JP2897576B2 - Railroad position correction method - 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 correcting a traveling position of a railway vehicle, which is necessary for accurately controlling a vehicle body inclination when passing through a curve.

[0002]

2. Description of the Related Art A railway track is composed of a straight road and a curved road. In order to make the train smoothly pass through the curved road, the curved road is provided with a circular curve and transition curves on both sides thereof. The curved road has a minimum curve radius defined by each line, and the upper limit of the passing speed of the train is also limited by the curve radius.
Also, on curved roads, tracks are provided with cants to reduce the centrifugal force acting when the train passes and to ensure safe driving.

[0003] For this reason, various measures have been taken in recent years in order to improve the speed of passing through a curved road exceeding the speed limit. To drive on a curved road at high speed and comfortably,
Pendulum bogies have been developed due to the need to further tilt the car body. The pendulum type cart includes a natural pendulum type and a forced body tilt type.

[0004] The former natural pendulum method is a method in which the vehicle body is further tilted by utilizing centrifugal force acting on the vehicle body when traveling on a curved road. Therefore, in the natural pendulum system, it is not necessary to detect the curved position of the track due to the leaning of the vehicle body. However, the ride comfort is degraded due to a delay in swinging at a curved road entrance. Therefore, there is a natural pendulum system with control in which a detecting device and an actuator for a curved road position are added in order to eliminate a swing delay at a curved road entrance.

[0005] The latter forced-vehicle tilting method is a method of forcibly tilting by an actuator, and it is necessary to detect a curved road position in order to tilt the vehicle in accordance with the approach of the curved road.

As a method of detecting the position of a curved road, there are a method of detecting the position from a gyro or an accelerometer installed in a vehicle, and a method of using a ground member installed along a track. However, in the former method, since the position is detected when the vehicle enters a curved road, a delay is likely to occur in following the vehicle body inclination with respect to the curve. On the other hand, in the latter method, it is easy to make the vehicle body inclination follow the curve by detecting the point immediately before entering the curved road.

In the latter method of detecting the position of a curved road using a ground child, data of a track on which a vehicle travels (position of a ground child, position of a curved road, etc.) is read into a control device,
Count the number of wheel rotations to calculate the mileage of the vehicle,
Each time the vehicle passes over the ground child, the travel distance is corrected based on the track data, and the curve distance is detected by comparing the travel distance with the curve path position in the track data (for example, Japanese Patent Publication No. 3-73511). Reference).

[0008]

As described above, the conventional method for detecting the position of a curved road requires a ground contact to correct the running position of the vehicle, and this method cannot be used on a track without a ground contact. Therefore, in order to adopt this method for detecting the position of a curved road on a track having no ground wire, it is necessary to newly install a ground wire, which increases costs. In addition, since the ground position data is also read in the track data in addition to the curved road position data, the data amount is large, and the data needs to be rewritten for a change in the position and the number of ground terminals.

In view of the above situation, the present invention detects the traveling position of a vehicle necessary for accurately performing vehicle body tilt control when a train passes through a curved road without delay with respect to the curved road, by using a grounding element. The present invention provides a method for correcting the running position of a vehicle without using the same.

[0010]

In order to achieve the above object, a traveling position correcting method for a railway vehicle according to the present invention comprises: a device for detecting a relative rotational displacement between a vehicle body and a bogie due to a bogie of a bogie; the railway vehicle having a device for detecting a control device compared to calculate a detection signal and pre Symbol recording has been and curve data from these devices to the car wheel rotation speed
Determined from the corresponding line in the data curves from the running position of the integrated
Calculated from the radius of the curve in the track data and the relative rotational displacement.
If the difference between the out curve radius within the set range, the start position of the curve of the line data, at the time of entry of the curve in the passage
The difference between the running position of the wheel rotational speed integrated as the correction amount is to correct the run line position.

[0011]

As shown in FIG. 1, a detection signal 6 from a displacement meter 1 for detecting a relative rotational displacement between a vehicle body and a bogie due to a bogie of a bogie provided between a vehicle body 4 and a bogie 5 is input to a controller 2. Here, the radius of the curve is obtained based on the relative rotational displacement. A speed generator 3 for detecting the number of rotations of the wheels.
The generated pulse signal 7 is input to the controller 2, the number of pulses is integrated, and the traveling position is calculated from the rotation speed of the wheel and the wheel diameter. Then, as shown in FIG. 5, the curve radius calculated from the traveling position and the detection signal 6 is compared with the line data recorded in the controller 2 in advance, and when a corresponding curve exists in the line data, Correct the running position. Correction amount at this time is a corresponding difference in the traveling position d ₁ which is calculated from the inlet position D ₁ and the number of pulses of the curve in the track data.

By repeating the correction of the traveling position on each curve, the accumulated error of the traveling position can be reduced as shown in FIG. As a result, the error between the curve position based on the measured traveling position of the vehicle and the actual curve position can be reduced,
Since the accuracy of curve position detection is improved, it is easy to make the vehicle body follow the curve, and the vehicle body tilt control on a curved road can be performed accurately.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a traveling position correcting method according to the present invention will be described based on an example of an apparatus for implementing the correcting method. As shown in FIG. 1, a displacement meter 1 for detecting a relative rotational displacement between the vehicle body and the bogie due to a bogie of the bogie is installed between the vehicle body 4 and the bogie 5, and a detection signal 6 is input to the controller 2. It is provided as follows. On the other hand, a speed generator 3 is provided on the wheel set, and the pulse generator 7 is provided so as to input the pulse signal 7 to the controller 2. The displacement meter 1 is in a neutral state as shown in FIG. 2 in a straight section of the track, and operates and expands and contracts by a displacement amount x in a curved section as shown in FIG.

In FIG. 4, the relationship between the displacement x of the displacement meter 1 and the radius r of the curve is as follows: a is the mounting position of the displacement meter (distance from the center of the vehicle body); a
= L / x, and r = aL / x if simplified. However, since the degree of freedom other than the yawing direction (bogie) between the vehicle body and the bogie affects the displacement x, the displacement x obtained by the above equation includes an error. Although FIG. 1 shows a case where one displacement meter 1 and one speed generator 3 are provided in one vehicle, these need not necessarily be attached to each vehicle, but one set is provided for one train. If it works.

Next, FIG. 5 shows a flowchart in the case where the traveling position is corrected according to the embodiment of the present invention. First, as a detection method of a straight section and a curve approach, if the displacement amount x of the displacement meter 1 is a dead zone δa, and if −δa ≦ x ≦ δa, a straight line,
If x ≦ −δa or x ≧ δa, it is determined that the curve enters. Then, the running position d ₁ calculated from the pulse signal 7 when entering the curve is written in the memory.

The detection of the circular curve is performed by incrementing the displacement x by dx / d.
t and the displacement x are −δb ≦ dx / dt ≦ δb and x ≦ −δ
It is detected when a or x ≧ δa. The radius of the curve is calculated from r = aL / x. This measurement
The radius of the curve obtained is r ₁ .

Then, the traveling position d ₁ at the time of entering the curve and the curve radius r ₁ are compared with the track data. Its collation method is determined from the travel position d ₁ in the vicinity of the curve line data, the curve radius R ₁ of the determined curve is compared with curves radius r ₁ obtained by measuring meter, the curve radius r ₁ is the error Because it includes, set
In the case of −δc ≦ R ₁ −r ₁ ≦ δc with respect to the error range δc , it is determined that the curve currently running matches the curve obtained from the track data.

[0018] If there is a match with the curve in line data, line
Measuring running position of the vehicle to complement <br/> positive as the appropriate the difference in travel position d ₁ of the starting position D ₁ and when the curve entrance of the curve data correction amount. This correction improves the accuracy of curve position detection.

In the case where the running position of the vehicle is corrected according to the embodiment of the present invention (FIG. 6C), the actual case of the comparative example (FIG. 6B) in which the curve position is detected from the measured running position of the vehicle without correcting the running position is shown. FIG. 6 shows a comparison of the positional error with respect to the curve position (FIG. 6A). FIG. 7 shows the cumulative error of the traveling position in this case in comparison with FIG. As shown in FIG. 6C, in the traveling position correction method of the present invention, the start point (entry point) of each circular curve is set as a correction point △, and the positions are respectively corrected. (Indicated by → in the figure) is small. On the other hand, in the case of the comparative example of FIG. 6B, the error increases as the traveling distance increases.

Therefore, if the vehicle position is corrected according to the embodiment of the present invention and then the vehicle body is tilted so as to follow a curve, the vehicle body can be tilted following the curve, so that safe high-speed running on a curved road is ensured. it can.

[0021]

According to the present invention, the error between the curve position based on the measured traveling position of the vehicle and the actual curve position can be reduced without using the grounding element, and the accuracy of curve position detection is improved. , It is easy to follow the vehicle body inclination, the vehicle body inclination control on a curved road can be performed accurately, and safe high-speed traveling on a curved road can be ensured.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing an example of a railway vehicle provided with a device necessary for carrying out the present invention.

FIG. 2 is an explanatory diagram showing a positional relationship between a vehicle body and a bogie when the vehicle in FIG. 1 is traveling on a straight road.

FIG. 3 is an explanatory diagram showing a positional relationship between a vehicle body and a bogie when the vehicle shown in FIG. 1 is traveling on a curved road.

FIG. 4 is an explanatory diagram showing a simplified relationship between a displacement amount of a displacement meter and a curve radius in the vehicle of FIG. 1;

FIG. 5 is a flowchart for correcting a traveling position according to an embodiment of the present invention.

FIG. 6 is a diagram showing an error of a measured traveling position with respect to an actual curved position, wherein A represents an actual curved position, B represents a traveling position of a comparative example, and C represents a traveling position of an embodiment of the present invention. .

FIG. 7 is a graph showing a cumulative error of a traveling position in FIG. 6;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Displacement meter 2 Controller 3 Speed generator 4 Body 5 Truck 6 Detection signal 7 Pulse signal a Mounting position of displacement meter L 1/2 length of center distance between trucks r Curve radius x Displacement of displacement meter

Claims (1)

(57) [Claims] And 1. A device for detecting the relative rotational displacement between the vehicle body and the bogie by bogie of the bogie, a device for detecting the rotational speed of the wheel, the detection signal and pre Symbol recording has been and line data from these devices the railway vehicle having a control device for comparison to operation curve that corresponds the running position of the vehicle wheel rotational speed integration
From the track data and calculate the radius of the curve in the track data.
And the difference between the radius of the curve calculated from the relative rotational displacement
In the case of the inner, and the start position of the curve of the line path data, passing
Traveling position correcting method of a railway vehicle, characterized in that the at entry curve the difference between the running position of the wheel rotational speed integrated as the correction amount, corrects the run line position.