JPH06227392A - Body inclination control method of rolling stock - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide a vehicle body inclination control method capable of performing inclination control according to the vehicle body inclination angle of a railway vehicle with an air spring. [Structure] A height detector and a pressure gauge are provided for each air spring of a rail vehicle equipped with an air spring, and a rotation speed detector is provided for each wheel, and these detection signals are input to the controller, which is then stored in advance in the controller. In the method for performing vehicle body tilt control by outputting the control signal obtained by comparison calculation with the input curve data to the air supply valve and the exhaust valve of each air spring, the detection signals of the rotation speed detector are integrated. The height detector detects the target value of the relative inclination angle and average height between the vehicle body and bogie calculated from the curve radius and cant obtained by comparing the traveled distance obtained with the curve data, and the traveling speed. The relative inclination angle calculated from the signal and the average height are within the setting range centered on the target value, and the difference in the sum of the internal pressures of the air springs on the diagonal lines of the front and rear bogies is within the setting range. Supply and exhaust the air spring so that [Effect] It is possible to improve the riding comfort by reducing the stationary lateral acceleration on the floor when passing a curve.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle body tilt control method capable of controlling the vehicle body height of a rail vehicle equipped with an air spring in accordance with a vehicle body tilt angle.

[0002]

2. Description of the Related Art Railroad tracks are composed of straight roads, curved roads, and slopes. On the curved road, a centrifugal force causes a force to fall outward when a train passes, so in order to prevent this, the outer rail of the curved road is laid higher than the inner side in advance, and a so-called cant is attached.

A railroad vehicle passing through a curved road, unless it travels at a speed commensurate with its cant amount, causes lateral acceleration to act on passengers and makes the passengers uncomfortable. In order to improve the riding comfort on a curved road and increase the traveling speed, the vehicle body may be inclined to the inside of the curve so as to cancel the lateral acceleration.

There are several methods for leaning the vehicle body. As one of the methods, the air spring supporting the vehicle body is supplied and exhausted to compress the inner track side air spring and the outer track side air spring. There is a method of extending the spring to tilt the vehicle body. However, since this method uses an air spring, it has a drawback of poor responsiveness. In order to eliminate this drawback, there is a method of detecting a curved point by using the mileage of the vehicle and the curve data to control the vehicle body inclination. For example, in the vehicle body preview tilting device disclosed in Japanese Examined Patent Publication No. 62-43896, the tilting control delay is eliminated by performing the previewing control using the differentiation of the vehicle body tilt angle.

[0005]

Since the air spring of a railway vehicle is used as a pillow spring, it is necessary to have not only the inclination of the vehicle body but also the functions of adjusting the vehicle body height and damping vibrations. Further, since an excessive displacement is restricted between the vehicle body and the bogie by the stopper, it is necessary to control the vehicle body height in accordance with the vehicle inclination angle so that the vehicle body inclination angle can be maximized within the limited clearance. Furthermore, the inclination of the vehicle body must be able to be stably maintained even on a twisted raceway surface on the relaxation curve. However, in the conventional vehicle body inclination control, controlling the vehicle body height according to the inclination angle has not been considered.

In view of the above situation, the present invention provides a method for controlling the inclination of a vehicle body of a railway vehicle which solves the above problems and stabilizes the inclination of the vehicle body to improve the riding comfort of passengers on a curved road. It is a thing.

[0007]

In order to achieve the above object, a method for controlling the inclination of a vehicle body of a railway vehicle according to the present invention provides a height detector, a pressure gauge, and a wheel for each air spring of a railway vehicle with an air spring. A rotation speed detector is installed in the controller, these detection signals are input to the controller, and the control signal obtained by comparison calculation with the curve data that is input in the controller in advance is supplied to the air supply valve of each air spring. In the method of controlling the vehicle body inclination by outputting to the exhaust valve, the traveling distance obtained by integrating the detection signals of the rotation speed detector is calculated from the curve radius and the cant obtained by collating with the curve data, and the traveling speed. The relative inclination angle between the vehicle body and the trolley and the target value of the average height, the relative inclination angle and the average height calculated from the detection signal of the height detector are within the setting range centered on the target value. And the air space on the diagonal of the front and rear bogies. As the difference between the sum of the internal pressure of a value within the setting range, perform supply and exhaust of the air spring.

[0008]

According to the present invention, in order to control the posture of the vehicle body, the relative tilt angle between the front and rear bogies and the vehicle body, the average height between the front bogie and the vehicle body, the average height between the rear bogie and the vehicle body, and the diagonal line between the front and rear bogies are controlled. The diagonal differential pressure, which is the difference in the sum of the air spring internal pressures above, is used. Then, the target values of the relative inclination angle and the average height use the values obtained from the curve data and the traveling speed, so that the target values are within the set range with these target values, and the diagonal differential pressure is also within the set range. Control the air supply valve and the exhaust valve so that.

Next, the specific operation of the present invention will be described with reference to the control block diagram shown in FIG. 1 and the flow charts shown in FIGS. 6 and 7. The curve data is written for the curve radius, the cant, and the entire route traveling the point where these exist. The traveling position counted by the wheel rotation speed detector is collated with the curve data, and the curve radius R and the cant C at the traveling position after the set time from the present are calculated. From this value and the traveling speed V, the target value θa of the relative inclination angle between the vehicle body and the bogie is calculated by the following formula 1. Here, g is gravitational acceleration and G is gauge. Further, in order to prevent an excessive inclination, with respect to the set maximum inclination angle θ _max , when θ _a ≧ θ _max , θ _a = θ
Limit as _max .

[0010]

[Equation 1]

The average height between the vehicle body and the carriage needs to be changed according to the inclination angle in order to tilt the vehicle body so as not to hit the stopper between the vehicle body and the carriage. Therefore, the target value h _a of the average height is calculated by the following two equations.
Note that h _max is the set maximum height.

[0012]

[Equation 2]

Next, from the detected values of the heights of the air springs at four locations, the relative inclination angle θ of the vehicle body is obtained by the following three equations, and the average heights hm ₁ and hm ₂ are obtained by the four equations.

[0014]

[Equation 3]

Equation 4 h _m1 = (h ₁ + h ₂ ) / 2 h _m2 = (h ₃ + h ₄ ) / 2 where h ₁ , h ₂ , h ₃ and h ₄ are the first, second and
3rd and 4th air spring heights, b is the center distance of the left and right air springs, h _m1 is the 1st and 2nd average height, and h _m2 is the 3rd and 4th average height.

The relative tilt angle control is performed by setting the set angle dead zone Δ.
It is performed so that θ satisfies the following five expressions. 5 formulas | θ−θ _a | <Δθ

The average height control is based on the set height dead zone Δh.
Are performed so as to satisfy the following six expressions. Equation 6 | h _m1 −h _a | <Δh | h _m2 −h _a | <Δh

The diagonal differential pressure control is performed so as to satisfy the following seven expressions. Here, p ₁ , p ₂ , p ₃ , and p ₄ are each 1
The second, third, fourth air spring internal pressure, β is a set coefficient, and the average internal pressure is expressed by Eq.

[0019]

[Equation 4]

[0020]

[Equation 5]

In the combined tilt control, the calculation results of the above three types of control are weighted to provide a comprehensive control output. The control output is calculated according to the following equation (9).

[0022]

[Equation 6]

Where i: air spring position (i =
1, 2, 3, 4) Y_i : I-position air spring control output h_m : Average height between car body and trolley However, when i is 1 or 2, h_m= H_m1 When i is 3 or 4, h_m= H_m2  ξ₁ : Weighting factor for average height control ξ₂ : Weighting coefficient for relative tilt angle control ξ₃ : Weighting coefficient for diagonal differential pressure control ±: Sign is absolute value |
When is negative

When the value of the control output Y _i obtained by the above equation 9 is negative, the i-th intake valve is opened, and when the value of Y _i is positive, i
Open the exhaust valve at the top. In addition, in order to prevent excessive air supply and exhaust, Y
_The dead zone is set so that air is not supplied or exhausted when the value of _i is near zero.

By the above combined control, the vehicle body height can be controlled in accordance with the inclination angle so that the vehicle body inclination angle can be maximized within the limited clearance between the vehicle body and the bogie, and the twist on the relaxation curve The inclination of the vehicle body can be stably maintained even on the raceway surface.

[0026]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A vehicle body inclination control method according to an embodiment of the present invention will be described with reference to the drawings. FIG. 2 is an example of a control device for carrying out the method of the present invention. In each of the front and rear bogies, a controller 10 outputs a detection signal from a pressure sensor 7 installed on left and right air springs 3 provided between the bogie 1 and the vehicle body 2 and a detection signal from left and right height sensors 8. And an exhaust valve 6 provided in the middle of a pipe 9 connecting the left and right air springs 3 and the air reservoir 4 respectively.
Is configured to be opened / closed by a control signal from the controller 10, and a pulse signal 1 from a speed generator (not shown).
1 is incorporated in the controller 10.

In order to control the posture of the vehicle body by the above apparatus, the relative inclination angle between the front and rear bogies and the vehicle body, the average height between the front bogie and the vehicle body, the average height between the rear bogie and the vehicle body, and the diagonal line between the front and rear bogies The diagonal differential pressure, which is the difference in the sum of the air spring internal pressures above, is used. And the target values of the relative inclination angle and the average height are
Using the values obtained from the curve data and the traveling speed, the flow shown in FIGS. 6 and 7 is used so that the target values are within the set range and the diagonal differential pressure is also within the set range. According to the obtained control signal, the intake valve 5 and the exhaust valve 6
Open and close.

Next, an example in which the vehicle is run by performing the vehicle body tilt control according to the present invention will be described. Since a stopper for limiting excessive vertical displacement is installed between the vehicle body and the bogie, if the air spring part is as shown in FIG. 8, the inclination angle θ is maximum as shown in FIG. Two times,
At this time, the left and right air springs are -25m on the first and third compression sides.
The extension side of m, 2 and 4 positions is limited to +50 mm. As described above, since there is a difference in the amount of displacement between the compression side and the extension side,
As shown in, when the vehicle body is tilted 2 degrees, the average height h
_It is necessary to raise _r by 12.5 mm.

From the above, the set maximum tilt angle θ _max is set to 2
The vehicle body tilt control was performed with the set maximum height h _max being 12.5 mm. The results are shown in FIG. 3 by comparing the comparison vehicle of the conventional vehicle and the test vehicle of the embodiment of the present invention.
It can be seen from FIG. 3 that the stationary lateral acceleration on the floor, which is an index of the riding comfort when the vehicle of the present invention passes through a curve, is significantly lower than that of the conventional vehicle, and the riding comfort is improved. .

[0030]

The present invention uses a target value calculated from curve data, traveling speed, and traveling position for vehicle body inclination control at the time of passing a curve, and uses a relative inclination angle, an average height, and a diagonal differential pressure to combine the vehicle body inclination. By performing the control, stable vehicle body tilt control can be performed even on a twisted track such as a relaxation curve, so that the steady lateral acceleration of the floor when the curve passes can be reduced and the riding comfort can be improved.

[Brief description of drawings]

FIG. 1 is a block diagram showing an air spring vehicle body tilt control method for a railway vehicle according to the present invention.

FIG. 2 is an explanatory view showing an example of a control device for carrying out the vehicle body inclination control method according to the present invention.

FIG. 3 is a graph showing the left and right steady accelerations when a test vehicle according to an embodiment of the present invention and a comparative vehicle including a conventional vehicle pass through a curve.

FIG. 4 is a graph showing a tilt angle of a vehicle body and degrees of compression sides and extension sides of front, rear, left and right air springs.

FIG. 5 is a graph showing the relationship between the inclination angle of the vehicle body and the average height h _r between the vehicle body and the bogie.

FIG. 6 is a flowchart showing the first half of the method for controlling the inclination of a vehicle body of a railway vehicle of the present invention.

FIG. 7 is a flowchart showing a second half of the vehicle body tilt control method following FIG.

FIG. 8 is an explanatory diagram showing an air spring portion of one vehicle.

[Explanation of symbols]

1 bogie 2 vehicle body 3 air spring 4 air reservoir 5 air supply valve 6 exhaust valve 7 pressure sensor 8 height sensor 9 piping 10 controller 11 pulse signal from speed generator R curve radius C cant V traveling speed θ _a relative inclination angle target value g gravitational acceleration G gauge theta _max set maximum inclination angle h _a mean height of the target value h _m1, h _m2 average height h ₁ to h ₄ air spring height Δθ relative slope angle deadband p ₁ ~p ₄ air Spring pressure β coefficient Δh Average height dead zone

Claims (1)

[Claims] 1. A height detector and a pressure gauge are provided on each air spring of a rail vehicle equipped with an air spring, and a rotation speed detector is provided on a wheel, and these detection signals are input to the controller. In the method for performing vehicle body tilt control by outputting the control signal obtained by comparing and calculating the curve data input in advance to the air supply valve and exhaust valve of each air spring, the detection signal of the rotation speed detector is The height detector is used for the target values of the relative inclination angle between the vehicle body and the trolley and the average height calculated from the curve radius and the cant obtained by checking the accumulated traveling distance with the curve data, and the traveling speed. The relative inclination angle and the average height calculated from the detection signal are within the setting range centered on the target value, and the difference in the sum of the internal pressures of the air springs on the diagonal lines of the front and rear bogies is within the setting range. The air spring is supplied and exhausted so that the value of Method for controlling body inclination of a railway vehicle.