JP4264181B2

JP4264181B2 - Control device and method for fluid actuator

Info

Publication number: JP4264181B2
Application number: JP2000093598A
Authority: JP
Inventors: 英樹古谷
Original assignee: Mitsubishi Heavy Industries Ltd
Current assignee: Mitsubishi Heavy Industries Ltd
Priority date: 2000-03-30
Filing date: 2000-03-30
Publication date: 2009-05-13
Anticipated expiration: 2020-03-30
Also published as: JP2001280307A

Description

【０００１】
【発明の属する技術分野】
本発明は、必要に応じて切換弁を操作して流体圧シリンダへ圧力流体を供給したり、排出したりすることで、ブレーキを作動して走行車輪を制動する流体アクチュエータの制御装置及び方法に関する。
【０００２】
【従来の技術】
鉄道車両に搭載されたブレーキ装置において、車両には直通管が配設され、この直通管にはブレーキ弁を介して空気だめ及び空気圧縮機が連結されている。また、この直通管にはブレーキシリンダが複数連結されており、各ブレーキシリンダによりブレーキを作動して走行車輪を制動することができる。
【０００３】
従って、所定のブレーキ力を得るために、運転手が操作杆を操作してブレーキ弁を開放すると、圧縮空気が空気だめから直通管を介してブレーキシリンダに供給され、ブレーキが作動して車両を停止させることができる。
【０００４】
【発明が解決しようとする課題】
ところで、鉄道車両に適用されるブレーキ装置にあっては、ブレーキシリンダに供給する空気の圧力に応じてブレーキ力が設定されるものであり、このブレーキシリンダへの空気の供給圧力はブレーキ弁の開放時間により設定される。そのため、従来のブレーキ装置では、運転手が要求するブレーキ力に応じたブレーキシリンダの供給圧力に対し、圧力センサが検出した現在のブレーキシリンダの作動圧力をフィードバック制御し、両者の圧力が一致するようにブレーキ弁の開放時間を設定している。ところが、ブレーキ弁の開閉信号に対してブレーキ弁の開閉動作には遅れが生じるため、従来はこのブレーキ弁の作動遅れを考慮して、ブレーキシリンダへの空気の供給動作、つまり、ブレーキ弁の開閉動作を微小に複数回開閉操作することで、ブレーキシリンダへの供給圧力を調整していた。
【０００５】
図７に従来のブレーキ制御装置によるブレーキ動作のタイムチャートを示す。図７に示すように、ブレーキを作動させる場合、ブレーキ弁における供給用電磁弁を開放（ＯＮ）してブレーキシリンダへの供給圧力（以下、ＢＣ圧力）を上昇させ、目標圧力Ｐ₀に対する微調整領域に入ると、ＢＣ圧力Ｐ₁にて一度供給用電磁弁を閉止（ＯＦＦ）する。すると、電磁弁の作動遅れにより閉止後もブレーキシリンダへのＢＣ圧力は若干上昇して供給圧力Ｐ₂になる。しかし、ＢＣ圧力が目標圧力Ｐ₀に到達しないので、再び、供給用電磁弁を一定時間開放すると、ブレーキシリンダへのＢＣ圧力が上昇し、ＢＣ圧力Ｐ₃が目標圧力Ｐ₀の不緩帯領域に入る。このように従来のブレーキ制御では、ブレーキシリンダのＢＣ圧力が目標圧力Ｐ₀の不緩帯領域に入るまで、何度か供給用電磁弁を開閉操作（ＯＮ−ＯＦＦ操作）を行わなければならず、操作性がよくないという問題がある。
【０００６】
また、ブレーキシリンダのＢＣ圧力Ｐ₃が目標圧力Ｐ₀の不緩帯領域に入らないときには、再び、供給用電磁弁を一定時間開放してＢＣ圧力が上昇させるが、この操作によりＢＣ圧力が目標圧力Ｐ₀の不緩帯領域を越えてＢＣ圧力Ｐ₄まで上昇してしまうことがある。この場合、ブレーキ弁における排出用電磁弁を複数回開閉操作（ＯＮ−ＯＦＦ操作）してＢＣ圧力を下降させ、目標圧力Ｐ₀の不緩帯領域に入れるようにする。このようにブレーキ弁における供給用電磁弁や排出用電磁弁を交互に開閉操作することで、ＢＣ圧力が目標圧力Ｐ₀に対して上昇下降を繰り返すハンチング現象が発生してしまい、不緩帯領域に収束するまでに時間がかかってしまうという問題がある。
【０００７】
更に、ブレーキシリンダに供給された圧力空気は膨張して高温となっているが、一定時間経過後には温度が低下してＢＣ圧力が低下する。そのため、ＢＣ圧力Ｐ₃が目標圧力Ｐ₀の不緩帯領域に入ってから所定時間経過後に、図７に一点鎖線で示すように、ＢＣ圧力Ｐ₃が低下して不緩帯領域から下降してしまい、再び、供給用電磁弁を一定時間開放してＢＣ圧力を目標圧力Ｐ₀まで上昇させなければならず、操作が面倒なものとなる。
【０００８】
そして、ブレーキ弁に適用される各電磁弁は薄い膜板に対して圧力を付与して移動して供給空気の通路を開閉するものであり、１回のブレーキ作動時に何回も作動させるとことで、短期間で損傷してしまう虞があり、電磁弁の耐久性の面でも電磁弁を複数回開閉操作することは好ましくない。
【０００９】
本発明はこのような問題を解決するものであって、操作性の向上を図ると共に耐久性を向上して寿命の延長を図った流体アクチュエータの制御装置及び方法を提供することを目的とする。
【００１０】
【課題を解決するための手段】
上述の目的を達成するための請求項１の発明の流体アクチュエータの制御装置は、流体供給源と、該流体供給源から圧力流体の給排により作動する流体アクチュエータと、前記流体供給源から該流体アクチュエータへ圧力流体を供給する作動状態と該流体アクチュエータ内の圧力流体を保持する保持状態と該流体アクチュエータ内の圧力流体を開放するリリース状態とに切換可能な切換弁を有する流体給排手段と、前記流体アクチュエータの供給圧力を検出する圧力センサと、目標供給圧力及び該圧力センサの検出圧力に基づいて前記切換弁を切換制御すると共に前記流体アクチュエータの作動時に制御信号の出力に対する該切換弁の作動遅れ量を前記流体供給源の供給圧力と前記圧力センサの検出圧力との差圧に基づいて設定して該作動遅れ量を考慮して前記切換弁を前記保持状態に切換操作する制御手段とを具えた流体アクチュエータの制御装置において、前記制御手段は、前記流体アクチュエータの作動時に、断熱変化による前記圧力流体の温度変化に伴う圧力変化量を前記圧力センサの検出圧力の変化量に基づいて設定し、該圧力変化量を考慮して前記切換弁を前記保持状態に切換操作することを特徴とするものである。
また、請求項２の発明の流体アクチュエータの制御装置は、流体供給源と、該流体供給源から圧力流体の給排により作動する流体アクチュエータと、前記流体供給源から該流体アクチュエータへ圧力流体を供給する作動状態と該流体アクチュエータ内の圧力流体を保持する保持状態と該流体アクチュエータ内の圧力流体を開放するリリース状態とに切換可能な切換弁を有する流体給排手段と、前記流体アクチュエータの供給圧力を検出する圧力センサと、目標供給圧力及び該圧力センサの検出圧力に基づいて前記切換弁を切換制御すると共に前記流体アクチュエータのリース時に制御信号の出力に対する該切換弁の作動遅れ量を前記流体供給源の供給圧力と圧力流体の開放側圧力との差圧に基づいて設定して該作動遅れ量を考慮して前記切換弁を前記保持状態に切換操作する制御手段とを具えた流体アクチュエータの制御装置において、前記制御手段は、前記流体アクチュエータのリリース時に、断熱変化による前記圧力流体の温度変化に伴う圧力変化量を前記圧力センサの検出圧力の変化量に基づいて設定し、該圧力変化量を考慮して前記切換弁を前記保持状態に切換操作することを特徴とするものである。
また、請求項３の発明の流体アクチュエータの制御装置は、請求項１または２の発明の流体アクチュエータの制御装置において、前記流体アクチュエータを、車両の走行車輪を制動するブレーキを作動させるためのブレーキシリンダとすることを特徴とするものである。
また、請求項４の発明の流体アクチュエータの制御方法は、所定の作動力を得るための目標供給圧力及び作動用圧力センサの検出圧力に基づいて切換弁を開放することで、流体供給源から流体アクチュエータへ圧力流体を供給する作動時に、制御信号の出力に対する前記切換弁の作動遅れ量を前記流体供給源の供給圧力と前記検出圧力との差圧に基づいて設定し、該作動遅れ量を考慮して前記切換弁を閉止して該流体アクチュエータ内の圧力流体を保持する流体アクチュエータの制御方法において、前記流体アクチュエータの作動時に、断熱変化による前記圧力流体の温度変化に伴う圧力変化量を前記検出圧力の変化量に基づいて設定し、該圧力変化量を考慮して前記切換弁を閉止することを特徴とするものである。
また、請求項５の発明の流体アクチュエータの制御方法は、所定の作動力を得るための目標供給圧力及び作動用圧力センサの検出圧力に基づいて切換弁を開放することで、流体アクチュエータ内の圧力流体を開放するリース時に、制御信号の出力に対する前記切換弁の作動遅れ量を前記流体供給源の供給圧力と圧力流体の開放側圧力との差圧に基づいて設定し、該作動遅れ量を考慮して前記切換弁を閉止して該流体アクチュエータ内の圧力流体を保持する流体アクチュエータの制御方法において、前記流体アクチュエータのリリース時に、断熱変化による前記圧力流体の温度変化に伴う圧力変化量を前記検出圧力の変化量に基づいて設定し、該圧力変化量を考慮して前記切換弁を閉止することを特徴とするものである。
また、請求項６の発明の流体アクチュエータの制御方法は、請求項４または５の発明の流体アクチュエータの制御方法において、前記流体アクチュエータを制御することで、車両の走行車輪を制動するブレーキを作動させるためのブレーキシリンダを制御することを特徴とするものである。
【００２０】
【発明の実施の形態】
以下、図面に基づいて本発明の実施形態を詳細に説明する。以下に説明する実施形態では、本発明の流体アクチュエータの制御装置及び方法を車両のブレーキ制御装置に適用して説明する。
【００２１】
図１に本発明の一実施形態に係る流体アクチュエータの制御装置を適用した車両のブレーキ制御装置を表す概略構成、図２に本実施形態のブレーキ制御装置によるブレーキ動作のタイムチャート、図３にブレーキ制御装置によるブレーキリリース動作のタイムチャート、図４に差圧に対するＢＣ圧力の行き過ぎ量を表すグラフ、図５に差圧に対する温度変化によるＢＣ圧力の圧力変化を表すグラフ、図６に圧力調整量に対する電磁弁の開放時間を表すグラフを示す。
【００２２】
本実施形態の車両のブレーキ制御装置において、図１に示すように、列車の車両１１には直通管１２が走行方向に沿って配設され、この直通管１２には流体供給源としての空気だめ１３及び空気圧縮機１４が連結されている。また、車両１１の下部には走行車輪１５が装着されると共に、走行車輪１５を制動するブレーキ装置１６が装着されており、このブレーキ装置１６はブレーキシリンダ（流体圧シリンダ）１７への空気の給排により作動及び解除するようになっている。
【００２３】
直通管１２とブレーキシリンダ１７との間には切換弁としてのブレーキ弁１８が介装され、このブレーキ弁１８の開閉操作により圧縮空気をブレーキシリンダ１７へ供給してブレーキ装置１６を作動したり、ブレーキシリンダ１７内の圧縮空気を排出してブレーキ装置１６を解除したりすることができ、この直通管１２、ブレーキシリンダ１７、ブレーキ弁１８により流体給排手段が構成されている。
【００２４】
ブレーキ弁１８は、供給用電磁弁１９と排出用電磁弁２０を有しており、各電磁弁１９，２０が直通管１２とブレーキシリンダ１７との間に並列に介装されている。供給用電磁弁１９は直通管１２とブレーキシリンダ１７との供給通路２１を閉塞する閉止ポート１９ａとこの供給通路２１を連通して圧縮空気をブレーキシリンダ１７に供給する供給ポート１９ｂとを有している。一方、排出用電磁弁２０はブレーキシリンダ１７からの排出通路２２を閉塞する閉止ポート２０ａとこの排出通路２２を大気に連通してブレーキシリンダ１７内の圧縮空気を大気に開放する排出ポート２０ｂとを有している。
【００２５】
そして、このブレーキ弁１８の供給用電磁弁１９及び排出用電磁弁２０にはコントローラ（制御手段）２３が接続され、開閉制御されるようになっている。また、供給通路２１及び排出通路２２には圧力センサ２４が装着され、この圧力センサ２４はブレーキシリンダ１７への供給圧力（ＢＣ圧力）を検出してコントローラ２３に出力している。更に、空気だめ１３には圧力センサ２５が装着され、この圧力センサ２５は空気だめ１３の供給圧力（ＳＲ圧力）を検出してコントローラ２３に出力している。また、コントローラ２３には、ブレーキ用操作杆２６の操作によるブレーキ制御信号が入力されるようになっている。
【００２６】
従って、運転手が所定のブレーキ力を得るためにブレーキ用操作杆２６を操作すると、そのブレーキ制御信号がコントローラ２３に入力し、このコントローラ２３はブレーキ弁１８の供給用電磁弁１９を励磁して供給ポート１９ｂに切り換え、空気だめ１３から直通管１２に供給されている圧縮空気が供給用電磁弁１９を通してブレーキシリンダ１７に供給される（ブレーキ作動状態）。これと同時に圧力センサ２４がブレーキシリンダ１７のＢＣ圧力を検出してコントローラ２３に出力しており、コントローラ２３はブレーキシリンダ１７のＢＣ圧力が目標ＢＣ圧力となるように供給用電磁弁１９の開放時間をフィードバック制御する。そして、供給用電磁弁１９が消磁されて閉止ポート１９ａに切り換えられ、ブレーキシリンダ１７のＢＣ圧力が目標ＢＣ圧力に保持される（ブレーキ保持状態）ことで、ブレーキシリンダ１７のＢＣ圧力に応じてブレーキ装置１６が作動し、走行車輪１５を制動して車両が停止する。
【００２７】
一方、運転手がブレーキ力を緩めるためにブレーキ用操作杆２６を操作すると、そのブレーキ制御信号がコントローラ２３に入力し、このコントローラ２３はブレーキ弁１８の排出用電磁弁２０を励磁して排出ポート２０ｂに切り換え、ブレーキシリンダ１７内の圧縮空気を大気に開放する（ブレーキリリース状態）。これと同時に圧力センサ２４がブレーキシリンダ１７のＢＣ圧力をコントローラ２３に出力しており、コントローラ２３はブレーキシリンダ１７のＢＣ圧力が目標ＢＣ圧力となるように排出用電磁弁２０の開放時間をフィードバック制御する。そして、排出用電磁弁２０が消磁されて閉止ポート２０ａに切り換えられ、ブレーキシリンダ１７のＢＣ圧力が目標ＢＣ圧力に保持される（ブレーキ保持状態）ことで、ブレーキシリンダ１７のＢＣ圧力に応じてブレーキ装置１６が作動し、走行車輪１５を制動力が緩められる。
【００２８】
ところで、このような構成をなすブレーキ制御装置では、コントローラ２３が各電磁弁１９，２０を開閉するための制御信号を出力したから、実際に各電磁弁１９，２０の開閉動作が完了するまでに作動遅れ時間が生じる。また、ブレーキシリンダ１７に供給された圧力空気は膨張して高温状態であるが、時間の経過に伴って温度が低下してＢＣ圧力も低下してしまう。そのため、本実施形態の車両のブレーキ制御装置では、ブレーキ作動時に、この供給用電磁弁１９の作動遅れ量ΔＰ_OVERをＳＲ圧力とＢＣ圧力との差圧に基づいて設定し、この作動遅れ量ΔＰ_OVERを考慮して供給用電磁弁１９を閉止してブレーキ保持状態に切換操作するようにしている。一方、ブレーキリリース時に、排出用電磁弁２０の作動遅れ量ΔＰ_UNDERをＢＣ圧力と開放側圧力（大気圧）との差圧に基づいて設定し、この作動遅れ量ΔＰ_UNDERを考慮して排出用電磁弁２０を閉止してブレーキ保持状態に切換操作するようにしている。
【００２９】
また、本実施形態の車両のブレーキ制御装置では、ブレーキ作動時あるいはブレーキリリース時に、断熱変化によるブレーキシリンダ１７内のＢＣ圧力の温度変化に伴う圧力変化量ΔＰ_b，ΔＰ_rをＢＣ圧力の変化量に基づいて設定し、この圧力変化量ΔＰ_b，ΔＰ_rを考慮して各電磁弁１９，２０を閉止してブレーキ保持状態に切換操作するようにしている。更に、目標ＢＣ圧力Ｐ₀と実際のＢＣ圧力とに微小の誤差があったときには、実際のＢＣ圧力及び目標ＢＣ圧力Ｐ₀と実際のＢＣ圧力との差圧ΔＰ_bm，ΔＰ_brに基づいて各電磁弁１９，２０の開放時間ｔ_b，ｔ_rを設定して切換操作するようにしている。
【００３０】
ここで、本実施形態の車両のブレーキ制御装置によるブレーキ作動時及びブレーキリリース時の制御について具体的に説明する。
【００３１】
ブレーキ作動時、前述したように、ブレーキ制御信号がコントローラ２３に入力すると、ブレーキ弁１８の供給用電磁弁１９が開放（ＯＮ）して圧縮空気がブレーキシリンダ１７に供給される。すると、図２に示すように、ブレーキシリンダ１７のＢＣ圧力が上昇し、供給用電磁弁１９の作動遅れ量ΔＰ_OVER（作動遅れ時間ｔ_OVER）と、ブレーキシリンダ１７内の圧縮空気の温度低下に伴う圧力低下量ΔＰ_bとを考慮したＢＣ圧力Ｐ₁到達時に供給用電磁弁１９を閉止（ＯＦＦ）する。この場合、目標ＢＣ圧力は、下記数式
目標ＢＣ圧力Ｐ₀＝ＢＣ圧力Ｐ₁＋作動遅れ量ΔＰ_OVER−圧力低下量ΔＰ_b
で求められるから、ＢＣ圧力Ｐ₁は、下記数式
ＢＣ圧力Ｐ₁＝目標ＢＣ圧力Ｐ₀−作動遅れ量ΔＰ_OVER＋圧力低下量ΔＰ_b
で求めることができる。
【００３２】
なお、このブレーキ作動時には、ブレーキシリンダ１７内に一気に圧縮空気が流入するため、断熱圧縮のために急激にブレーキシリンダ１７内の温度が上昇する（潜熱）。一方、ブレーキシリンダ１７外の空気の温度は当然これより低いため、ブレーキシリンダ１７内の温度は外部の温度まで低下し、これに伴って圧力も低下する。
【００３３】
そして、この作動遅れ量ΔＰ_OVERは、図４(ａ)で示すように、ＳＲ圧力とＢＣ圧力との差圧に基づいて設定される。即ち、この作動遅れ量ΔＰ_OVERは、供給する側（空気だめ１３）の圧力と供給される側（ブレーキシリンダ１７）の圧力との差が大きければ大きくなるものである。また、圧力低下量ΔＰ_bは、図５に示すように、ＢＣ圧力の変化量に基づいて設定される。即ち、この圧力低下量ΔＰ_bは、供給開始時点のＢＣ圧力Ｐ_aと供給終了時点のＢＣ圧力Ｐ_bとの差が大きければ大きくなるものである。なお、Ｐ_OVERは、圧力低下量ΔＰ_bがなかったときのＢＣ圧力の上限値である。
【００３４】
こうして目標ＢＣ圧力Ｐ₀に対応してＢＣ圧力Ｐ₁を設定し、ＢＣ圧力がＰ₁の到達時に供給用電磁弁１９を閉止すると、ブレーキシリンダ１７のＢＣ圧力が目標ＢＣ圧力になり、ブレーキシリンダ１７のＢＣ圧力に応じたブレーキ力が発揮される。そして、このときに、目標ＢＣ圧力Ｐ₀と実際のＢＣ圧力とに微小の誤差があったときには、目標ＢＣ圧力Ｐ₀と実際のＢＣ圧力との差圧（圧力調整量）ΔＰ_bmに対する供給用電磁弁１９の開放時間ｔ_bを、現在のＢＣ圧力（１００，２００・・・６００）に応じて設定し、供給用電磁弁１９を開閉制御する。即ち、この供給用電磁弁１９の開放時間ｔ_bは、図６(ａ)に示すように、圧力調整量ΔＰ_bmが大きければ長く、ＢＣ圧力が低ければ長くなる。
【００３５】
一方、ブレーキリリース時、前述したように、ブレーキ制御信号がコントローラ２３に入力すると、ブレーキ弁１８の排出用電磁弁２０が開放（ＯＮ）してブレーキシリンダ１７内の圧縮空気が大気に開放される。すると、図３に示すように、ブレーキシリンダ１７のＢＣ圧力が下降し、排出用電磁弁２０の作動遅れ量ΔＰ_UNDER（作動遅れ時間ｔ_UNDER）と、ブレーキシリンダ１７内の圧縮空気の温度上昇に伴う圧力上昇量ΔＰ_rとを考慮したＢＣ圧力Ｐ₁到達時に排出用電磁弁２０を閉止（ＯＦＦ）する。この場合、目標ＢＣ圧力は、下記数式
目標ＢＣ圧力Ｐ₀＝ＢＣ圧力Ｐ₁＋作動遅れ量ΔＰ_UNDER−圧力上昇量ΔＰ_r
で求められるから、ＢＣ圧力Ｐ₁は、下記数式
ＢＣ圧力Ｐ₁＝目標ＢＣ圧力Ｐ₀−作動遅れ量ΔＰ_UNDER＋圧力上昇量ΔＰ_r
で求めることができる。
【００３６】
なお、このブレーキリリース時には、ブレーキ作動時とは逆に、ブレーキシリンダ１７内の圧縮空気が一気に流出するため、断熱膨張のために急激にブレーキシリンダ１７内の温度が低下する（潜熱）。一方、ブレーキシリンダ１７外の空気の温度は当然これより高いため、ブレーキシリンダ１７内の温度は外部の温度まで上昇し、これに伴って圧力も上昇する。
【００３７】
そして、この作動遅れ量ΔＰ_UNDERは、図４(ｂ)で示すように、ＢＣ圧力と大気圧の差圧に基づいて設定される。即ち、この作動遅れ量ΔＰ_UNDERは、排出する側（ブレーキシリンダ１７）の圧力と排出される側（大気）の圧力との差が大きければ大きくなるものである。また、圧力低下量ΔＰ_rは、図５に示すように、ＢＣ圧力の変化量に基づいて設定される。即ち、この圧力低下量ΔＰ_rは、供給開始時点のＢＣ圧力Ｐ_aと供給終了時点のＢＣ圧力Ｐ_bとの差が大きければ大きくなるものであり、大気に排出するためにブレーキ作動時の圧力低下量ΔＰ_bより小さくなる。
【００３８】
こうして目標ＢＣ圧力Ｐ₀に対応してＢＣ圧力Ｐ₁を設定し、ＢＣ圧力がＰ₁の到達時に排出用電磁弁２０を閉止すると、ブレーキシリンダ１７のＢＣ圧力が目標ＢＣ圧力になり、ブレーキシリンダ１７のＢＣ圧力に応じたブレーキ力が発揮される。そして、このときに、目標ＢＣ圧力Ｐ₀と実際のＢＣ圧力とに微小の誤差があったときには、目標ＢＣ圧力Ｐ₀と実際のＢＣ圧力との差圧（圧力調整量）ΔＰ_rmに対する排出用電磁弁２０の開放時間ｔ_rを、現在のＢＣ圧力（１００，２００・・・６００）に応じて設定し、排出用電磁弁２０を開閉制御する。即ち、この排出用電磁弁２０の開放時間ｔ_rは、図６(ｂ)に示すように、圧力調整量ΔＰ_rmが大きければ短く、ＢＣ圧力が低ければ長くなる。
【００３９】
このようにしてブレーキ作動時やリリース時には、各電磁弁１９，２０の作動遅れ量ΔＰ_OVER，ΔＰ_UNDERと、断熱変化によるブレーキシリンダ１７内の圧縮空気の温度変化に伴う圧力変化量ΔＰ_b，ΔＰ_rとを考慮したＢＣ圧力Ｐ₁到達時に電磁弁１９，２０を閉止することで、１回の電磁弁１９，２０の開閉操作でブレーキシリンダ１７のＢＣ圧力を目標ＢＣ圧力Ｐ₀に容易に制御することができる。また、ここで目標ＢＣ圧力Ｐ₀とＢＣ圧力とに微小誤差があると、その差圧（圧力調整量）ΔＰ_bm，ΔＰ_rmに応じた開放時間ｔ_b，ｔ_rだけ、電磁弁１９，２０を開閉制御することで、ＢＣ圧力を目標ＢＣ圧力Ｐ₀に高精度に制御することができる。
【００４０】
なお、上述の実施形態では、本発明の流体アクチュエータの制御装置を車両のブレーキ制御装置に適用して説明したが、本発明はこの装置に限定されるものではない。例えば、船舶におけるメカニカルガバナの入力空気圧制御装置において、空気圧力を制御することで、エンジン回転数を高精度に制御することができる。また、製造行程に用いる一般機械において、アクチュエータの流体圧力を制御することで、高精度の位置決めを行うことができる。
【００４１】
【発明の効果】
以上、実施形態において詳細に説明したように請求項１の発明の流体アクチュエータの制御装置によれば、流体供給源と、流体供給源から圧力流体の給排により作動する流体アクチュエータと、作動状態と保持状態とリリース状態とに切換可能な切換弁を有する流体給排手段と、流体アクチュエータの供給圧力を検出する圧力センサと、目標供給圧力及び検出圧力に基づいて切換弁を切換制御すると共に流体アクチュエータの作動時に制御信号の出力に対する切換弁の作動遅れ量を流体供給源の供給圧力と圧力センサの検出圧力との差圧に基づいて設定してこの作動遅れ量を考慮して切換弁を保持状態に切換操作する制御手段とを設けたので、流体アクチュエータの作動時には切換弁の作動遅れ量を考慮して切換弁を保持状態に切換操作することで、１回の切換弁の切換操作で流体アクチュエータの供給圧力を目標供給圧力に短時間で容易に制御することができ、操作性を向上することができると共に耐久性を向上して寿命を延長することができる。
また、請求項１の発明の流体アクチュエータの制御装置によれば、制御手段が流体アクチュエータの作動時に、断熱変化による圧力流体の温度変化に伴う圧力変化量を圧力センサの検出圧力の変化量に基づいて設定し、この圧力変化量を考慮して切換弁を保持状態に切換操作するようにしたので、流体アクチュエータの作動時やリリース時には内部の圧縮空気の温度変化に伴う圧力変化量を考慮して切換弁を保持状態に切換操作することで、１回の切換弁の切換操作で流体アクチュエータの供給圧力を目標供給圧力に短時間で容易に制御することができ、操作性を向上することができると共に耐久性を向上して寿命を延長することができる。
【００４２】
また、請求項２の発明の流体アクチュエータの制御装置によれば、流体供給源と、流体供給源から圧力流体の給排により作動する流体アクチュエータと、作動状態と保持状態とリリース状態とに切換可能な切換弁を有する流体給排手段と、流体アクチュエータの供給圧力を検出する圧力センサと、目標供給圧力及び検出圧力に基づいて切換弁を切換制御すると共に流体アクチュエータのリース時に制御信号の出力に対する切換弁の作動遅れ量を流体供給源の供給圧力と圧力流体の開放側圧力との差圧に基づいて設定してこの作動遅れ量を考慮して切換弁を保持状態に切換操作する制御手段とを設けたので、流体アクチュエータのリリース時には切換弁の作動遅れ量を考慮して切換弁を保持状態に切換操作することで、１回の切換弁の切換操作で流体アクチュエータの供給圧力を目標供給圧力に短時間で容易に制御することができ、操作性を向上することができると共に耐久性を向上して寿命を延長することができる。
【００４３】
また、請求項２の発明の流体アクチュエータの制御装置によれば、制御手段が流体アクチュエータのリリース時に、断熱変化による圧力流体の温度変化に伴う圧力変化量を圧力センサの検出圧力の変化量に基づいて設定し、この圧力変化量を考慮して切換弁を保持状態に切換操作するようにしたので、流体アクチュエータの作動時やリリース時には内部の圧縮空気の温度変化に伴う圧力変化量を考慮して切換弁を保持状態に切換操作することで、１回の切換弁の切換操作で流体アクチュエータの供給圧力を目標供給圧力に短時間で容易に制御することができ、操作性を向上することができると共に耐久性を向上して寿命を延長することができる。
【００４５】
また、請求項３の発明の流体アクチュエータの制御装置によれば、流体アクチュエータを、車両の走行車輪を制動するブレーキを作動させるためのブレーキシリンダとしたので、車両のブレーキ力を短時間で高精度に制御することができ、操作性を向上することができる。
【００４６】
また、請求項４の発明の流体アクチュエータの制御方法によれば、所定の作動力を得るための目標供給圧力及び作動用圧力センサの検出圧力に基づいて切換弁を開放することで、流体供給源から流体アクチュエータへ圧力流体を供給する作動時に、制御信号の出力に対する切換弁の作動遅れ量を流体供給源の供給圧力と検出圧力との差圧に基づいて設定し、作動遅れ量を考慮して切換弁を閉止して流体アクチュエータ内の圧力流体を保持するようにしたので、流体アクチュエータの作動時には切換弁の作動遅れ量を考慮して切換弁を保持状態に切換操作することで、１回の切換弁の切換操作で流体アクチュエータの供給圧力を目標供給圧力に短時間で容易に制御することができる。
また、請求項４の発明の流体アクチュエータの制御方法によれば、流体アクチュエータの作動時に、断熱変化による圧力流体の温度変化に伴う圧力変化量を検出圧力の変化量に基づいて設定し、圧力変化量を考慮して切換弁を閉止するようにしたので、流体アクチュエータの作動時やリリース時には内部の圧縮空気の温度変化に伴う圧力変化量を考慮して切換弁を保持状態に切換操作することで、１回の切換弁の切換操作で流体アクチュエータの供給圧力を目標供給圧力に短時間で容易に制御することができる。
【００４７】
また、請求項５の発明の流体アクチュエータの制御方法によれば、所定の作動力を得るための目標供給圧力及び作動用圧力センサの検出圧力に基づいて切換弁を開放することで、流体アクチュエータ内の圧力流体を開放するリース時に、制御信号の出力に対する切換弁の作動遅れ量を流体供給源の供給圧力と圧力流体の開放側圧力との差圧に基づいて設定し、作動遅れ量を考慮して切換弁を閉止して流体アクチュエータ内の圧力流体を保持するようにしたので、流体アクチュエータのリース時には切換弁の作動遅れ量を考慮して切換弁を保持状態に切換操作することで、１回の切換弁の切換操作で流体アクチュエータの供給圧力を目標供給圧力に短時間で容易に制御することができる。
【００４８】
また、請求項５の発明の流体アクチュエータの制御方法によれば、流体アクチュエータのリリース時に、断熱変化による圧力流体の温度変化に伴う圧力変化量を検出圧力の変化量に基づいて設定し、圧力変化量を考慮して切換弁を閉止するようにしたので、流体アクチュエータの作動時やリリース時には内部の圧縮空気の温度変化に伴う圧力変化量を考慮して切換弁を保持状態に切換操作することで、１回の切換弁の切換操作で流体アクチュエータの供給圧力を目標供給圧力に短時間で容易に制御することができる。
【００５０】
また、請求項６の発明の流体アクチュエータの制御方法によれば、流体アクチュエータを制御することで、車両の走行車輪を制動するブレーキを作動させるためのブレーキシリンダを制御するようにしたので、車両のブレーキ力を短時間で高精度に制御することができ、操作性を向上することができる。
【図面の簡単な説明】
【図１】本発明の一実施形態に係る流体アクチュエータの制御装置を適用した車両のブレーキ制御装置を表す概略構成図である。
【図２】本実施形態のブレーキ制御装置によるブレーキ動作のタイムチャートである。
【図３】ブレーキ制御装置によるブレーキリリース動作のタイムチャートである。
【図４】差圧に対するＢＣ圧力の行き過ぎ量を表すグラフである。
【図５】差圧に対するＢＣ圧力の圧力変化を表すグラフである。
【図６】圧力調整量に対する電磁弁の開放時間を表すグラフである。
【図７】従来のブレーキ制御装置によるブレーキ動作のタイムチャートである。
【符号の説明】
１１車両
１２直通管
１３空気だめ（流体供給源）
１４空気圧縮機
１６ブレーキ装置
１７ブレーキシリンダ（流体アクチュエータ）
１８ブレーキ弁（切換弁）
１９供給用電磁弁
２０排出用電磁弁
２３コントローラ（制御手段）
２４，２５圧力センサ[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a control apparatus and method for a fluid actuator that operates a brake to brake a traveling wheel by operating a switching valve as needed to supply or discharge a pressure fluid to a fluid pressure cylinder. .
[0002]
[Prior art]
In a brake device mounted on a railway vehicle, a direct pipe is disposed in the vehicle, and an air reservoir and an air compressor are connected to the direct pipe via a brake valve. Further, a plurality of brake cylinders are connected to the direct pipe, and the traveling wheels can be braked by operating the brakes by the brake cylinders.
[0003]
Therefore, in order to obtain a predetermined braking force, when the driver operates the control rod to open the brake valve, compressed air is supplied from the air reservoir to the brake cylinder through the direct pipe, and the brake is activated to Can be stopped.
[0004]
[Problems to be solved by the invention]
By the way, in a brake device applied to a railway vehicle, a braking force is set according to the pressure of air supplied to the brake cylinder. The supply pressure of air to the brake cylinder is determined by opening the brake valve. Set by time. For this reason, in the conventional brake device, the current operating pressure of the brake cylinder detected by the pressure sensor is feedback-controlled with respect to the supply pressure of the brake cylinder corresponding to the braking force requested by the driver so that the pressures of the two match. The brake valve opening time is set in. However, since there is a delay in the opening / closing operation of the brake valve with respect to the opening / closing signal of the brake valve, conventionally, the operation of supplying air to the brake cylinder, that is, the opening / closing of the brake valve, taking into account the delay in the operation of the brake valve The supply pressure to the brake cylinder was adjusted by opening and closing the operation several times minutely.
[0005]
FIG. 7 shows a time chart of the brake operation by the conventional brake control device. As shown in FIG. 7, when the brake is operated, the supply solenoid valve in the brake valve is opened (ON) to increase the supply pressure to the brake cylinder (hereinafter referred to as BC pressure), and the target pressure P₀When entering the fine adjustment region, the BC pressure P₁The supply solenoid valve is closed (OFF) once. Then, the BC pressure to the brake cylinder slightly increases even after closing due to the operation delay of the solenoid valve, and the supply pressure P₂become. However, the BC pressure is the target pressure P₀Therefore, when the supply solenoid valve is opened again for a certain period of time, the BC pressure to the brake cylinder rises and the BC pressure P_ThreeIs the target pressure P₀Enter into the zone of the belt. Thus, in the conventional brake control, the BC pressure of the brake cylinder is set to the target pressure P.₀There is a problem that the operability is not good because the supply solenoid valve has to be opened / closed several times (ON-OFF operation) until it enters the unrestricted belt region.
[0006]
Also, the BC pressure P of the brake cylinder_ThreeIs the target pressure P₀When it does not enter the belt-free zone, the supply solenoid valve is opened again for a certain period of time to increase the BC pressure. By this operation, the BC pressure is increased to the target pressure P.₀BC pressure P beyond the belt zone_FourMay rise. In this case, the discharge solenoid valve in the brake valve is opened and closed several times (ON-OFF operation) to lower the BC pressure, and the target pressure P₀So that it can be placed in the zone. Thus, by alternately opening and closing the supply solenoid valve and the discharge solenoid valve in the brake valve, the BC pressure becomes the target pressure P₀On the other hand, there is a problem that a hunting phenomenon that repeatedly rises and falls occurs and it takes time to converge to the instable zone region.
[0007]
Furthermore, although the pressure air supplied to the brake cylinder expands and becomes high temperature, the temperature decreases and the BC pressure decreases after a certain period of time. Therefore, BC pressure P_ThreeIs the target pressure P₀After a predetermined time has passed since entering the incommensurate zone, the BC pressure P as shown by the one-dot chain line in FIG._ThreeDecreases and falls from the unrestricted belt region, the supply solenoid valve is opened again for a certain period of time, and the BC pressure is reduced to the target pressure P.₀The operation is troublesome.
[0008]
And each solenoid valve applied to the brake valve applies pressure to the thin membrane plate and moves to open and close the supply air passage, and it is operated many times during one brake operation. Thus, there is a risk of damage in a short period of time, and it is not preferable to open and close the solenoid valve a plurality of times from the viewpoint of durability of the solenoid valve.
[0009]
The present invention solves such problems, and an object of the present invention is to provide a fluid actuator control device and method that improve operability, improve durability, and extend life.
[0010]
[Means for Solving the Problems]
  In order to achieve the above object, a control device for a fluid actuator according to claim 1 of the present invention includes a fluid supply source, a fluid actuator that operates by supplying / discharging pressure fluid from the fluid supply source, and the fluid supply from the fluid supply source. Fluid supply / discharge means having a switching valve that can be switched between an operating state for supplying pressure fluid to the actuator, a holding state for holding the pressure fluid in the fluid actuator, and a release state for releasing the pressure fluid in the fluid actuator; A pressure sensor for detecting a supply pressure of the fluid actuator, and switching control of the switching valve based on a target supply pressure and a detected pressure of the pressure sensor, and operation of the switching valve with respect to an output of a control signal when the fluid actuator is operated A delay amount is set based on a differential pressure between the supply pressure of the fluid supply source and the detected pressure of the pressure sensor, and the operation delay is set. Taking into account the amount and control means for switching operation of said switching valve to said holding stateIn the fluid actuator control device, the control means sets a pressure change amount accompanying a temperature change of the pressure fluid due to an adiabatic change based on a change amount of the detected pressure of the pressure sensor when the fluid actuator is operated. Taking into account the amount of pressure change, switching the switching valve to the holding state.It is a feature.
  According to a second aspect of the present invention, there is provided a fluid actuator control apparatus comprising: a fluid supply source; a fluid actuator that operates by supplying and discharging pressure fluid from the fluid supply source; and supplying pressure fluid from the fluid supply source to the fluid actuator. Fluid supply / discharge means having a switching valve that is switchable between an operating state for holding, a holding state for holding the pressure fluid in the fluid actuator, and a release state for releasing the pressure fluid in the fluid actuator, and a supply pressure of the fluid actuator And a switching control of the switching valve based on a target supply pressure and a detected pressure of the pressure sensor, and an operation delay amount of the switching valve with respect to an output of a control signal when the fluid actuator is leased. The switching is performed in consideration of the operation delay amount by setting based on the differential pressure between the supply pressure of the source and the pressure on the open side of the pressure fluid And a control means for switching the holding state to the holding state, wherein the control means, when the fluid actuator is released, outputs a pressure change amount accompanying a temperature change of the pressure fluid due to adiabatic change to the pressure. It is set based on the amount of change in the pressure detected by the sensor, and the switching valve is switched to the holding state in consideration of the amount of pressure change.
  According to a third aspect of the present invention, there is provided the fluid actuator control device according to the first or second aspect, wherein the fluid actuator is a brake cylinder for operating a brake that brakes a traveling wheel of a vehicle. It is characterized by that.
  According to a fourth aspect of the present invention, there is provided a fluid actuator control method comprising: opening a switching valve based on a target supply pressure for obtaining a predetermined operating force and a detected pressure of an operating pressure sensor; When the pressure fluid is supplied to the actuator, the operation delay amount of the switching valve with respect to the output of the control signal is set based on the differential pressure between the supply pressure of the fluid supply source and the detected pressure, and the operation delay amount is taken into consideration In the fluid actuator control method for holding the pressure fluid in the fluid actuator by closing the switching valve, when the fluid actuator is operated, the amount of pressure change accompanying the temperature change of the pressure fluid due to adiabatic change is detected. It is set based on the amount of change in pressure, and the switching valve is closed in consideration of the amount of change in pressure.
  According to a fifth aspect of the present invention, there is provided a fluid actuator control method comprising: opening a switching valve on the basis of a target supply pressure for obtaining a predetermined operating force and a detected pressure of an operating pressure sensor; At the time of leasing to release the fluid, the operation delay amount of the switching valve with respect to the output of the control signal is set based on the differential pressure between the supply pressure of the fluid supply source and the pressure side pressure of the pressure fluid, and the operation delay amount is taken into consideration In the control method of the fluid actuator for holding the pressure fluid in the fluid actuator by closing the switching valve, when the fluid actuator is released, the amount of pressure change accompanying the temperature change of the pressure fluid due to adiabatic change is detected. It is set based on the amount of change in pressure, and the switching valve is closed in consideration of the amount of change in pressure.
  A fluid actuator control method according to a sixth aspect of the present invention is the fluid actuator control method according to the fourth or fifth aspect of the present invention, wherein a brake that brakes a traveling wheel of a vehicle is operated by controlling the fluid actuator. The brake cylinder for controlling is controlled.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the embodiments described below, the fluid actuator control device and method according to the present invention are applied to a vehicle brake control device.
[0021]
FIG. 1 is a schematic configuration showing a vehicle brake control device to which a fluid actuator control device according to an embodiment of the present invention is applied, FIG. 2 is a time chart of brake operation by the brake control device of this embodiment, and FIG. 4 is a time chart of the brake release operation by the control device, FIG. 4 is a graph showing the overshoot amount of the BC pressure with respect to the differential pressure, FIG. 5 is a graph showing the pressure change of the BC pressure due to the temperature change with respect to the differential pressure, and FIG. The graph showing the open time of a solenoid valve is shown.
[0022]
In the vehicle brake control apparatus of the present embodiment, as shown in FIG. 1, a train pipe 11 is provided with a direct pipe 12 along the traveling direction, and an air reservoir as a fluid supply source is provided in the direct pipe 12. 13 and the air compressor 14 are connected. A traveling wheel 15 is attached to the lower part of the vehicle 11, and a brake device 16 for braking the traveling wheel 15 is attached. The brake device 16 supplies air to a brake cylinder (fluid pressure cylinder) 17. It is activated and released by draining.
[0023]
A brake valve 18 as a switching valve is interposed between the direct pipe 12 and the brake cylinder 17, and the brake device 16 is operated by supplying compressed air to the brake cylinder 17 by opening and closing the brake valve 18. The compressed air in the brake cylinder 17 can be discharged to release the brake device 16, and the fluid supply / discharge means is constituted by the direct pipe 12, the brake cylinder 17, and the brake valve 18.
[0024]
The brake valve 18 includes a supply solenoid valve 19 and a discharge solenoid valve 20, and the solenoid valves 19 and 20 are interposed in parallel between the direct pipe 12 and the brake cylinder 17. The supply solenoid valve 19 has a closing port 19 a that closes the supply passage 21 between the direct pipe 12 and the brake cylinder 17, and a supply port 19 b that communicates with the supply passage 21 and supplies compressed air to the brake cylinder 17. Yes. On the other hand, the discharge solenoid valve 20 has a closing port 20a for closing the discharge passage 22 from the brake cylinder 17 and a discharge port 20b for connecting the discharge passage 22 to the atmosphere and opening the compressed air in the brake cylinder 17 to the atmosphere. Have.
[0025]
A controller (control means) 23 is connected to the supply solenoid valve 19 and the discharge solenoid valve 20 of the brake valve 18 so as to be controlled to open and close. A pressure sensor 24 is mounted on the supply passage 21 and the discharge passage 22, and the pressure sensor 24 detects a supply pressure (BC pressure) to the brake cylinder 17 and outputs it to the controller 23. Further, a pressure sensor 25 is attached to the air reservoir 13, and the pressure sensor 25 detects the supply pressure (SR pressure) of the air reservoir 13 and outputs it to the controller 23. In addition, the controller 23 is supplied with a brake control signal by operating the brake operating rod 26.
[0026]
Therefore, when the driver operates the brake operating rod 26 to obtain a predetermined braking force, the brake control signal is input to the controller 23, and the controller 23 excites the supply electromagnetic valve 19 of the brake valve 18. Switching to the supply port 19b, the compressed air supplied from the air reservoir 13 to the direct through pipe 12 is supplied to the brake cylinder 17 through the supply electromagnetic valve 19 (brake operating state). At the same time, the pressure sensor 24 detects the BC pressure of the brake cylinder 17 and outputs it to the controller 23. The controller 23 opens the supply solenoid valve 19 so that the BC pressure of the brake cylinder 17 becomes the target BC pressure. Feedback control. Then, the supply solenoid valve 19 is demagnetized and switched to the closing port 19a, and the BC pressure of the brake cylinder 17 is held at the target BC pressure (brake holding state), so that the brake is applied according to the BC pressure of the brake cylinder 17. The device 16 operates, brakes the traveling wheel 15 and stops the vehicle.
[0027]
On the other hand, when the driver operates the brake operating rod 26 to loosen the braking force, the brake control signal is input to the controller 23. The controller 23 excites the discharge electromagnetic valve 20 of the brake valve 18 to discharge the discharge port. Switching to 20b, the compressed air in the brake cylinder 17 is released to the atmosphere (brake release state). At the same time, the pressure sensor 24 outputs the BC pressure of the brake cylinder 17 to the controller 23, and the controller 23 feedback-controls the opening time of the discharge solenoid valve 20 so that the BC pressure of the brake cylinder 17 becomes the target BC pressure. To do. Then, the discharge solenoid valve 20 is demagnetized and switched to the closing port 20a, and the BC pressure of the brake cylinder 17 is held at the target BC pressure (brake holding state), so that the brake is applied according to the BC pressure of the brake cylinder 17 The device 16 is activated and the braking force of the traveling wheel 15 is relaxed.
[0028]
By the way, in the brake control device having such a configuration, since the controller 23 outputs a control signal for opening and closing the electromagnetic valves 19 and 20, the actual opening and closing operation of the electromagnetic valves 19 and 20 is completed. Operation delay time occurs. Moreover, although the pressure air supplied to the brake cylinder 17 expand | swells and it is a high temperature state, with time progress, temperature will fall and BC pressure will also fall. Therefore, in the vehicle brake control device according to the present embodiment, the operation delay amount ΔP of the supply electromagnetic valve 19 is applied when the brake is operated._OVERIs set based on the differential pressure between the SR pressure and the BC pressure, and this operation delay amount ΔP_OVERIn consideration of the above, the supply solenoid valve 19 is closed to switch to the brake holding state. On the other hand, when the brake is released, the operation delay amount ΔP of the discharge solenoid valve 20_UNDERIs set based on the pressure difference between the BC pressure and the open side pressure (atmospheric pressure), and this operation delay amount ΔP_UNDERIn consideration of the above, the discharge solenoid valve 20 is closed and switched to the brake holding state.
[0029]
Further, in the vehicle brake control device of the present embodiment, the pressure change amount ΔP accompanying the temperature change of the BC pressure in the brake cylinder 17 due to adiabatic change at the time of brake operation or brake release._b, ΔP_rIs set based on the change amount of the BC pressure, and this pressure change amount ΔP_b, ΔP_rIn consideration of the above, the solenoid valves 19 and 20 are closed and switched to the brake holding state. Furthermore, the target BC pressure P₀When there is a slight error between the actual BC pressure and the actual BC pressure, the actual BC pressure and the target BC pressure P₀Pressure ΔP between the actual and BC pressure_bm, ΔP_brThe opening time t of each solenoid valve 19, 20 based on_b, T_rIs set for switching operation.
[0030]
Here, the control at the time of the brake operation and the brake release by the vehicle brake control device of the present embodiment will be specifically described.
[0031]
As described above, when a brake control signal is input to the controller 23 during brake operation, the supply electromagnetic valve 19 of the brake valve 18 is opened (ON) and compressed air is supplied to the brake cylinder 17. Then, as shown in FIG. 2, the BC pressure of the brake cylinder 17 increases, and the operation delay amount ΔP of the supply solenoid valve 19 is increased._OVER(Operation delay time t_OVER) And the pressure drop amount ΔP accompanying the temperature drop of the compressed air in the brake cylinder 17_bBC pressure P in consideration of₁When reaching, the supply solenoid valve 19 is closed (OFF). In this case, the target BC pressure is
Target BC pressure P₀= BC pressure P₁+ Operation delay amount ΔP_OVER-Pressure drop amount ΔP_b
BC pressure P₁Is the following formula
BC pressure P₁= Target BC pressure P₀-Operation delay amount ΔP_OVER+ Pressure drop ΔP_b
Can be obtained.
[0032]
Note that when the brake is operated, compressed air flows into the brake cylinder 17 at a stretch, so that the temperature in the brake cylinder 17 suddenly rises (latent heat) due to adiabatic compression. On the other hand, since the temperature of the air outside the brake cylinder 17 is naturally lower than this, the temperature inside the brake cylinder 17 decreases to the external temperature, and the pressure also decreases accordingly.
[0033]
And this operation delay amount ΔP_OVERIs set based on the differential pressure between the SR pressure and the BC pressure, as shown in FIG. That is, this operation delay amount ΔP_OVERThe larger the difference between the pressure on the supply side (air reservoir 13) and the pressure on the supply side (brake cylinder 17). Further, the pressure drop amount ΔP_bIs set based on the amount of change in the BC pressure, as shown in FIG. That is, this pressure drop amount ΔP_bIs the BC pressure P at the start of supply._aBC pressure P at the end of supply_bThe larger the difference, the greater. P_OVERIs the pressure drop ΔP_bThis is the upper limit value of the BC pressure when there is not.
[0034]
Thus, the target BC pressure P₀BC pressure P corresponding to₁And the BC pressure is P₁When the supply solenoid valve 19 is closed when the pressure reaches, the BC pressure of the brake cylinder 17 becomes the target BC pressure, and the braking force corresponding to the BC pressure of the brake cylinder 17 is exhibited. At this time, the target BC pressure P₀When there is a slight error between the actual BC pressure and the target BC pressure P₀Pressure difference between pressure and actual BC pressure (pressure adjustment amount) ΔP_bmOpening time t of supply solenoid valve 19 for_bIs set according to the current BC pressure (100, 200... 600), and the supply solenoid valve 19 is controlled to open and close. That is, the opening time t of the supply solenoid valve 19_bIs the pressure adjustment amount ΔP as shown in FIG._bmIs longer, and longer when BC pressure is lower.
[0035]
On the other hand, when the brake is released, as described above, when the brake control signal is input to the controller 23, the discharge solenoid valve 20 of the brake valve 18 is opened (ON), and the compressed air in the brake cylinder 17 is released to the atmosphere. . Then, as shown in FIG. 3, the BC pressure of the brake cylinder 17 decreases, and the operation delay amount ΔP of the discharge solenoid valve 20._UNDER(Operation delay time t_UNDER) And the pressure increase amount ΔP accompanying the temperature increase of the compressed air in the brake cylinder 17_rBC pressure P in consideration of₁When reaching, the discharge solenoid valve 20 is closed (OFF). In this case, the target BC pressure is
Target BC pressure P₀= BC pressure P₁+ Operation delay amount ΔP_UNDER-Pressure increase ΔP_r
BC pressure P₁Is the following formula
BC pressure P₁= Target BC pressure P₀-Operation delay amount ΔP_UNDER+ Pressure increase ΔP_r
Can be obtained.
[0036]
Note that when the brake is released, the compressed air in the brake cylinder 17 flows out at once, contrary to when the brake is operated, so that the temperature in the brake cylinder 17 rapidly decreases due to adiabatic expansion (latent heat). On the other hand, since the temperature of the air outside the brake cylinder 17 is naturally higher than this, the temperature inside the brake cylinder 17 rises to the outside temperature, and the pressure rises accordingly.
[0037]
And this operation delay amount ΔP_UNDERIs set based on the differential pressure between the BC pressure and the atmospheric pressure, as shown in FIG. That is, this operation delay amount ΔP_UNDERIs larger if the difference between the pressure on the discharge side (brake cylinder 17) and the pressure on the discharge side (atmosphere) is large. Further, the pressure drop amount ΔP_rIs set based on the amount of change in the BC pressure, as shown in FIG. That is, this pressure drop amount ΔP_rIs the BC pressure P at the start of supply._aBC pressure P at the end of supply_bThe larger the difference between the pressure drop and the pressure drop ΔP when the brake is activated to discharge to the atmosphere._bSmaller.
[0038]
Thus, the target BC pressure P₀BC pressure P corresponding to₁And the BC pressure is P₁When the discharge solenoid valve 20 is closed at the time of reaching, the BC pressure of the brake cylinder 17 becomes the target BC pressure, and the braking force corresponding to the BC pressure of the brake cylinder 17 is exhibited. At this time, the target BC pressure P₀When there is a slight error between the actual BC pressure and the target BC pressure P₀Pressure difference between pressure and actual BC pressure (pressure adjustment amount) ΔP_rmOpening time t of the discharge solenoid valve 20 with respect to_rIs set according to the current BC pressure (100, 200... 600), and the solenoid valve 20 for discharge is controlled to open and close. That is, the opening time t of the discharge solenoid valve 20_rAs shown in FIG. 6B, the pressure adjustment amount ΔP_rmIs shorter, the longer it is, the lower the BC pressure.
[0039]
Thus, when the brake is operated or released, the operation delay amount ΔP of each solenoid valve 19, 20 is set._OVER, ΔP_UNDERAnd the pressure change amount ΔP accompanying the temperature change of the compressed air in the brake cylinder 17 due to the adiabatic change._b, ΔP_rBC pressure P in consideration of₁By closing the solenoid valves 19 and 20 when reaching, the BC pressure of the brake cylinder 17 can be set to the target BC pressure P by one opening and closing operation of the solenoid valves 19 and 20.₀Can be easily controlled. Also, here the target BC pressure P₀If there is a minute error between the pressure and the BC pressure, the differential pressure (pressure adjustment amount) ΔP_bm, ΔP_rmOpening time t according to_b, T_rOnly by controlling the opening and closing of the solenoid valves 19 and 20, the BC pressure is set to the target BC pressure P.₀Can be controlled with high accuracy.
[0040]
In the above-described embodiment, the fluid actuator control device of the present invention is applied to a vehicle brake control device, but the present invention is not limited to this device. For example, in an input air pressure control device for a mechanical governor in a ship, the engine speed can be controlled with high accuracy by controlling the air pressure. Further, in a general machine used in the manufacturing process, highly accurate positioning can be performed by controlling the fluid pressure of the actuator.
[0041]
【The invention's effect】
  As described above in detail in the embodiment, according to the fluid actuator control device of the invention of claim 1, the fluid supply source, the fluid actuator that operates by supplying and discharging the pressure fluid from the fluid supply source, and the operating state Fluid supply / discharge means having a switching valve that can be switched between a holding state and a release state, a pressure sensor that detects the supply pressure of the fluid actuator, and a switching actuator that controls the switching of the switching valve based on the target supply pressure and the detected pressure. The operation delay amount of the switching valve relative to the output of the control signal is set based on the differential pressure between the supply pressure of the fluid supply source and the detected pressure of the pressure sensor, and the switching valve is held in consideration of this operation delay amount. Since the control means for switching operation is provided, the switching valve is switched to the holding state in consideration of the operation delay amount of the switching valve when the fluid actuator is operated. With one switching operation of the switching valve, the supply pressure of the fluid actuator can be easily controlled to the target supply pressure in a short time, and the operability can be improved and the durability can be improved and the service life can be improved. Can be extended.
  According to the fluid actuator control device of the first aspect of the present invention, when the control means operates the fluid actuator, the amount of change in pressure accompanying the temperature change of the pressure fluid due to the adiabatic change is calculated based on the amount of change in the detected pressure of the pressure sensor. The switching valve is switched to the holding state in consideration of this amount of pressure change, so that the amount of pressure change accompanying the temperature change of the internal compressed air is taken into account when the fluid actuator is activated or released. By switching the switching valve to the holding state, the supply pressure of the fluid actuator can be easily controlled to the target supply pressure in a short time by switching the switching valve once, and the operability can be improved. At the same time, the durability can be improved and the life can be extended.
[0042]
According to the fluid actuator control device of the second aspect of the present invention, it is possible to switch between a fluid supply source, a fluid actuator that operates by supplying and discharging pressure fluid from the fluid supply source, and an operation state, a holding state, and a release state. Fluid supply / discharge means having a switching valve, a pressure sensor for detecting the supply pressure of the fluid actuator, and switching control of the switching valve based on the target supply pressure and the detected pressure, and switching to the output of the control signal when the fluid actuator is leased Control means for setting an operation delay amount of the valve based on a differential pressure between a supply pressure of a fluid supply source and a pressure fluid release side pressure, and switching the switching valve to a holding state in consideration of the operation delay amount; Since the fluid actuator is released, the switching valve is switched to the holding state in consideration of the operation delay amount of the switching valve, so that the switching valve is switched once. Can be easily controlled in a short period of time the supply pressure of the fluid actuator to the target supply pressure, it is possible to extend the life and improve durability it is possible to improve operability.
[0043]
  Claims2According to the fluid actuator control device of the invention, the control means is the fluid actuator.NoAt the time of leasing, the amount of pressure change due to the temperature change of the pressure fluid due to adiabatic change is set based on the amount of change in pressure detected by the pressure sensor, and the switching valve is switched to the holding state in consideration of this amount of pressure change. Therefore, when the fluid actuator is actuated or released, the switching valve is switched to the holding state in consideration of the pressure change amount accompanying the temperature change of the internal compressed air, so that the fluid actuator can be switched by one switching operation. The supply pressure can be easily controlled to the target supply pressure in a short time, and the operability can be improved and the durability can be improved and the life can be extended.
[0045]
  Claims3According to the fluid actuator control device of the invention, since the fluid actuator is a brake cylinder for actuating a brake for braking the traveling wheel of the vehicle, the braking force of the vehicle can be controlled with high accuracy in a short time. And operability can be improved.
[0046]
  Claims4According to the fluid actuator control method of the invention, the pressure is applied from the fluid supply source to the fluid actuator by opening the switching valve based on the target supply pressure for obtaining a predetermined operating force and the detected pressure of the operating pressure sensor. During the operation to supply fluid, the operation delay amount of the switching valve with respect to the output of the control signal is set based on the differential pressure between the supply pressure of the fluid supply source and the detected pressure, and the switching valve is closed in consideration of the operation delay amount. Since the pressure fluid in the fluid actuator is held, the switching valve is switched to the holding state in consideration of the operation delay amount of the switching valve when the fluid actuator is operated, so that the switching valve is switched once. Thus, the supply pressure of the fluid actuator can be easily controlled to the target supply pressure in a short time.
  According to the fluid actuator control method of the fourth aspect of the present invention, when the fluid actuator is operated, a pressure change amount accompanying a temperature change of the pressure fluid due to the adiabatic change is set based on the change amount of the detected pressure. Since the switching valve is closed in consideration of the amount, when the fluid actuator is activated or released, the switching valve is switched to the holding state in consideration of the amount of pressure change accompanying the temperature change of the internal compressed air. It is possible to easily control the supply pressure of the fluid actuator to the target supply pressure in a short time by switching the switching valve once.
[0047]
  Claims5According to the fluid actuator control method of the invention, the pressure fluid in the fluid actuator is released by opening the switching valve based on the target supply pressure for obtaining a predetermined operating force and the detected pressure of the operating pressure sensor. At the time of leasing, the operation delay amount of the switching valve with respect to the output of the control signal is set based on the differential pressure between the supply pressure of the fluid supply source and the pressure fluid open side pressure, and the switching valve is closed in consideration of the operation delay amount Since the pressure fluid in the fluid actuator is held, when the fluid actuator is leased, the switching valve is switched to the holding state in consideration of the operation delay amount of the switching valve to switch the switching valve once. By operation, the supply pressure of the fluid actuator can be easily controlled to the target supply pressure in a short time.
[0048]
  Claims5According to the fluid actuator control method of the invention, the fluid actuatorNoAt the time of leasing, the pressure change amount due to the temperature change of the pressure fluid due to the adiabatic change was set based on the change amount of the detected pressure, and the switching valve was closed in consideration of the pressure change amount. When the release valve is released or released, the supply pressure of the fluid actuator is changed to the target supply pressure by a single changeover operation of the changeover valve. It can be easily controlled in a short time.
[0050]
  Claims6According to the fluid actuator control method of the invention, since the brake cylinder for operating the brake for braking the traveling wheel of the vehicle is controlled by controlling the fluid actuator, the braking force of the vehicle is reduced for a short time. Can be controlled with high accuracy, and operability can be improved.
[Brief description of the drawings]
FIG. 1 is a schematic configuration diagram illustrating a vehicle brake control device to which a fluid actuator control device according to an embodiment of the present invention is applied.
FIG. 2 is a time chart of a brake operation by the brake control device of the present embodiment.
FIG. 3 is a time chart of a brake release operation by the brake control device.
FIG. 4 is a graph showing an excess amount of BC pressure with respect to differential pressure.
FIG. 5 is a graph showing a change in BC pressure with respect to a differential pressure.
FIG. 6 is a graph showing the opening time of the electromagnetic valve with respect to the pressure adjustment amount.
FIG. 7 is a time chart of a brake operation by a conventional brake control device.
[Explanation of symbols]
11 Vehicle
12 Direct pipe
13 Air reservoir (fluid supply source)
14 Air compressor
16 Brake device
17 Brake cylinder (fluid actuator)
18 Brake valve (switching valve)
19 Solenoid valve for supply
20 Discharge solenoid valve
23 Controller (control means)
24,25 Pressure sensor

Claims

A fluid supply source, a fluid actuator that operates by supplying and discharging pressure fluid from the fluid supply source, an operating state for supplying pressure fluid from the fluid supply source to the fluid actuator, and a holding for holding the pressure fluid in the fluid actuator A fluid supply / discharge means having a switching valve capable of switching between a state and a release state in which the pressure fluid in the fluid actuator is released, a pressure sensor for detecting a supply pressure of the fluid actuator, a target supply pressure, and a pressure sensor The switching valve is controlled to switch based on the detected pressure, and the operation delay amount of the switching valve with respect to the output of the control signal when the fluid actuator is operated is determined as a differential pressure between the supply pressure of the fluid supply source and the detected pressure of the pressure sensor. flow body and control means for switching operation of said switching valve to said holding state by considering the operation delay amount set based on The control device actuator,
The control means sets a pressure change amount accompanying a temperature change of the pressure fluid due to an adiabatic change when the fluid actuator is operated based on a change amount of the pressure detected by the pressure sensor, and considers the pressure change amount. A control device for a fluid actuator, wherein the switching valve is switched to the holding state.

A fluid supply source, a fluid actuator that operates by supplying and discharging pressure fluid from the fluid supply source, an operating state for supplying pressure fluid from the fluid supply source to the fluid actuator, and a holding for holding the pressure fluid in the fluid actuator A fluid supply / discharge means having a switching valve capable of switching between a state and a release state in which the pressure fluid in the fluid actuator is released, a pressure sensor for detecting a supply pressure of the fluid actuator, a target supply pressure, and a pressure sensor The switching valve is controlled to be switched based on the detected pressure, and the operation delay amount of the switching valve with respect to the output of the control signal when the fluid actuator is leased is determined as a differential pressure between the supply pressure of the fluid supply source and the open pressure of the pressure fluid. flow body a which sets equipped with a control means for switching operation of the switching valve in consideration of the operation delay amount to the holding state based on The control device Chueta,
The control means sets a pressure change amount accompanying a temperature change of the pressure fluid due to an adiabatic change when the fluid actuator is released based on a change amount of a pressure detected by the pressure sensor, and takes the pressure change amount into consideration. A control device for the fluid actuator, wherein the switching valve is switched to the holding state.

3. The fluid actuator control device according to claim 1 , wherein the fluid actuator is a brake cylinder for operating a brake that brakes a traveling wheel of a vehicle.

By opening the switching valve based on the target supply pressure for obtaining a predetermined operating force and the detected pressure of the operating pressure sensor, the control signal is output when the pressure fluid is supplied from the fluid supply source to the fluid actuator. An operation delay amount of the switching valve is set based on a differential pressure between a supply pressure of the fluid supply source and the detected pressure, and the switching valve is closed in consideration of the operation delay amount, and the pressure in the fluid actuator is set. the control method of the flow body actuator for holding the fluid,
When the fluid actuator is operated , a pressure change amount associated with a temperature change of the pressure fluid due to adiabatic change is set based on the change amount of the detected pressure, and the switching valve is closed in consideration of the pressure change amount. A method for controlling a fluid actuator.

The switching valve with respect to the output of the control signal at the time of leasing to release the pressure fluid in the fluid actuator by opening the switching valve based on the target supply pressure for obtaining a predetermined operating force and the detected pressure of the operating pressure sensor. Is set based on the differential pressure between the supply pressure of the fluid supply source and the pressure fluid release side pressure, and the switching valve is closed in consideration of the operation delay amount, and the pressure in the fluid actuator is set. the control method of the flow body actuator for holding the fluid,
When the fluid actuator is released , a pressure change amount associated with a temperature change of the pressure fluid due to an adiabatic change is set based on the change amount of the detected pressure, and the switching valve is closed in consideration of the pressure change amount. A method of controlling a fluid actuator.

6. The fluid actuator control method according to claim 4 , wherein a brake cylinder for operating a brake that brakes a traveling wheel of a vehicle is controlled by controlling the fluid actuator. Method.