JP7613115B2 - Contact state estimation support system, contact state estimation support device, contact state estimation device - Google Patents

Description

This disclosure relates to a contact state estimation support system, etc.

For example, a technology has been disclosed in which a vibrator that comes into contact with the slider of an actual pantograph is controlled to behave as if it were an overhead line, in accordance with the motion state of the overhead line simulated according to a mechanical model of the overhead line, thereby simulating the running of the pantograph (see Patent Document 1).

In Patent Document 1, a mechanical model is used to simulate the operating state of the pantograph from the output of a contact force measuring device that measures the contact force between the vibrator and the pantograph, and the vibrator is controlled in accordance with this motion state to achieve a running simulation.

JP 2015-102522 A

However, in actual running conditions, the contact point between the pantograph's slider and the overhead wire corresponds to a high-voltage section with an extremely high voltage, making it difficult to measure the contact state between the pantograph and the overhead wire in actual running conditions. Therefore, it is possible to simulate the contact state between the pantograph and the overhead wire (e.g., contact force, contact strain, etc.) using a mechanical model, etc. In addition, when using a running simulation incorporating an actual device, it is also possible to actually measure the contact state, such as the contact force, for example.

However, there may be errors between the virtual running conditions represented by the simulation and the actual running conditions. Therefore, there may be problems in terms of accuracy when estimating the contact state between the pantograph and the overhead wires under actual running conditions based on simulation alone.

In view of the above problems, the objective of the present invention is to provide a technology that can estimate with higher accuracy the contact state between the pantograph slider and the overhead wire during actual running conditions.

In order to achieve the above object, in one embodiment of the present disclosure,
A vibration unit that acts on the sliding plate of the experimental pantograph;
a first operating state measurement unit that measures an operating state of the experimental pantograph in a virtual running state caused by the action of the vibration unit;
a contact state measuring unit for measuring a contact state between the pantograph slider and a simulated member of an overhead line for the experiment in the virtual running state;
a first stress analysis simulator unit that performs stress analysis on the pantograph using data on an operating state of the pantograph as an input condition, and simulates a contact state between a slider of the pantograph and an overhead wire;
a correlation estimation unit configured to estimate a correlation between a measurement result of a contact state between the pantograph slider and a simulated member of an overhead line for an experiment output by the contact state measurement unit and a simulation result of the contact state between the pantograph slider and a simulated member of an overhead line output by the first stress analysis simulator unit, using as input conditions an output of the first operating state measurement unit and a measurement result of a contact state between the pantograph slider and a simulated member of an overhead line output by the contact state measurement unit.
A contact state estimation support system is provided.

In another embodiment of the present disclosure,
a first stress analysis simulator unit that performs stress analysis on the pantograph using data on an operating state of the pantograph as an input condition, and simulates a contact state between a slider of the pantograph and an overhead wire;
a correlation estimation unit which estimates a correlation between a simulation result of a contact state between the pantograph slider and an overhead line outputted by the first stress analysis simulator unit using a measurement result of a contact state between the pantograph slider and an overhead line simulation member for an experiment in a virtual running state and a measurement result of an operating state of the pantograph for an experiment in the virtual running state as input conditions.
A contact state estimation support device is provided.

In still another embodiment of the present disclosure,
A contact state estimation device based on the contact state estimation support device,
a second stress analysis simulator unit of the same type as the first stress analysis simulator unit;
a contact state estimation unit that estimates an actual contact state between the pantograph slider and the overhead wire in the running state of the actual train based on a simulation result of a contact state between the pantograph slider and the overhead wire output by the second stress analysis simulator unit using a measurement result of an operating state of the pantograph in the running state of an actual train as an input condition, and based on the correlation estimated by the correlation estimation unit.
A contact state estimation device is provided.

According to the above-described embodiment, the contact state between the pantograph slider and the overhead wire during actual running conditions can be estimated with higher accuracy.

FIG. 1 illustrates an example of a configuration of a contact state estimation support system. FIG. 1 is a diagram showing an example of an experimental apparatus. FIG. 2 is a diagram illustrating an example of a pantograph. FIG. 2 illustrates an example of a hardware configuration of a calculation device. FIG. 11 is a diagram illustrating an example of correlation data. FIG. 11 is a diagram illustrating another example of correlation data.

The following describes the embodiment with reference to the drawings.

[Outline of Contact State Estimation Support System]
First, an overview of a contact state estimation support system 1 will be described with reference to FIG.

Figure 1 shows an example of the configuration of the contact state estimation support system 1.

The contact state estimation support system 1 includes an experimental device 100, a railway vehicle 200, and a computing device 300.

The contact state estimation support system 1 uses a computing device 300 to provide support for estimating the contact state (e.g., contact force) between the slider 50 of the pantograph 220 and the overhead wire OW during the actual running state of the railway vehicle 200.

The experimental device 100 uses a vibrator 120 to vibrate the experimental pantograph 110 up and down, experimentally realizing (reproducing) the up and down displacement movement of the pantograph 110 that occurs when the contact plate comes into contact with the overhead wire in a virtual running state.

The experimental device 100 also measures the operating state of the pantograph 110 in a virtual running state, and the contact state between the slider and a simulated overhead line component (jig JG, described below), and outputs the measurement results.

The railway vehicle 200 (an example of an actual vehicle) has a pantograph 220 of the same type (same specifications) as the pantograph 110 on the top surface of the vehicle body 210. The railway vehicle 200 measures the operating state of the pantograph 220 during actual running conditions and outputs the measurement results.

As described above, the calculation device 300 provides assistance for estimating the contact state (e.g., contact force) between the slider 50 of the pantograph 220 and the overhead wire OW in the actual running state of the railway vehicle 200. Specifically, the calculation device 300 generates assistance data for estimating the contact state between the slider 50 of the pantograph 220 and the overhead wire OW in the actual running state based on the operating state of the pantograph 110 in a virtual running state and the measurement results of the contact state between the slider and the jig JG.

The calculation device 300 also uses the assistance data to estimate the contact state between the pantograph 220's slider 50 and the overhead wire OW based on the measurement results of the operating state of the railway vehicle 200 when it is actually running.

[Details of the contact state estimation support system]
Next, the contact state estimation support system 1 will be described in detail with reference to FIGS. 2 to 6 in addition to FIG.

Figure 2 is a diagram showing an example of the experimental device 100. Figure 3 is a diagram showing an example of the pantograph 220. Figure 4 is a diagram showing an example of the hardware configuration of the calculation device 300. Figures 5 and 6 are diagrams explaining an example and other examples of the correlation data 335.

2, the direction in which the railcar can travel when the pantograph 110 is mounted on the railcar is defined as the forward/rearward direction, and for convenience, the direction in which the lower frame of the pantograph 110 tilts is defined as the forward direction of the railcar, and the direction in which the upper frame of the pantograph tilts is defined as the rearward direction. Similarly, in FIG. 3, the direction in which the railcar 200 can travel is defined as the forward/rearward direction, and for convenience, the direction in which the lower frame 20 of the pantograph 220 tilts is defined as the forward direction of the railcar 200, and the direction in which the upper frame 30 of the pantograph tilts is defined as the rearward direction of the railcar 200. Naturally, the railcar 200 can travel in both the forward and rearward directions. Hereinafter, the left-right direction of the railcar 200 may be referred to as the "width direction".

<Experimental Equipment Configuration>
As shown in FIG. 1, the experimental device 100 includes a pantograph 110 , a vibration exciter 120 , a control unit 130 , an acceleration measuring unit 140 , a height measuring unit 150 , a contact force measuring unit 160 , and a memory unit 170 .

The pantograph 110 is the same type as the pantograph 220 mounted on the top surface of the vehicle body 210 of the railway vehicle 200, and is a pantograph that has been repurposed for experimental purposes. In other words, the pantograph 110 has the same operating characteristics as the pantograph 220, and can reproduce the operating state in a virtual running state that simulates the actual running state of the pantograph 220. The pantograph 110 is attached to a fixed part of the experimental facility in which the experimental device 100 is placed.

Since pantograph 110 has a similar configuration to pantograph 220, the description of pantograph 220 described below will be used and a detailed description will be omitted.

The vibrator 120 (an example of a vibrating unit) acts on the sliding plate of the pantograph 110, vibrating the pantograph 110 in the vertical direction. For example, as shown in FIG. 2, the vibrator 120 is disposed facing downward so as to face the upper surface of the sliding plate of the pantograph 110. A contact force measuring device 160, which will be described later, is attached to the tip of the vibrator 120. A jig JG that simulates the overhead line OW is provided between the tip of the vibrator 120 (specifically, the contact force measuring device 160) and the sliding plate, and the vibrator 120 acts on the sliding plate via the jig JG, and can displace the tip (sliding plate) of the pantograph 110 up and down.

In addition, instead of using the jig JG, the tip of the vibrator 120 (i.e., the contact force measuring device 160) may be placed so as to directly contact the sliding plate of the pantograph 110. In this case, the jig JG is omitted.

Returning to FIG. 1, the control unit 130 controls the experimental device 100. Specifically, the control unit 130 controls the drive of the vibrator 120.

The control unit 130 is configured around a computer including, for example, a CPU (Central Processing Unit), a memory device such as a RAM (Random Access Memory), a non-volatile auxiliary storage device such as a ROM (Read Only Memory), and an interface device for input/output. The control unit 130 may realize various functions by loading various programs installed in the auxiliary storage device into the memory device and executing them on the CPU.

The control unit 130 outputs a control command regarding the vertical displacement position of the jig JG, which corresponds to the overhead wire OW, and controls the operation of the vibrator 120 so that the jig JG coincides with that displacement position. The vertical displacement position of the jig JG is appropriately controlled in accordance with, for example, the running speed of the railroad car in a virtual running state, the change in the height of the overhead wire on the actual track relative to the movement of the railroad car in the traveling direction, and the upward contact force acting on the overhead wire OW. The upward contact force acting on the jig JG is measured by a contact force measuring device 160, which will be described later.

The acceleration measuring device 140 (an example of a first operating state measuring unit, an acceleration measuring unit) is provided on the hull of the pantograph 110 and measures the acceleration of the hull (e.g., acceleration in the up-down and front-back directions). There may be one acceleration measuring device 140 or multiple acceleration measuring devices. For example, if there is one acceleration measuring device 140, it may be provided in the center of the hull in the left-right direction. Also, if there is multiple acceleration measuring devices 140, they may be provided in the center of the hull and at least one of the left end and right end of the hull. The acceleration measuring devices 140 may be provided in the same number as the acceleration measuring devices 230 described below, and may be attached to the pantograph 110 at the same location on the pantograph 220 where the acceleration measuring device 230 is attached.

The height measuring device 150 (an example of a first operating state measuring unit, a displacement measuring unit) measures the displacement position in the height direction (up and down direction) of the sliding plate of the pantograph 110. The height measuring device 150 may measure the displacement position in the height direction in a similar manner to the height measuring device 240 described below.

The contact force measuring device 160 (an example of a contact state measuring unit) measures the contact force between the sliding plate of the pantograph 110 and the jig JG. For example, as shown in FIG. 2, the contact force measuring device 160 is a load cell attached to the tip of the vibrator 120.

The memory unit 170 stores various time-series measurement data in the experimental device 100. The memory unit 170 may be realized, for example, by a memory area defined in an auxiliary storage device built into the computer corresponding to the control unit 130, or may be realized by an external storage device separate from the computer corresponding to the control unit 130. The memory unit 170 stores acceleration measurement data 171, height measurement data 172, and contact force measurement data 173.

The acceleration measurement data 171 is time-series measurement data from the acceleration measuring device 140.

The height measurement data 172 is time-series measurement data from the height measuring device 150.

The contact force measurement data 173 is time-series measurement data from the contact force measuring device 160.

<Railway vehicle configuration>
As shown in FIG. 1 , a railway vehicle 200 includes a vehicle body 210 , a pantograph 220 , an acceleration measuring device 230 , a height measuring device 240 , a position data acquisition unit 250 , and a memory unit 260 .

The vehicle body 210 is the main body of the railway vehicle 200, including the wheels and the car body of the railway vehicle 200.

As shown in FIG. 3, for example, the pantograph 220 is mounted on the top of the railcar 200 (i.e., the roof of the vehicle body 210) that receives power by an AC power feeding system, and collects power from an overhead line (also called a "trolley wire") OW. The pantograph 220 then supplies the collected power to the driving power supply device of the railcar 200. The driving power supply device is, for example, a main conversion device (CI: Converter Inverter) that includes a PWM (Pulse Width Modulation) converter and a VVVF (Variable Voltage Variable Frequency) inverter. The pantograph 220 may also be mounted on a railcar that receives power by a DC power feeding system.

The pantograph 220 has a so-called single-arm structure, for example, as shown in FIG. 3. Specifically, the pantograph 220 includes a frame 10, a lower frame 20, an upper frame 30, a boat support 35, a boat body 40, a sliding plate 50, a balancing bar 60, an insulator 70, and a windshield cover 80.

The pantograph 220 may have a structure other than a single arm structure, such as a diamond-shaped link structure or an airfoil-shaped structure that uses struts instead of a link structure.

The underframe 10 is composed of a conductor, such as a combined structure formed by welding bent steel plates. The underframe 10 is attached with a lower frame 20 and a balancing bar 60, etc., and supports them so that they can swing. Various devices, such as a power supply unit that supplies power to an acceleration measuring device 230, a height measuring device 240, etc., may also be attached to the underframe 10. The underframe 10 is insulated and supported on the top of the railway vehicle 200 by insulators 70 (insulators 70A, 70B) at the front and rear ends.

The lower frame 20 is made of a conductor such as a steel pipe, and its lower end (base end) is supported by the underframe 10 in a manner that allows it to swing about a swing axis 20a along the left-right direction of the railway vehicle 200, and its upper end (tip end) is connected to the lower end of the upper frame 30. This allows the lower frame 20 to rise and fall based on the swing axis 20a. In this example (Figure 3), the lower frame 20 is supported in a state inclined toward the front of the railway vehicle 200.

The upper frame 30 is made of a conductor (e.g., a steel pipe, etc.), and its lower end is supported at the tip of the lower frame 20 in a manner that allows it to swing about a swing axis 30a that runs along the left-right direction of the railway vehicle 200. This allows the upper frame 30 to rise and fall based on the swing axis 30a. A boat body 40 is attached to the upper end of the upper frame 30 via a boat support 35. In this example (Figure 3), the upper frame 30 is supported on the opposite side to the lower frame 20, i.e., in a tilted state toward the rear of the railway vehicle 200.

The lower frame 20 and the upper frame 30 are biased in the upright direction, for example, by the action of a spring connected to the oscillating shaft 20a.

A balancing arm 31 is provided at the lower end of the upper frame 30 so as to extend forward. The balancing arm 31 is supported at the upper end (tip) of the balancing bar 60 so that its tip can swing around a swing axis 31a that runs along the left-right direction of the railway vehicle 200.

The boat support 35 is provided at the tip of the upper frame 30. The boat support 35 is made of a conductor (e.g., an aluminum alloy, etc.) and supports the boat body 40 from below. A link mechanism is attached to the boat support 35 to maintain the boat body 40 in a balanced state (e.g., a horizontal state).

The boat body 40 is made of a conductor such as an aluminum alloy, and is supported on the upper end of the upper frame 30 in a manner that allows it to swing about a swing axis along the left-right direction of the railway vehicle 200. The boat body 40 is arranged to extend symmetrically on the left and right sides of the railway vehicle 200, centered on the connection part with the upper end of the upper frame 30, and a sliding plate 50 is attached to its upper end.

The slider 50 is made of a conductor that has a relatively high durability against sliding, such as an iron-based sintered alloy, a copper-based sintered alloy, or carbon. The slider 50 is pressed against the overhead wire OW by the vertical force acting on the lower frame 20 and the upper frame 30, and slides against the overhead wire OW as the railway vehicle 200 travels. As a result, the slider 50 collects electricity from the overhead wire OW, and the electricity is transmitted in the order of the hull 40, the hull support 35, the upper frame 30, the lower frame 20, and the underframe 10, all of which are made of conductors.

The balancing bar 60 is supported by the frame 10 so that its lower end (base end) can swing about a swing axis 60a that runs along the left-right direction of the railway vehicle 200, and its upper end (tip end) is connected to the tip end of the balancing arm 31. As a result, the posture of the lower frame 20 and the upper frame 30 is appropriately adjusted by the link mechanism formed by the balancing arm 31 and the balancing bar 60.

The insulators 70 are, for example, ceramic insulators, and insulate and support the pantograph 220 from below on the upper part of the railway car 200 (roof part of the vehicle body 210). Specifically, the lower ends of the insulators 70 are attached to the upper surface of the vehicle body 210, and the upper ends are attached to the front and rear ends of the underframe 10. The insulators 70 have a height corresponding to the distance required to ensure a predetermined insulation between the underframe 10 and the railway car 200. The insulators 70 include insulators 70A and 70B.

The upper end of the insulator 70A is attached to the front end of the frame 10. In other words, the insulator 70A insulates and supports the front end of the frame 10.

The insulator 70A has a hollow portion extending in the vertical direction, and has a hollow structure in which the hollow portion is open at the upper end and the lower end. The insulator 70B may have a similar structure. A power line 90 extending downward from the front end of the frame 10 passes through the hollow portion of the insulator 70A. The power line 90 is connected to a power line arranged in the front-rear direction on the upper surface (roof portion) of the railway vehicle 200. The power is then supplied to a drive power supply unit arranged under the floor of the railway vehicle 200 through power lines arranged on the upper surface of the railway vehicle 200 and the front end surface of the railway vehicle 200 (i.e., the surface facing the other railway vehicle to be coupled). This allows the drive power supply unit to use the power to run the railway vehicle 200.

The upper end of the insulator 70B is attached to the rear end of the frame 10. In other words, the insulator 70B insulates and supports the rear end of the frame 10.

The number of insulators 70 may be three or more. That is, the underframe 10 may be insulated and supported on the upper surface of the vehicle body 210 by three or more insulators 70.

The windshield cover 80 is made of, for example, synthetic resin, and covers the upper and side of the lower end of the underframe 10 (including the equipment attached to the underframe 10), the lower frame 20, the balancing bar 60, and the upper frame 30 of the pantograph 220. This reduces aerodynamic noise generated by the lower frame 20 and the upper frame 30 of the pantograph 220. In addition, an insertion hole is provided at the top of the windshield cover 80, through which the upper frame 30 can be inserted and swingable. This allows the upper frame 30 to change its position in accordance with changes in the height between the overhead line OW and the underframe 10 without interfering with the windshield cover 80.

The windshield cover 80 may be omitted.

Returning to FIG. 1, the acceleration measuring device 230 (an example of a second operating state measuring unit) measures the acceleration (e.g., acceleration in the up-down and front-back directions) of the boat 40 of the pantograph 220. There may be one acceleration measuring device 230, or there may be multiple acceleration measuring devices. For example, if there is one acceleration measuring device 230, it may be provided in the center of the boat in the left-right direction. Also, if there are multiple acceleration measuring devices 230, they may be provided in the center of the boat and at least one of the left end and right end of the boat.

The height measuring device 240 (an example of a second operating state measuring unit) measures the displacement position of the sliding plate 50 of the pantograph 220 in the height direction (up and down direction). The height measuring device 240 is, for example, a stroke sensor that detects the stroke of linear motion corresponding to the attitude angle of the lower frame 20 using a cam mechanism that converts the rotational motion around the swing axis 20a of the lower frame 20 into linear motion. The height measuring device 240 may also be, for example, an angle sensor that detects the attitude angle based on the swing axis 20a of the lower frame 20. This is because the attitude angle of the upper frame 30 is automatically determined according to the attitude angle of the lower frame 20 by the action of the link mechanism composed of the balancing arm 31, the balancing bar 60, etc.

The position data acquisition unit 250 acquires data relating to the position of the railcar 200. The position data acquisition unit 250 may be, for example, a communication device that receives radio signals transmitted from points installed at predetermined intervals along the route along which the railcar 200 runs. The position data acquisition unit 250 may also be a GNSS (Global Navigation Satellite System) device.

The memory unit 260 stores various time-series measurement data for the railway vehicle 200. The memory unit 260 is realized, for example, by a storage device mounted inside the vehicle body 210. The memory unit 260 stores acceleration measurement data 261, height measurement data 262, and position data 263.

The acceleration measurement data 261 is time-series measurement data from the acceleration measuring device 230.

The height measurement data 262 is time series measurement data from the height measuring device 240.

The measurement data of the acceleration measuring device 230 and the height measuring device 240 is transmitted from the pantograph 220 side to the vehicle body 210 side via a short-distance communication line based on a communication standard such as Wi-Fi or Bluetooth (registered trademark), and is stored in chronological order in the memory unit 260.

The location data 263 is time-series location data acquired by the location data acquisition unit 250.

<Configuration of Calculation Device>
The functions of the arithmetic device 300 may be realized by any hardware, or any combination of hardware and software, etc. For example, as shown in Fig. 4, the arithmetic device 300 includes a drive device 301, an auxiliary storage device 302, a memory device 303, a CPU 304, an interface device 305, a display device 306, and an input device 307, each of which is connected by a bus B.

The programs that realize the various functions of the computing device 300 are provided by a portable recording medium 301A, such as a CD-ROM (Compact Disc Read Only Memory), a DVD-ROM (Digital Versatile Disc Read Only Memory), or a USB (Universal Serial Bus) memory. When the recording medium 301A on which the programs are recorded is set in the drive device 301, the programs are installed from the recording medium 301A via the drive device 301 into the auxiliary storage device 302. The programs may also be downloaded from another computer via a communication network and installed into the auxiliary storage device 302.

The auxiliary storage device 302 stores various installed programs as well as necessary files, data, etc.

When an instruction to start a program is received, the memory device 303 reads the program from the auxiliary storage device 302 and stores it.

The CPU 304 executes various programs stored in the memory device 303 and realizes various functions related to the computing device 300 in accordance with the programs.

The interface device 305 is used as an interface for connecting to an external communication line. This allows the computing device 300 to communicate with external devices such as the experimental device 100 and the railway vehicle 200 through a specified communication line.

The display device 306 (an example of a display unit) displays, for example, a GUI (Graphical User Interface) in accordance with a program executed by the CPU 304.

The input device 307 is used to allow an operator or administrator of the computing device 300 to input various operational instructions related to the computing device 300.

As shown in FIG. 1, the computing device 300 includes, as functional units, a stress analysis simulator unit 310, a correlation estimation unit 320, a storage unit 330, a contact state estimation unit 340, and a display processing unit 350. The functions of the stress analysis simulator unit 310, the correlation estimation unit 320, the contact state estimation unit 340, the display processing unit 350, and the like are realized, for example, by loading various programs installed in the auxiliary storage device 302 into the memory device 303 and executing them on the CPU 304. In addition, the function of the storage unit 330 is realized, for example, by a storage area defined in the auxiliary storage device 302.

The calculation device 300 also functions as a contact state estimation support device 400 and a contact state estimation device 500.

The contact state estimation support device 400 generates the above-mentioned support data (correlation data 335 described below). The contact state estimation support device 400 includes, as functional units, a stress analysis simulator unit 310 and a correlation estimation unit 320.

The contact state estimation device 500 estimates the actual contact force between the pantograph 220 of the railway vehicle 200 and the overhead wire OW based on the assistance data (correlation data 335) generated by the contact state estimation assistance device 400. The contact state estimation device 500 includes a stress analysis simulator unit 310, a memory unit 330, a contact state estimation unit 340, and a display processing unit 350.

The stress analysis simulator unit 310 (an example of a first stress analysis simulator unit) performs a simulation of stress analysis on a pantograph/catenary system including a pantograph and an overhead line. Specifically, the stress analysis simulator unit 310 performs stress analysis on the pantograph/catenary system using data on the operating state of the pantograph as an input condition (constraint condition), and outputs a simulation result on the contact state between the pantograph's slider and the overhead line. For example, the stress analysis simulator unit 310 may realize stress analysis using the finite element method, finite difference method, etc. by applying three-dimensional CAD (Computer Aided Design) data of the pantograph and the overhead line to a general-purpose stress analysis simulator. Also, for example, the stress analysis simulator unit 310 may be realized by a dedicated stress analysis simulator including a mechanical model of the pantograph/catenary system. In this case, the mechanical model of the pantograph/catenary system may be, for example, a simple mechanical model of a one-mass system, or a mechanical model to which the finite element method, finite difference method, etc. can be applied.

The stress analysis simulator unit 310 performs dynamic time-series stress analysis using, for example, acceleration measurement data 171 and height measurement data 172 as input conditions, and outputs simulation results regarding the contact force between the pantograph 110 and the overhead line (jig JG). The simulation results include time-series data on the contact force between the pantograph 110 and the overhead line (jig JG).

The acceleration measurement data 171 and height measurement data 172 may be directly imported into the computing device 300 via a specified communication line, or may be imported from the experimental device 100 into a portable storage medium and then imported from the storage medium into the computing device 300. The same may be true for the contact force measurement data 173 below.

The stress analysis simulator unit 310 performs dynamic time-series stress analysis using, for example, the acceleration measurement data 261 and the height measurement data 262 as input conditions, and outputs a simulation result regarding the contact force between the pantograph 220 and the overhead wire OW. The simulation result includes time-series data of the contact force between the pantograph 220 and the overhead wire OW.

The acceleration measurement data 261 and the height measurement data 262 may be directly input to the calculation device 300 via a specified communication line, or may be input from the railway vehicle 200 to a portable storage medium and then input from the storage medium to the calculation device 300. The same may be true for the position data 263 below.

The correlation estimation unit 320 estimates the correlation between the contact force measurement data 173 and the data of the simulation result of the contact force between the pantograph 110 and the overhead line (jig JG) output from the stress analysis simulator unit 310. The correlation estimation unit 320 estimates, for example, a function f that represents the correspondence rule between the contact force (hereinafter, "actual contact force") Fm corresponding to the contact force measurement data 173 and the contact force (hereinafter, "analytical contact force") Fs corresponding to the data of the simulation result by the stress analysis simulator unit 310. For example, the function f may be in a form that calculates the actual contact force Fm from the analytical contact force Fs, as in the following formula (1).

Fm=f(Fs)...(1)

For example, as shown in FIG. 5, the correlation estimation unit 320 estimates the function f(Fm) based on a group of plots (white squares in the figure) of a combination of contact force measurement data 173 (actual contact force Fm) and simulation result data (analytical contact force Fs) at the same time. Specifically, the correlation estimation unit 320 may estimate the function f(Fm) by linear approximation (see the dashed straight line in the figure). In this case, the function f is expressed as in the following formula (2) using the slope a and intercept b determined by the linear approximation.

f(Fs)=a・Fs+b...(2)

Depending on the distribution pattern of the plot group on the coordinate plane, the correlation estimation unit 320 may also estimate the function f(Fm) by nonlinear approximation, such as approximation using a quadratic curve.

Also, for example, as shown in FIG. 6, the correlation estimation unit 320 may estimate the function f as a record set of combinations of the contact force measurement data 173 (actual contact force Fm) and the simulation result data (analytical contact force Fs) at the same time. That is, the correlation estimation unit 320 may create table data corresponding to the function f composed of a record set of combinations (j=1, ..., n) of the actual contact force Fmj and the analytical contact force Fsj at time tj (n: an integer of 2 or more).

The memory unit 330 stores correlation data 335. The correlation data 335 is data related to the correlation (function f) between the contact force measurement data 173 output from the correlation estimation unit 320 and the data of the simulation result of the contact state between the pantograph 110 and the overhead line (jig JG) output from the stress analysis simulator unit 310. The correlation data 335 may be, for example, data representing a mathematical formula (approximation formula) of the above-mentioned function f (Fm). The correlation data 335 may also be, for example, the above-mentioned table data.

The contact state estimation unit 340 estimates the actual contact state between the pantograph 220 and the overhead wire OW based on the simulation result data of the contact force between the pantograph 220 and the overhead wire OW output from the stress analysis simulator unit 310 and the correlation data 335. Specifically, the contact state estimation unit 340 outputs time series data of an estimate of the actual contact force between the pantograph 220 and the overhead wire OW from the time series data of the analytical contact force Fs corresponding to the simulation result, using the correlation data 335.

The contact state estimation unit 340 may estimate the actual contact force, for example, by substituting the analytical contact force Fs, which corresponds to the data of the simulation result of the contact force between the pantograph 220 and the overhead wire OW, into the mathematical expression (approximation) of the function f(Fs) of the correlation data 335.

The contact state estimation unit 340 may also extract, for example, from table data as the correlation data 335, a record of an analytical contact force Fs that is the same as or is relatively close to the simulation result (analytical contact force Fs) of the contact force between the pantograph 220 and the overhead wire OW. If a record of an analytical contact force Fs with the same value as the simulation result of the contact force between the pantograph 220 and the overhead wire OW exists, the contact state estimation unit 340 may estimate the actual contact force Fm of the extracted record as the actual contact force between the pantograph 220 and the overhead wire OW. If no record of the same value of the analytical contact force Fs exists, the contact state estimation unit 340 may estimate the actual contact force between the pantograph 220 and the overhead wire OW by interpolating or extrapolating based on the actual contact force Fm of one or more extracted records.

The display processing unit 350 causes the display device 306 to display the time series data of the estimated value of the actual contact force between the pantograph 220 and the overhead wire OW, which is output from the contact state estimation unit 340. This allows the user to check the contact force between the pantograph 220 and the overhead wire OW in the actual running state of the railway vehicle 200 through the display device 306.

The display processing unit 350 may, for example, display a graph or list of the estimated value of the actual contact force between the pantograph 220 and the overhead wire OW against a time axis. This allows the user to determine whether there is an abnormality in the pantograph 220 or the overhead wire from the contact force between the pantograph 220 and the overhead wire OW when the railway vehicle 200 is actually running.

The display processing unit 350 may also display, in a graph or list, an estimate of the actual contact force between the pantograph 220 and the overhead wire OW relative to the axis of the traveling position (distance) of the railcar 200 based on the position data 263 acquired from the railcar 200. This allows the user to estimate the position on the traveling path of the railcar 200 where an abnormality in the overhead wire OW is occurring, based on the correspondence between the traveling position of the railcar 200 and the actual contact force (estimated value) between the pantograph 220 and the overhead wire OW.

[Other embodiments]
Next, another embodiment will be described.

The above-described embodiments may be modified or changed as appropriate.

For example, in the above-described embodiment, the stress analysis simulator unit 310 may perform stress analysis using data related to other types of operating states of the pantograph as input conditions, instead of or in addition to data related to the acceleration and vertical displacement position of the pantograph's hull. In this case, the experimental device 100 and the railway vehicle 200 are equipped with measuring instruments that measure other types of operating states of the pantograph 110 and the pantograph 220.

In addition, for example, in the above-mentioned embodiment, the calculation device 300 may estimate a contact state other than the contact force between the pantograph 220 and the overhead wire OW. For example, the calculation device 300 may estimate the contact strain between the pantograph 220 and the overhead wire OW. In this case, the experimental device 100 is provided with a contact strain measuring device instead of or in addition to the contact force measuring device 160.

In addition, for example, in the above-mentioned embodiment, the contact state estimation support device 400 and the contact state estimation device 500 may be mounted on different calculation devices. For example, the function of the contact state estimation device 500 may be transferred to the railway vehicle 200. This allows the user to grasp the actual contact force between the pantograph 220 and the overhead wire OW in real time on the railway vehicle 200. In this case, the functions of the stress analysis simulator unit 310, which is an overlapping component of the contact state estimation support device 400 and the contact state estimation device 500, are separately mounted on each of them. Specifically, the functions of the memory unit 330, the contact state estimation unit 340, and the display processing unit 350 are transferred to another calculation device different from the calculation device 300, and the other calculation device may be equipped with a stress analysis simulator (an example of a second stress analysis simulator) of the same type (same specifications) as the stress analysis simulator unit 310.

[Action]
Next, the operations of the contact state estimation support system 1, the contact state estimation support device 400, and the contact state estimation device 500 according to this embodiment will be described.

In actual running conditions, the contact point between the pantograph 220's slider 50 and the overhead wire OW corresponds to a high-voltage section with a very high voltage, and it is difficult to measure the contact state between the pantograph and the overhead wire in actual running conditions. Therefore, it is possible to simulate the contact state (e.g., contact force, contact strain, etc.) between the pantograph 220 and the overhead wire OW using a mechanical model, etc. In addition, when using a running simulation that incorporates an actual pantograph 220 (e.g., pantograph 110), it is also possible to actually measure the contact state, such as the contact force, for example.

However, there may be errors between the virtual running conditions represented by the simulation and the actual running conditions. Therefore, there may be problems in terms of accuracy when estimating the contact state between the pantograph 220 and the overhead wire OW in the actual running conditions by simulation alone.

In contrast, in this embodiment, the contact state estimation support system 1 includes a vibrator 120, a first operating state measurement unit, a contact state measurement unit, a first stress analysis simulator unit (stress analysis simulator unit 310), and a correlation estimation unit 320. Similarly, in this embodiment, the contact state estimation support device 400 includes a first stress analysis simulator unit (stress analysis simulator unit 310) and a correlation estimation unit 320. Specifically, the vibrator 120 acts on the sliding plate of the experimental pantograph 110. The first operating state measurement unit measures the operating state of the experimental pantograph 110 in a virtual running state due to the action of the vibrator 120 (for example, the acceleration of the boat body and the displacement position of the sliding plate in the height direction, etc.). In addition, the contact state measurement unit measures the contact state (for example, contact force, etc.) between the sliding plate of the experimental pantograph 110 and a simulated member (jig JG) of the overhead line in a virtual running state. The stress analysis simulator unit 310 performs stress analysis on the pantograph using data on the operating state of the pantograph as input conditions, and simulates the contact state between the pantograph's slider and the overhead line. The correlation estimation unit 320 uses the measurement results of the contact state between the slider of the experimental pantograph 110 and the overhead line simulation member (jig JG) output by the contact state measurement unit, and the output of the first operating state measurement unit as input conditions, to estimate the correlation of the simulation results of the contact state between the slider of the pantograph 110 and the overhead line output by the stress analysis simulator unit 310.

The contact state estimation device 500 can thus use the above correlation to estimate the actual contact state between the pantograph 220 and the overhead wire OW from similar simulation results in which the input condition is measurement data related to the operating state of the pantograph 220 in the actual running state of the railway vehicle 200. Therefore, the contact state estimation device 500 can estimate the contact state between the pantograph 220 and the overhead wire OW, taking into account the measurement data in the actual running state of the railway vehicle 200. Thus, the contact state estimation support system 1 and the contact state estimation support device 400 can realize a state in which the contact state between the slider 50 of the pantograph 220 and the overhead wire OW in the actual running state can be estimated with higher accuracy.

In addition, in this embodiment, the contact state to be estimated may include the contact force.

As a result, the contact condition estimation support system 1 can realize a state in which the contact force between the contact plate 50 of the pantograph 220 and the overhead wire OW during actual running conditions can be estimated with higher accuracy.

In addition, in this embodiment, the operating state of the pantograph corresponding to the input conditions of the stress analysis simulator unit 310 may include the acceleration of the pantograph's body including the sliding plate, and the displacement of the pantograph's sliding plate in the height direction.

As a result, the contact state estimation device 500 can estimate the contact state between the slider 50 of the pantograph 220 and the overhead wire OW from the simulation results in which the measurement results of the acceleration of the pantograph 220's head 40 and the heightwise displacement of the slider 50 are used as input conditions. Therefore, the contact state estimation support system 1 can realize a state in which it is possible to estimate the contact state between the slider 50 of the pantograph 220 and the overhead wire OW in actual running conditions, using the measurement results of the acceleration of the pantograph 220's head 40 and the heightwise displacement of the slider 50.

In addition, in this embodiment, the first operating state measurement unit may include a plurality of acceleration measuring devices 140 that measure the acceleration of different locations on the body of the experimental pantograph 110, and a height measuring device 150 that measures the height-wise displacement of the slider of the experimental pantograph 110. The stress analysis simulator unit 310 may simulate the contact state between the slider of the pantograph 110 and a simulated member (jig JG) of the overhead line using the outputs of the plurality of acceleration measuring devices 140 and the height measuring device 150 as input conditions.

As a result, the contact state estimation support system 1 can realize a state in which the contact state between the slider 50 of the pantograph 220 and the overhead wire OW in the actual running state can be estimated using the acceleration measurement results at multiple points on the head 40 of the pantograph 220. Therefore, the contact state estimation support system 1 can realize a state in which the contact state between the slider 50 of the pantograph 220 and the overhead wire OW in the actual running state can be estimated with even higher accuracy.

In addition, in this embodiment, the stress analysis simulator unit 310 may perform stress analysis by applying a three-dimensional model of the pantograph to a general-purpose stress analysis simulator.

This allows the contact state estimation support system 1 to use a general-purpose stress analysis simulator. This reduces the man-hours and costs required to build the contact state estimation support system 1.

In addition, in this embodiment, the stress analysis simulator unit 310 may perform stress analysis using a dedicated stress analysis simulator that includes a mechanical model related to the pantograph.

As a result, the contact state estimation support system 1 can utilize a dedicated stress analysis simulator for pantographs to realize a state in which the contact state between the slider 50 of the pantograph 220 and the overhead wire OW during actual running conditions can be estimated with even higher accuracy.

In addition, in this embodiment, the contact state estimation support system 1 includes a second operating state measurement unit and a contact state estimation unit 340. Specifically, the second operating state measurement unit may measure the operating state of the pantograph 220 of the actual vehicle (railroad vehicle 200). The contact state estimation unit 340 may estimate the actual contact state between the contact plate 50 of the pantograph 220 and the overhead wire OW in the running state of the actual vehicle based on the simulation result of the contact state between the contact plate 50 of the pantograph 220 and the overhead wire OW output by the stress analysis simulator unit 310 or another stress analysis simulator unit of the same type as the stress analysis simulator unit 310, and the above correlation, using the output of the second operating state measurement unit corresponding to the measurement result in the running state of the actual vehicle as an input condition.

This allows the contact state estimation support system 1 to estimate with greater accuracy the contact state between the slider 50 of the pantograph 220 and the overhead wire OW during actual running conditions.

In addition, in this embodiment, the contact state estimation support system 1 includes a display device 306. Specifically, the display device 306 may display the contact state between the contact plate 50 of the pantograph 220 and the overhead wire OW in the actual running state of the vehicle, which is estimated by the contact state estimation unit 340 under the control of the display processing unit 350.

As a result, the contact state estimation support system 1 can allow the user to visually confirm the contact state between the contact plate 50 of the pantograph 220 and the overhead wire OW when the actual vehicle is running.

In addition, in this embodiment, the contact state estimation device 500 may include a second stress analysis simulator unit of the same type as the stress analysis simulator unit 310, and a contact state estimation unit 340. Specifically, the contact state estimation unit 340 may estimate the actual contact state between the contact plate 50 of the pantograph 220 and the overhead wire OW in the running state of the actual vehicle based on the simulation result of the contact state between the contact plate 50 of the pantograph 220 and the overhead wire OW output by the second stress analysis simulator unit, and the above correlation estimated by the correlation estimation unit 320 of the contact state estimation support device 400, using the measurement result of the operating state of the pantograph 220 in the running state of the actual vehicle (railroad vehicle 200) as an input condition.

As a result, the contact state estimation device 500, as a device separate from the contact state estimation support device 400, can estimate the actual contact state between the contact plate 50 of the pantograph 220 and the overhead wire OW when an actual vehicle is traveling. Therefore, the contact state estimation device 500 is not restricted by the installation location of the contact state estimation support device 400, and can improve the convenience for users and the efficiency of work that utilizes the actual contact state between the contact plate 50 of the pantograph 220 and the overhead wire OW.

Although the embodiments have been described in detail above, the present disclosure is not limited to such specific embodiments, and various modifications and variations are possible within the scope of the gist of the invention as described in the claims.

REFERENCE SIGNS LIST 1 Contact state estimation support system 10 Underframe 20 Lower frame 30 Upper frame 31 Balancing arm 35 Boat support 40 Boat body 50 Slide plate 60 Balancing bar 70, 70A, 70B Insulator 80 Windshield cover 90 Power line 100 Experimental device 110 Pantograph 120 Vibrator (vibration unit)
130 Control unit 140 Acceleration measuring device (first motion state measuring unit, acceleration measuring unit)
150 Height measuring device (first motion state measuring unit, displacement measuring unit)
160 Contact force measuring device (contact state measuring unit)
170 Memory unit 171 Acceleration measurement data 172 Height measurement data 173 Contact force measurement data 200 Railway vehicle (actual vehicle)
210 Vehicle body 220 Pantograph 230 Acceleration measuring device (second operating state measuring unit)
240 Height measuring device (second operating state measuring unit)
250 Position data acquisition unit 260 Storage unit 261 Acceleration measurement data 262 Height measurement data 263 Position data 300 Calculation device 301 Drive device 301A Recording medium 302 Auxiliary storage device 303 Memory device 304 CPU
305 Interface device 306 Display device (display unit)
307 Input device 310 Stress analysis simulator unit (first stress analysis simulator unit)
320 Correlation estimation unit 330 Storage unit 335 Correlation data 340 Contact state estimation unit 350 Display processing unit 400 Contact state estimation support device 500 Contact state estimation device B Bus

Claims (10)

A vibration unit that acts on the sliding plate of the experimental pantograph;
a first operating state measurement unit that measures an operating state of the experimental pantograph in a virtual running state caused by the action of the vibration unit;
a contact state measuring unit for measuring a contact state between the pantograph slider and a simulated member of an overhead line for the experiment in the virtual running state;
a first stress analysis simulator unit that performs stress analysis on the pantograph using data on an operating state of the pantograph as an input condition, and simulates a contact state between a slider of the pantograph and an overhead wire;
a correlation estimation unit configured to estimate a correlation between a measurement result of a contact state between the pantograph slider and a simulated member of an overhead line for an experiment output by the contact state measurement unit and a simulation result of the contact state between the pantograph slider and a simulated member of an overhead line output by the first stress analysis simulator unit, using as input conditions an output of the first operating state measurement unit and a measurement result of a contact state between the pantograph slider and a simulated member of an overhead line output by the contact state measurement unit.
Contact state estimation support system. The contact state includes a contact force.
The contact state estimation support system according to claim 1 . The operating state of the pantograph includes an acceleration of a pantograph body including a slider and a displacement of the slider of the pantograph in a height direction.
The contact state estimation support system according to claim 1 . the first operating state measurement unit includes a plurality of acceleration measurement units that measure accelerations at different locations of a body of the experimental pantograph, and a displacement measurement unit that measures a displacement in a height direction of a slider of the experimental pantograph,
the first stress analysis simulator unit uses outputs of the plurality of acceleration measurement units and the displacement measurement unit as input conditions to simulate a contact state between the pantograph slider and the simulated member;
The contact state estimation support system according to claim 3 . the first stress analysis simulator unit performs stress analysis by applying the three-dimensional model of the pantograph to a general-purpose stress analysis simulator;
The contact state estimation support system according to claim 1 . the first stress analysis simulator unit performs stress analysis using a dedicated stress analysis simulator including a dynamic model related to the pantograph;
The contact state estimation support system according to claim 1 . A second operating state measurement unit that measures an operating state of the pantograph of an actual vehicle;
a contact state estimation unit which estimates an actual contact state between the pantograph slider and the overhead wire in the running state of the actual train based on a simulation result of the contact state between the pantograph slider and the overhead wire output by the first stress analysis simulator unit or a second stress analysis simulator unit of the same type as the first stress analysis simulator unit, using an output of the second operation state measurement unit corresponding to a measurement result in the running state of the actual train as an input condition, and based on the correlation.
The contact state estimation support system according to claim 1 . a display unit that displays a contact state between the pantograph slider and the overhead wire in a running state of the actual vehicle estimated by the contact state estimation unit,
The contact state estimation support system according to claim 7 . a first stress analysis simulator unit that performs stress analysis on the pantograph using data on an operating state of the pantograph as an input condition, and simulates a contact state between a slider of the pantograph and an overhead wire;
a correlation estimation unit which estimates a correlation between a simulation result of a contact state between the pantograph slider and an overhead line outputted by the first stress analysis simulator unit using a measurement result of a contact state between the pantograph slider and an overhead line simulation member for an experiment in a virtual running state and a measurement result of an operating state of the pantograph for an experiment in the virtual running state as input conditions.
Contact state estimation support device. A contact state estimation device based on the contact state estimation support device according to claim 9,
a second stress analysis simulator unit of the same type as the first stress analysis simulator unit;
a contact state estimation unit that estimates an actual contact state between the pantograph slider and the overhead wire in the running state of the actual train based on a simulation result of a contact state between the pantograph slider and the overhead wire output by the second stress analysis simulator unit using a measurement result of an operating state of the pantograph in the running state of an actual train as an input condition, and based on the correlation estimated by the correlation estimation unit.
Contact state estimation device.

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