EP1003661B1 - Procede de reconnaissance de courbes et d'alignement d'essieux pour vehicules sur rails - Google Patents

Procede de reconnaissance de courbes et d'alignement d'essieux pour vehicules sur rails Download PDF

Info

Publication number
EP1003661B1
EP1003661B1 EP99925009A EP99925009A EP1003661B1 EP 1003661 B1 EP1003661 B1 EP 1003661B1 EP 99925009 A EP99925009 A EP 99925009A EP 99925009 A EP99925009 A EP 99925009A EP 1003661 B1 EP1003661 B1 EP 1003661B1
Authority
EP
European Patent Office
Prior art keywords
curvature
steering angle
rail
soll
track
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.)
Expired - Lifetime
Application number
EP99925009A
Other languages
German (de)
English (en)
Other versions
EP1003661B2 (fr
EP1003661A1 (fr
Inventor
Markus Koch
Frank Hentschel
Günther Himmelstein
Rolf Krouzilek
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Alstom Transportation Germany GmbH
Original Assignee
Bombardier Transportation GmbH
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=7870834&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP1003661(B1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Priority claimed from DE1998126451 external-priority patent/DE19826451A1/de
Application filed by Bombardier Transportation GmbH filed Critical Bombardier Transportation GmbH
Publication of EP1003661A1 publication Critical patent/EP1003661A1/fr
Application granted granted Critical
Publication of EP1003661B1 publication Critical patent/EP1003661B1/fr
Publication of EP1003661B2 publication Critical patent/EP1003661B2/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
    • B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
    • B61F5/38—Arrangements or devices for adjusting or allowing self- adjustment of wheel axles or bogies when rounding curves, e.g. sliding axles, swinging axles
    • B61F5/383—Adjustment controlled by non-mechanical devices, e.g. scanning trackside elements

Definitions

  • the invention relates to a method for measuring a track curvature in a chassis for rail vehicles, and a method for directing a direction of rotation A chassis frame mounted axle of a rail chassis after the Track curvature.
  • axle or the wheels steerable are stored in the chassis frame.
  • a device for aligning the axis or the wheels can be a steering movement corresponding to the track curvature.
  • the object of the present invention is to provide a method for Measurement of track curvature for rail vehicles to create using this value, the setpoint for the steering angle control to calculate.
  • FIGS 1 and 2 show a chassis 10 for a non-illustrated Rail vehicle with axles 12 and 13 to which wheels 16 are attached.
  • the axis 12 and 13 are mounted in the chassis 10.
  • the chassis 10 and the axles 12 and 13 are rotatably supported by a centrally arranged joint 15.
  • the chassis 10 is shown while at a translation speed v a Track 11 passes through, which has a radius R.
  • the Yaw rate ⁇ can determine the radius R or the track curvature ⁇ be calculated.
  • the track curvature ⁇ corresponds to the reciprocal of the radius R.
  • the division of the yaw rate ⁇ by the translation velocity v gives the Track curvature ⁇ , according to the equation shown in Figure 1.
  • the result The value of the track curvature ⁇ is used to steer the axles 12 and 13, respectively.
  • the relationship between the real and calculated track curvature ⁇ can the figure 3 be removed.
  • the yaw rate ⁇ is preferably by a non-illustrated Rate of rotation or gyroscope sensor determined, for example, from navigation technology is known.
  • the alignment of the axles 12 and 13 takes place with the aid of the track curvature so thus calculated.
  • the track curvature ⁇ serves to determine the desired steering angle ⁇ soll according to which the axles 12 and 13 are corrected.
  • the adjustment of the axes 12 and 13 can be done for example by a servo motor.
  • the sine of the desired steering angle ⁇ soll of the - not shown - controller system is calculated by multiplying the track curvature ⁇ with the half distance b between the axes 12 and 13, according to the equation in Figure 2.
  • the target steering angle ⁇ should be 1 + i for the following in the direction of travel undercarriages are calculated by time delays .DELTA.t from the first target steering angle ⁇ soll 1 .
  • the delay .DELTA.t results from the division of the distance a i of the trailing chassis i to the first chassis by the translation speed v.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Train Traffic Observation, Control, And Security (AREA)

Abstract

L'invention concerne un procédé servant à mesurer la courbure des rails pour un bogie de véhicules sur rails, ainsi qu'un procédé pour aligner de manière directrice, en fonction de la courbure des rails, un essieu d'un bogie pour rails, fixé de manière rotative sur un châssis de bogie. La courbure des rails est calculée par division d'une vitesse de lacet par une vitesse de translation. Les roues sont alignées selon un angle de braquage prescrit (ηsoll) qui est calculé par multiplication de la courbure des rails (χ) par la moitié de la distance (b) entre les deux essieux (12, 13) du bogie (10).

Claims (6)

  1. Procédé de mesure d'une courbure de voie ferrée sur un train de roulement pour véhicules ferroviaires, caractérisé en ce que la courbure de voie ferrée (χ) est calculée en divisant la vitesse de lacet (Ω) du train de roulement par la vitesse de translation (v).
  2. Procédé selon la revendication 1, caractérisé en ce que, pour éliminer l'influence du mouvement pendulaire en lacet du train de roulement dans le canal de voie, on lisse la valeur mesurée de la vitesse de lacet (Ω) au moyen d'un filtre passe-bas.
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce que la vitesse de lacet (Ω) est définie par un détecteur de vitesse de rotation ou à gyroscope.
  4. Procédé d'orientation dirigée de roues montées en rotation sur un train de roulement d'un véhicule ferroviaire dans une courbure de voie ferrée, caractérisé en ce que les roues sont orientées suivant un angle de direction de consigne (γsoll) calculé en multipliant la courbure de voie ferrée (χ) avec la moitié de la distance (b) entre les deux essieux du train de roulement, la courbure de voie ferrée (χ) étant déterminée par un procédé selon l'une quelconque des revendications 1 à 3.
  5. Procédé selon la revendication 4, caractérisé en ce que, pour diriger plusieurs trains de roulement d'un véhicule ferroviaire, on ne définit que la courbure de voie ferrée (χ) et l'angle de direction de consigne (γsoll 1) pour le premier train de roulement, tandis que les angles de direction de consigne (γsoll 1 + i) pour les trains de roulement suivants dans le sens de marche sont calculés par retardement (Δt) à partir du premier angle de direction de consigne (γsoll 1).
  6. Procédé selon la revendication 5, caractérisé en ce que le retardement résulte de Δt = ai /v, ai étant la distance entre le train de roulement suivant i et le premier train de roulement et v étant la vitesse de translation.
EP99925009A 1998-06-13 1999-05-19 Procede de reconnaissance de courbes et d'alignement d'essieux pour vehicules sur rails Expired - Lifetime EP1003661B2 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19826451 1998-06-13
DE1998126451 DE19826451A1 (de) 1998-06-13 1998-06-13 Verfahren zur Kurvenerkennung und Achsausrichtung bei Schienenfahrzeugen
PCT/EP1999/003430 WO1999065751A1 (fr) 1998-06-13 1999-05-19 Procede de reconnaissance de courbes et d'alignement d'essieux pour vehicules sur rails

Publications (3)

Publication Number Publication Date
EP1003661A1 EP1003661A1 (fr) 2000-05-31
EP1003661B1 true EP1003661B1 (fr) 2005-01-05
EP1003661B2 EP1003661B2 (fr) 2009-09-16

Family

ID=7870834

Family Applications (1)

Application Number Title Priority Date Filing Date
EP99925009A Expired - Lifetime EP1003661B2 (fr) 1998-06-13 1999-05-19 Procede de reconnaissance de courbes et d'alignement d'essieux pour vehicules sur rails

Country Status (8)

Country Link
US (1) US6571178B1 (fr)
EP (1) EP1003661B2 (fr)
DE (2) DE19861086B4 (fr)
HU (1) HU222388B1 (fr)
IL (1) IL134496A (fr)
NO (1) NO320337B1 (fr)
PL (1) PL197048B1 (fr)
WO (1) WO1999065751A1 (fr)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2195756B1 (es) * 2001-12-27 2005-03-01 Patentes Talgo, S.A Sistema para optimizar el guiado de ejes ferroviarios.
DE102006025773A1 (de) 2006-05-31 2007-12-06 Bombardier Transportation Gmbh Verfahren zur Regelung eines aktiven Fahrwerks eines Schienenfahrzeugs
ES2642047T3 (es) * 2007-09-21 2017-11-15 Nippon Steel & Sumitomo Metal Corporation Bogie de dirección para material rodante, material rodante y vehículo articulado
DE102007054861A1 (de) * 2007-11-16 2009-05-28 Siemens Ag Verfahren zum Begrenzen des Winkels zwischen den Längsachsen miteinander verbundener Wagenkästen
WO2013061641A1 (fr) * 2011-10-26 2013-05-02 新日鐵住金株式会社 Procédé et dispositif de direction de bogie de véhicule ferroviaire et bogie
CA2860883C (fr) * 2012-01-25 2019-07-09 Prairie Machine & Parts Mfg. (1978) Ltd. Systeme d'attelage d'orientation de vehicule ferroviaire
CN103358817A (zh) * 2012-03-29 2013-10-23 上海宝钢工业技术服务有限公司 适合路面的车辆后桥布置
AT518698B1 (de) * 2016-04-28 2021-06-15 Siemens Mobility Austria Gmbh Kraftgeregelte Spurführung für ein Schienenfahrzeug
US20200254356A1 (en) * 2017-07-28 2020-08-13 Innokind, Inc. Steering system for vehicles on grooved tracks
PT110903B (pt) * 2018-08-03 2021-08-02 Inst Superior Tecnico Dispositivo de guiamento ferroviário e o seu método de operar.

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4103547A (en) * 1977-02-07 1978-08-01 The United States Of America As Represented By The Secretary Of The Department Of Transportation Locomotive track curvature indicator
US4679809A (en) † 1984-09-10 1987-07-14 Nissan Motor Co., Ltd. Steering control system for wheeled vehicle
FR2584040B2 (fr) * 1985-06-26 1990-08-10 Regie Autonome Transports Vehicule guide a essieux orientables
EP0271592B1 (fr) * 1986-12-15 1989-05-24 Honeywell Regelsysteme GmbH Procédé et dispositif de réglage de l'inclinaison
DE4114860C1 (en) * 1991-05-07 1992-06-17 Bochumer Eisenhuette Heintzmann Gmbh & Co Kg, 4630 Bochum, De Railed vehicle drive using digital track guidance - uses opto-electric triangulation sensor pair comprising transmitter and receiver using laser measuring beams
DE9219042U1 (de) * 1992-09-18 1997-04-17 Siemens AG, 80333 München Einzelrad-Steuervorrichtung
JPH0986365A (ja) * 1995-09-21 1997-03-31 Fuji Heavy Ind Ltd 制動力制御装置
DE19538379C1 (de) 1995-10-14 1997-01-02 Daimler Benz Ag Zweirädiges Fahrwerk für spurgeführte Fahrzeuge
JPH09109866A (ja) * 1995-10-19 1997-04-28 Fuji Heavy Ind Ltd 車両運動制御装置
DE19612695C1 (de) † 1996-03-29 1997-06-26 Siemens Ag Verfahren zur Regelung der erdbezogenen Wagenkastenneigung bei einem Schienenfahrzeug
DE19617003C2 (de) * 1996-04-27 2002-08-01 Bombardier Transp Gmbh Schienenfahrzeug mit einem einachsigen Laufwerk
DE19654862C2 (de) * 1996-12-04 1999-11-04 Abb Daimler Benz Transp Verfahren zur Beeinflussung des Knickwinkels von Schienenfahrzeug-Wagenkästen und Schienenfahrzeug zur Durchführung des Verfahrens
DE19812236C2 (de) * 1998-03-20 2001-10-18 Daimler Chrysler Ag Verfahren zur Unterdrückung hochfrequenter Schwingungen an gelenkten Achsen eines Fahrzeugs

Also Published As

Publication number Publication date
DE59911399D1 (de) 2005-02-10
DE19861086A1 (de) 2000-01-27
NO995807D0 (no) 1999-11-26
DE19861086B4 (de) 2004-04-15
EP1003661B2 (fr) 2009-09-16
US6571178B1 (en) 2003-05-27
IL134496A (en) 2004-02-19
NO320337B1 (no) 2005-11-21
HU222388B1 (hu) 2003-06-28
IL134496A0 (en) 2001-04-30
NO995807L (no) 1999-12-23
HUP0003302A3 (en) 2001-10-29
WO1999065751A1 (fr) 1999-12-23
PL197048B1 (pl) 2008-02-29
PL337851A1 (en) 2000-09-11
HUP0003302A2 (hu) 2001-02-28
EP1003661A1 (fr) 2000-05-31

Similar Documents

Publication Publication Date Title
DE68919491T2 (de) Lenkeinrichtung für Kraftfahrzeuge.
WO2012041670A1 (fr) Procédé et dispositif pour l'assistance au créneau d'un véhicule
DE60129760T2 (de) Kraftfahrzeugvorder- und -hinterradlenkwinkelsteuereinrichtung und ihr Steuerverfahren
EP1003661B1 (fr) Procede de reconnaissance de courbes et d'alignement d'essieux pour vehicules sur rails
DE102009029238A1 (de) Lenkzugkompensation
DE102015212229A1 (de) Verfahren zum Lenken eines Fahrzeuges, Steuerung für ein Kraftfahrzeug sowie Kraftfahrzeug
DE4133882A1 (de) Verfahren zum selbsttaetigen nachfuehren eines fahrzeugs auf der spur eines vorausfahrenden fahrzeugs
DE102018116935B4 (de) Verfahren zur Beibehaltung der Spur eines zweispurigen Fahrzeugs
DE102008045377A1 (de) Verfahren und Vorrichtung zur Unterstützung eines Einparkvorgangs eines Fahrzeugs
DE102014214141B4 (de) Verfahren sowie Steuergerät zum Bestimmen eines Winkels zwischen Längsachsen eines Gespanns aus Fahrzeugsegmenten
EP1048506A2 (fr) Système pour la régulation de la séparation latérale entre deux véhicules
DE4127750C1 (en) Automotive equipment improving stability of car and trailer linkage - uses sensors or measurement value pick=ups to register undesired swing of trailer and automatic auxiliary linkage to counteract it
DE102006037588B4 (de) Verfahren zur automatischen oder teilautomatischen spurtreuen Mehrachslenkung eines Straßenfahrzeugs und Vorrichtung zur Durchführung des Verfahrens
EP1003662B1 (fr) Procede pour coordonner l'entrainement de vehicules guides, a roues individuelles
WO2024251625A1 (fr) Procédé de fonctionnement d'un système de direction à commande électrique d'un véhicule, et système de direction à commande électrique
EP1283149B1 (fr) Procédé et appareil de stabilisation de direction de véhicules articulés, en particulier autobus articulé
DE102018130429B4 (de) Verfahren zur Unterstützung eines rückwärtsgerichteten Manövriervorganges eines Fahrzeuggespanns
DE19735912A1 (de) Verfahren und Vorrichtung zum Feststellen einer Fahrzeugquerneigung
DE4114860C1 (en) Railed vehicle drive using digital track guidance - uses opto-electric triangulation sensor pair comprising transmitter and receiver using laser measuring beams
DE102007019698B4 (de) Verfahren und Vorrichtung zum elektrisch gesteuerten Unterstützen einer Fahrbewegung eines Fahrzeugs sowie Fahrzeug
EP0969997A2 (fr) Vehicule sur rail avec articulation pivotante
DE19826451A1 (de) Verfahren zur Kurvenerkennung und Achsausrichtung bei Schienenfahrzeugen
DE102009040375A1 (de) Verfahren und Vorrichtung zur Unterstützung eines Einparkvorgangs eines Fahrzeugs
DE2919831A1 (de) Gelenkfahrzeug mit einer schutzvorrichtung gegen uebermaessiges einknicken
EP0590234B1 (fr) Méthode et dispositif pour éliminer l'inclinaison d'un bogie avec des blocs de roues

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 19991027

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): BE DE DK ES FR GB IT PT SE

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: DAIMLERCHRYSLER RAIL SYSTEMS GMBH

17Q First examination report despatched

Effective date: 20030512

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: BOMBARDIER TRANSPORTATION GMBH

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): BE DE DK ES FR GB IT PT SE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT;WARNING: LAPSES OF ITALIAN PATENTS WITH EFFECTIVE DATE BEFORE 2007 MAY HAVE OCCURRED AT ANY TIME BEFORE 2007. THE CORRECT EFFECTIVE DATE MAY BE DIFFERENT FROM THE ONE RECORDED.

Effective date: 20050105

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REF Corresponds to:

Ref document number: 59911399

Country of ref document: DE

Date of ref document: 20050210

Kind code of ref document: P

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20050405

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20050405

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20050416

GBT Gb: translation of ep patent filed (gb section 77(6)(a)/1977)

Effective date: 20050418

PLBI Opposition filed

Free format text: ORIGINAL CODE: 0009260

PLAX Notice of opposition and request to file observation + time limit sent

Free format text: ORIGINAL CODE: EPIDOSNOBS2

26 Opposition filed

Opponent name: SIEMENS AKTIENGESELLSCHAFT OESTERREICH

Effective date: 20051004

ET Fr: translation filed
REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

PLAF Information modified related to communication of a notice of opposition and request to file observations + time limit

Free format text: ORIGINAL CODE: EPIDOSCOBS2

PLBB Reply of patent proprietor to notice(s) of opposition received

Free format text: ORIGINAL CODE: EPIDOSNOBS3

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20050605

PUAH Patent maintained in amended form

Free format text: ORIGINAL CODE: 0009272

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: PATENT MAINTAINED AS AMENDED

27A Patent maintained in amended form

Effective date: 20090916

AK Designated contracting states

Kind code of ref document: B2

Designated state(s): BE DE DK ES FR GB IT PT SE

REG Reference to a national code

Ref country code: ES

Ref legal event code: FD2A

Effective date: 20050520

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20130522

Year of fee payment: 15

Ref country code: GB

Payment date: 20130521

Year of fee payment: 15

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20130603

Year of fee payment: 15

Ref country code: BE

Payment date: 20130521

Year of fee payment: 15

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 59911399

Country of ref document: DE

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20140519

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 59911399

Country of ref document: DE

Effective date: 20141202

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20150130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20141202

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20140519

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20140602

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20140531