JPH07218520A - Vehicle speed calculating device and vehicle mileage calculating device using the same - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide a device for calculating highly accurate vehicle speed and acceleration. A vehicle speed calculation device of the present invention outputs a frequency signal proportional to the rotation speed of each wheel by each of a plurality of speed generators 1A to 1D, and an external wheel diameter signal and a signal from each speed generator. And the vehicle acceleration vi corresponding to each wheel i, and the vehicle acceleration α corresponding to each wheel.
The average value αav of i and the deviation di from the average value of the vehicle acceleration corresponding to each wheel are obtained. And fuzzy reasoning section 1
2 applies a fuzzy rule to the speed calculation result, the acceleration calculation result and the acceleration deviation calculation result to determine the idling degree and the sliding index .mu.i, .mu.i 'of each wheel, and the speed correction circuits 35A to 35D determine each wheel. The speed and acceleration are corrected based on the idling index and the skid index, and the output of the speed correction circuit is combined by the combining unit 26 to obtain the speed v * and acceleration α * of the entire vehicle.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle speed calculating device for calculating a vehicle speed and a traveling distance and a vehicle traveling distance calculating device using the same.

[0002]

2. Description of the Related Art Conventionally, various types of railway vehicles have been used as speed and mileage measurement and arithmetic devices which are the basis of some control. As a typical conventional vehicle speed / distance calculation device, a device as shown in FIG. 11 is known. This conventional vehicle speed / distance calculation device is composed of a speed generator 1, a waveform shaping circuit 2, a wheel diameter correction circuit 3, a speed calculation circuit 4 and a distance calculation circuit 5.

The speed generator 1 is attached to the wheel shaft end of a vehicle and outputs a speed frequency signal proportional to the rotation of the wheel.
The waveform shaping circuit 2 outputs this velocity frequency signal to the T of peak 5V.
Convert to a pulse signal of TL level. Normally, in this conversion, one pulse signal is converted per cycle of the speed signal.

The pulse signal of the waveform shaping circuit 2 is given to the wheel diameter correction circuit 3, where the correction processing for the wheel diameter D preset by a digital switch or the like is performed. Then, the speed calculation circuit 4 counts the pulses for each preset sample time, and calculates and outputs the vehicle speed based on this value and the corrected wheel diameter D. Further, the distance calculation circuit 5 integrates the pulse signals and calculates the travel distance based on this value and the corrected wheel diameter D. That is, the integrated distance value is obtained by multiplying the integrated pulse value by the distance value K per pulse.

As another conventional vehicle speed / distance calculation device,
A configuration shown in FIG. 12 is also known. This conventional vehicle speed / distance calculation device performs waveform shaping of two speed generators 1A and 1B attached to different wheel shafts and their output signals, and also performs waveform shaping and high-order priority selection for high-order priority selection. It is composed of a circuit 6, a wheel diameter correction circuit 3, a speed calculation circuit 4 and a distance calculation circuit 5.

The speed generators 1A and 1B are attached to different wheel shafts, and the speed frequency signals of the speed generators 1A and 1B are simultaneously input to the waveform shaping and high priority circuit 6. The waveform shaping and high priority circuit 6 converts each speed frequency signal into a pulse signal, compares the speed frequencies of both pulse signals, and outputs the higher frequency to the wheel diameter correction circuit 3.

In the wheel diameter correction circuit 3, similarly to the above-described arithmetic device of FIG. 11, a correction process for the wheel diameter D preset by a digital switch or the like is performed, and the vehicle speed is calculated in the speed calculation circuit 4 and at the same time. The distance calculation circuit 5 calculates the traveling distance.

In this conventional arithmetic unit, the speed generator 1
It is designed based on the idea of comparing A and 1B and selecting and passing the higher one, not necessarily the idea of accurate measurement. This is because when such a circuit is used in a security device, even if the high speed frequency signal is an incorrect signal, the high speed signal is input and the speed and mileage are calculated based on that input. This is because doing so is fail-safe.

[0009]

However, in such a conventional vehicle speed / distance calculation device, when the railroad vehicle travels as shown in FIG. 13, that is, when the railway vehicle is idling or decelerating. There was a problem that speed and distance could not be measured accurately when gliding occurred in a section.

In particular, the conventional vehicle speed / distance calculating device shown in FIG. 11 is directly affected by slipping and sliding, and cannot calculate the correct speed and distance as shown by the broken line in FIG.

Further, in the conventional vehicle speed / distance calculation device shown in FIG. 12, when only one axis is idling or sliding, even if the speed generator on the other axis outputs an accurate speed frequency signal, waveform shaping and Since the high-priority circuit has the high-priority function, the speed frequency signal of the speed generator of the wheel shaft on which the idling has occurred is converted into a pulse signal for output in the acceleration section, which also causes an error.

In addition, in such a conventional vehicle speed / distance calculating device, there is an inherent factor that causes an error in the wheel diameter correcting circuit. That is, the wheel diameter of a suburban train or the like is usually D = 860φ, and the wear limit is set to 780φ. However, conventionally, the wheel diameter correction is 10
The wheel diameter correction switch of mm pitch is used for setting, so that an intermediate value cannot be set. Therefore, for example, the wheel diameter is accurately measured and 855 mmφ
If the set value is 860 mmφ, then 860 /
A calculation error of 0.58% at 855 and 0.58% at 855/850 will occur in the speed / distance calculation result if the set value is 850 mmφ. It's too big for a device.

This is because, in the near future, for example, when the fixed position stop accuracy is improved by an automatic driving device (ATO) or the vehicle distance control is realized in a moving block system, a soft coupling control technique (for high-density operation) ( If you want to build synchronous speed control by keeping the distance of several meters instead of mechanically connecting the vehicles with a coupler, 0.1
It is necessary to calculate speed and mileage with strict accuracy of not more than%, and the conventional calculation device has a problem that the calculation error of speed and distance is too large.

The present invention has been made in view of the above-mentioned problems of the prior art, and reduces errors during idling and sliding, and errors during wheel diameter setting as much as possible, and calculates the speed and mileage of the degree of configuration. An object of the present invention is to provide a vehicle speed calculation device that can perform the operation and a vehicle travel distance calculation device using the same.

[0015]

According to a first aspect of the present invention, there is provided a vehicle speed calculating device comprising: a speed calculating circuit for calculating a vehicle speed corresponding to each wheel based on rotation speed signals of a plurality of wheels; and a speed calculating circuit. An acceleration calculation circuit for obtaining the vehicle acceleration corresponding to each wheel from the obtained vehicle speed, an acceleration average value calculation circuit for obtaining the average value of the vehicle acceleration corresponding to each wheel obtained by the acceleration calculation circuit, and a vehicle acceleration corresponding to each wheel An acceleration deviation calculation circuit for obtaining a deviation from an average value, a speed calculation circuit, an acceleration calculation circuit, an acceleration average value calculation circuit, and an acceleration deviation calculation circuit. A fuzzy inference unit that determines the skid index, a speed correction circuit that corrects the speed and acceleration based on the slip rate and slip index of each wheel, and the speed compensation By combining the output of the circuit is obtained with the rate of the entire vehicle, and a synthesizing unit for obtaining the acceleration.

According to a second aspect of the present invention, in the vehicle speed calculating device according to the first aspect, the idling degree and the gliding degree index of each wheel output from the fuzzy inference unit are compared with a threshold value, and the idling and gliding of each wheel are respectively performed. It is provided with a slip / sliding determination unit that outputs a binary value indicating whether or not the occurrence of

According to a third aspect of the present invention, in the vehicle speed calculating device according to the first or second aspect, the fuzzy inference unit adds a current or voltage detection value of an electric motor driving each wheel from the outside as one of rule elements. It is a thing.

According to a fourth aspect of the present invention, in the vehicle speed calculating device according to any one of the first to third aspects, the wheel speed of each wheel is detected by detecting the rotational speed of each wheel between two points on the ground side that are spaced apart by a certain distance. Is provided, and the speed calculation circuit calculates the vehicle speed from the wheel diameter and rotation speed of each wheel from the wheel diameter correction circuit.

According to a fifth aspect of the present invention, there is provided a vehicle speed calculating device including a distance calculating circuit for calculating a traveling distance by integrating the speed calculation result with respect to the vehicle speed calculating device according to any of the first to fourth aspects. Is.

[0020]

In the vehicle speed calculating device of the present invention, the vehicle speed corresponding to each wheel is obtained from the rotational speed of each of the plurality of wheels by the speed calculating circuit, and the vehicle acceleration corresponding to each wheel is obtained by the acceleration calculating circuit. Further, the average value of the vehicle acceleration corresponding to each wheel calculated by the acceleration calculating circuit is calculated by the acceleration average value calculating circuit, and the deviation from the average value of the vehicle acceleration corresponding to each wheel is calculated by the acceleration deviation calculating circuit.

Then, the fuzzy inference unit calculates the speed calculation result of the speed calculation circuit, the acceleration calculation result of the acceleration calculation circuit,
A fuzzy rule is applied to the acceleration average value calculation result of the acceleration average value calculation circuit and the acceleration deviation calculation result of the acceleration deviation calculation circuit as the antecedent part of the proposition, and the wheels are based on the consequent part of the fuzzy rule. The speed and acceleration of each wheel are determined by the speed correction circuit, and the speed and acceleration are corrected based on the speed and acceleration of each wheel by the speed correction circuit. The speed and acceleration of is calculated and output.

Thus, fuzzy inference is used to obtain the indexes of the idling degree and the gliding degree of each of the plurality of wheels, and the speed and acceleration are corrected based on the indexes, and the speed and acceleration of the entire vehicle are strictly calculated and output.

According to a second aspect of the present invention, in the vehicle speed calculating device according to the first aspect, the idling degree and the gliding degree index of each wheel output from the fuzzy inference unit are compared with a threshold value, and the idling and gliding of each wheel are respectively performed. By providing a slip / sliding determination unit that outputs a binary value indicating whether or not the slip has occurred, it is possible to identify the wheel in which slip or slip has occurred.

According to a third aspect of the present invention, in the vehicle speed calculating device according to the first or second aspect, the fuzzy inference unit adds the current or voltage detection value of the electric motor driving each wheel from the outside as one of the rule elements. By doing so, the indexes of the idling degree and the gliding degree of each wheel can be determined more accurately.

According to a fourth aspect of the present invention, in the vehicle speed calculating device according to any of the first to third aspects, the rotational speed of each wheel between two points spaced a fixed distance on the ground side is detected, and the wheel diameter of each wheel is detected. The wheel diameter correction circuit for calculating the wheel diameter is calculated, and the speed calculation circuit calculates the vehicle speed from the wheel diameter and the rotation speed of each wheel from the wheel diameter correction circuit, so that the wheel wears during running or wears due to the brake. Wheel diameter changes for each wheel Accurately determine the outer diameter of each wheel and use it for vehicle speed calculation. By this, vehicle speed is calculated accurately, and idling / sliding of each wheel is also accurately determined. .

According to a fifth aspect of the present invention, there is provided a vehicle distance calculating device further comprising a distance calculating circuit for integrating the speed calculation result with respect to the vehicle speed calculating device. With the provision, the mileage of the vehicle is strictly calculated and output.

[0027]

Embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 1 shows a common embodiment of a vehicle speed calculation device according to the inventions of claims 1 and 2 and a vehicle travel distance calculation device using the same. The vehicle speed and vehicle mileage calculation apparatus of this embodiment is attached to each of a plurality of wheels of a vehicle, and speed generators (SG) 1A to 1D that output a speed frequency signal proportional to the rotation speed, and speed and mileage calculation. It is composed of a speed-distance calculating device 10 which is the main body of the. The speed / distance calculation device 10 includes the speed generator 1A to
It is composed of waveform shaping circuits 11A to 11D for converting each velocity frequency signal of 1D into a pulse signal and a fuzzy inference unit 12.

Then, the fuzzy inference unit 12 receives a wheel diameter correction signal 1 such as a measurement start point detection signal and a measurement end point detection signal for measuring and setting each wheel diameter as necessary.
3 is input from the outside. In addition, the fuzzy inference unit 12 calculates the distance, speed, idling signal,
Sliding signals, acceleration data, deceleration data, etc. are output.

In this embodiment, the speed generators 1A to 1D are provided for four wheels, but the number is not limited. Also, the type of speed generator is not particularly limited. Further, as an embodiment of the invention of claim 3, as indicated by a chain line, the current or voltage detection signal of each main motor is detected in order to detect the idling or sliding state of each wheel at an earlier timing. Can be input from outside as.

Next, the hardware configuration of the speed / distance calculation device 10 will be described. As shown in FIG. 2, input processing of signals from the central processing unit (CPU) 20 and the speed generators 1A to 1D is performed. Pulse input processing (PI) units 21A to 21D, memory (MEM) unit 22, interface (I / F) unit 23 with an externally connected device, digital input processing (D / I) unit 2 that performs input processing of digital signals
4. Digital output processing (D / O) section 25 for performing digital signal output processing, analog input processing (AI) section 26 for performing analog signal input processing, analog output processing (AO) section for performing analog signal output processing 27, and these devices are connected by a bus line 28.

The PI units 21A to 21D incorporate the waveform shaping circuits 11A to 11D shown in FIG.
The velocity frequency signal from 1D is received and converted into a pulse signal having a frequency proportional to velocity. Fuzzy reasoning section 1
The second function is mainly handled by the CPU 20 and the MEM unit 22. The IF unit 23 is used to connect output peripheral devices for the purpose of displaying various output data shown in FIG. 1 on a display device and printing out to a printer. D /
The I section 24 is a measurement start point detection signal for correcting the wheel diameter,
The D / O unit 25 receives the measurement end point detection signal, and is used for the purpose of performing an output for transmitting to the other control devices that slipping or sliding is occurring.

It should be noted that, especially when idling or gliding, a great variation is seen in the current and voltage flowing through the main electric motor of the railway vehicle.
For use as the embodiment of the third aspect of the invention, an AI section 26 shown by a chain line is provided to capture either or both of these signals as the vehicle status signal 14. The AO unit 27 is used when it is necessary to record a record when the vehicle is running on the measurement chart.

Next, the functional configuration of the fuzzy inference unit 12 will be described with reference to FIG. The fuzzy inference unit 12 converts the speed frequency signal from each of the speed generators 1A to 1D into a pulse signal by each of the waveform shaping circuits 11A to 11D, inputs the pulse signal, and multiplies each wheel diameter to obtain a speed. The diameter correction units 31A to 31D and the speed signals v1 to v4 from the wheel diameter correction units 31A to 31D, respectively.
Acceleration calculator 32 for calculating accelerations α1 to α4
A to 32D and the average value αav of the outputs α1 to α4 from the acceleration calculators 32A to 32D are calculated, and each acceleration α1 is calculated.
Is provided with an acceleration deviation calculator 33 for obtaining deviations d1 to d4 from the average value αav of α4.

Further, the fuzzy inference unit 12 determines the idling / sliding of the fuzzy rule units 34A to 34D, and the idling index μ1 to μ4 and the sliding index μ1'1 to μ4 output by each of the fuzzy rule units 34A to 34D. 'And the speed outputs v1 to v4 of the wheel diameter correction units 31A to 31D and the acceleration outputs α1 to α4 of the acceleration calculators 32A to 32D, respectively, and correction calculation of the speed and acceleration in consideration of the idling index and the gliding index. Speed acceleration correctors 35A to 35D for performing
The velocity output v of each of the velocity acceleration correctors 35A to 35D
The synthesizing unit 36 is provided for synthesizing 1 * to v4 * and acceleration outputs α1 * to α4 * and outputting the final velocity v *, acceleration α *, and deceleration β * of the entire vehicle.

Further, in this embodiment, the idling index .mu.1 obtained by each of the idling / sliding fuzzy rule units 34A to 34D is determined.
.Mu.4, the sliding degree index .mu.1 'to .mu.4' are compared with a predetermined threshold value, and a threshold value processing unit 37 that outputs a binary signal indicating the presence or absence of slipping or sliding, and a speed v * output by the synthesizing unit 36. Is provided with a distance calculator 38 that obtains a traveling distance by time integration.

Next, the operation of the vehicle speed calculating device and the vehicle mileage calculating device having the above-mentioned configurations will be described. First, the calculation operation of each of the wheel diameter correction units 31A to 31D will be described based on FIG. Wheels 41A-4 of railway vehicle 40
Speed generator 1 that detects the speed frequency of each 1B
A to 1D are mounted, a vehicle 40 is provided with a top piece 42, and ground pieces 43A and 43B are installed on the ground side at a constant known distance L.

Then, the vehicle 40 starts to move and
When the vehicle 2 first detects the ground element 43A and further advances by the distance L to detect the ground element 43B, the vehicle upper element 42 sends the wheel diameter correction measurement to the D / I unit 24 of the speed distance calculation device 10 shown in FIG. It is input as a start point signal and a measurement end point signal. Therefore, each of the wheel diameter correction units 31A to 31D
The diameter D of the own wheel is detected by the following processing procedure, and the speed signal is corrected based on this.

That is, assuming that the wheel diameter is D and the number of internal teeth of the speed generators 1A to 1D is Z, the distance K per one tooth is calculated by the following equation.

[0039]

[Equation 1] Therefore, the known distance L is

(2) L = K · p (2) However, p is the count number of the velocity pulse in the section of L.

As a result, since Z and L are given as known values as constants, the wheel diameter D is

[Equation 3] Given as. Therefore, the wheel diameter correction unit 31A to
If the above equation (3) is given to 31D and Z and L are given in advance as constants, the pulse count numbers p1 to p4
By obtaining from the waveform shaping circuits 11A to 11D, it is possible to obtain accurate wheel diameters D1 to D4 based on the equation (3).

Each of the wheel diameter correction units 31A to 31D further uses the accurate wheel diameters D1 to D4 thus obtained, and corrects the speeds v1 to v4 as follows.

First, the speed v (km / h) is calculated from the rotational speed N (rpm) of the wheel having the wheel diameter D,

[Equation 4] Is required as. If the velocity frequency is f,

[Equation 5] From these equations (4) and (5), the velocity v is

[Equation 6] Is required as. That is, the wheel diameter D obtained by the equation (3)
By substituting it into the equation (6), the velocity frequency f that is sequentially input is measured, and the velocity measurement values v1 to v4
Can be obtained.

Next, the acceleration calculators 32A to 32D differentiate the velocity vi (i = 1 to 4) obtained by the equation (6) to obtain the acceleration αi.

[0044]

[Equation 7] The acceleration αi obtained here is given to the idling / sliding determination fuzzy rule units 34A to 34D and the acceleration deviation calculator 33. It should be noted that if the acceleration has a negative value, it means deceleration, and in the following description, all accelerations including signs will be described.

First, in the acceleration deviation calculator 33, the acceleration measurement value α1 obtained from the acceleration calculators 32A to 32D.
The average value αav of α4 to α4 is obtained, and the deviations d1 to d4 from the average value of each acceleration are obtained.

[0046]

[Equation 8] Each of the deviations d1 to d4 obtained by the acceleration deviation calculator 33 is input to each of the idling / sliding determination fuzzy rule units 34A to 34D together with the accelerations α1 to α4 obtained by the acceleration calculators 32A to 32D. become.

Idling / sliding fuzzy rule parts 34A-34
The fuzzy inference performed by each D will be described with reference to FIG. Idling / sliding determination fuzzy rule section 34A-
Each of the 34D is designed to perform inference by a fuzzy associative memory composed of an associative memory which is a kind of neural network.
And an associative memory unit 51.

The membership function calculation unit 50 is composed of a velocity membership function calculation unit 52, an acceleration membership function calculation unit 53, and an acceleration deviation membership function calculation unit 54.
It is composed of various types of function operation units. The associative memory unit 51 includes an antecedent layer 55, a rule layer 56, and a slip / sliding determination layer 57.

Therefore, when the velocity vi, the acceleration αi, and the acceleration deviation di are input to the membership function computing units 52, 53, 54 in the membership function computing unit 50, these membership function computing units 52, 53 are processed. , 5
4 each is B, M, S or PB, PM, PS, NB,
An index for evaluating the magnitudes of vi, αi, di of NM and NS is output. In addition, those evaluation indexes B, M, S,
PB, PM, PS, NB, NM, NS are Bi respectively
g, Medium, Small, Positive B
ig, Positive Medium, Positi
ve Small, Negative Big, Neg
active Medium, Negative Sma
11 is an abbreviation for LI, and is also used for Big (high order) and Medi.
um (medium), Small (low), Positive
(Acceleration, + side) and Negative (deceleration, − side).

The membership function calculation units 52, 53, 54 for the velocity, acceleration, and acceleration deviation are [0,
1], these evaluation indices are calculated as continuous values, and the calculated evaluation indices are given to the corresponding antecedent unit 58 of each antecedent layer 55 of the associative memory unit 51.

The antecedent layer 55 is the antecedent unit 5
The rule layer 56 is a set of eight rule expressions R described later.
1 to Rn corresponding to the rule unit 59,
The slip / sliding determination layer 57 includes a slip determination unit 60 and a slip determination unit 61, and is a part that presents one of the conclusions of “idling” and “sliding”. And each unit of each layer is connected. However, the connection has a degree of strength and weakness, which is referred to as a connection weight value, and the value is recorded in the associative memory unit 51 composed of three layers 55, 56 and 57 as a slipping rule and a sliding rule. .

That is, each proposition of the antecedent part (IF part) of the idling / sliding judgment fuzzy rule (for example,
"Vi is B") and the rules R1 to Rn, and the propositions of the consequent part (THEN part) of the rules R1 to Rn and the idling / sliding determination fuzzy rule (for example, "idling"). , "Sliding") is stored, fuzzy inference is performed by the associative operation of the associative memory unit 51, and finally the idling determination unit 6
0, the slipping determination unit 61 outputs the idling degree and the gliding degree.

Here, to show an example of the detection rule representing the combined weight value, it is stored in the associative memory unit 51 as the following IF-THEN rule. First, the following rules are recorded as the detection rules R1, R2, R3 for each axle i.

[0054]

## EQU00009 ## R1: IF vi is B and .alpha.i is PB THEN axle i is idling R2: IF vi is M and .alpha.i is PB THEN axle i is idling R3: IF vi is S, and αi is PM. THEN Axle i is idling. Moreover, the following rules are recorded as detection rules by comparison with other axles.

[0055]

R4: IF vi is B, and di
Is PB THEN axle i is idling R5: IF vi is M and di is PM THEN axle i is idling R6: IF vi is S and di is PM THEN Axle i is idling. In case of gliding, an example of the detection rule of each axle i is as follows.

[0056]

R7: IF vi is B, and αi
Is NB THEN axle i is gliding R8: IF vi is M and αi is NB THEN axle i is gliding R9: IF vi is S and αi is NM The THEN axle i is gliding, and the following detection rules are stored in the determination made by comparison with other axles.

[0057]

R10: IF vi is B, and d
i is NB THEN axle i is gliding R11: IF vi is M and di is NB THEN axle i is gliding R12: IF vi is S and di is The NM THEN axle i is sliding. Therefore, the slip determination unit 60 and the slip determination unit 61 set the “idling degree μ” and “slide degree μ ′” of each axis i based on these rules [0, 1]. Will be output as continuous values. The values of both the idling degree μ and the gliding degree μ ′ are closer to 0, indicating “not idling” and “not gliding”, and the values closer to 1 are “idling”. ,
Indicates that it is "sliding." On the contrary, (1-
μ) indicates non-idle rotation, and (1-μ ′) indicates non-sliding degree.

FIG. 6 (a) is a table showing an example of detection rules based on the combination of the evaluation indexes of the speed vi and the acceleration αi of the vehicle axle i when each axle i seeks the idling / sliding by itself. FIG. 2B shows an example of a detection rule based on the combination of the evaluation indexes of the speed vi and the acceleration deviation di of the own axle i when each axle i determines the idling / sliding by comparing with other axles. It is a thing. For example, in FIG. 5A, if the speed vi is B and the acceleration is PB, it is determined to be idling, if the speed is M and the acceleration is PB, it is determined to be idling, and if the speed is S and the acceleration is NB, it is determined to be sliding. To do. Further, in FIG. 6B, if the speed is B and the acceleration deviation is PB, it is determined to be idling, and if the speed is S and the acceleration deviation is NB, it is determined to be sliding.

Next, the velocity acceleration corrector 35 shown in FIG.
The operations of A to 35D will be described. Idling / sliding determination fuzzy rule units 34A to 34D outputs slipping degree μi and slipping degree μi ′ (i = 1 to 4), and wheel diameter correction unit 3
1A to 31D output speed vi and acceleration calculators 32A to 32D output acceleration αi three values are input, and speed v based on idling degree μi and gliding degree μi ′.
i and the acceleration αi are corrected, and the correction values vi * and αi * are output. Speed measurement value vi and correction value vi during idling
The relationship with * is shown in FIG. 7 (a), and the relationship between the speed measurement value vi and the correction value vi * during sliding is shown in FIG. 7 (b).

Therefore, the correction calculation is as follows. First, when idling, that is, when μi> 0,

Αi * (t) = μi αi * (t−Δt) + (1−μi) αi (t) (10) vi * (t) = μi [αi * (t−Δt) Δt + vi * (t -[Delta] t)] + (1- [mu] i) vi (t) ... (11) i = 1 to 4 Here, if completely idle, [mu] i = 1 and [mu] i-
1 = 0, corrected as αi * (t) = αi * (t−Δt), and conversely, if not idle, μi = 0, and μi−
Since 1 = 1, αi * (t) = αi (t) will be used. However, αi * (t−Δt) Δt + vi * (t
When −Δt) ≧ vi (t), it is considered that idling has ended, and vi * (t) = vi (t), αi * (t) = αi.
Consider (t). Further, in the equations (10) and (11), αi * (t−Δt) and vi * (t−Δt) are correction values stored in the memory before Δt time.

Similarly, at the time of gliding, that is, when μi '> 0, the following calculation is performed.

[0062]

Αi * (t) = μi′αi * (t−Δt) + (1−μi ′) αi (t) (12) vi * (t) = μi ′ [αi * (t−Δt) [Delta] t + vi * (t- [Delta] t)] + (1- [mu] i ') vi (t) (13) i = 1 to 4 [mu] i' = 1 and [mu] i 'if the skiing is complete.
−1 = 0, corrected as αi * (t) = αi * (t−Δt), and conversely, if not sliding, μi ′ = 0,
i′−1 = 1, and αi * (t) = αi (t) will be used. However, αi * (t−Δt) Δt + vi
When * (t−Δt) ≦ vi (t), it is considered that the skiing has ended, and vi * (t) = vi (t), αi * (t) = αi.
(T).

The correction speed vi * and the correction acceleration αi * from the speed / acceleration calculators 35A to 35D are weighted in the synthesizing unit 36 by the idling degree μi and the sliding degree μi ′, and the speed and acceleration correction values vi *, αi of each axle are corrected. The weighted average of * is taken, and finally the speed and acceleration correction values v *, α * for the railway vehicle
Will be output.

The calculation in the synthesizing section 36 is as follows.

[0065]

[Equation 15]

[Equation 16] That is, among the correction values obtained for each axle, the values of the axles which are considered to be neither idling nor sliding are emphasized and averaged.

The distance calculator 38 integrates the speed correction value v * of the combiner 36 to obtain the distance L *.

[0067]

[Equation 17] Further, the threshold value processing unit 37 outputs an idling degree μ which is an output from each of the idling / sliding determination fuzzy rule units 34A to 34D.
i and gliding degree μi ′ are input, the following equations (17), (1
In step 8), the idling signal and the gliding signal are output as binary signals of {0, 1}. The idling signal and the gliding signal by the threshold value processing unit 37 are output so as to be used in a control program or the like which requires a definite determination of the idling and the gliding.

[0068]

[Equation 18] The graphs of the above equations (17) and (18) are shown in FIG.
It is shown in (b). In this case, the threshold values θ and φ are not particularly limited, but values such as 0.2 and 0.3 can be set.

As described above, the vehicle speed calculating device and the vehicle mileage calculating device of this embodiment are provided with the vehicle wheel diameter correcting function, the wheel diameter correcting operation is strictly performed, and the measured speed by idling or sliding is measured. Highly accurate speed and distance calculations can be performed by correcting the influence on the data by the associative memory unit or another corrector.

Next, claims 1 to 5 will be described with reference to FIG.
Embodiments of the invention common to the above will be described. In the vehicle speed calculation device of this embodiment and the vehicle mileage calculation device using the same, each of the fuzzy inference units 34A to 34D
In addition to the acceleration and the acceleration deviation, the variation of the detected current value or the detected voltage value of the main motor driving each wheel from the outside is added as one of the rule elements.

In the arithmetic unit of this embodiment, in addition to the membership function arithmetic units 52, 53 and 54 in the membership function arithmetic unit 50 of each of the fuzzy inference units 34A to 34D, the current value members are added. A ship function calculation unit 62 is provided to serve as the vehicle status signal 14 shown by the alternate long and short dash line in the block diagram of FIG. 1 and the analog input (AI) unit 2 shown by the alternate long and short dashed line in the block diagram of FIG.
The current detection signal of the main motor of each wheel i is input to 6 to be converted into a digital value, the time change ΔImi of this current detection value is calculated, and this is input to the current membership function calculation unit 62 to set the evaluation index. It is realized by a configuration for calculating.

Further, the antecedent unit corresponding to the current value membership function operation unit 62 is added to the antecedent unit 58 of the antecedent layer 55 of the associative memory unit 51, and the rule unit 59 of the rule layer 56 is added. Time change of current value ΔImi
Add and store rules based on. That is, a rule based on the rule table as shown in FIG. 10 is newly added, and there are the following rules.

[0073]

R13: IF vi is B, and Δ
Imi is PB THEN Axle i is gliding R14: IF vi is M and ΔImi is P
B THEN Axle i is gliding R15: IF vi is S and ΔImi is P
THEN THEN Axle i is gliding R16: IF vi is B and ΔImi is N
B THEN Axle i is idling R14: IF vi is M and ΔImi is N
B THEN Axle i is idling R15: IF vi is S and ΔImi is N
The THEN axle i is M is idling. As in this embodiment, it is the idling and the sliding that determine the idling / sliding in consideration of the change in the current value of the main motor.
This is because it was also noted that the electric current value of the motor significantly changed during sliding. In particular, it is known from the existing vehicle measurement data and the like that the current value greatly differs from the current value of the motor mounted on another axle when the idling starts, even after the slight idling. It has also been found that, even when braking, the braking current becomes significantly different from that of other main electric motors when gliding starts. Therefore, by taking into consideration the change in the current value of the main motor and making a rule, it is possible to detect more excellent idling and sliding, and finally it becomes possible to perform highly accurate speed calculation and mileage calculation. It is also possible to use it for fuzzy inference, instead of changing the current value of the main motor, or detecting a change in the voltage value together with the current value and forming a rule.

[0074]

As described above, according to the vehicle speed calculating device of the invention of claim 1, the vehicle speed corresponding to each wheel is obtained from the rotational speed of each of the plurality of wheels by the speed calculating circuit.
The vehicle acceleration corresponding to each wheel is obtained by the acceleration calculating circuit, the average value of the vehicle acceleration corresponding to each wheel obtained by the acceleration calculating circuit is obtained by the acceleration average value calculating circuit, and the average value of the vehicle acceleration corresponding to each wheel is obtained. Is calculated by the acceleration deviation calculation circuit, and the fuzzy inference unit applies the fuzzy rule to these speed calculation result, acceleration calculation result, acceleration average value calculation result, and acceleration deviation calculation result to determine the free rotation degree of each wheel. , The skid index is determined, and the speed correction circuit further determines the speed of the wheel based on the slip ratio and the skid index of each wheel.
The acceleration is corrected, and the output of the speed correction circuit is combined by the combining unit to obtain and output the speed and acceleration of the entire vehicle, so fuzzy inference is used to determine the idling and slippage of each wheel. It is possible to obtain an index, perform speed and acceleration correction based on the index, and strictly calculate and output the speed and acceleration of the entire vehicle.

According to the vehicle speed calculating device of the second aspect of the invention, the idling degree of each wheel and the skid index, which are output from the fuzzy inference unit, are compared with threshold values, and the idling of each wheel is
Since a slip / sliding determination unit that outputs binary values indicating whether or not each slip has occurred is provided, it is possible to output a deterministic slip / sliding determination result.

According to the vehicle speed calculating device of the third aspect of the invention, the fuzzy inference unit further determines the current or voltage detection value of the electric motor driving each wheel from the outside as one of the rule elements.
Since it is added as one, it is possible to more accurately determine the indexes of the idling degree and the gliding degree of each wheel, and finally it is possible to improve the calculation accuracy of the speed and the acceleration.

According to the vehicle speed calculating device of the invention of claim 4,
Further, a wheel diameter correction circuit for detecting the number of revolutions of each wheel between two points on the ground side at a certain distance and calculating the wheel diameter of each wheel is provided, and the speed calculation circuit is provided with the wheel diameter correction circuit. Since the vehicle speed is calculated from each wheel diameter and rotation speed, the wheel diameter changes for each wheel due to wear during traveling and wear due to the brake, and the outer diameter of each wheel is accurately determined. Used to calculate vehicle speed,
As a result, the vehicle speed can be accurately calculated, and the slip / sliding of each wheel can be accurately determined.

According to the vehicle traveling distance calculating device of the fifth aspect of the present invention, in addition to the vehicle speed calculating device according to any one of the first to fourth aspects, the distance calculation for further integrating the speed calculation result to obtain the traveling distance. Since the circuit is provided, the vehicle travel distance can be strictly calculated and output.

[Brief description of drawings]

1 is a functional block diagram of a common embodiment of the inventions of claims 1 and 2;

FIG. 2 is a circuit block diagram showing a hardware configuration of the above embodiment.

FIG. 3 is a functional block diagram showing an internal configuration of a fuzzy inference unit in a common embodiment of the inventions of claims 1, 2 and 4, 5;

FIG. 4 is an explanatory diagram showing a wheel diameter correction function unit of the above embodiment.

FIG. 5 is a block diagram showing the internal configuration of the idling / sliding fuzzy rule unit of the above embodiment.

FIG. 6 is an explanatory view showing a slip / sliding judgment table of a rule layer of the slip / sliding fuzzy rule section.

FIG. 7 is a graph showing a correction operation of the velocity acceleration corrector of the above embodiment.

FIG. 8 is a graph showing the determination operation of the threshold value processor of the above embodiment.

FIG. 9 is a functional block diagram showing an internal configuration of a slipping / sliding fuzzy rule section according to a common embodiment of the inventions of claims 1 to 5.

FIG. 10 is an explanatory diagram showing a slip / sliding determination table of the rule layer of the slip / sliding fuzzy rule section.

FIG. 11 is a block diagram of a conventional example.

FIG. 12 is a block diagram of another conventional example.

FIG. 13 is an operation explanatory diagram of a conventional example.

[Explanation of symbols]

 1A to 1D Speed generator 10 Speed distance calculation device 11A to 11D Waveform shaping circuit 12 Fuzzy inference unit 13 Wheel diameter correction signal 14 Vehicle status signal 20 Central processing unit (CPU) 21A to 21D Pulse input processing unit 22 Memory unit 23 Interface unit 24 Digital Input Processing Section 25 Digital Output Processing Section 26 Analog Input Processing Section 27 Analog Output Processing Section 28 Bus Lines 31A to 31D Wheel Diameter Correction Section 32A to 32D Acceleration Calculator 33 Acceleration Deviation Calculator 34A to 34D Idling / Sliding Fuzzy Rule Section 35A to 35D Velocity acceleration corrector 36 Synthesizer 37 Threshold processing unit 38 Distance calculator 40 Vehicle 41A to 41D Wheel 42 Vehicle upper child 43A, 43B Ground child 50 Membership function computing unit 51 Associative memory unit 52 Velocity membership function Operation part 53 addition Velocity membership function calculation unit 54 Acceleration deviation membership function calculation unit 55 Antecedent layer 56 Rule layer 57 Idling / sliding determination layer 58 Antecedent unit 59 Rule unit 60 Idling determination unit 61 Sliding determination unit 62 Current value membership function Arithmetic section

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hironori Takahashi No.1 Toshiba-cho, Fuchu-shi, Tokyo Toshiba Corporation Fuchu factory inside

Claims (5)

[Claims] 1. A speed calculation circuit for calculating a vehicle speed corresponding to each wheel based on rotation speed signals of a plurality of wheels, and a vehicle acceleration corresponding to each wheel from the vehicle speed calculated by the speed calculation circuit. An acceleration calculation circuit, an acceleration average value calculation circuit for obtaining an average value of vehicle accelerations corresponding to each of the wheels obtained by the acceleration calculation circuit, and an acceleration deviation for obtaining a deviation of the vehicle acceleration corresponding to each of the wheels from the average value. A calculation circuit, the speed calculation circuit, the acceleration calculation circuit, the acceleration average value calculation circuit and the acceleration deviation calculation circuit by applying a fuzzy rule to the respective calculation results, the idling degree of each of the wheels,
A fuzzy inference unit that determines a skid index, a slip rate of each of the wheels, a speed correction circuit that corrects the speed and acceleration based on the skid index, and the speed of the entire vehicle by combining the output of the speed correction circuit, A vehicle speed calculation device comprising: a combination unit for obtaining acceleration. 2. The idling / lubrication output of the fuzzy inference unit is compared with a threshold value for each wheel idling index and a skid index, and a binary output indicating whether or not each wheel idling / sliding occurs is output. The vehicle speed calculation device according to claim 1, further comprising a sliding determination unit. 3. The fuzzy inference unit adds a current or voltage detection value of an electric motor driving each of the wheels from the outside as one of rule elements.
Alternatively, the vehicle speed calculation device described in 2. 4. A wheel diameter correction circuit for detecting the number of revolutions of each wheel between two points on the ground side at a fixed distance, and calculating the wheel diameter of each wheel, wherein the speed calculation circuit has the wheel diameter concerned. The vehicle speed is calculated from the wheel diameter and the rotation speed of each wheel from the correction circuit.
The vehicle speed calculation device according to any one of claims. 5. A vehicle traveling distance computing device comprising the vehicle velocity computing device according to any one of claims 1 to 4, comprising a distance computing circuit for integrating a velocity computation result to obtain a traveling distance.