JP4882308B2 - Vehicle control system - Google Patents

Description

  The present invention relates to a vehicle control system for track-type vehicles, and more particularly, to a vehicle control technology for causing a plurality of track-type vehicles to travel in cooperation when connected.

  It is well known to drive a plurality of vehicles that can travel independently on a railroad track or along a guide rail. Generally, torque control is performed on a track-type vehicle by a driver's notch operation, and cooperative control is not performed between a plurality of vehicles even when a plurality of vehicles capable of traveling independently are connected.

  For this reason, when a plurality of track-type vehicles are connected to each other and a load fluctuates between the plurality of track-type vehicles, a tensile force is received forward or backward from the connected vehicles. Due to this tensile force, a large impact is generated between the vehicles, and load movement is generated between the wheels of the plurality of vehicles. In addition, since the torque of the electric motor is controlled so as to be the same in each of the plurality of vehicles, the wheel with a light load is lifted off the rail and slipping occurs.

  Therefore, techniques for preventing such wheel slipping have been proposed. For example, Patent Literature 1 describes a power control device for a pneumatic vehicle that runs on a railroad track with an engine and can be connected to a train.

  FIG. 3 is a schematic diagram showing a conventional vehicle control system described in Patent Document 1. As shown in FIG. As shown in FIG. 3, the vehicle control system described in Patent Document 1 operates the electric motor 107 of the train 101 on a lead line connecting the operation control device 103 of the train 101 and the operation control device 105 of the diesel car 102. Is connected to a power control device 104 that controls the operation of the diesel engine 108 of the pneumatic vehicle 102. Notch command signals from the driving control device 103 of the train 101 or the driving control device 105 of the pneumatic vehicle 102 are transmitted to the power control device 104 of the train 101 and the power control device 106 of the pneumatic vehicle 102, respectively. Further, the power control device 106 of the pneumatic vehicle 102 detects the traveling speed and the vehicle body weight of the pneumatic vehicle 102, and the engine torque of the pneumatic vehicle 102 is determined based on the notch command signal from the operation control device 103, the traveling speed of the pneumatic vehicle 102, and the vehicle body weight. The output control of the engine 108 of the diesel car 102 is controlled so that the characteristic matches the electric motor characteristic of the train 101.

  There is also known a power control device that prevents the wheels from idling by constantly controlling the ratio between the axial weight of each wheel shaft of the vehicle and the torque of the electric motor that drives each wheel. FIG. 4 is a diagram showing a conventional vehicle control system that controls the ratio between the axle load and torque at a constant level. As shown in FIG. 4, this vehicle control system is provided with a load meter 112 on each wheel axle of the vehicle, measures the axle weight of each wheel axle, and lowers the torque of the motor that drives the wheel axle with a light axle weight. Prevent idling of wheels with light axle load.

A close contact coupler is also known that reduces the impact caused by the tensile force from the coupler by eliminating a gap in the coupling surface of the coupler.
Japanese Patent Laid-Open No. 11-310126

  However, the vehicle control system described in Patent Document 1 combines the characteristics of power control devices having different power performances, and does not perform control for active cooperative traveling.

  Further, the conventional power control device and the close contact coupler shown in FIG. 4 cannot prevent the wheels from being lifted due to torque unbalance between the connected vehicles.

  In other words, in the conventional vehicle control system, each of a plurality of connected vehicles cannot be driven in a coordinated manner. , The adhesive force of the wheels of each vehicle changes, causing idling.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a vehicle control system capable of running each of a plurality of track-type vehicles in a coordinated manner when the plurality of track-type vehicles capable of traveling independently are connected using an electric motor as a drive source. It is in.

In order to solve the above-described problem, a vehicle control system according to the present invention is a vehicle control system for driving a plurality of track-type vehicles that can travel independently using an electric motor as a drive source, and that are connected in a row. Each of the plurality of track-type vehicles is provided in a one-to-one correspondence, provided in each of a plurality of motor control units that control the motor, and a plurality of connection portions that connect the plurality of track-type vehicles, A plurality of sensors for detecting a compressive force and a tensile force generated in each of the connecting portions; and each of the plurality of track-type vehicles, and operates when the own track-type vehicle is the head vehicle, and the head vehicle An overall control unit that feedforward controls the motor control units provided in all the remaining track-type vehicles except for, and the overall control unit includes a speed command value given to the leading vehicle and the leading vehicle Traveling A torque command value to be given to the motor control unit provided in all the remaining track-type vehicles except the leading vehicle based on the degree and the weight of the leading vehicle, Output to an electric motor control unit provided in all track-type vehicles, and the electric motor control unit provided in the leading vehicle of the plurality of track-type vehicles controls the rotation speed of the electric motor and excludes the leading vehicle The electric motor control units provided in all the remaining track-type vehicles include a speed command value given to the head vehicle, a traveling speed of the head vehicle, and a speed of the head vehicle determined by the overall control unit of the head vehicle. in accordance with the torque command value based on the weight, substantially the detection value output from the sensor provided in the connecting portion connecting the orbital vehicle to position its orbital vehicle in front of its own orbital vehicle Characterized by torque control the electric motor so as to.

  According to the vehicle control system of the present invention, the plurality of motor control units are provided in a one-to-one correspondence with each of the plurality of track-type vehicles, and the plurality of sensors control the plurality of track-type vehicles. Provided in each of a plurality of connecting parts to be connected, detects a compressive force and a tensile force generated in each of the plurality of connecting parts, and a motor control part provided in a leading vehicle among the plurality of track-type vehicles rotates the motor. The motor control unit provided for all the remaining track-type vehicles except the leading vehicle is provided at the connecting part that connects the own track-type vehicle with the track-type vehicle located in front of the own track-type vehicle. Since the torque of the electric motor is controlled so that the detection value output from the obtained sensor becomes substantially zero, each of the plurality of track-type vehicles can be run in a coordinated manner.

  Hereinafter, a vehicle control system according to an embodiment of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a schematic diagram illustrating a vehicle control system according to a first embodiment of the present invention, which is an example in which three track-type vehicles 1 to 3 are connected in a row and run. The track type vehicles 1 to 3 are track type vehicles that can travel independently using the electric motors 13, 23, and 33 as drive sources, respectively.

  As shown in FIG. 1, the vehicle control system according to the first embodiment includes an overall control unit 11, motor control units 12, 22, 32, a sensor 4, and a sensor 5. The overall control unit 11 and the motor control units 12, 22, and 32 are connected by a network such as CAN (Controller Area Network) or Ethernet (registered trademark), for example. The overall control unit 11 is also provided in the track type vehicles 2 and 3. However, since the overall control unit 11 operates only in the leading vehicle, the overall control unit 11 is provided in the track type vehicles 2 and 3 that are subsequent vehicles. The overall control unit 11 is not shown.

  The sensor 4 is provided in a connecting portion that connects the track-type vehicle 1 and the track-type vehicle 2, detects a compressive force and a tensile force generated in the connecting portion, and detects a detection value corresponding to the detected compressive force and the tensile force. Output to the motor controller 22. The sensor 5 is provided in a connecting portion that connects the track-type vehicle 2 and the track-type vehicle 3, detects a compressive force and a tensile force generated in the connecting portion, and detects a detection value corresponding to the detected compressive force and the tensile force. Output to the motor control unit 32.

  The motor control units 12, 22, and 32 are provided in the track type vehicles 1, 2, and 3, respectively, and control the motors 13, 23, and 33, respectively. The motor control unit 12 provided in the leading track-type vehicle 1 controls the rotation speed of the motor 13. The electric motor control unit 22 provided in the following track-type vehicle 2 controls the torque of the electric motor 23 so that the detection value output from the sensor 4 becomes substantially zero. Similarly, the motor control unit 32 provided in the following track-type vehicle 3 torque-controls the motor 33 so that the detection value output from the sensor 5 becomes substantially zero.

  The overall control unit 11 operates when its own tracked vehicle is the leading vehicle, and feed-forward controls the motor control units 22 and 32 provided in the following tracked vehicles 2 and 3. That is, the overall control unit 11 outputs a torque command value (master torque command value) as a base in advance to the motor control units 22 and 32 of the following track type vehicles 2 and 3. The overall control unit 11 outputs a speed command value to the electric motor control unit 12 of the track-type vehicle 1 and performs speed control by rotational speed control. The overall control unit 11 outputs a control start / stop command to each of the track-type vehicles 1 to 3.

  FIG. 2 is a block diagram illustrating an example of an internal functional configuration of the vehicle control system according to the first embodiment. As shown in FIG. 2, the overall control unit 11 includes a notch 11a and a master torque command unit 11b. The motor control unit 12 includes a rotation speed control unit 12a, a torque control unit 12b, a switching unit 12c, and an inverter 12d.

  Similarly, the overall control unit 21 includes a notch 21a and a master torque command unit 21b. The electric motor control unit 22 includes a rotation speed control unit 22a, a torque control unit 22b, a switching unit 22c, and an inverter 22d.

  As described above, the configuration provided in the leading track-type vehicle 1 and the configuration provided in the following track-type vehicle 2 are the same. However, as described above, the overall control unit determines that the own vehicle is the leading vehicle. Therefore, the overall control unit 21 provided in the following track-type vehicle 2 stops operating.

  Further, as shown in FIG. 2, the motor control unit 12 of the leading track-type vehicle 1 is connected to a rotation speed control unit 12a and an inverter 12d by a switching unit 12c, and the rotation speed for controlling the rotation speed of the motor 13 is controlled. It is in control mode. The electric motor control unit 22 of the following track type vehicle 2 is connected to the torque control unit 22b and the inverter 22d by the switching unit 22c, and is in a torque control mode in which the electric motor 23 is torque controlled. That is, the motor control units 12 and 22 use the rotation speed control mode when the own vehicle is the leading vehicle, and use the torque control mode when the own vehicle is the succeeding vehicle.

  The notch 11a outputs a speed command value (notch command value) to the rotation speed control unit 12a and the master torque command unit 11b by the operation of the driver.

  The master torque command unit 11 b detects the traveling speed of the track-type vehicle 1 based on the rotation speed of the electric motor 13 detected by the encoder 14. The master torque command unit 11b predicts the load applied to the track type vehicle 1 based on the travel speed, the speed command value from the notch 11a, and the vehicle body weight of the track type vehicle 1 detected by the weight detection unit 15. The base master torque command value is determined. The master torque command unit 11b outputs a master torque command value to the torque control unit 22b of the subsequent track-type vehicle 2 and feed-forward controls the motor control unit 22 provided in the subsequent track-type vehicle 2.

  The rotation speed control unit 12a outputs a rotation speed command to the inverter 12d based on the speed command value from the notch 11a and the rotation speed of the electric motor 13 detected by the encoder 14. The inverter 12d controls the rotational speed of the electric motor 13 based on the rotational speed command from the rotational speed control unit 12a.

  The torque control unit 22b outputs a torque command value to the inverter 22d based on the master torque command value output from the master torque command unit 11b and the detection value output from the sensor 4. That is, when the detection value output from the sensor 4 is a value indicating that the compression force has been detected so that the detection value output from the sensor 4 becomes substantially zero, the torque command value output to the inverter 22d is The torque of the electric motor 23 is lowered. When the detection value output from the sensor 4 is a value indicating that a tensile force has been detected, the torque command value output to the inverter 22d is increased, and the torque of the electric motor 23 is increased.

  As described above, in the vehicle control system according to the first embodiment, the plurality of motor control units 12, 22, and 32 are provided in a one-to-one correspondence to the plurality of track-type vehicles 1 to 3, respectively, and control the motor. The plurality of sensors 4 and 5 are provided in each of a plurality of connecting portions that connect the plurality of track type vehicles 1 to 3 and detect compressive force and tensile force generated in each of the plurality of connecting portions. Then, the motor control unit 12 provided in the first track-type vehicle 1 among the plurality of track-type vehicles 1 to 3 controls the number of revolutions of the motor 13, and all the other track-type vehicles 2 and 3 except the first vehicle are controlled. The motor control units 22 and 32 provided in the vehicle are substantially zero in detection value output from a sensor provided in a connecting part that connects the own tracked vehicle to the tracked vehicle positioned in front of the tracked vehicle. The torque of the motor is controlled so that

  That is, the following track type vehicles 2 and 3 are detected to indicate that the sensor has detected the compressive force so that the compressive force and the tensile force generated at the connecting portion with the track type vehicle connected forward are substantially zero. When the value is output, the torque of the electric motor is decreased, and when the detection value indicating that the sensor detects the tensile force is output, the torque of the electric motor is increased. Accordingly, each of the plurality of track-type vehicles 1 to 3 is in a state similar to that of traveling independently, and each of the plurality of track-type vehicles 1 to 3 can be caused to travel in a coordinated manner.

  Also, by causing each of the plurality of track-type vehicles 1 to 3 to travel in a coordinated manner, it is possible to suppress the impact (load fluctuation) applied to each of the plurality of track-type vehicles 1 to 3 during acceleration / deceleration and the like. It is possible to eliminate the unbalance of adhesive force caused by. For this reason, idling of the wheel can be prevented, energy transmission loss due to idling of the wheel is minimized, efficient operation is possible, and an energy saving effect is obtained. Moreover, it can prevent giving a passenger discomfort.

  The overall control unit 11 operates when the own tracked vehicle is the leading vehicle and feeds the motor control units 22 and 32 provided in all the remaining tracked vehicles 2 and 3 except the leading vehicle. -Do control.

  That is, the overall control unit 11 provided in the leading track-type vehicle 1 determines a master torque command value serving as a base based on the speed command value given to the leading vehicle, the traveling speed and the weight of the track-type vehicle 1. The master torque command value is output to the motor control units 22 and 32 provided in the following track type vehicles 2 and 3. Therefore, the followability of the following track type vehicles 2 and 3 can be improved. For this reason, even when the speed of the leading vehicle suddenly changes due to sudden acceleration / deceleration or the like, fluctuations in the load applied to each of the track-type vehicles 1 to 3 can be suppressed, and idling of the wheels can be prevented. At the same time, it can prevent passengers from feeling uncomfortable.

  The present invention is particularly effective in a traffic system having a large driving torque with respect to weight.

  In this embodiment, the case where there are two tracked vehicles and three tracked vehicles connected is shown, but the tracked vehicles connected are not limited to this, and if there are a plurality of tracked vehicles good. Also in this case, each of the plurality of track type vehicles is provided with a general control unit and a motor control unit, and the motor control unit provided in the leading vehicle controls the rotation speed of the motor, and all the remaining track type vehicles except the leading vehicle The electric motor control unit provided in the vehicle has a detection value output from a sensor provided in a connection unit that connects the own tracked vehicle with the tracked vehicle positioned in front of the tracked vehicle becomes substantially zero. Thus, the motor is torque controlled.

  Further, in this embodiment, the speed command value of the leading vehicle is given by the notch 11a. However, instead of the notch 11a, a device such as an automatic train operation device (ATO: Automatic Train Operation) is provided. The speed command value of the leading vehicle may be given.

  The present invention can be used as a vehicle control system in which a plurality of track-type vehicles are connected and run.

It is the schematic of the vehicle control system which concerns on Example 1 of this invention. It is a block diagram which shows an example of the function structure inside the vehicle control system which concerns on Example 1 of this invention. It is a figure which shows the conventional vehicle control system. It is a figure which shows the other conventional vehicle control system.

Explanation of symbols

1, 2, 3 ... track type vehicles 4, 5 ... sensor 11, 21 ... general control unit 12, 22, 32 ... motor control unit 13, 23, 33 ... motor 11a, 21a ... notch 11b, 21b ... master torque command unit 12a, 22a ... rotational speed control unit 12b, 22b ... torque control unit 12c, 22c ... switching unit 12d, 22d ... inverter 14, 24 ... encoder 15, 25 ... weight detection unit 101, 110, 111 ... train 102 ... diesel diesel train 103 , 105: Operation control devices 104, 106 ... Power control device 107 ... Electric motor 108 ... Engine 109 ... Transmission 112 ... Load meter

Claims (1)

A vehicle control system for running a plurality of track-type vehicles that can travel independently using an electric motor as a drive source, connected in a row,
A plurality of motor control units that are provided in a one-to-one correspondence with each of the plurality of track-type vehicles, and that control the motor;
A plurality of sensors that are provided in each of a plurality of connecting portions that connect the plurality of track-type vehicles, and that detect a compressive force and a tensile force generated in each of the plurality of connecting portions;
An electric motor control unit provided in each of the plurality of track-type vehicles and operating when the track-type vehicle of the vehicle is the head vehicle, and provided in all of the remaining track-type vehicles except the head vehicle. -An overall control unit that controls
With
The overall control unit is configured to control an electric motor provided in all remaining track-type vehicles except the leading vehicle based on a speed command value given to the leading vehicle, a traveling speed of the leading vehicle, and a weight of the leading vehicle. Determine the torque command value to be given to the part, and output this torque command value to the motor control unit provided in all the remaining track-type vehicles except the leading vehicle,
The electric motor control unit provided in the leading vehicle of the plurality of track-type vehicles controls the rotation speed of the electric motor,
The electric motor control unit provided in all the remaining track-type vehicles except the head vehicle has a speed command value given to the head vehicle and a traveling speed of the head vehicle determined by the overall control unit of the head vehicle. And the torque command value based on the weight of the leading vehicle, and output from the sensor provided at the connecting portion that connects the own tracked vehicle to the tracked vehicle positioned in front of the tracked vehicle. The vehicle control system characterized in that the electric motor is torque-controlled so that the detected value becomes substantially zero.

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