JPS6056364B2 - Traveling body control method using electric power control - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic operation control system for a traveling body using electric power control, and more particularly to a system for controlling automatic operation of a traveling body using electric power control using three-phase AC power.

Patent application No. 51-92314 proposed by the same applicant
The series of proposals typified by No. 1 are mainly related to a method of controlling the operation of a traveling body using DC power control, and only involve power control in the so-called AC system, which uses an AC three-phase induction motor as the drive source. Sufficient consideration had not been given to the vehicle control system.

However, using an AC three-phase induction motor as a drive source is superior in terms of cost and reliability based on past usage results, and it also has a speed equilibrium point in relation to running resistance. Because of its attractiveness in terms of control, the adoption of an AC three-phase system has emerged as an indispensable factor in the practical application of a vehicle control system using electric power control.

The present invention was devised in earnest under such circumstances, and is based on power control that achieves automatic operation of a traveling body having an AC three-phase induction motor in its power circuit, with only power control based on three-phase AC power control. The purpose is to provide a vehicle control system.

Preferred embodiments of the present invention will be described below with reference to the drawings.

It should be noted that, of course, the present invention is not limited to the following examples. The figure is a circuit connection diagram showing an embodiment of a three-phase AC power supply circuit and a traveling body power circuit in the traveling body control system of the present invention.

First, looking at the configuration of the power supply circuit, three-phase AC power supply lines PFl, PF2, PF3, contact wires Til, Ti2, Ti3 for the AC power supply, and neutral contact wire T4 are provided along the track.

Each of the contact wires Til, Ti2, and Ti3 is provided with a suitable dividing device, for example, an air gap A, for each predetermined block section.
It is electrically insulated and divided via il, ai2, and aj3. A sectional control station SPi is placed in each block section. Here, i in the code representing each device is i=1, 2, 3, 4.
... indicates a block section. The sectional control station SPl connects the three-phase AC power feeder lines PFl to PF3 and the contact wires Tll, Ti+12, Ti+13, and has a current relay 1j and its relay contact Si+1, and connects the feeder line PFl and the upstream side. A current relay 11 is inserted into the connecting line with the contact wires Ti-1 and Ti-1 in the block section (pointing to the traveling direction of the traveling body), and connected to the feeder lines PF2 and PF3 on the down side (pointing to the rear in the traveling direction of the traveling body). Relay contacts S and +1 on the respective connecting lines with the contact wires Ti+1, 2, Ti+, 3 in the block section are inserted and connected. The relay contact Si is connected to the upstream contact wire Til. It is a normally closed contact that opens when the current relay 11 is actuated by the current flowing due to the presence of the running body, and makes the contact wires T, +1, 2, Ti+1, and 3 in the rear block section non-pressurized. On the other hand, looking at the power circuit of the traveling body M1, current collectors Pl, P2, P3, P4 are connected to the contact wires Til, Tj2, Ti3 and the neutral contact wire T4.
are in sliding contact.

Current relays 11, i2, i3 are inserted and connected between the current collectors Pl, P2, P3 connected to the field windings Fl, F2, F3 of the three-phase induction motor, respectively. Operates with or without pressure. Current relay 11
The contact S1 connects the current collector P through the resistor R1 from its input side.
4, and the current relays 12, 13
Contacts S2 and S3 are connected to resistors R2 and S3 from their output sides, respectively.
It is inserted into a branch line that also leads to collector P4 via R3. Contacts S2, S for actuation of current relay 12, i3
The opening and closing of 3 is as follows.

That is, relay contacts S2 and S3 are connected to contact wires Ti2 and Ti3.
When no pressure is applied, current relays S2 and S3 are restored and closed, resistors R2 and R3 are connected as loads for field windings F2 and F3, and dynamic braking is applied.

On the other hand, the resistor R1 is a safety resistor for maintaining a circuit through which the current from the contact wire Til passes when the field winding F1 is disconnected.

That is, when the field winding F1 is disconnected, the section control station SP2
The current relay 12 of
This is to prevent a situation where the block between P3 and SP4 cannot be established. In order to prevent the generation of unbalanced current due to the safety resistor instead of the field load when the field winding F1 is disconnected, it is necessary to match the impedance of the resistor R1 and the field winding F1. be. Further, as the three-phase induction motor used in the power circuit, a three-phase induction motor having a star-shaped field connection must be used.

Neutral point 0 of the star field connection is the desired braking control load R. The contact wire T4 is connected to the current collector 4 through the neutral contact wire T4.
Braking control load R. The current from the neutral point 0 for
When switching to dynamic braking, this is an unbalanced current flowing through the field winding F1 from the contact wire Til, which is constantly energized.
Therefore, R is used as a signal for operating hydraulic brakes, disc brakes, or other mechanical brakes, or as a drive source for these control devices. The current flowing through can be used. This R. The brakes are applied even when the vehicle is stopped. Brake control load R used together with this dynamic braking. The action of the braking means based on the current flowing through can be an effective means when controlling the traveling body to stop at a fixed position. Note that the power circuit at the corner of the following traveling body also has the same configuration as that of the traveling body M1. Next, the present invention will be described in detail with respect to the illustrated embodiment in which the traveling body M2 is controlled to run following the traveling body M1.

Now, it is assumed that the traveling body M1 exists between the segment control stations SP2 and SP3, and that no other traveling body exists in the front block section.

Therefore, since no current is flowing through the contact wire Tll, the current relay 1 of the sectional control station SPl is not activated, the contact S2 is closed, and the contact wires T22 and T23 are supplied with alternating current. On the other hand, the current relay 12 in the divisional control station SP3 is activated by the current supplied to the traveling body M1 via the contact wire T2l, and its contact S3 is opened, so that the current relay 12 in the section control station SP3 is operated by the current supplied to the traveling body M1 via the contact wire T2l, and its contact S3 is opened. A certain contact wire T32
, T33 is not pressurized.

Also, looking at the power circuit of the traveling body M1, each contact wire T2l
, T22, T23, the field winding Fl
, F2, F3 to rotate the rotor A and rotate the traveling body M.
1 is running steadily.

At this time, since the current is flowing through the current relays 11, 12, and 13, the contacts Sl, S2, and S3 are all open, and the braking control load R is applied from the neutral point 0. No unbalanced current occurs. In this state, it is assumed that the following traveling body M2 enters between the divisional control stations SP3 and SP4 which are located one place behind the traveling body M1.

As mentioned above, since the contact wires T32 and T33 are unpressurized, the current relays 12 and 13 at the corners of the traveling body are unpressurized and their contacts S2 and S3 are closed, causing resistance to the field windings F2 and F3. R2 and R3 are connected and dynamic braking is applied. At the same time, the unbalanced current flowing through the field winding F1 due to the pressurization from the contact wire T3l is the braking control load R. to the neutral contact wire T4. Therefore, a desired control means is activated to decelerate the traveling body and, if necessary, bring it to a stop. While the traveling body M2 is decelerating or after it has stopped, the traveling body M1 or the classification control center SP2-SP3
When the pigeon leaves, the relay contact S3 of the control division SP3 is closed and the contact wires T32 and T33 receive AC current, and the current relays 12 and 13 of the traveling body pigeon are pressurized and the contact S3 is closed.
2. S3 opens to release the dynamic braking and accelerate or start up.

In addition, in the control method of the present invention, as a countermeasure in the event that the field winding of the three-phase induction motor provided in the power circuit of the traveling body is disconnected, two small vehicles equipped with a three-phase induction motor as a drive device are installed. The capacity of the three-phase induction motor is determined so that even if less than half of the connected vehicles lose driving power due to some kind of accident, the remaining vehicles can be operated using the drive system of the remaining vehicles. When a three-phase induction motor fails, the failure may be detected and the failed three-phase induction motor may be removed from the main circuit to allow continued operation.

As explained above, by the electric power control running body control system of the present invention, it is possible to achieve automatic operation control of the traveling body only by electric power control with three-phase AC key control of the traveling body equipped with a three-phase induction motor. In particular, braking control on a running body can be performed in combination with dynamic braking that takes advantage of the characteristics of a three-phase induction motor, and a desired control means operated by unbalanced current, and the steady running of the running body using three-phase AC power. , deceleration, stopping, acceleration, and other desired running conditions can be achieved using only electric power control. In addition, all control is possible using only the power line, and there is no need for signals to communicate between the power supply line and the traveling object, so the reliability of the control is extremely high.

[Brief explanation of drawings]

The figure is a circuit connection diagram showing one embodiment of a three-phase AC power circuit and a traveling body power circuit used in the traveling body control system using electric power control of the present invention. PFl, PF2, PF3...Three-phase AC power feeder line, SPi...Sectional control center, Ii...Current relay, Si...Relay contact, Tll, Ti2
, Tj3...Trolley wire, Ail, ai2, ・Ai
3... Air gap, T4... Neutral contact wire, P,, P2, P3, P4... Current collector,
11, 12, 13... Current relay, Sl, S2
, S3... Relay contact, Fl, F2, F3...
...Field winding, A...Rotor, Rl, R2
, R3...Load resistance, RO...Braking control load.

Claims (1)

[Claims] 1 In a traveling body control system using electric power control, in which the running body is controlled by electric power control using a three-phase AC power supply, three three-phase AC power supply systems are used, each of which has a dividing device for each predetermined block section along the track. A contact wire and a neutral contact wire are provided, and one of the contact wires for the three-phase AC power supply is always energized, and the remaining two contact wires are energized in response to the current generated by the movement of the running body. Each block section has a divisional control center that controls the main current, and the traveling body, which is driven by the current collected from each of the contact wires, responds to the AC current from the two contact wires that are controlled by the main current. Equipped with a power circuit that uses a three-phase induction motor to control running.
As the divisional control station, a current relay that receives power from a three-phase AC power feeder line and operates in response to the energizing current to the traveling body is inserted in the connection line to the contact wire that is constantly energized in the block section, A normally-closed relay contact that opens when a current relay is activated is inserted into each of the connecting wires to the two contact wires that are controlled by the current in the block section behind it, and as a power circuit for the traveling body,
It has a current relay connected in series with each of the field windings of the induction motor, and has a relay contact that switches the field winding to dynamic braking without applying pressure to the current relay. A running body control method using electric power control that inserts the desired braking control load into the connection path from the neutral point to the neutral contact wire.