WO2022239618A1 - 速度検出装置および速度検出方法 - Google Patents
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- 230000010354 integration Effects 0.000 claims description 2
- 238000012545 processing Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 9
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- 238000012937 correction Methods 0.000 description 4
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- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P7/00—Measuring speed by integrating acceleration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
- G01P21/02—Testing or calibrating of apparatus or devices covered by the preceding groups of speedometers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
- G01P3/46—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring amplitude of generated current or voltage
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- the present invention relates to a speed detection device and speed detection method using an acceleration sensor, and is particularly suitable for speed detection of railway vehicles.
- a method of calculating the vehicle speed from the number of rotations and the diameter of the wheels is generally used. This method is less susceptible to external environments such as tunnels and iron bridges than GPS speedometers and Doppler speedometers, and is the mainstream speed calculation method in this technical field.
- the wheels will slide on the rails and the number of rotations will decrease (skid), resulting in a calculated speed that is lower than the actual speed. Also, if power running is performed when the coefficient of friction between the wheels and rails is low, the wheels will spin on the rails and the calculated speed will be higher than the actual speed.
- Patent Document 1 proposes a method for estimating the speed of a train during slipping or sliding using an acceleration sensor.
- Patent Document 1 states that "in the position/velocity calculation unit, based on the velocity output of the velocity conversion processing device, the acceleration output of the acceleration correction unit, and the slip/skid determination output of the slip/skid detection unit, acceleration output during slip/skid , and when there is no skidding, the train position and speed are obtained from the speed output.”
- the acceleration detected by the acceleration sensor includes an error in the inclination when the sensor is installed on the vehicle body, an error in the train traveling direction component of the gravitational acceleration due to the track gradient, etc.
- the track gradient Information is used to correct these.
- Patent Document 1 the occurrence of slipping or skidding is detected by calculation using an acceleration detection device and a wheel rotation speed detection device. Since there is a delay between the time when the slip/skid occurs and the time when the information processing device detects the slip/skid, part of the rapid change in the wheel rotation speed immediately after the occurrence of the slip/skid is used as the basis for the speed calculation. There is a problem that the speed error becomes large because it is taken in as data.
- one representative speed detection device includes a wheel rotation speed detector for detecting the rotation speed of the wheels of the vehicle, an acceleration sensor for detecting the acceleration of the vehicle, a speed calculation unit for calculating the speed of the vehicle, the speed calculation unit having a detector for detecting wheel slipping or skidding;
- the difference between the acceleration of the vehicle and the acceleration of the wheel calculated from the amount of time change in the speed of the wheel is calculated as an offset value, and the wheel idling or It is characterized in that when skidding is detected, the vehicle acceleration is corrected by an offset value, and the vehicle speed calculated by integration of the corrected vehicle acceleration is output.
- FIG. 1 is a block diagram showing the configuration of a speed detection device according to Example 1 of the present invention
- FIG. 5 is a block diagram showing the configuration of a speed detection device according to Example 2 of the present invention
- 3 is a block diagram showing the configuration of a speed detection device according to Example 3 of the present invention
- FIG. 5 is a block diagram showing the configuration of a speed detection device according to Example 4 of the present invention
- It is a figure which shows the speed change at the time of sliding generation
- FIG. 1 is a block diagram showing the configuration of the speed detection device (101) according to Example 1 of the present invention.
- the speed detection device (101) is mounted on the vehicle (100).
- the speed detector (101) includes a speed generator (718) that converts the number of revolutions of the wheel (106) into a pulse signal, a pulse counter (701) that counts the number of pulse signals from the speed generator (718), An acceleration sensor (105) for measuring acceleration at a time and a speed calculator (102) for calculating the vehicle speed from the output of the pulse counter (701) and the output of the acceleration sensor (105) are provided.
- the speed calculator (102) has the following components.
- the input side includes a pulse filter (702) for smoothing the output value of the pulse counter (701) and an acceleration filter (709) for smoothing the output value of the acceleration sensor (105) and outputting vehicle acceleration.
- the wheel acceleration received in the past for the time set in the wheel acceleration synchronous adjustment value (711) and the vehicle acceleration received in the past for the time set in the vehicle acceleration synchronous adjustment value (712) An offset value calculator (710) that calculates an offset value from the difference between the two, a vehicle acceleration corrector (713) that calculates a corrected vehicle acceleration by adding the offset value to the vehicle acceleration, and a past value of the corrected vehicle acceleration.
- the vehicle initial speed for calculating the vehicle speed when the slip/skid occurs.
- a calculator (715) an integrator (716) that integrates the corrected vehicle acceleration based on the vehicle initial speed to calculate the corrected vehicle speed, and wheel speed and correction according to the output of the slip/skid detector (708).
- a selector (717) for selecting one of the vehicle speed and outputting it as the vehicle speed.
- the vehicle initial speed calculator (715) integrates the corrected vehicle acceleration from a predetermined time past until the time when slipping/slipping is detected based on the wheel speed for a predetermined time past from the time when slipping/slipping is detected. Thus, the vehicle initial velocity is calculated.
- the wheel speed based on the number of rotations of the wheels (106) is applied as the vehicle speed when no slip/skid occurs, and the acceleration sensor
- the corrected vehicle speed obtained by integrating the corrected vehicle acceleration based on the output of (105) is applied as the vehicle speed. Therefore, the correct vehicle speed can be calculated even when the vehicle is slipping/skidding.
- the vehicle initial speed at the time when slip/skid is detected is calculated using past speed and acceleration from the time of occurrence of slip/skid. Therefore, it is possible to correct the speed including the wheel speed that changed during the delay time from when the slip/skid actually occurs until the slip/skid is detected, and it is possible to calculate a more accurate vehicle speed.
- FIG. 5 is a diagram showing changes in speed when skidding occurs.
- the vehicle initial speed at the time of skid detection is point b. Therefore, when the acceleration during skid is integrated, the vehicle speed is the value indicated by the dashed line (points d, a, b , e, f, g), which deviate greatly from the actual vehicle speed.
- the acceleration from point d to point c is integrated based on the speed at point d, which is the wheel speed a predetermined time past when skidding was detected, so the initial speed is calculated correctly. It becomes possible.
- the output of the acceleration sensor (105) includes components that are not related to vehicle acceleration, such as track slope and installation angle error of the acceleration sensor (105). Therefore, by calculating the difference between the wheel acceleration and the vehicle acceleration when no slip/skid occurs as an offset value, and adding the offset value when the slip/skid occurs to the vehicle acceleration for correction, Components that do not contribute to vehicle acceleration can be removed.
- the wheel acceleration and vehicle acceleration are received from different transmission paths, so these information are not synchronized. That is, since both are data measured at different times, an error will occur if the offset value is calculated as it is.
- a wheel acceleration synchronous adjustment value (711) and a vehicle acceleration synchronous adjustment value (712) are provided. to calculate the offset value.
- the offset value can be calculated using the rotational speed of the wheel (106) and the output of the acceleration sensor (105) measured at the same time, the accuracy of the offset value is improved.
- the number of rotations of the wheels (106) and the output of the acceleration sensor (105) include measurement quantization errors and vibrations caused by vehicle running. Suppressible.
- the filter parameters by appropriately setting the filter parameters, the response characteristics of wheel acceleration and vehicle acceleration based on different information sources are matched to improve the accuracy of the offset value.
- the speed generator (718) may be either a non-powered type pulse generator or a powered type pulse generator.
- FIG. 2 is a block diagram showing the configuration of the speed detection device (101) according to Embodiment 2 of the present invention.
- differences from the configuration of the speed detection device (101) according to the first embodiment will be described, and descriptions of the same components as those of the first embodiment will be omitted.
- Example 1 the slip/skid of the wheel (106) is detected from the time change rate of the wheel speed. ) receives wheel acceleration and corrected vehicle acceleration and detects wheel slip/skid based on a comparison of the two.
- the vehicle initial speed calculator (715) calculates the vehicle initial speed, and the selector (717) selects the wheel speed or the corrected vehicle speed. choose one of This point is the same as the first embodiment.
- slipping/slipping is detected based on the output of the acceleration sensor (105) in addition to the wheel speed as the information source used for determining the slipping/slipping. It is possible.
- slip/skid is detected based on the comparison result between the wheel acceleration and the corrected vehicle acceleration, but signals to be compared are not limited to these.
- slipping/skidding may be detected from the results of speed comparison between the wheel speed and the corrected vehicle speed.
- the detection of the end of slipping/slipping may be determined based on a signal different from the detection of occurrence of slipping/slide. For example, detection of the occurrence of slipping/slipping is determined from the rate of change in wheel speed as in the first embodiment, and detection of the end of slipping/slipping is determined from the result of comparison between the corrected vehicle speed and the wheel speed described above.
- the second embodiment has been described by modifying the configuration of the speed detection device (101) according to the first embodiment. It can also be applied to configurations.
- FIG. 3 is a block diagram showing the configuration of the speed detection device (101) according to Example 3 of the present invention.
- differences from the configuration of the speed detection device (101) according to the first embodiment will be described, and descriptions of the same components as those of the first embodiment will be omitted.
- the third embodiment differs from the first embodiment in that the GPS speed is used as the reference speed source for correcting the vehicle acceleration.
- the offset value calculator (710) receives the GPS speed from the GPS speedometer (900) newly provided in the speed detection device 101 in the third embodiment, differentiates the GPS speed to calculate the GPS acceleration, and calculates the GPS acceleration. and the vehicle acceleration, the offset value is calculated.
- the wheel speed is not used in the calculation of the offset value, even in the case where the wheel spins/skids for a long time, for example, even in a long-time idling state that can occur when the locomotive starts, correction is possible. It becomes possible to calculate the vehicle acceleration and the corrected vehicle speed. As a result, it is possible to calculate the correct vehicle speed using the acceleration sensor even in the idle state for a long time.
- a GPS speedometer is used as an example, but a third speed detector other than a speed generator or an acceleration sensor, such as a Doppler speedometer or a millimeter wave radar, can also be used. can do.
- the third embodiment has been described by modifying the configuration of the speed detection device (101) according to the first embodiment. It can also be applied to configurations.
- FIG. 4 is a block diagram showing the configuration of the speed detection device (101) according to Example 4 of the present invention.
- differences from the configuration of the speed detection device (101) according to the first embodiment will be described, and descriptions of the same components as those of the first embodiment will be omitted.
- the fourth embodiment differs from the first embodiment in that the information of the angular velocity sensor is used to correct the vehicle acceleration.
- An angular velocity sensor (901) for measuring angular velocity (hereinafter referred to as “vehicle angular velocity”) is provided.
- the vehicle acceleration corrector (713) corrects the vehicle acceleration using the vehicle angular velocity and the offset value from the offset value calculator (710).
- the offset of the vehicle acceleration that has increased or decreased due to the gradient change can be offset, so the correct vehicle speed can be calculated.
- the fourth embodiment has been described as being added to the configuration of the speed detection device (101) according to the first embodiment, but it can also be applied to the configuration of the speed detection device (101) according to the second or third embodiment. It is possible.
- FIG. 4 shows a configuration example in which the vehicle acceleration corrector (713) corrects the vehicle acceleration using the vehicle angular velocity. A similar effect can be obtained with a configuration that corrects the value.
- the formula (1) for calculating the corrected vehicle acceleration shown in the fourth embodiment is a simple calculation formula assuming that the absolute value of the inclination of the vehicle (100) in the pitch direction is always small. .
- the calculation formula for realizing the fourth embodiment is not limited to this.
- Embodiments 1 to 4 have been described as modes for carrying out the present invention, but the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention is possible.
- 100 vehicle 101 speed detector, 102 speed calculator, 105 acceleration sensor, 106 wheels, 701 pulse counter, 702 pulse filter, 703 wheel speed calculator, 704 number of pulses, 705 wheel diameter, 707 wheel speed buffer, 708 idling/ skid detector, 709 acceleration filter, 710 offset value calculator, 711 wheel acceleration synchronous adjustment value, 712 vehicle acceleration synchronous adjustment value, 713 vehicle acceleration corrector, 714 corrected vehicle acceleration buffer, 715 vehicle initial velocity calculator, 716 integrator , 717 selector, 718 speed generator, 900 GPS speedometer, 901 angular speed sensor
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Abstract
Description
特許文献1には、「位置速度演算部では、速度変換処理装置の速度出力と、加速度補正部の加速度出力と、空転滑走検出部の空転滑走判断出力とをもとに、空転滑走時には加速度出力から列車の位置を求め、空転滑走なし時には速度出力から列車位置や速度を求める。」と記載されている。
また、空転/滑走発生直後の車輪回転数の急激な変化を取り込んでしまう問題を解決し、速度演算精度が向上する。
上記した以外の課題、構成および効果は、以下の実施をするための形態における説明により明らかにされる。
入力側には、パルスカウンタ(701)の出力値を平滑化するパルスフィルタ(702)および加速度センサ(105)の出力値を平滑化して車両加速度を出力する加速度フィルタ(709)を備える。
補正車両加速度=車両加速度+オフセット値-g・Δθ (式1)
Claims (13)
- 車両が有する車輪の回転数を検出する車輪回転数検出器と、
前記車両の加速度を検出する加速度センサと、
前記車両の速度を算出する速度演算部と、
を備え、
前記速度演算部は、
前記車輪の空転または滑走を検知する検知器を有し、
前記検知器による前記車輪の空転または滑走の未検知時には、前記車輪の回転数を基に算出した前記車輪の速度を前記車両の速度として出力すると共に、前記車両の加速度と前記車輪の速度の時間変化量から算出した前記車輪の加速度との差分をオフセット値として算出し、
前記検知器による前記車輪の空転または滑走の検知時には、前記車両の加速度を前記オフセット値により補正し、当該補正した前記車両の加速度の積分により算出した前記車両の速度を出力する
ことを特徴とする速度検出装置。 - 請求項1に記載の速度検出装置であって、
前記速度演算部による前記オフセット値の算出には、設定した時間分の過去の前記車輪の加速度および前記車両の加速度を用いる
ことを特徴とする速度検出装置。 - 請求項1または2に記載の速度検出装置であって、
前記検知器は、前記車輪の速度の時間変化率に基づいて、または前記車輪の加速度と前記車両の加速度との比較結果に基づいて、前記車輪の空転または滑走を検知する
ことを特徴とする速度検出装置。 - 請求項3に記載の速度検出装置であって、
前記検知器は、前記車輪の速度と前記補正した前記車両の加速度の積分により算出した前記車両の速度との比較結果に基づいて、前記車輪の空転または滑走の終了を検知する
ことを特徴とする速度検出装置。 - 請求項1から4のいずれか1項に記載の速度検出装置であって、
前記速度演算部は、
前記車輪の速度の過去の値を保持する第1のバッファと、
前記補正した前記車両の加速度の過去の値を保持する第2のバッファと、を有し、
前記補正した前記車両の加速度の積分を、前記第1のバッファが保持する値および前記第2のバッファが保持する値を用いて算出した前記車輪の空転または滑走の検知時の車両初速度に対して行う
ことを特徴とする速度検出装置。 - 請求項1から5のいずれか1項に記載の速度検出装置であって、
前記車輪回転数検出器および前記加速度センサとは異なり前記車両の速度を計測する速度検出器をさらに備え、
前記速度演算部は、前記オフセット値の算出に用いる前記車輪の加速度を、前記車輪の回転数を基に算出した前記車輪の速度に替えて、前記速度検出器が計測した前記車両の速度の時間変化量とする
ことを特徴とする速度検出装置。 - 請求項1から6のいずれか1項に記載の速度検出装置であって、
前記車両のピッチ方向の角速度を検出する角速度センサをさらに備え、
前記速度演算部は、前記車両の加速度を前記オフセット値および前記角速度により補正する
ことを特徴とする速度検出装置。 - 車輪回転数検出器および加速度センサを用いて車両の速度を検出する速度検出方法であって、
前記車両が有する車輪の空転または滑走の発生を検知する第1のステップと、
前記車輪回転数検出器が検出する前記車輪の回転数を基に前記車輪の速度を算出する第2のステップと、
前記加速度センサが検出する前記車両の加速度と前記車輪の速度の時間変化量から算出した前記車輪の加速度との差分をオフセット値として算出する第3のステップと、
前記加速度センサが検出する前記車両の加速度を前記オフセット値により補正する第4のステップと、
前記補正した前記車両の加速度を積分して前記車両の速度を算出する第5のステップと
を有し、
前記第1のステップで前記車輪の空転または滑走の発生を検知しない場合には、前記第2のステップで算出した前記車輪の速度を前記車両の速度として採用し、
前記第1のステップで前記車輪の空転または滑走の発生を検知した場合には、前記第5のステップで算出した前記車両の速度を採用する
ことを特徴とする速度検出方法。 - 請求項8に記載の速度検出方法であって、
前記第3のステップによる前記オフセット値の算出には、設定した時間分の過去の前記車両の加速度および前記車輪の加速度を用いる
ことを特徴とする速度検出方法。 - 請求項8または9に記載の速度検出方法であって、
前記第1のステップは、前記車輪の速度の時間変化率に基づいて、または前記車輪の加速度と前記車両の加速度との比較結果に基づいて、前記車輪の空転または滑走を検知する
ことを特徴とする速度検出方法。 - 請求項8から10のいずれか1項に記載の速度検出方法であって、
前記第5のステップでは、
前記補正した前記車両の加速度の積分を、前記車輪の速度の過去の値をおよび前記補正した前記車両の加速度の過去の値を用いて算出した前記車輪の空転または滑走の検知時の車両初速度に対して行う
ことを特徴とする速度検出方法。 - 請求項8から11のいずれか1項に記載の速度検出方法であって、
前記第3のステップでは、前記オフセット値の算出に用いる前記車輪の加速度を、前記車輪の回転数を基に算出した前記車輪の速度に替えて、前記車輪回転数検出器および前記加速度センサとは異なる速度検出器が計測した前記車両の速度を採用する
ことを特徴とする速度検出方法。 - 請求項8から12のいずれか1項に記載の速度検出方法であって、
前記第4のステップでは、前記車両の加速度を前記オフセット値および角速度センサが検出する前記車両のピッチ方向の角速度により補正する
ことを特徴とする速度検出方法。
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JP2000097967A (ja) * | 1998-09-18 | 2000-04-07 | Japan Aviation Electronics Industry Ltd | 速度計 |
JP2013205248A (ja) * | 2012-03-28 | 2013-10-07 | Railway Technical Research Institute | 速度検出装置、走行位置算出装置及び速度算出方法 |
US20130320153A1 (en) * | 2012-05-29 | 2013-12-05 | Lsis Co., Ltd. | Travel velocity compensation apparatus and method for railway vehicles |
JP2017147825A (ja) * | 2016-02-16 | 2017-08-24 | 株式会社東芝 | 列車速度位置算出装置、列車運転支援装置、および列車運転制御装置 |
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EP4339623A1 (en) | 2024-03-20 |
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