JP3509599B2 - How to update track shape data - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for updating track shape data of a pendulum vehicle with control, which performs vehicle body tilt control when passing a curve.

[0002]

2. Description of the Related Art A pendulum vehicle with control has been put into practical use in which a vehicle body is tilted leftward or rightward according to its curvature in order to pass a curved portion of a route at a high speed and comfortably. Since this inclination control must be performed in synchronization with the approach to the curved road, the track position data such as the starting position of the curve, the curve length, the radius, and the cant, and the curve position information are stored in advance in a computer on the vehicle. In addition, the vehicle body inclination control is performed on the basis of the track shape data and the curve position information by the traveling speed meter or the ATS ground element.

This track shape data is obtained from a track management ledger, and the curve position information is actually measured. It takes a lot of time and labor to collect this data. Therefore, Japanese Laid-Open Patent Publication No. 7-65038 discloses a method in which a gyroscope or the like is provided on the carriage to obtain the track shape data so that the position and shape of the curve can be measured from the top of the vehicle.

Japanese Unexamined Patent Publication No. 7-65038 discloses a pulse signal generated by a pulse type speed generator mounted on an axle of a railroad vehicle or a main motor shaft, a pulse signal at a constant distance from the diameter of a wheel, and each instantaneous running speed thereof. From the yaw angular velocity of the bogie frame and each instantaneous running speed measured by the cant of the curve with the gyroscope mounted on the bogie and the gyroscope mounted on the bogie with the ATS ground element as the distance reference for measurement and recording. The curvature of the curve is calculated, and the detection signal of the reference point such as the ATS ground element and the track shape data signal are simultaneously recorded and input to the vehicle body inclination control device and the vehicle body vibration control device.

[0005]

However, the track shape is previously input from the vehicle by a gyroscope or the like.
Recorded track shape data (hereinafter referred to as "reference track shape data")
Is not perfect due to measurement noise at the time of input, and changes due to track maintenance work, etc., and it is difficult to match the actual track shape during normal running. Therefore, there is a problem that the ride comfort is not optimal, and that the ride quality gradually deteriorates.

Therefore, the present invention provides a method for collecting the track shape data, confirming the reliability, and updating the reference track shape data during traveling while performing vehicle body tilt control based on the reference track shape data. It is an object.

[0007]

The present invention adopts the following means in order to achieve the above object. That is, the method for updating orbit shape data according to claim 1 uses the curvature of the curve, the
And a pre-entered reference consisting of position information from the reference point
Detects running speed based on track shape data
For pendulum vehicles with control that tilts the vehicle body to the left or right with
In the method of updating the reference trajectory shape data, the gyro sensor that detects the yaw angular velocity, the gyro sensor that detects the roll angular velocity, and the acceleration that detects the lateral acceleration in the cart.
By setting a gauge, the vehicle body can be tilted based on the reference track shape data.
During normal running, the gyro
The curvature and cant of the curve are calculated from the sensor detection signal , the excess centrifugal acceleration is calculated, the excess centrifugal acceleration is compared with the lateral acceleration detected from the accelerometer, and when the difference is within a predetermined range, the reference trajectory The song whose shape data was calculated
It is characterized by updating to rate and cant .

The present invention is applied to a pendulum vehicle for forcibly controlling the inclination of the vehicle body in order to travel at a high speed on a curved road. The traveling distance from the reference point is generally the accumulated distance from the starting station, but when the ground element is used as the position information of the vehicle body tilt control, it can be used.

Here, the main elements of the reference trajectory shape data created are the curvature of the curve and the cant of the curve, which serve as basic data for tilt control for controlling the tilt of the vehicle body. . When the vehicle runs on a curved road with a cant,
A yaw angular velocity and a roll angular velocity are generated on the carriage.

The curvature of the curve is the reciprocal of the curve radius of the trajectory, and the yaw angular velocity (rad / rad) detected by the gyro sensor.
s) is divided by the traveling speed (m / s). Also,
The curve cant is the difference in height between the rail on the inside and the rail on the outside of the curve, and is obtained by multiplying the gauge width (mm) by the value obtained by time-integrating the roll angular velocity (rad / s) detected by the gyro sensor.

Excessive centrifugal acceleration is a centrifugal force generated by a vehicle traveling on a curve, and is (V ² / gR)-
It is calculated from (C / G). Here, V is a traveling speed (m /
s) and g are gravitational accelerations (m / s ² ), 1 / R is the curvature of the curve (1 / m), C is the cant (mm), and G is the gauge width (mm) of the rail.

This excess centrifugal acceleration has a correlation with the lateral acceleration of the trolley, and by comparing with this, the detection data from the gyro sensor and the speed generator, the calculated curvature of the curve, the cant of the curve, and the traveling speed. It is possible to judge whether it is reliable or not.

The reference track shape data is usually created by traveling within the travel line section before the normal travel, but may be created by processing data collected from a track management ledger or the like. Also, if you are measuring the route information with a measurement vehicle,
This may be processed and used as reference data, and these are included in the technical scope of the present invention. It should be understood that the updated track shape data can be installed as reference track shape data in another vehicle traveling in the same line section.

The track shape data is updated only for a reliable curve by comparing the excessive centrifugal acceleration with the lateral acceleration of the bogie, and the work may be performed while the vehicle is running, or the running line may be used. You may go all at once after traveling in the ward. Since it is not particularly necessary to collate the reference trajectory shape data with the reference trajectory shape data to determine whether to update the reference trajectory shape data, the updated one is often the same as the previous one.

According to a second aspect of the present invention, there is provided a method for updating orbit shape data, wherein the curvature of a curve, a cant, and position information from a reference point.
Based on the previously entered reference trajectory shape data consisting of
, Reference pedestal shape data for a pendulum vehicle with control that detects the traveling speed and tilts the vehicle body to the left or right on a curved road
In the updating method of 1., a gyro sensor for detecting a yaw angular velocity and a gyro sensor for detecting a roll angular velocity are provided on each of the two trucks, and the vehicle is based on the reference trajectory shape data.
During normal driving with tilt control of the body, the curvature of the curve and the cant are calculated for each dolly every time it passes through the curve, and detection of both dollies is performed.
It is characterized in that the calculated curvature of the curve and the cant are compared, and the reference trajectory shape data is updated when the difference is within a predetermined range.

The difference from the above-mentioned invention of claim 1 lies in the way of judging whether or not the track shape (curve curvature and cant) calculated by detecting with the gyro sensor and the speed generator is reliable. The point is that it is performed not by the lateral acceleration but by collating the data from two carts.
As the second carriage equipped with the gyro sensor, any carriage of the formation vehicle may be selected.

In this way, since the reference track shape data is updated, more reliable track shape data can be obtained and the riding comfort can be improved.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described below based on embodiments shown in the drawings. FIG. 1 is a block diagram showing a method of updating track shape data according to claim 1, in which a vehicle 1 is a leading vehicle, a trolley 2 has a gyro sensor 4 for detecting a yaw angular velocity, and a gyro sensor 5 for detecting a roll angular velocity. And a left and right accelerometer 6 are provided. Further, the wheels of the carriage 2 are pulse type speed generators 3 for detecting the rotational speed of the wheels.
Is provided.

The detection information obtained by these detectors is
The roll angular velocity signal and the yaw angular velocity signal taken into the computer are filtered by a low-pass filter having an appropriate cut-off frequency in the signal processing circuits 11 and 12 to remove high-frequency components such as noise, thereby controlling the vehicle body tilt and the vehicle body vibration. The waveform is modified to be suitable as a control signal.

The yaw angular velocity signal is sent to the calculation unit 14 and the curvature of the curve is calculated by obtaining the traveling speed information from the calculation unit 13. In addition, the roll angular velocity signal is time-integrated by the calculation unit 15 and is multiplied by the gauge width of the rail to calculate the cant of the curve. With respect to the rotation speed detected by the speed sensor 3, the calculation unit 18 calculates the traveling distance and the calculation unit 13 calculates the traveling speed of the vehicle 1.

The curvature of the curve and the curve cant calculated by the calculating unit 14 and the calculating unit 15 are stored in the storage unit 20 together with the traveling distance information of the calculating unit 18. Further, the calculating unit 16 obtains information on the traveling speed, the curvature of the curve, and the cant of the curve from the calculating units 13 to 16 to calculate the excess centrifugal acceleration (a2).

This excess centrifugal acceleration a2 is sent to the judging section 21, and compared with the lateral acceleration a1 of the carriage 2 detected by the lateral accelerometer 6 and converted into a control signal by the signal processing circuit 17,
It is determined whether the calculated curve information (curvature and cant) is appropriate. Then, if appropriate, the reference trajectory shape data is updated.

The reference trajectory shape data is converted by the vehicle body inclination angle setting section 40 into a control signal for transmission to the vehicle body inclination means 50. A vehicle equipped with this tilt control means
Before traveling normally, the vehicle travels in a traveling line section and reference trajectory shape data is created.

In normal traveling, the inclination control of the vehicle body on a curve is performed based on this reference track shape data. Then, at this time, the trajectory information is separately detected and calculated by the above configuration and method, and the reference trajectory shape data that has already traveled is updated for reliable data.

The flow of the updating process of the reference trajectory shape data will be described with reference to the flowchart of FIG. First step 10
At 0, the distance information of the calculation unit 18 is read. This is a pulse count value obtained by counting the pulse signals output by the speed generator 3 (calculation unit 18).

Next, at step 105, the left and right accelerometer 6
Read the lateral acceleration of the truck with. Next, in step 110, the yaw acceleration detected by the gyro sensor 4 is read through the signal processing circuit 11, and the curvature of the curve (yaw angular velocity / running velocity) is calculated from the yaw angular velocity and the traveling speed calculated by the calculation unit 13. (Calculation unit 14).

Next, at step 120, the gyro sensor 5
The roll acceleration detected in (1) is read through the signal processing circuit 12, and the cant (∫φdt × G) of the curve is calculated (calculation unit 15). Where φ is the roll angular velocity (r
ad / s), G is a gauge width (mm).

Next, in step 130, it is determined whether the vehicle is traveling on a straight line or on a curve. The determination that the curve is a curve is made depending on whether the absolute value of the calculated curvature of the curve exceeds a predetermined value (threshold value). However, once the curvature exceeds the threshold value, a signal is output in step 170 described later, In step 130, it is checked whether the signal of step 170 (the signal with "curve") is ON or OFF.

When the "curve-in" signal is OFF, the routine proceeds to step 160, where it is judged whether the curvature exceeds a threshold value. If not exceeded, the process returns to step 100. When the curvature exceeds the threshold, the routine proceeds to step 170, where the curve start position is stored in the storage device 20 and a "curve included" signal is output.

On the other hand, in step 130, when the "curved line" signal is ON, the process proceeds to step 140,
It is determined whether the curvature of the curve is less than or equal to the threshold value. If it is not less than the threshold, the process returns to step 100, and if the curvature is less than the threshold, the curve end position is recognized in step 150, and the curve number from the starting station and the curvature information and the cant information on the curve are stored in the storage device 20. The signal of "curve output" is output while it is stored in. As a result, the signal “with curve” in step 170 is turned off.

Next, at step 200, the above-mentioned running speed, the curvature and cant information curves, excess centrifugal acceleration ^{(a2) (V 2 / gR} ) - (C / G) is calculated from (calculating unit 16 ). Next, in step 220, the above-mentioned excess centrifugal acceleration a2 is compared with the lateral acceleration a1 of the trolley which is read in step 105 and converted into a control signal by the signal processing circuit 17 (determination unit 21). If the difference is within a predetermined range (threshold value), it is determined that the curvature and the cant of the above curve are normal, and the next step 240 is performed to correct the reference track data.

On the other hand, if the difference between the excessive centrifugal acceleration a2 and the lateral acceleration a1 of the truck is larger than the threshold value, the process returns to step 100. That is, since it can be determined that the curve is not reliable, the reference trajectory shape data is not updated. Then, while traveling in the traveling line section, the process returns to step 100 and the work is repeated.

Finally, in step 260, it is determined whether or not the terminal has arrived at the terminal station by checking whether or not the traveling distance read in step 100 has reached the total distance of the traveling line section. The process ends. Next, an embodiment of the invention of claim 2 will be described with reference to FIGS. 3 and 4.

In FIG. 3, the vehicle 1 is the leading vehicle,
The front carriage 2 is provided with a gyro sensor 4 for detecting a yaw angular velocity, a gyro sensor 5 for detecting a roll angular velocity, and a pulse type speed generator 3 for detecting a wheel rotation speed. Further, a trolley 2a on the rear side is similarly provided with a gyro sensor 4 for detecting a yaw angular velocity and a gyro sensor 5 for detecting a roll angular velocity.

The detection information obtained by these detectors is
The roll angular velocity signal and the yaw angular velocity signal are loaded into a computer, corrected into a control signal, the curvature of the curve and the cant are calculated, and recorded in the storage unit 30. And
The curvature of the curve obtained from both carriages and the cant are compared, and if the difference is within a predetermined range, the reference trajectory shape data is updated as normal data. The vehicle body inclination angle setting unit 40 and the vehicle body inclination means 50 are the same as those in the above embodiment.

In the above structure, the gyro sensor and the detecting means of the speed generator are the same as those described in claim 1, and the same reference numerals are used. Then, the calculation of the yaw angular velocity and the roll angular velocity from these detection signals is also the same as in claim 1. That is, the yaw angular velocity and the roll angular velocity detected by the gyro sensors 4 and 5 of the front carriage 2 are corrected into control signals by the signal processing circuits 11 and 12, respectively, and sent to the calculation units 14 and 15, and the curvature of the curve and the curve cant. Is calculated. Then, the rotational speed detected by the speed sensor 3 is calculated by the calculating unit 18 as the traveling distance and the calculating unit 13 as the traveling speed of the vehicle 1. Calculation unit 14, 1
The curvature of the curve and the cant of the curve calculated in 5 are stored in the storage unit 30 together with the traveling distance information of the calculation unit 18.

Similarly, the yaw angular velocity and the roll angular velocity detected by the gyro sensors 4a and 5a of the rear carriage 2a are corrected into control signals by the signal processing circuits 11a and 12a, respectively, and sent to the calculation units 14a and 15a. The curvature and the curve cant are calculated and recorded in the storage unit 30.

Next, the flow of updating the reference trajectory data is shown in FIG.
The flowchart will be described. First, in step 100, the distance information of the calculation unit 18 is read. Next, in step 110, the yaw acceleration detected by the gyro sensor 4 of the front bogie 2 is read through the signal processing circuit 11, and the curvature of the curve (1 /) is calculated from the yaw angular velocity and the traveling speed calculated by the calculation unit 13.
R1) is calculated (calculation unit 14).

Similarly, in step 115, the rear carriage 2a
The curvature (1 / R2) of the curve is calculated from the yaw acceleration detected by the gyro sensor 4a (calculation unit 14a). Next, at step 120, the roll acceleration detected by the gyro sensor 5 of the truck 2 on the front side is read through the signal processing unit 12 to calculate the curve cant (C1) (calculation unit 1
5). Similarly, in step 125, the cant (C2) of the curve is calculated from the roll acceleration detected by the gyro sensor 5a of the truck 2a on the rear side (calculator 15a).

Next, in step 130, it is determined whether the vehicle is traveling straight or curved. When the "curved line" signal is OFF, the routine proceeds to step 160, where it is determined whether the curvature exceeds a threshold value. If not exceeded, the process returns to step 100.

When the curvature exceeds the threshold, the routine proceeds to step 170, where the curve start position is stored in the storage device 30 and the "curve included" signal is output. On the other hand, in step 130, when the signal “with curve” is ON, the process proceeds to step 140, and it is determined whether the curvature of the curve is equal to or less than a threshold value. When the curvature is equal to or less than the threshold value, the process returns to step 100. When the curvature is equal to or less than the threshold value, the curve end position is recognized in step 150, and the curve number from the starting station and the curvature information and the cant information on the curve are stored in the storage device 30. The signal of "curve output" is output while it is stored in. As a result, the signal “with curve” in step 170 is turned off. This processing is performed for each of the detection signals of the front carriage 2 and the rear carriage 2a.

Next, in step 210, step 110
The curvature (1 / R1) of the curve calculated in step 1 is compared with the curvature (1 / R2) of the curve calculated in step 115. And
If the difference is greater than or equal to the threshold value, the process returns to step 100,
If it is less than or equal to the threshold value, the process proceeds to step 230.

In step 230, the cant C1 of the curve calculated in step 120 and the cant C2 of the curve calculated in step 125 are compared. If the difference is greater than or equal to the threshold, the process returns to step 100, and if it is less than or equal to the threshold, the reference trajectory data is updated in step 240. This process returns to step 100 while the vehicle is traveling in the traveling line section, and the work is repeated.

Finally, in step 170, it is determined whether or not the terminal has arrived at the terminal station by checking whether or not the traveling distance read in step 100 has reached the total distance of the traveling line section. The process ends.

[0045]

According to the track shape data updating method of the first aspect of the present invention, a gyro sensor for detecting a yaw angular velocity, a gyro sensor for detecting a roll angular velocity, and an accelerometer for detecting a lateral acceleration are provided on the carriage. the provided reference trajectory shaped
During normal running in which the body is tilted based on the condition data,
The curvature of the curved line and the cant are calculated from the detection signal of the gyro sensor each time the curve is passed, and the excess centrifugal acceleration is calculated, and the excess centrifugal acceleration is compared with the lateral acceleration detected from the accelerometer, When the difference is within the predetermined range, the reference trajectory shape data is updated to the calculated curvature and cant, so that the updated trajectory shape data has high reliability.
Therefore, the work of confirming the reliability can be omitted.
Also, it is changed orbit, such as track maintenance, with the change part
If the test operation is performed once, the reference track shape data will be obtained.
You can

According to the track shape data updating method of the second aspect, a gyro sensor for detecting the yaw angular velocity and a gyro sensor for detecting the roll angular velocity are provided on each of the two carriages, and based on the reference track shape data. Tilt the car body
During normal traveling, the curvature of the curve and the cant are calculated for each trolley each time it passes through the curve, and the detected and calculated curvatures of both trolleys and the cant are compared, and the difference is within a predetermined range. In this case, since the reference trajectory shape data is updated, the same effect as the invention of claim 1 can be obtained.

[Brief description of drawings]

FIG. 1 is a block diagram showing an overall configuration of an orbit shape data updating method according to an embodiment of the invention of claim 1.

FIG. 2 is a flowchart showing a process of a method for updating the same trajectory shape data.

FIG. 3 is a block diagram showing an overall configuration of an orbit shape data updating method as an embodiment of the invention of claim 2;

FIG. 4 is a flowchart showing a process of a method of updating the same trajectory shape data.

[Explanation of symbols]

1 ... Vehicle 2, 2a ... Bogie 3 ... Speed generator 4, 4a ... Gyro sensor 5, 5a ... Gyro sensor 6 ... Left and right accelerometer 11, 11a ... Signal processing circuit (yaw angular velocity) 12, 12a ... Signal processing circuit (roll angular velocity) 13 ... Calculation unit (travel speed) 14, 14a ... Calculation unit (curvature of curve) 15, 15a ... Calculation unit (curve cant) 16 ... Calculation unit (extra centrifugal acceleration) 17 ... Signal processing circuit (lateral acceleration) 18 ... Calculation unit (mileage) 20 ... Storage unit 21 ... Judgment unit 30 ... Storage unit 32 ... Judgment unit 40 ... Inclination angle setting section 50 ... Inclination means

Continuation of the front page (56) Reference JP-A-9-48345 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) B61F 5/22

Claims (2)

(57) [Claims] 1. Curvature, cant, and position from a reference point of a curve
Based on the previously entered reference trajectory shape data consisting of
Based on this, the reference trajectory shape data for a pendulum vehicle with control that detects the traveling speed and tilts the vehicle body to the left or right on a curved road is controlled.
In the data updating method , a gyro sensor for detecting the yaw angular velocity, a gyro sensor for detecting the roll angular velocity, and an accelerometer for detecting the lateral acceleration are provided on the carriage to provide a reference trajectory.
During normal driving in which the body is tilted based on the shape data
In, or the detection signal of the gyro-sensor for each pass through the curve
It calculates the excess centrifugal acceleration to calculate the curvature and cant Luo curve, compared with the lateral acceleration detected the ultra excessive centrifugal acceleration from the accelerometer, when the difference is within a predetermined range, the reference trajectory shape data A method of updating orbit shape data, characterized in that the calculated curvature and cant are updated. 2. Curvature of a curve, cant, and position from a reference point
Based on the previously entered reference trajectory shape data consisting of
Based on this, the reference trajectory shape data for a pendulum vehicle with control that detects the traveling speed and tilts the vehicle body to the left or right on a curved road is controlled.
In the data updating method , a gyro sensor for detecting a yaw angular velocity and a gyro sensor for detecting a roll angular velocity are provided on each of two carriages, and based on the reference trajectory shape data.
During normal traveling, the curvature of the curve and the cant are calculated for each trolley during normal running, and the detection of both trolleys and the calculated curvature of the curve and the cant are compared. An automatic updating method of trajectory shape data, characterized in that the reference trajectory shape data is updated when it is within a predetermined range.