JPH08308027A - Reverse running detection device for linear motor car - Google Patents

Abstract

(57) [Summary] [Purpose] To enable a linear motor car to accurately detect reverse running even if the input phase signal contains sudden noise. [Structure] An input phase from the outside is periodically taken in by an input phase input device 1 and output to an input phase hold device 2 and an input phase difference calculation device 3. The input phase hold device holds a new input phase θi (n) and outputs the previous input phase θi (n-1) to the input phase difference calculation device 3, and the input phase difference calculation device outputs the current input phase θi (n). And the difference Δθi (n) between the input phase of the previous time and the input phase of the previous time are obtained and output to the reverse running determination device 6. On the other hand, the reverse running determination value calculation device 5 calculates a reverse running determination value Δθnv of a phase difference for detecting reverse running of the train based on the actual speed v of the train and outputs it to the reverse running determination device 6. The reverse running determination device 6 periodically compares the input phase difference with the reverse running determination value, and when the input phase difference is less than the reverse running determination value, the specified number of times m.
When the above continues, the reverse run of the train is judged.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a reverse running detection device for a linear motor car.

[0002]

2. Description of the Related Art Currently, a superconducting linear motor car is under development as a high-speed transportation system that is safe and capable of mass transportation. This linear motor car runs on a steeper route than a conventional train, has a train control system on the ground, and mechanical brakes on the car. Combined with the fact that the timing to release the brake does not always coincide with the timing to start running the train due to the effect of delay, etc., when trying to leave the train on a steep climb slope, the train is set due to the influence of slope resistance. There is a possibility of moving in the direction opposite to the traveling direction, that is, traveling in the opposite direction. Therefore, the linear motor car requires a reverse running detection device for detecting reverse running of the train.

As a reverse running detection device for a conventional linear motor car, a structure shown in FIG. 8 is known. In this conventional reverse running detection device for a linear motor car, an input phase input device 1 periodically inputs an input phase θi (n) from an external position detection device, and an input phase hold device 2 and an input phase difference calculation device 3 are provided. Output to. The input phase hold device 2 holds the newly input input phase θi (n),
The input phase θi (n-1) that was input and held last time is output to the input phase difference calculation device 3.

In the input phase difference calculation device 3, the new input phase θi (n) and the previous input phase θi (n-1) are subtracted by taking the sign into consideration according to the traveling direction set before traveling, and input. The phase difference Δθi is calculated, and this input phase difference Δθi is output to the reverse running determination device 4. Then, in the reverse running determination device 4, this input phase difference Δθi is set to the preset reverse running determination value Δ
Compared with θnv, when Δθi is less than (−1) × Δθnv, it is determined that the train has run backward, and the result of the reverse running determination is output.

[0005]

However, in such a conventional reverse running detection device for a linear motor car, the state in which the input phase difference Δθi is less than or equal to (−1) × the reverse running determination value Δθnv occurs even once. In this case, it was decided that the train was running backwards.Therefore, if the input phase contains noise during transmission or other noise, the train may be running backwards even though it is not running backwards. There is a problem that the frequency of detection increases.

Further, since the reverse running determination value Δθnv is a constant value, the range of train speeds that can detect reverse running is limited to the low speed range, and it is impossible to detect an abnormality such as input phase inversion in the high speed range. There was also.

The present invention has been made in view of the above-mentioned problems of the related art. It is possible to accurately detect reverse running by making it less susceptible to noise contained in the input phase, and to perform input during train running. It is an object of the present invention to provide a reverse running detection device for a linear motor car that can detect abnormalities such as phase inversion.

[0008]

According to another aspect of the present invention, there is provided a reverse running detection device for a linear motor car, wherein an input phase input device periodically takes in a phase input from the outside, and an input newly taken in by the input phase input device. The difference between the input phase hold device that holds the phase and outputs the previous input phase that has already been held, and the input phase that the input phase input device newly captures and the previous input phase that the input phase hold device outputs. The input phase difference calculating device for calculating the reverse phase judgment reverse value for calculating the reverse running judgment value of the phase difference for detecting the reverse running of the train corresponding to the actual speed of the train, and the input phase difference calculating device The input phase difference to be calculated and the reverse running judgment value calculated by the reverse running judgment value computing device are periodically compared, and the train reverses when the input phase difference falls below the reverse running judgment value for a specified number of times or more. Running It determines those having a reverse-way traveling determination device.

According to another aspect of the present invention, there is provided a reverse running detecting device for a linear motor car which holds an input phase input device for periodically taking in a phase input from the outside and an input phase newly taken in by the input phase input device. Input phase difference calculation that finds the difference between the input phase hold device that outputs the held previous input phase and the input phase newly input by the input phase input device and the previous input phase that the input phase hold device outputs. A device, a reverse running judgment value calculation device that calculates a reverse running judgment value of a phase difference for detecting reverse running of the train corresponding to the actual speed of the train, and an input phase difference calculated by the input phase difference calculating device. The reverse running judgment value calculated by the reverse running judgment value computing device is periodically compared, and the train runs backward when the input phase difference is less than the reverse running judgment value when the number of comparisons exceeds a specified number of times. Determined to be It is obtained by a reverse run determination unit that.

According to another aspect of the present invention, there is provided a reverse running detection device for a linear motor car, which holds an input phase input device for periodically taking in a phase input from the outside and an input phase newly taken in by the input phase input device. Input phase difference calculation that finds the difference between the input phase hold device that outputs the held previous input phase and the input phase newly input by the input phase input device and the previous input phase that the input phase hold device outputs. Device, input phase difference averaging device that calculates the average value of the phase difference calculated by the input phase difference calculation device, and the reverse running judgment value of the phase difference for detecting the reverse running of the train corresponding to the actual speed of the train And the reverse running judgment value calculating device for calculating the input phase difference averaging device periodically compares the input phase difference average value calculated by the input phase difference averaging device with the reverse running judgment value calculated by the reverse running judgment value calculating device. Is the opposite In which the train has a a determining way traveling determination device is run contrary when falls below the determination value.

According to another aspect of the present invention, there is provided a reverse running detection device for a linear motor car which holds a phase reference input device which periodically takes in a phase reference from the outside and a phase reference which is newly taken in by the phase reference input device, and is already held. A phase reference hold device that outputs the previous phase reference, and a phase reference difference calculation device that finds the difference between the phase reference newly captured by the phase reference input device and the previous phase reference output by the phase reference hold device. , A reverse running judgment value calculation device that calculates a reverse running judgment value of a phase difference for detecting reverse running of the train corresponding to the actual speed of the train, and a reverse running of the phase reference difference calculated by the phase reference difference calculating device The reverse running judgment value calculated by the judgment value computing device is periodically compared, and when the phase reference difference is less than the reverse running judgment value, it is judged that the train is running backward when the train continues running for a specified number of times or more. Run determination device It is those with a.

According to another aspect of the present invention, there is provided a reverse running detection device for a linear motor car, which holds a phase reference input device which periodically takes in a phase reference from the outside and a phase reference which is newly taken in by the phase reference input device. A phase reference hold device that outputs the previous phase reference, and a phase reference difference calculation device that finds the difference between the phase reference newly captured by the phase reference input device and the previous phase reference output by the phase reference hold device. , A reverse running judgment value calculation device that calculates a reverse running judgment value of a phase difference for detecting reverse running of the train corresponding to the actual speed of the train, and a reverse running of the phase reference difference calculated by the phase reference difference calculating device The reverse running judgment value calculated by the judgment value computing device is periodically compared, and the case where the phase reference difference is less than the reverse running judgment value is that the train is running backward when the number of comparisons is equal to or more than a specified number of times. Reverse It is obtained by a determination device.

According to a sixth aspect of the present invention, there is provided a reverse running detection device for a linear motor car which holds a phase reference input device which periodically takes in a phase reference from the outside and a phase reference which is newly taken in by the phase reference input device. A phase reference hold device that outputs the previous phase reference, and a phase reference difference calculation device that finds the difference between the phase reference newly captured by the phase reference input device and the previous phase reference output by the phase reference hold device. , The phase reference difference averaging device that calculates the average value of the phase reference difference calculated by the phase reference difference calculation device, and the reverse running determination value of the phase difference for detecting the reverse running of the train corresponding to the actual speed of the train. The reverse running judgment value calculating device for calculating and the phase reference difference average value calculated by the phase reference difference averaging device and the reverse running judgment value calculated by the reverse running judgment value calculating device are periodically compared, and the phase reference difference average value is calculated. Reverse run In which the train has a a determining way traveling determination device is run reverse when the case falls below the value that are continuously specified number of times or more.

According to a seventh aspect of the present invention, there is provided a reverse running detection device for a linear motor car, wherein the actual speed input device for inputting the actual speed of the train, the actual speed input by the actual speed input device and a preset reference speed are cycled. And a reverse running determination device that determines that the train is running backward when the actual speed is lower than the reference speed for a specified number of times or more.

[0015]

In the reverse running detection device for a linear motor car according to the first aspect of the present invention, the phase θi (n) input from the outside is periodically taken in by the input phase input device, and the input phase hold device and the input phase difference calculation device are provided. Output. The input phase hold device holds the input phase θi (n) that the input phase input device newly captures, and outputs the previously held input phase θi (n-1) for the previous time to the input phase difference calculation device,
In the input phase difference calculation device, the difference Δθi (n) between the input phase θi (n) newly captured by the input phase input device and the previous input phase θi (n-1) output by the input phase hold device is calculated and inverted. Output to the run determination device. On the other hand, the reverse running determination value calculation device calculates a reverse running determination value Δθnv of the phase difference for detecting reverse running of the train based on the actual speed v of the train and outputs it to the reverse running determination device.

In the reverse running determination device, the input phase difference Δθi (n) calculated by the input phase difference computing device and the reverse running determination value Δθnv calculated by the reverse running determination value computing device are periodically compared to determine that the input phase difference is It is determined that the train is running in reverse when the value is less than the reverse running determination value for a prescribed number of times m or more. As a result, even if each input phase θi (n) contains noise, the reverse run can be accurately determined.

According to another aspect of the present invention, there is provided a reverse running detecting device for a linear motor car, wherein a phase θi (n) inputted from the outside is periodically taken in by the input phase input device so that the input phase holding device and the input phase difference computing device are provided. Output. In the input phase hold device, the input phase θi (n) newly captured by the input phase input device is held, and the previously held input phase θi (n-1) for the previous time is output to the input phase difference calculation device and input. The phase difference calculator calculates the difference Δθi (n) between the input phase θi (n) newly captured by the input phase input device and the previous input phase θi (n-1) output by the input phase hold device, and runs backward. Output to the judgment device. On the other hand, the reverse running determination value calculation device calculates a reverse running determination value Δθnv of the phase difference for detecting reverse running of the train based on the actual speed v of the train and outputs it to the reverse running determination device.

In the reverse running judging device, the input phase difference Δθi (n) calculated by the input phase difference calculating device and the reverse running judging value Δθnv calculated by the reverse running judging value calculating device are periodically compared to find that the input phase difference is When the value is less than the reverse running determination value, the train is running backward when the number of comparisons is equal to or greater than a specified number of times r (r <m). As a result, even if each input phase θi (n) contains noise, the reverse run can be accurately determined.

In the reverse running detection device for a linear motor car according to the third aspect of the present invention, the input phase holding device and the input phase difference calculating device are provided by periodically fetching the phase θi (n) input from the outside by the input phase input device. Output. The input phase hold device holds the input phase θi (n) newly captured by the input phase input device, outputs the previously held input phase θi (n-1) for the previous time to the input phase difference calculation device, and In the phase difference calculation device, the difference between the input phase θi (n) newly captured by the input phase input device and the previous input phase θi (n-1) output by the input phase hold device is calculated to obtain the difference Δθi (n). Output to the phase difference averaging device.

In the input phase difference averaging device, the average value Δθiave (n) of the input phase differences for a predetermined number of times s is calculated for each input of the input phase difference and output to the reverse running determination device. On the other hand, the reverse running determination value calculation device calculates a reverse running determination value Δθnv of the phase difference for detecting reverse running of the train based on the actual speed v of the train and outputs it to the reverse running determination device. Then, in the reverse running determination device, the input phase difference average value Δθiav calculated by the input phase difference averaging device
e (n) and the reverse running judgment value Δθnv calculated by the reverse running judgment value computing device
And the input phase difference average value is less than the reverse running determination value, it is determined that the train is running backwards. As a result, even if each input phase θi (n) contains noise, the reverse run can be accurately determined.

According to another aspect of the present invention, there is provided a reverse reference detecting device for a linear motor car, wherein the phase reference input device periodically takes in the phase reference θo (n) from the external phase synchronization controller, and the phase reference hold device and the phase reference difference device. Output to arithmetic unit. The phase reference hold device holds the phase reference θo (n) newly captured by the phase reference input device, and outputs the previously held phase reference θo (n). The phase reference difference calculation device outputs the phase reference input θo (n). The difference Δθo (n) between the phase reference θo (n) newly captured by the device and the previous phase reference θo (n-1) output by the phase reference hold device is obtained and output to the reverse running determination device. On the other hand, the reverse running determination value calculation device calculates the reverse running determination value Δθnv of the phase difference for detecting the reverse running of the train based on the actual speed v of the train, and inputs and outputs the reverse running determining run.

In the reverse running determination device, the phase reference difference Δθo (n) calculated by the phase reference difference computing device and the reverse running determination value Δθnv calculated by the reverse running determination value computing device are periodically compared to determine that the phase reference difference is It is determined that the train is running in reverse when the value is less than the reverse running determination value for a prescribed number of times m or more. Thereby, the reverse run is accurately determined.

According to another aspect of the present invention, there is provided a reverse reference detecting device for a linear motor car in which the phase reference θo (n) input from the phase synchronization control device is periodically taken in by the phase reference input device. Output to the difference calculation device. The phase reference hold device holds the phase reference θo (n) newly captured by the phase reference input device, and outputs the previously held previous phase reference θo (n-1) to the phase reference difference calculation device. The reference difference calculation device calculates the difference Δθo (n) between the phase reference θo (n) newly captured by the phase reference input device and the previous phase reference θo (n-1) output by the phase reference hold device, and then runs backward. Output to the judgment device. On the other hand, in the reverse running judgment value calculation device, the reverse running judgment value Δθnv of the phase difference for detecting the reverse running of the train based on the actual speed v of the train.
Is calculated and output to the reverse running determination device.

In the reverse running determination device, the phase reference difference Δθo (n) calculated by the phase reference difference computing device and the reverse running determination value Δθnv calculated by the reverse running determination value computing device are periodically compared to determine that the phase reference difference is When the value is less than the reverse running determination value, the train is running backward when the number of comparisons is equal to or greater than a specified number of times r (r <m). Thereby, the reverse run is accurately determined.

In the reverse running detection device for a linear motor car according to the present invention, the phase reference θo (n) input from the phase synchronization control device is periodically taken in by the phase reference input device and the phase reference holding device and the phase reference are held. Output to the difference calculation device. The phase reference hold device holds the phase reference θo (n) newly captured by the phase reference input device, and outputs the previously held previous phase reference θo (n-1) to the phase reference difference calculation device. In the reference difference calculation device, the difference Δθo (n) between the phase reference θo (n) newly captured by the phase reference input device and the previous phase reference θo (n-1) output by the phase reference hold device is calculated to obtain the phase reference Output to the difference averaging device.

In the phase reference difference averaging device, the average value Δθoave (n) of the phase reference difference for a predetermined number of times s is calculated for each input of the phase reference difference and output to the reverse running determination device. On the other hand, the reverse running determination value calculation device calculates a reverse running determination value Δθnv of the phase difference for detecting reverse running of the train based on the actual speed v of the train and outputs it to the reverse running determination device. In the reverse running determination device, the phase reference difference average value Δθoav calculated by the phase reference difference averaging device is calculated.
e (n) and the reverse running judgment value Δθnv calculated by the reverse running judgment value computing device
Are periodically compared, and if the phase reference difference average value is less than the reverse running determination value, it is determined that the train is running backwards. Thereby, the reverse run is accurately determined.

In the reverse running detection device for a linear motor car according to the present invention, the actual speed v of the train is detected by the actual speed input device.
Is input, and the actual speed v input by the actual speed input device is periodically compared with the reference speed vref set in advance by the reverse running determination device. If the actual speed is lower than the reference speed, it continues for the specified number of times m or more. It is determined that the train is running in reverse when it is present. Thereby, the reverse run is accurately determined.

[0028]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the invention of claim 1 will be described with reference to FIG. The reverse running detection device for a linear motor car according to the first embodiment has an input phase input device 1 that takes in an input phase from an external position detection device, and an input phase taken in by the input phase input device 1 for one sampling time. The phase hold device 2 that holds and outputs the input phase of the previous time, and the input position that calculates the phase difference between the input phase of this time and the input phase of the previous time in consideration of the traveling direction of the set train A phase difference calculation device 3, a reverse run determination value calculation device 5 that calculates a reverse run determination value for detecting a reverse run of a train from the actual speed of the train, and an input phase difference calculated by the input phase difference calculation unit 3 that is the reverse of the input phase difference. The reverse running determination device 6 is configured to compare the reverse running determination value calculated by the running run determination value computing device 5 and perform a reverse run determination when the input phase difference is below the reverse run determination value continuously for a specified number of times or more. ing.

Next, the operation of the reverse running determination device for the linear motor car having the above-described structure will be described. The input phase θi (n) generated from the sine wave detected from the crossing induction line in the external position detecting device is periodically taken in by the input phase input device 1 and output to the input phase holding device 2 and the input phase difference computing device 3. To do.

The input phase hold device 2 holds the input phase θi (n) input from the input phase input device 1 for one sampling time, and the input phase θi (n-1) for the previous time is held.
Is output to the input phase difference calculation device 3.

In the input phase difference calculation device 3, the input phase θi (n) which is the output of the input phase input device 1 and the previous input phase θi (n-1) from the input phase hold device 2 are set before traveling. The input phase difference Δ
Calculate θi (n). In this calculation method, if the traveling direction is the direction in which the phase increases, the input phase minus the previous input phase, and Δθi (n) = θi (n) −θi (n-1), and conversely, the traveling direction is If the phase is decreasing, the previous input phase minus the input phase is calculated and Δθi (n) = θi (n-1) -θi (n) is calculated. That is, when the train does not run backward, the input phase difference Δθi is set to have a positive value unless the input phase θi (n) contains noise. The output of the input phase difference calculation device 3 is output to the reverse run determination device 6.

On the other hand, the reverse running determination value calculation device 5 calculates the reverse running determination value Δθnv using the actual train speed v calculated by the phase synchronization control device (not shown). As a method of calculating the reverse running determination value Δθnv, when the speed is low such as at the time of departure, the actual speed is easily affected by noise, so a predetermined constant value is set, and the actual speed v is equal to or more than a certain constant value. If so, the phase change amount that can change from the actual speed v during one sampling time is obtained and set by multiplying it by a fixed number.

The reverse running determination device 6 is the input phase difference calculation device 3
The input phase difference Δθi (n) calculated in step 1 is compared with the reverse run determination value Δθnv calculated by the reverse run determination value calculation device 5 to determine whether the train has run backward. In this determination, the input phase difference Δθi (n) does not become negative unless the train runs backwards or the input phase includes a noise component, so the input phase difference Δθi
i (n) and the reverse running determination value Δθnv are periodically compared, and the state where the input phase difference Δθi (n) is less than (−1) × Δθnv is a predetermined number of times m or more, for example, three times or more, or 5
If the train continues more than once, it is determined that the train has run backwards and the reverse run determination result is output.

In this way, in the first embodiment, the input phase difference and the reverse running determination value are periodically compared, and the result that the input phase difference is less than the reverse running determination value continues for the specified number of times m or more. Since the reverse running is determined if it occurs, the reverse running can be accurately detected without being affected even if the input phase includes noise suddenly.

Next, an embodiment of the invention of claim 2 will be described with reference to FIG. In the second embodiment of FIG. 2,
Portions having the same functions as those of the first embodiment shown in FIG. 1 are designated by the same reference numerals, and detailed description thereof will be omitted.

The feature of the second embodiment resides in the reverse running determination device 7, and the m consecutive input phase differences Δθi (n-m + 1) to Δθi periodically input from the input phase difference calculation device 3. Among (n), the reverse running determination is performed when the value that is smaller than the reverse running determination value Δθnv is equal to or more than the preset number r. For this reason, the reverse running determination device 7 is provided with a counter 7a, and a fixed number m of input phase differences Δθi (n-m + 1) that have been continuously input to the reverse run determination device 7 until then. ~ Δθi (n)
Among them, the number of those showing a value lower than the reverse running determination value Δθnv is counted, and if the count value exceeds r, the reverse running determination device 7 outputs the reverse running determination. Note that the numerical values m and r are not particularly limited here, but for example, three of five input phases that are continuously input, or six of ten input phases can be set.

In this way, in the second embodiment, the input phase difference and the reverse running judgment value are periodically compared, and the result that the input phase difference is smaller than the reverse running judgment value is defined by the constant comparison number m. If the number of times is equal to or more than r, it is determined that the train is running backwards. Therefore, even if noise is suddenly included in the input phase, the reverse running can be accurately detected without being affected by it. .

Next, an embodiment of the invention of claim 3 will be described with reference to FIG. In the third embodiment, parts having the same functions as those in the first embodiment are designated by common reference numerals,
Detailed description is omitted. The feature of the third embodiment is that an average value is calculated by the input phase averaging device 8 with respect to the calculation result of the input phase difference calculating device 3, and this input phase difference average value is output from the reverse running determination value calculating device 5. The reverse run determination value is compared with the reverse run determination device 9, and the reverse run determination is performed when the average input phase difference value is less than the reverse run determination value.

Therefore, in the third embodiment, the input phase difference averaging device 8 periodically changes the input phase difference Δθi (n) from the input phase difference calculating device 3 by a fixed number, for example, s. Average value, that is,

## EQU1 ## Δθiave (n) = (Δθi (n-s + 1) + Δθi (ns
+2) + ... + Δθi (n)) / s is executed each time a new input phase difference Δθi (n) is input, and the obtained average value Δθiave (n) is output to the reverse running determination device 9, where The reverse running judgment value Δ given by the reverse running judgment value computing device 5
Compared with θnv, the input phase difference average value Δθiave (n) is (−
1) Reverse running judgment is made when the value is less than × Δθnv.
Although there is no particular limitation on how many s are set,
For example, about 5 or 10 is preferable.

In the case of the third embodiment, since the reverse running judgment is made by comparing the average value of the input phase difference with the reverse running judgment value, even if the input phase may include noise suddenly, Reverse running can be detected accurately without being affected.

Next, an embodiment of the invention of claim 4 will be described with reference to FIG. The reverse running detection device for a linear motor car according to the fourth embodiment includes a phase reference input device 10 that periodically takes in a phase reference calculated by a phase synchronization control device (not shown) as an input value, and a phase reference input device. The phase reference captured by 10 is held for one sampling time, and the phase hold device 11 that outputs the phase reference for the previous time and the phase difference between the phase reference for this time and the phase reference for the previous time are set. Phase reference difference calculation device 12 that calculates in consideration of the traveling direction of the train, reverse run determination value calculation device 5 that computes a reverse run determination value for detecting reverse run of the train from the actual speed of the train, and phase reference The phase reference difference calculated by the difference calculation unit 12 is compared with the reverse run determination value calculated by the reverse run determination value calculation device 5, and the reverse run is performed when the phase reference difference is below the reverse run determination value continuously for a specified number of times or more. Reverse running judgment And a device 13.

Next, the operation of the reverse running determination device for the linear motor car of the fourth embodiment having the above-mentioned structure will be described. The phase reference θo calculated by the external phase synchronization controller is periodically taken in by the phase reference input device 10, and the phase reference θ is stored in the phase reference hold device 11 and the phase reference difference calculation device 12.
Output as o (n).

The phase reference hold device 11 holds the phase reference θo (n) input from the phase reference input device 10 for one sampling time, and the previous phase reference θo (n).
-1) is output to the phase reference difference calculation device 12.

In the phase reference difference calculating device 12, the phase reference θo (n) which is the output of the phase reference input device 10 and the previous phase reference θo (n-1) from the phase reference holding device 11 are set before traveling. The phase reference difference Δθo (n) is calculated by subtracting in consideration of the set traveling direction. In this calculation method, if the traveling direction is the direction in which the phase increases, the phase reference-the previous phase reference, and Δθo (n) = θo (n) -θo (n-1), and conversely, the traveling direction is If the phase is decreasing, the previous phase reference-phase reference is used, and the calculation is made as Δθo (n) = θo (n-1) -θo (n). That is, when the train does not run in the reverse direction, the phase reference difference Δθo (n) is set to take a positive value unless the phase reference θo (n) includes noise. The output of the phase reference difference calculation device 12 is output to the reverse run determination device 13.

On the other hand, the reverse running judgment value calculation device 5 calculates the reverse running judgment value Δθnv using the actual train speed v calculated by the phase synchronization control device (not shown). As a method of calculating the reverse running determination value Δθnv, when the speed is low such as at the time of departure, the actual speed is easily affected by noise, so a preset constant value is set, and the actual speed v is equal to or higher than a certain value. If so, the phase change amount that can change from the actual speed v during one sampling time is obtained and set by multiplying it by a fixed number.

The reverse running judging device 13 compares the phase reference difference Δθo (n) calculated by the phase standard difference calculating device 12 with the reverse running judging value Δθnv calculated by the reverse running judging value calculating device 5 and the train runs backward. Determine whether you have done. In this judgment, the phase reference difference Δθo (n) does not become negative unless the train runs backwards or the phase reference does not include noise components, so the phase reference difference Δθo (n) and the reverse running judgment value If the phase reference difference Δθo (n) is lower than (-1) × Δθnv for a predetermined number of times m or more, for example, 3 times or more or 5 times or more, the train is compared with Δθnv periodically. It is determined that the vehicle has run backwards, and the result of the reverse running determination is output.

In this way, in the fourth embodiment, the phase reference difference and the reverse running determination value are periodically compared, and the result that the phase reference difference is less than the reverse running determination value continues for the specified number of times m or more. Since the reverse running is determined if it occurs, the reverse running can be accurately detected without being affected even if the input phase includes noise suddenly.

Next, an embodiment of the invention of claim 5 will be described with reference to FIG. In the fifth embodiment of FIG. 5,
Portions having the same functions as those of the fourth embodiment shown in FIG. 4 are designated by the same reference numerals, and detailed description thereof will be omitted.

The feature of the fifth embodiment resides in the reverse running determination device 14, and m continuous phase reference differences Δθo (n-m + 1) to Δθo which are periodically input from the phase reference difference calculation device 12. (n)
Among them, the reverse running determination is performed when the value that is less than the reverse running determination value Δθnv is the preset number r or more. For this reason, the reverse running determination device 14 is provided with a counter 14a, and a fixed number of phase reference differences Δθo (n-m + 1) to which the reverse running determination device 14 has been continuously input until then. Δθo
Among (n), the number of those showing a value lower than the reverse running determination value Δθnv is counted, and if the count value exceeds r, the reverse running determination device 14 outputs the reverse running determination. Note that the numerical values m and r are not particularly limited here, but for example, three of the five phase references that are continuously input, or six of the ten phase references can be set.

As described above, in the fifth embodiment, the phase reference difference and the reverse running determination value are periodically compared, and the result that the phase reference difference is less than the reverse running determination value is defined within the constant comparison number m. If the number of times is equal to or more than r, it is determined that the train is running backwards. Therefore, even if noise is suddenly included in the input phase, the reverse running can be accurately detected without being affected by it. .

Next, an embodiment of the invention of claim 6 will be described with reference to FIG. In the sixth embodiment, parts having the same functions as those of the fourth embodiment shown in FIG. 4 are designated by common reference numerals, and detailed description thereof will be omitted. The feature of this sixth embodiment is that an average value is calculated by the phase reference averaging device 15 with respect to the calculation result of the phase reference difference calculation device 12, and this phase reference difference average value is output from the reverse run determination value calculation device 5. The reverse run determination value is compared with the reverse run determination device 16, and the reverse run determination is performed when the phase reference difference average value is less than the reverse run determination value.

Therefore, in the sixth embodiment, the phase reference difference averaging device 15 periodically inputs a fixed number of phase reference differences Δθo (n) from the phase reference difference computing device 12,
For example, the average value for each s, that is,

(2) Δθoave (n) = (Δθo (n-s + 1) + Δθo (ns
+2) + ... + Δθo (n)) / s is executed each time a new phase reference difference Δθo (n) is input, and the obtained average value Δθoave (n) is output to the reverse running determination device 16, and The reverse running determination is performed when the phase reference difference average value Δθoave (n) is smaller than (−1) × Δθnv by comparing with the reverse running determination value Δθnv provided by the reverse running determination value calculation device 5. The number of s is not particularly limited, but is preferably about 5 or 10.

In the case of the sixth embodiment, since the reverse running judgment is made by comparing the average value of the phase reference difference with the reverse running judgment value, even if the input phase may include noise suddenly, Reverse running can be detected accurately without being affected.

Next, an embodiment of the invention of claim 7 will be described with reference to FIG. The reverse running detection device for the linear motor car of the seventh embodiment inputs the actual speed v calculated by the phase synchronization control device (not shown) in the speed input device 17 and outputs it to the reverse running determination device 18, In the running determination device 18, when the state in which the actual speed v reaches the preset reverse running determination speed vnv continues for the preset reverse running determination number m or more,
This is a configuration for determining that the train has run backwards.

In the case of the seventh embodiment, when the actual speed v calculated by the phase synchronization control device continues to be in a negative state, reverse running is judged, so that the input phase contains noise suddenly. Even if something happens, it is possible to judge the reverse run of the train regardless of that.

[0056]

As described above, according to the invention of claim 1,
The phase difference for detecting the reverse run of the train based on the actual speed v of the train, while the phase input from the outside is periodically taken in and the difference between the input phase taken this time and the input phase for the previous time is calculated. The reverse run judgment value is calculated and the input phase difference is periodically compared with the reverse run judgment value.If the input phase difference falls below the reverse run judgment value, the train runs backward when the specified number of times continues. Since it is determined that there is sudden noise in each input phase, it is possible to accurately determine the reverse run, and the reverse run determination calculated according to the actual speed of the train. Since the value is used, the train speed can be accurately determined not only in the low speed range but also in the high speed range.

In the reverse running detector for a linear motor car according to the second aspect of the present invention, the phase input from the outside is periodically taken, the difference between the input phase taken this time and the input phase for the previous time is calculated, and on the other hand, the train The reverse running judgment value of the phase difference for detecting the reverse running of the train is calculated corresponding to the actual speed of the train, the input phase difference is periodically compared with the reverse running judgment value, and the input phase difference runs backward. It is determined that the train is running in the reverse direction when it falls below the judgment value when it is more than the specified number of times within a certain number of comparisons, so it is accurate even if sudden noise is included in each input phase. The reverse running determination can be performed and the reverse running determination value calculated corresponding to the actual speed of the train is used, so that the train speed can be accurately determined not only in the low speed range but also in the high speed range.

According to the third aspect of the invention, the phase input from the outside is periodically taken in, the difference between the input phase difference taken this time and the input phase for the previous time is calculated, and the input phase difference for a predetermined number of times is further obtained. The average value of the input phase difference and the reverse run is calculated in advance, and the reverse run judgment value of the phase difference for detecting the reverse run of the train is calculated corresponding to the actual speed of the train. The judgment values are compared, and when the average input phase difference value is less than the reverse running judgment value, it is judged that the train is running backwards.Therefore, each input phase contains sudden noise. Can be accurately determined in reverse, and since the reverse determination value calculated corresponding to the actual speed of the train is used, the train speed can be accurately determined not only in the low speed range but also in the high speed range.

According to the fourth aspect of the present invention, the phase reference is periodically taken in from the external phase synchronization control device, and the difference between the current phase reference and the previous phase reference is calculated. The reverse running judgment value of the phase difference for detecting the reverse running of the train is calculated based on v, the phase reference difference reverse running judgment value is periodically compared, and the phase reference difference falls below the reverse running judgment value. In this case, the train is judged to be running in reverse when the number of times exceeds the specified number of times, so it is possible to make an accurate reverse run even if the input phase contains sudden noise. ,
Further, since the reverse running judgment value calculated corresponding to the actual speed of the train is used, the train speed can be accurately judged not only in the low speed range but also in the high speed range.

According to the fifth aspect of the present invention, the phase reference input from the phase synchronization control device is periodically taken in, and the difference between the current phase reference and the previous phase reference is calculated. The reverse running judgment value of the phase difference for detecting the reverse running of the train is calculated according to the speed, the phase reference difference and the reverse running judgment value are periodically compared, and the phase reference difference is the reverse running judgment value. When it is less than the specified number of times, it is determined that the train is running backwards when the number of comparisons is more than the specified number of times, so it is possible to accurately determine the reverse running even if the input phase contains sudden noise. Since the reverse running determination value calculated corresponding to the actual speed of the train is used, the train speed can be accurately determined not only in the low speed range but also in the high speed range.

According to the sixth aspect of the present invention, the phase reference input from the phase synchronization control device is periodically taken in, the difference between the phase reference for this time and the phase reference for the previous time is calculated, and a predetermined number of times is used. The average value of the phase reference difference is calculated periodically, while the reverse running determination value of the phase difference for detecting the reverse running of the train is calculated corresponding to the actual speed of the train. And the reverse running judgment value are periodically compared with each other, and when the average value of the phase reference difference is less than the reverse running judgment value, it is judged that the train is running backwards. Even if it is included, it is possible to accurately determine the reverse run, and because the reverse run determination value calculated corresponding to the actual speed of the train is used, the train speed is accurately determined not only in the low speed range but also in the high speed range. be able to.

According to the invention of claim 7, the actual speed of the train is input and periodically compared with a preset reference speed,
When the actual speed is lower than the reference speed, it is determined that the train is running in reverse when it continues for the specified number of times or more. Therefore, not only in the low speed range but also in the high speed range, the reverse run is accurately determined. be able to.

[Brief description of drawings]

FIG. 1 is a functional block diagram of an embodiment of the invention of claim 1;

FIG. 2 is a functional block diagram of an embodiment of the invention of claim 2;

FIG. 3 is a functional block diagram of an embodiment of the invention of claim 3;

FIG. 4 is a functional block diagram of an embodiment of the invention of claim 4;

FIG. 5 is a functional block diagram of an embodiment of the invention of claim 5;

FIG. 6 is a functional block diagram of an embodiment of the invention of claim 6;

FIG. 7 is a functional block diagram of an embodiment of the invention of claim 7;

FIG. 8 is a functional block diagram of a conventional example.

[Explanation of symbols]

 1 Input phase input device 2 Input phase hold device 3 Input phase difference calculation device 5 Reverse running judgment value calculation device 6 Reverse running judgment device 7 Reverse running judgment device 7a Counter 8 Input phase difference averaging device 9 Reverse running judgment device 10 Phase reference input Device 11 Phase reference hold device 12 Phase reference difference calculation device 13 Reverse running determination device 14 Reverse running determination device 14a Counter 15 Phase reference difference averaging device 16 Reverse running determination device 17 Speed input device 18 Reverse running determination device

Claims (7)

[Claims] 1. An input phase input device for periodically fetching a phase input from the outside, and an input phase newly fetched by the input phase input device is held, and an already held previous input phase is output. An input phase hold device, an input phase difference calculation device for obtaining the difference between the input phase newly captured by the input phase input device and the previous input phase output by the input phase hold device, and corresponding to the actual speed of the train. Reverse running judgment value calculation device for calculating a reverse running judgment value of a phase difference for detecting reverse running of a train, and an input phase difference calculated by the input phase difference calculating device and calculation of the reverse running judgment value calculating device The reverse running determination device that periodically compares the reverse running determination values and determines that the train is running backward when the input phase difference is below the reverse running determination value for a specified number of times or more. Prepared Reverse run detection device Amotaka. 2. An input phase input device for periodically taking in a phase input from the outside, and an input phase newly taken in by the input phase input device is held, and an already held previous input phase is output. An input phase hold device, an input phase difference calculation device for obtaining the difference between the input phase newly captured by the input phase input device and the previous input phase output by the input phase hold device, and corresponding to the actual speed of the train. Reverse running judgment value calculation device for calculating a reverse running judgment value of a phase difference for detecting reverse running of a train, and an input phase difference calculated by the input phase difference calculating device and calculation of the reverse running judgment value calculating device The reverse running judgment value is compared periodically, and the case where the input phase difference is less than the reverse running judgment value is judged to be the reverse running of the train when the number of comparison times is equal to or more than a specified number of times. Equipped with equipment Conversely run detection system for a linear motor car comprising Te. 3. An input phase input device that periodically takes in a phase that is input from the outside, an input phase that is newly taken in by the input phase input device, and an already held previous input phase is output. An input phase holding device, an input phase difference computing device for finding a difference between an input phase newly captured by the input phase input device and a previous input phase output by the input phase holding device, and the input phase difference computing device An input phase difference averaging device that calculates the average value of the phase difference to be calculated, and a reverse running judgment value calculation device that calculates the reverse running judgment value of the phase difference to detect the reverse running of the train corresponding to the actual speed of the train The input phase difference average value calculated by the input phase difference averaging device and the reverse run determination value calculated by the reverse run determination value calculation device are periodically compared, and the input phase difference average value is the reverse run determination value. When it falls below Conversely run detection system for a linear motor car comprising comprises a and a determining way traveling determining unit train is run contrary. 4. A phase reference input device which periodically takes in a phase reference from the outside, and a phase reference which holds a phase reference newly taken in by the phase reference input device and outputs the previously held phase reference for the previous time. A hold device, a phase reference difference calculation device that obtains the difference between the phase reference newly captured by the phase reference input device and the previous phase reference output by the phase reference hold device, and a train corresponding to the actual speed of the train. Reverse running judgment value calculating device for calculating the reverse running judgment value of the phase difference for detecting the reverse running of the phase difference between the phase reference difference calculated by the phase reference difference calculating device and the reverse running judgment value calculated by the reverse running judgment value calculating device. A reverse run determination device that periodically compares the run run determination values and determines that the train is running in reverse when the phase reference difference is less than the reverse run determination value has continued for a specified number of times or more. Consisting of linear Reverse run detecting device of Taka. 5. A phase reference input device which periodically takes in a phase reference from the outside, and a phase reference which holds the phase reference newly taken in by the phase reference input device and outputs the already held phase reference for the previous time. A hold device, a phase reference difference calculation device that obtains the difference between the phase reference newly captured by the phase reference input device and the previous phase reference output by the phase reference hold device, and a train corresponding to the actual speed of the train. Reverse running judgment value calculating device for calculating the reverse running judgment value of the phase difference for detecting the reverse running of the phase difference between the phase reference difference calculated by the phase reference difference calculating device and the reverse running judgment value calculated by the reverse running judgment value calculating device. A reverse running determination device that periodically compares the running determination values and determines that the train is running backward when the phase reference difference is less than the reverse running determination value when the number of comparisons is equal to or greater than a prescribed number of times. Prepared for Conversely run detection system for a linear motor car. 6. A phase reference input device which periodically takes in a phase reference from the outside, and a phase reference which holds a phase reference newly taken in by the phase reference input device and outputs the previously held phase reference for the previous time. A hold device, a phase reference difference calculation device that obtains a difference between a phase reference newly captured by the phase reference input device and a previous phase reference output by the phase reference hold device, and the phase reference difference calculation device calculates A phase reference difference averaging device that calculates the average value of the phase reference difference, and a reverse running determination value calculation device that calculates the reverse running determination value of the phase difference for detecting the reverse running of the train corresponding to the actual speed of the train. , The phase reference difference average value calculated by the phase reference difference averaging device and the reverse running determination value calculated by the reverse running determination value calculation device are periodically compared, and the phase reference difference average value is lower than the reverse running determination value. If Conversely run detection system for a linear motor car comprising comprises a and a determining way traveling determining unit train is run reverse when that is continuously specified number of times or more. 7. The actual speed input device for inputting the actual speed of the train and the actual speed input by the actual speed input device are periodically compared with a preset reference speed, and the actual speed falls below the reference speed. A reverse running detection device for a linear motor car, comprising a reverse running determination device that determines that the train is running in reverse when the number of cases has continued for a specified number of times or more.