EP1003661B2 - 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

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Publication number
EP1003661B2
EP1003661B2 EP99925009A EP99925009A EP1003661B2 EP 1003661 B2 EP1003661 B2 EP 1003661B2 EP 99925009 A EP99925009 A EP 99925009A EP 99925009 A EP99925009 A EP 99925009A EP 1003661 B2 EP1003661 B2 EP 1003661B2
Authority
EP
European Patent Office
Prior art keywords
curvature
steering angle
soll
track
undercarriage structure
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
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German (de)
English (en)
Other versions
EP1003661B1 (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
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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

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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 the directional alignment of a rotatably mounted on a chassis frame axis of a Schienenfahrtechnikes after the track curvature.
  • Narrow curves which are often determined by the course of the road, lead to poor cornering of multi-axle chassis. This is mainly observed in rail vehicles whose wheels are rigidly connected to the chassis frame with respect to their yawing motion.
  • axle or the wheels are steerable mounted in the chassis frame.
  • a steering movement corresponding to the track curvature can take place.
  • Object of the present invention is to provide a method for measuring the track curvature for rail vehicles to calculate using this value, the target value for the steering angle control.
  • the problem is solved by the features of claim 1, u.a. in that the track curvature is calculated from the division of a yaw rate by a translation speed and the wheels are aligned to a desired steering angle calculated by multiplying the track curvature so calculated by half the distance between the two axles of the landing gear.
  • the Figures 1 and 2 show a chassis 10 for a rail vehicle, not shown, with axles 12 and 13, to which wheels 16 are attached.
  • the axle 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 passing through a track bend 11 having a radius R at a translational speed v.
  • the radius R or the track curvature ⁇ can be calculated.
  • the track curvature ⁇ corresponds to the reciprocal of the radius R.
  • the division of the yaw rate ⁇ by the translation speed v gives the track curvature ⁇ , corresponding to the in FIG. 1 represented equation.
  • the value of the track curvature ⁇ obtained from this is used to steer the axles 12 and 13, respectively.
  • the relation between the real and calculated track curvature ⁇ can be the FIG. 3 be removed.
  • the yaw rate ⁇ is preferably determined by a gyroscope or gyro sensor (not shown in greater detail), as is known, for example, from navigation technology.
  • the distance between the wheel flanges of the wheels 16 of an axle 12 and 13 is slightly smaller than the distance between the rails 17, can move the position of the axle laterally by a few millimeters in the track channel.
  • power surges that act on the chassis 10 because of the often not exact track guidance lead to yaw.
  • these oscillating movements have a not insignificant influence on the measured values of the gyro sensor.
  • the measured value of the yaw rate ⁇ is smoothed by means of a - not shown - low-pass filter.
  • the effect of the low-pass filter when passing through a track arc is FIG. 5 refer to.
  • 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 target steering angle ⁇ soll of the - not shown - controller system is calculated by multiplying the track curvature ⁇ with half the distance b between the axes 12 and 13, according to the equation in FIG. 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 (4)

  1. 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 en divisant la vitesse de lacet (Ω) du train de roulement par la vitesse de translation (v), la valeur mesurée de la vitesse de lacet (Ω) étant lissée au moyen d'un filtre passe-bas pour éliminer l'influence du mouvement pendulaire en lacet du train de roulement dans le canal de voie.
  2. Procédé selon la revendication 1, caractérisé en ce que la vitesse de lacet (Ω) est définie par un détecteur de vitesse de rotation ou à gyroscope.
  3. Procédé selon la revendication 1 ou 2, 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).
  4. Procédé selon la revendication 3, 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 EP1003661B1 (fr) 2005-01-05
EP1003661B2 true 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.

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3532247C2 (fr) † 1984-09-10 1993-07-29 Nissan Motor Co., Ltd., Yokohama, Kanagawa, Jp
DE19612695C1 (de) † 1996-03-29 1997-06-26 Siemens Ag Verfahren zur Regelung der erdbezogenen Wagenkastenneigung bei einem Schienenfahrzeug

Family Cites Families (11)

* 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
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
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

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3532247C2 (fr) † 1984-09-10 1993-07-29 Nissan Motor Co., Ltd., Yokohama, Kanagawa, Jp
DE19612695C1 (de) † 1996-03-29 1997-06-26 Siemens Ag Verfahren zur Regelung der erdbezogenen Wagenkastenneigung bei einem Schienenfahrzeug

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PROF.DR.-ING. FRITZ FREDERICH: "Spurführung in engen Gleisbögen", DER NAHVERKEHR, vol. 2/85, AACHEN, pages 52 - 61 †

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
US6571178B1 (en) 2003-05-27
IL134496A (en) 2004-02-19
EP1003661B1 (fr) 2005-01-05
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

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