WO2023021677A1 - ブレーキ制御装置およびブレーキ制御方法 - Google Patents

ブレーキ制御装置およびブレーキ制御方法 Download PDF

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Publication number
WO2023021677A1
WO2023021677A1 PCT/JP2021/030513 JP2021030513W WO2023021677A1 WO 2023021677 A1 WO2023021677 A1 WO 2023021677A1 JP 2021030513 W JP2021030513 W JP 2021030513W WO 2023021677 A1 WO2023021677 A1 WO 2023021677A1
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WIPO (PCT)
Prior art keywords
surface state
friction surface
state quantity
friction
brake control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2021/030513
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English (en)
French (fr)
Japanese (ja)
Inventor
俊平 小野寺
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to DE112021008129.2T priority Critical patent/DE112021008129T5/de
Priority to PCT/JP2021/030513 priority patent/WO2023021677A1/ja
Priority to JP2023542145A priority patent/JP7362002B2/ja
Priority to US18/573,498 priority patent/US12420754B2/en
Publication of WO2023021677A1 publication Critical patent/WO2023021677A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
    • B60T8/1705—Braking or traction control means specially adapted for particular types of vehicles for rail vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
    • B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
    • B60T1/10—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels by utilising wheel movement for accumulating energy, e.g. driving air compressors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/24—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being gaseous
    • B60T13/26—Compressed-air systems
    • B60T13/36—Compressed-air systems direct, i.e. brakes applied directly by compressed air
    • B60T13/365—Compressed-air systems direct, i.e. brakes applied directly by compressed air for railway vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/58—Combined or convertible systems
    • B60T13/585—Combined or convertible systems comprising friction brakes and retarders
    • B60T13/586—Combined or convertible systems comprising friction brakes and retarders the retarders being of the electric type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/665—Electrical control in fluid-pressure brake systems the systems being specially adapted for transferring two or more command signals, e.g. railway systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices
    • B60T17/228—Devices for monitoring or checking brake systems; Signal devices for railway vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
    • B60T8/17616—Microprocessor-based systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1763—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to the coefficient of friction between the wheels and the ground surface
    • B60T8/17636—Microprocessor-based systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/18—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle weight or load, e.g. load distribution
    • B60T8/1893—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle weight or load, e.g. load distribution especially adapted for railway vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
    • B60T8/3235—Systems specially adapted for rail vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2240/00—Monitoring, detecting wheel/tyre behaviour; counteracting thereof
    • B60T2240/06—Wheel load; Wheel lift
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/60—Regenerative braking
    • B60T2270/604—Merging friction therewith; Adjusting their repartition

Definitions

  • the present disclosure relates to a brake control device and brake control method used in railway vehicles.
  • An anti-lock braking system is a system that controls wheel locking by adjusting the braking force for each wheelset or bogie of a railway vehicle in order to prevent wheel wear due to such wheel locking.
  • Patent Document 1 discloses a railway vehicle capable of preventing wheels from locking while maintaining brake performance by maintaining brake cylinder pressure for applying braking force at a high pressure and appropriately braking according to the type of brake. A technology is disclosed for an anti-lock braking system for an automobile.
  • the present disclosure has been made in view of the above, and an object thereof is to obtain a brake control device capable of suppressing wheel skidding while suppressing extension of the braking distance.
  • the present disclosure provides a first brake device that presses a friction material against a wheel to obtain a braking force and a second brake device that does not use the friction material in a railway vehicle.
  • a brake control device that controls The brake control device includes a wheel load estimator for estimating the wheel load, which is the load that the wheel receives from the friction material, based on the braking force applied to the wheel by the friction material and the wheel speed; Based on the command, the current coefficient of friction of the friction material is estimated from the state of the friction surface of the friction material, and if the coefficient of friction is less than a specified first threshold, a mirror surface indicating that the friction surface is in a mirrored state.
  • a friction surface state quantity estimating unit that outputs a mirroring signal
  • a brake control unit that controls the operation of the first braking device and the second braking device based on the presence or absence of the braking force command and the mirroring signal. It is characterized by
  • the brake control device of the present disclosure has the effect of suppressing wheel skidding while suppressing extension of the braking distance.
  • FIG. 1 is a diagram showing a configuration example of a brake control device according to an embodiment
  • FIG. 3 is a diagram showing a configuration example of a friction surface state quantity estimator according to an embodiment
  • FIG. 2 is a diagram showing an example of a configuration of a processing circuit provided in the brake control device according to the embodiment when the processing circuit is implemented by a processor and a memory
  • FIG. 2 is a diagram showing an example of a configuration of a processing circuit provided in the brake control device according to the embodiment when the processing circuit is configured by dedicated hardware;
  • FIG. 1 is a diagram showing a configuration example of a brake control device 10 according to this embodiment.
  • the brake control device 10 is a device mounted on a railway vehicle 70 .
  • the brake control device 10 controls the first braking device 50 and the second braking device 60 in the railway vehicle 70 to obtain a desired braking force.
  • the first brake device 50 is a brake device that presses the friction material 51 against the wheels 71 of the railway vehicle 70 to obtain braking force.
  • the first braking device 50 is, for example, a pneumatic braking device.
  • the friction material 51 is a brake shoe that presses the tread surface of the wheel 71, a friction pad that presses a disc attached to the side surface of the wheel 71 or the axle, or the like.
  • the second brake device 60 is a brake device that obtains a braking force without using the friction material 51 as described above.
  • the second braking device 60 is, for example, a regenerative braking device. Note that the railcar 70 may be provided with a plurality of second brake devices 60 of different types.
  • the brake control device 10 controls the first braking device 50 and the plurality of second braking devices 60 to obtain the desired braking force.
  • the brake control device 10 controls each brake device so that the total value of the brake forces obtained from each brake device becomes a desired brake force.
  • the brake control device 10 includes a wheel load estimator 20, a friction surface state quantity estimator 30, and a brake controller 40.
  • FIG. 2 is a flow chart showing the operation of the brake control device 10 according to this embodiment.
  • the wheel load estimator 20 estimates the wheel load Q, which is the load that the wheel 71 receives from the friction material 51, based on the braking force applied to the wheel 71 by the friction material 51 and the wheel speed (step S101).
  • the braking force is the braking force obtained by pressing the friction material 51 against the wheel 71 in the first braking device 50 .
  • the braking force obtained by pressing the friction material 51 against the wheel 71 actually varies depending on the state of the friction surface of the friction material 51. treated as in When the state of the friction surface of the friction material 51 is in a constant state, the friction coefficient ⁇ is within the specified range.
  • the wheel load estimator 20 acquires the braking force and the wheel speed from a vehicle control device (not shown) that is mounted on the railroad vehicle 70 and controls the running of the railroad vehicle 70 .
  • the friction surface state quantity estimator 30 estimates the friction surface state quantity W, which is the state of the friction surface of the friction material 51, based on the wheel load Q, the wheel speed, and the braking force command estimated by the wheel load estimator 20. (step S102).
  • the friction surface state quantity W is represented by a numerical value, and can be obtained by calculation as described later.
  • the friction surface state quantity estimator 30 estimates the current friction coefficient ⁇ of the friction material 51 from the estimated friction surface state quantity W. FIG. When the estimated friction coefficient ⁇ is less than a specified first threshold value, the friction surface state quantity estimator 30 outputs a mirror surface signal indicating that the friction surface of the friction material 51 is in a mirror surface state.
  • the brake force command is a command output from the above-described vehicle control device or the like, and includes a brake command indicating deceleration and the like, a brake release command for releasing the brake command, and the like.
  • the first threshold is a threshold used in determining whether or not to output a mirrored signal in the friction surface state quantity estimator 30 .
  • the friction surface state quantity estimating unit 30 estimates the friction surface state quantity W of the friction material 51 based on the integrated value of the amount of work during a period of time that is specified in the past from the current time, and calculates the estimated friction surface state quantity. In accordance with W, a sign of the surface state of the friction material 51 becoming mirror-finished is determined. The detailed configuration and operation of the friction surface state quantity estimator 30 will be described later.
  • the brake control unit 40 controls the operations of the first brake device 50 and the second brake device 60 based on the presence or absence of the brake force command and the mirror signal (step S103). Specifically, when the mirroring signal is acquired, the brake control unit 40 determines the braking force of the first braking device 50 and the second braking force in the braking force applied to the railway vehicle 70 when the mirroring signal is not acquired. The braking force ratio of the braking device 60 is controlled so that the braking force of the first braking device 50 is increased when the brake is applied next time. When the brake control unit 40 acquires the mirror signal, the brake cylinder pressure for pressing the friction material 51 against the wheel 71 in the first brake device 50 is greater than when the mirror signal is not acquired.
  • the brake control unit 40 performs control so that the braking force obtained by the second brake device 60 becomes smaller when the mirroring signal is obtained than when the mirroring signal is not obtained.
  • R1 be the braking force of the first brake device 50 applied to the railway vehicle 70 when the mirror signal is not acquired
  • 60 braking force is R2.
  • R3 be the braking force of the first braking device 50 applied to the railway vehicle 70 when the mirroring signal is acquired
  • the braking force of the second braking device 60 applied to the railway vehicle 70 when the mirroring signal is acquired. be R4.
  • the brake control unit 40 controls the operations of the first brake device 50 and the second brake device 60 so that (R3/R4)>(R1/R2).
  • the brake control unit 40 improves the surface condition of the friction material 51 by increasing the ratio of the first brake device 50, i.e., the air control brake device, and restores the friction coefficient ⁇ . This prevents the material 51 from becoming mirror-finished.
  • the friction surface of the friction material 51 is mirror-finished, so the coefficient of friction ⁇ decreases.
  • the friction surface of the friction material 51 is moderately roughened and the friction coefficient ⁇ increases.
  • the state of the friction surface of the friction material 51 changes according to the braking history of the railway vehicle 70 while it is running. Therefore, the friction surface state quantity estimator 30 periodically estimates the friction surface state quantity W of the friction material 51 while the railway vehicle 70 is running.
  • FIG. 3 is a diagram showing a configuration example of the friction surface state quantity estimating section 30 according to the present embodiment.
  • the friction surface state quantity estimation unit 30 includes a travel determination unit 31 , a friction surface state quantity update amount calculation unit 32 , a friction surface state quantity update unit 33 , and a mirror surface determination unit 34 .
  • FIG. 4 is a flow chart showing the operation of the friction surface state quantity estimator 30 according to the present embodiment. The flowchart shown in FIG. 4 shows the details of the operation of step S102 in the flowchart shown in FIG.
  • the travel determination unit 31 determines whether or not the railway vehicle 70 is running based on the wheel speed (step S201). The travel determination unit 31 outputs the determination result to the friction surface state quantity update amount calculation unit 32 . The traveling determination unit 31 determines that the railcar 70 is traveling when the acquired wheel speed is equal to or higher than a preset threshold value.
  • a threshold value used in the travel determination unit 31 is, for example, 5.0 [km/h].
  • step S202: No When the friction surface state update amount calculation unit 32 acquires the determination result that the railroad vehicle 70 is not running from the running determination unit 31 (step S202: No), the operation ends.
  • the friction surface state update amount calculation unit 32 calculates the friction surface state of the friction material 51 based on the wheel load Q.
  • a quantity update quantity ⁇ W is calculated (step S203).
  • the friction surface state quantity update amount calculator 32 outputs the calculated friction surface state quantity update quantity ⁇ W to the friction surface state quantity updater 33 .
  • the friction surface state quantity update amount calculator 32 sets a second threshold value for the wheel load Q, and calculates the friction surface state quantity update quantity ⁇ W based on the comparison result between the wheel load Q and the second threshold value. .
  • the second threshold is a threshold that is used when the friction surface state quantity update quantity calculation unit 32 calculates the friction surface state quantity update quantity ⁇ W.
  • the correction coefficients A and B are set in advance from the material properties of the friction material 51 and the like. If it is defined that the friction coefficient ⁇ increases as the friction surface state quantity W increases, the correction coefficient A ⁇ 0 and the correction coefficient B ⁇ 0. The case where the correction coefficients A and B are 0 means the case where the update of the friction surface state quantity W due to the wheel load Q is ignored. In this way, when the wheel load Q is equal to or greater than the specified second threshold value, the friction surface state quantity update amount calculator 32 multiplies the wheel load Q by the correction coefficient A, which is the first coefficient equal to or greater than 0.
  • the friction surface state quantity updating unit 33 updates the friction surface state quantity W, which is the state of the friction material 51, based on the friction surface state quantity update quantity ⁇ W and the braking force command (step S204).
  • the friction surface state quantity updating unit 33 outputs the friction surface state quantity W to be updated to the mirror surface determination unit 34 .
  • the friction surface state quantity update unit 33 internally holds the friction surface state quantity W, and based on the friction surface state quantity update quantity ⁇ W acquired from the friction surface state quantity update quantity calculation unit 32, W ⁇ W+ ⁇ W. By doing so, the friction surface state quantity W is updated.
  • ⁇ is a forgetting factor and is set at ⁇ 1.
  • the friction surface state quantity updating unit 33 suppresses the instability of the controller (not shown) of the railway vehicle 70 due to fluctuations in the friction coefficient ⁇ when the brake command is output.
  • the friction surface state quantity W is updated at the timing of the instruction. In this way, the friction surface state quantity updating unit 33 multiplies the friction surface state quantity W obtained in the previous calculation by the specified forgetting factor ⁇ , and adds the friction surface state quantity update quantity ⁇ W to the new friction surface state quantity.
  • the friction surface state quantity W is updated as the surface state quantity W.
  • the mirror surface determination unit 34 estimates the friction coefficient ⁇ from the friction surface state quantity W (step S205).
  • the mirroring determination unit 34 outputs a mirroring signal to the brake control unit 40 when the coefficient of friction ⁇ is less than the first threshold value.
  • the specularity determining unit 34 compares the estimated friction coefficient ⁇ with a preset first threshold (step S206). When the coefficient of friction ⁇ is less than the first threshold value (step S206: Yes), the mirroring determination unit 34 outputs a mirroring signal to the brake control unit 40 (step S207).
  • the mirroring determination unit 34 may output information on the friction coefficient ⁇ or information on the degree of mirroring to the brake control unit 40 together with the mirroring signal.
  • the coefficient of friction ⁇ is equal to or greater than the first threshold value (step S206: No)
  • the mirroring determination unit 34 ends the operation without outputting the mirroring signal.
  • the brake control unit 40 which has acquired the mirror surface signal, increases the ratio of the braking force of the first brake device 50, that is, the air control brake device at the time of the brake command.
  • the surface condition can be improved and the coefficient of friction ⁇ of the friction material 51 can be recovered.
  • the brake control device 10 can change the ratio of the braking force of the air control brake device according to the friction coefficient ⁇ or the degree of the mirror surface. good.
  • the wheel load estimator 20, the friction surface state quantity estimator 30, and the brake controller 40 are implemented by processing circuits.
  • the processing circuit may be a memory that stores a program and a processor that executes the program stored in the memory, or may be dedicated hardware. Processing circuitry is also called control circuitry.
  • FIG. 5 is a diagram showing an example of the configuration of the processing circuit 90 when the processing circuit included in the brake control device 10 according to the present embodiment is realized by the processor 91 and the memory 92.
  • a processing circuit 90 shown in FIG. 5 is a control circuit and includes a processor 91 and a memory 92 .
  • each function of the processing circuit 90 is implemented by software, firmware, or a combination of software and firmware.
  • Software or firmware is written as a program and stored in memory 92 .
  • each function is realized by the processor 91 reading and executing the program stored in the memory 92.
  • the processing circuit 90 includes a memory 92 for storing a program that results in the processing of the brake control device 10 being executed.
  • This program can also be said to be a program for causing the brake control device 10 to execute each function realized by the processing circuit 90 .
  • This program may be provided by a storage medium storing the program, or may be provided by other means such as a communication medium.
  • the wheel load estimator 20 estimates the wheel load Q, which is the load received by the friction material 51 from the friction material 51, based on the braking force applied to the wheel 71 by the friction material 51 and the wheel speed. Then, the friction surface state quantity estimating unit 30 estimates the current friction coefficient ⁇ of the friction material 51 from the state of the friction surface of the friction material 51 based on the wheel load Q, wheel speed, and brake force command, and the friction coefficient a second step of outputting a mirroring signal indicating that the friction surface is in a mirrored state when ⁇ is less than a defined first threshold; It can also be said that it is a program that causes the brake control device 10 to execute a third step of controlling the operation of the first brake device 50 and the second brake device 60 based on the presence or absence of the brake control device 10 .
  • the processor 91 is, for example, a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP (Digital Signal Processor).
  • the memory 92 is a non-volatile or volatile memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM (registered trademark) (Electrically EPROM), etc.
  • RAM Random Access Memory
  • ROM Read Only Memory
  • flash memory EPROM (Erasable Programmable ROM), EEPROM (registered trademark) (Electrically EPROM), etc.
  • a semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD (Digital Versatile Disc) is applicable.
  • FIG. 6 is a diagram showing an example of the configuration of the processing circuit 93 when the processing circuit included in the brake control device 10 according to the present embodiment is configured with dedicated hardware.
  • the processing circuit 93 shown in FIG. 6 is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination of these thing applies.
  • the processing circuit 93 may be partially realized by dedicated hardware and partially realized by software or firmware.
  • the processing circuitry 93 can implement each of the functions described above by dedicated hardware, software, firmware, or a combination thereof.
  • the brake control device 10 estimates the friction surface state quantity W of the friction material 51 of the first brake device 50 that is an air brake, If there is a sign of mirroring on the surface, the ratio of the first brake device 50, ie, the air control ratio, is increased to a preset value when the railcar 70 is next braked. Thereby, the brake control device 10 can improve the surface condition of the friction material 51 and prevent the friction material 51 from becoming a mirror surface. As a result, the brake control device 10 can prevent the wheels 71 of the railroad vehicle 70 from skidding, thereby achieving the target braking distance without weakening the braking force. The brake control device 10 can suppress skidding of the wheels 71 while suppressing extension of the braking distance of the railroad vehicle 70 .
  • brake control device 20 wheel load estimation unit, 30 friction surface state quantity estimation unit, 31 running determination unit, 32 friction surface state quantity update amount calculation unit, 33 friction surface state quantity update unit, 34 mirror surface determination unit, 40 brake Control unit, 50 first brake device, 51 friction material, 60 second brake device, 70 railway vehicle, 71 wheel.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Regulating Braking Force (AREA)
  • Braking Arrangements (AREA)
PCT/JP2021/030513 2021-08-20 2021-08-20 ブレーキ制御装置およびブレーキ制御方法 Ceased WO2023021677A1 (ja)

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DE112021008129.2T DE112021008129T5 (de) 2021-08-20 2021-08-20 Bremsensteuerungseinrichtung und bremsensteuerungsverahren
PCT/JP2021/030513 WO2023021677A1 (ja) 2021-08-20 2021-08-20 ブレーキ制御装置およびブレーキ制御方法
JP2023542145A JP7362002B2 (ja) 2021-08-20 2021-08-20 ブレーキ制御装置およびブレーキ制御方法
US18/573,498 US12420754B2 (en) 2021-08-20 2021-08-20 Brake control device and brake control method

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JPWO2025004146A1 (https=) * 2023-06-26 2025-01-02

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WO2019116529A1 (ja) * 2017-12-15 2019-06-20 三菱電機株式会社 鉄道車両用ブレーキ制御装置および鉄道車両用ブレーキ制御方法
WO2021084576A1 (ja) * 2019-10-28 2021-05-06 三菱電機株式会社 ブレーキ制御装置およびブレーキ制御方法

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JP4843198B2 (ja) 2004-03-31 2011-12-21 公益財団法人鉄道総合技術研究所 鉄道車両用アンチロックブレーキシステムおよび鉄道車両用の制動制御方法

Patent Citations (2)

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WO2019116529A1 (ja) * 2017-12-15 2019-06-20 三菱電機株式会社 鉄道車両用ブレーキ制御装置および鉄道車両用ブレーキ制御方法
WO2021084576A1 (ja) * 2019-10-28 2021-05-06 三菱電機株式会社 ブレーキ制御装置およびブレーキ制御方法

Cited By (3)

* Cited by examiner, † Cited by third party
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JPWO2025004146A1 (https=) * 2023-06-26 2025-01-02
WO2025004146A1 (ja) * 2023-06-26 2025-01-02 三菱電機株式会社 ブレーキ制御装置およびブレーキ制御方法
JP7843932B2 (ja) 2023-06-26 2026-04-10 三菱電機株式会社 ブレーキ制御装置およびブレーキ制御方法

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US12420754B2 (en) 2025-09-23

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