric motor 8 may be a DC motor.

The mechanical braking device 9 is an arbitrary braking device that generates a braking force by mechanical operation. As an example, the mechanical brake device 9 may generate a braking force by pressing a brake pad against each of the brake discs provided on both side surfaces of the wheel. As another example, the mechanical brake device 9 may generate a braking force by pressing the brake shoe against a drum, which is a cylindrical member that has a brake shoe and rotates together with the axle.
Further, the mechanical brake device 9 may be a brake device using a fluid other than air.

Methods of modulating target deceleration beta _in the target adjusting unit 11, there a method of modulating the target deceleration beta _in in accordance with the actual deceleration beta _c and the target deceleration beta _in differential and electric brake duty R _v Is optional. As an example, the target adjusting unit 11 may perform feedback control using a feedback gain having a negative correlation with the mechanical brake usage rate, which is the ratio of the mechanical braking force to the required braking force. In this case, the ratio calculation unit 13 may send the mechanical brake usage rate obtained by dividing the value of the mechanical braking force by the required braking force value F1 to the target adjusting unit 11.

Further, the feedback control performed by the feedback control unit 22 included in the target adjusting unit 11 is arbitrary as long as it is a control for bringing _{the actual deceleration β c} closer to the target deceleration β _in. As an example, the feedback control unit 22 may perform P (Proportional) control, PI (Proportional Integral) control, and the like. If the feedback control unit 22 performs a P control, gain adjustment unit 24, it send a proportional gain K1 was adjusted according to the electric brake duty R _v to the feedback control unit 22. Also when the feedback control unit 22 performs the PI control, the gain adjusting unit 24 adjusts at least one of the proportional gain K1 and integration gain K2 in accordance with an electric brake duty R _v, may send the feedback control unit 22 ..

The gain adjusting unit 24 may adjust at least one of the proportional gain K1, the integrated gain K2, and the differential gain K3 according _{to the electric brake usage rate Rv.} As an example, the gain adjusting unit 24 adjusts by remembering positive correlation with the proportional gain K1 only the electrical brake duty R _v, may be used a fixed value as the integral gain K2 and the derivative gain K3.

The required braking force calculation unit 12 may calculate the required braking force for each vehicle based on the above equation (2), or after calculating the required braking force for the entire formation, for example, determine the likelihood of gliding. In consideration of this, the required braking force for the entire formation may be distributed to each vehicle to calculate the required braking force for each vehicle.

Mechanical brake control unit 14 uses the coefficient of friction mu _v which varies depending on the speed of the vehicle, the (4) may calculate the target value P _t of the pneumatic brake cylinders based on equation. In this case, the mechanical brake control unit 14 has only to hold a graph showing the relationship between speed and the friction coefficient mu _v of the vehicle, etc. Friction coefficient table for associating the speed and the friction coefficient mu _v of the vehicle in advance. Then, the mechanical brake control unit 14 acquires the speed of the vehicle from the actual deceleration calculation unit 3, calculates the friction coefficient μ _v according to the speed of the vehicle, and uses the friction coefficient μ _v to use the above equation (4). it may be calculated target value P _t of the pneumatic brake cylinders based on.

The present disclosure allows for various embodiments and modifications without departing from the broad spirit and scope of the present disclosure. Moreover, the above-described embodiment is for explaining this disclosure, and does not limit the scope of the present disclosure. That is, the scope of the present disclosure is indicated by the scope of claims, not by the embodiment. And various modifications made within the scope of the claims and within the equivalent meaning of disclosure are considered to be within the scope of this disclosure.

1 Main controller, 2 Target deceleration calculation unit, 3 Actual deceleration calculation unit, 4 Weight calculation unit, 5, 31, 32 Brake control device, 6 Power conversion device control unit, 7 Power conversion device, 8 Electric motor, 9 Machinery Brake device, 11, 15 target adjustment unit, 12 required braking force calculation unit, 13 ratio calculation unit, 14 mechanical brake control unit, 21 subtractor, 22 feedback control unit, 23 adder, 24 gain adjustment unit, 25 restriction unit, 41 processor, 42 memory, 43 interface, 100 drive control system, S1 required brake command signal, S2 electronically controlled feedback signal, S3 revocation signal.

Claims (11)

1. Power supplied from a power source, supplied with power converted by a power converter, and accelerated by obtaining a driving force from a rotating motor, supplied from the motor operating as a generator, and converted by the power converter. It is a brake control device that controls the brakes of a vehicle that decelerates in response to the electric braking force generated by the consumption of
   A target adjusting unit that acquires the actual deceleration of the vehicle and the target deceleration of the vehicle indicated by the brake command and adjusts the target deceleration in order to bring the actual deceleration closer to the target deceleration.
   The required braking force, which is the braking force required to obtain the target deceleration adjusted by the target adjusting unit, is calculated, and the required brake command signal indicating the value of the required braking force is set according to the required brake command signal. The required braking force calculation unit to be sent to the power conversion device control unit that controls the power conversion device, and
   A mechanical brake control unit that controls the mechanical braking device according to the difference between the required braking force and the electric braking force to generate the mechanical braking force is provided.
   The target adjusting unit adjusts the target deceleration according to the difference between the actual deceleration and the target deceleration and the ratio of the electric braking force to the required braking force.
   Brake control device.
2. The target adjusting unit calculates a deceleration adjustment amount to be added to the target deceleration according to the difference between the actual deceleration and the target deceleration, and the deceleration adjustment amount is added according to the ratio of the electric braking force to the required braking force. The target deceleration is adjusted by adjusting the deceleration adjustment amount and adding the adjusted deceleration adjustment amount to the target deceleration.
   The brake control device according to claim 1.
3. The target adjusting unit performs feedback control of the target deceleration based on the target deceleration and the actual deceleration.
   At least one of the at least one feedback gains used in the feedback control has a positive correlation with the ratio of the electric braking force to the required braking force.
   The brake control device according to claim 2.
4. The target adjusting unit adjusts the deceleration adjustment amount within a range in which the absolute value of the deceleration adjustment amount is equal to or less than a threshold value.
   The brake control device according to claim 2 or 3.
5. The threshold value changes according to the ratio of the electric braking force to the required braking force.
   The brake control device according to claim 4.
6. There is a positive correlation between the threshold and the target deceleration.
   The brake control device according to claim 4 or 5.
7. An electronically controlled feedback signal indicating the value of the electric braking force is acquired from the power converter control unit, and the value of the electric braking force indicated by the electronically controlled feedback signal and the required required calculated by the required braking force calculation unit. A ratio calculation unit for calculating the ratio of the electric braking force to the required braking force based on the braking force is further provided.
   The target adjusting unit adjusts the target deceleration according to the difference between the actual deceleration and the target deceleration and the ratio of the electric braking force to the required braking force calculated by the ratio calculation unit.
   The brake control device according to any one of claims 1 to 6.
8. When the ratio calculation unit acquires the revocation signal indicating that the electric braking force has not been obtained from the power conversion device control unit, the electric braking force with respect to the required braking force is not affected by the electronically controlled feedback signal. Is calculated with 0 as the ratio of
   The brake control device according to claim 7.
9. When the target adjusting unit acquires a revocation signal indicating that the electric braking force has not been obtained from the power converter control unit, the target deceleration is set to 0 by setting the ratio of the electric braking force to the required braking force to 0. To adjust,
   The brake control device according to any one of claims 1 to 6.
10. A master controller that outputs operation commands including power running commands or brake commands,
    The input electric power is converted into the electric power for driving the electric motor, the converted electric power is supplied to the electric motor, the electric power supplied from the electric motor operating as a generator is converted, and the converted electric power is output. With a converter
    The brake control device according to any one of claims 1 to 9.
    A power conversion device control unit that controls the power conversion device in response to at least one of the operation command acquired from the master controller and the required brake command signal acquired from the brake control device.
    Drive control system with.
11. Power supplied from a power source, supplied with power converted by a power converter, and accelerated by obtaining a driving force from a rotating motor, supplied from the motor operating as a generator, and converted by the power converter. This is a vehicle brake control method that decelerates by receiving the electric braking force generated by the consumption of electric power and the mechanical braking force generated by the mechanical braking device.
    Adjust the target deceleration to bring the actual deceleration of the vehicle closer to the target deceleration of the vehicle included in the brake command.
    The electric braking force is generated by controlling the power conversion device according to the required braking force, which is the braking force required to obtain the adjusted target deceleration.
    The mechanical braking force is generated by controlling the mechanical braking device according to the difference between the required braking force and the electric braking force.
    When adjusting the target deceleration, the target deceleration is adjusted according to the difference between the actual deceleration and the target deceleration and the ratio of the electric braking force to the required braking force.
    Brake control method.

Images