JPH0344482B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic operation control method for an electric vehicle, and more particularly to an automatic operation control method that performs field weakening control of a main motor that drives a train using a chopper device.

BACKGROUND ART Conventionally, automatic train control (ATC) systems and automatic train operation (ATO) systems have been used for one-man or unmanned operation of trains.

In the ATC system described above, speed information corresponding to signal indications of ground equipment is transmitted, and this speed information is received by onboard equipment of a running train. When the train exceeds the above-mentioned current and allowable speed, the brakes are automatically applied to keep the train's speed below the allowable speed. Note that the above-mentioned allowable speed command is referred to as an ATC signal here.

By introducing the ATO system to the above ATC system, trains can be operated by one person or unmanned. This ATO system has various functions, but here we will explain the main one, the station-to-station travel function, based on Figure 1.

In Fig. 1, the ATO device 10 has an ATC signal 1.
00 and an operation control command 102 are given, and these signals 100 and commands 102 are supplied to a basic pattern generator 12 in the ATO device 10. The basic pattern generator 12 can output a reference speed signal 104 corresponding to the speed determined by the ATC signal 100, the operation control command 102, etc., and this reference speed signal 104 is supplied to one comparison input of the comparator 14. . The other comparison input of this comparator 14 has a speed detection signal 10 corresponding to the actual running speed of the train.
6 is supplied, and the comparator 14 receives both signals 10
A speed deviation signal 108 can be output by finding a deviation of 4,106 (hereinafter expressed as Δv). The speed deviation signal 108 of the comparator 14 is given to the notch command converter 16.
can generate a notch command 110 for braking when Δv is positive, and for powering when Δv is negative.

The notch command 110 obtained by the ATO device 10 as described above is supplied to a chopper device that performs field weakening control of the main motor that drives the train. Here, this chopper device can control the main motor of a train using a constant field weakening control method with a two-stage field weakening rate, which will be explained next with reference to FIGS. 2 and 3.

Figure 2 shows the power running notch curve of the above chopper device, where the main motor capacity is 160kW.
The 1st stage weakening field rate is 50% (shown with 50%F characteristics in the figure), and the 2nd stage weakening field rate is 35% (shown with 35%F characteristics in the figure). When braking, the field weakening rate is selected to be 50%.

When the power running notch command 110 is supplied from the ATO device 10 to the chopper device, the main motor is accelerated with a predetermined current value I _M , and the train speed is 30 km/h (point A).
is operated at 100% field rate when reaching 100
The speed is controlled according to the characteristics of %F. When the train speed reaches 40 km/h, the minimum field speed is set corresponding to the one-stage weakening field rate characteristic as the minimum train speed specified by the traction motor current.
When the speed deviation Δv between 40 km/h and the train speed becomes zero, the power running notch command 100 is switched, and the main motor is operated at the current I _M and accelerated from point B according to the characteristic of 50% F. Additionally, the train speed is 50km/h.
When the train speed reaches , the speed deviation Δv between the train speed and the minimum field speed of 50 km/h, which is set corresponding to the two-stage weakening field rate characteristic as the minimum train speed specified by the traction motor current, becomes zero. Power running notch command 1
00 is switched and the traction motor is operated at current I _M and accelerated according to the 35% F characteristic.

In this way, the motor sequentially shifts to the characteristic curve of 50% field weakening rate and 35% field weakening rate, and is controlled to the target speed using the torque characteristic of 35% field weakening rate in the final stage.

As described above, the traction motor is finally driven with a field weakening rate of 35 percent, but when the traction motor reaches and exceeds the target speed, that is, the reference speed, the speed increases as shown in Figure 3. When the deviation Δv becomes positive, the field of the main motor is weakened by 50% and its brake is activated.

Now, if the ATC signal 100 indicates a low speed,
In particular, consider the case where the speed is less than 45 km/h.

When the speed indicated by the ATC signal 100 is low and the train is operated at a low speed, the traction motor will ultimately be operated at a field weakening rate of 35%.
At this time, the train will be operated with the torque of its main motor being small. Here, as shown in Figure 2, the currents flowing through the main motor to obtain the necessary torque at field rates of 100%, 50%, and 35% are I _MA , I _MB , and I _{MC ,} respectively, and the field rates are As it is weakened, more current is required in the traction motor. For this reason, on routes where the track has many slopes and curves and low-speed movement is often performed, the torque of the train's main motor is small, making it difficult to control the train to follow the standard speed, resulting in high power consumption. Become.

As described above, the conventional method has the problem that when the speed indicated by the ATC signal is low, the power consumption of the train increases and the speed follow-up control of the train cannot be performed satisfactorily.

The present invention has been made in view of the above-mentioned conventional problems, and its purpose is to reduce the torque of the main motor to a sufficient level from the viewpoint of train speed follow-up control and power consumption when the train is operating at low speed. The object of the present invention is to provide a method for controlling automatic operation of an electric vehicle.

In order to achieve the above object, the present invention determines a reference speed from an allowable speed command and a traffic control command, determines a deviation between the reference speed and the actual running speed of the train, and then issues a power running notch command proportional to the speed deviation. Alternatively, in an automatic operation control method for an electric vehicle, in which a brake notch command is obtained and the notch command is given to a chopper device that performs field weakening control of a main motor for driving an electric vehicle, and the train is operated following a reference speed, the chopper device is A permissible speed command is given, and the field minimum speed group determined for each field weakening characteristic is compared with the permissible speed command corresponding to the minimum train speed specified from the electric motor current, and the specified field When the allowable speed command is lower than the minimum speed, a field weakening notch command in accordance with field rate characteristics in which the field minimum speed is lower than a specific field rate is selected as the notch command with the lowest field rate. do.

Preferred embodiments of the present invention will be described below based on the drawings.

A preferred embodiment of the present invention is shown in FIG. 4, in which the ATC signal 100 is provided to the ATO device 10 as well as to the chopper device 18. This chopper device 18 is operated by _a minimum field speed group (30 km/h, 30 Km/h,
40Km/h, 50Km/h) and the allowable speed indicated by ATC signal 100, and when the allowable speed is a specific minimum field speed, for example 50Km/h or higher, the field weakening characteristic is set to 35% of the lowest field rate. Select a field weakening notch command according to the
h, the system is configured to select a field-weakening notch command in accordance with a field-weakening rate characteristic of 50% where the minimum field speed is lower than 45 km/h.

FIG. 5 shows the power running notch curve of the chopper device 18. In this example, the train
If an ATC signal 100 indicating that the train should run at a speed of 50 km/h or higher is given, the traction motor will eventually be driven with its field weakened to 35%, but if the train is running at a speed of 45 km/h If an ATC signal 100 indicating that the motor is to be operated at a speed less than /h is given, the field of the traction motor is only weakened to 50%. In this way, in the present invention, when the permissible train speed is lower than a specific minimum field speed, the field weakening notch command is selected according to the field weakening rate characteristic where the minimum field speed is lower than the specific minimum field speed. The electric motor will be driven.
Therefore, in this embodiment, the ATC signal 100 is
When the speed is less than 45 km/h, the main motor is driven with a field weakening rate of 50%. As a result, follow-up control for the reference speed of the train is performed with a torque greater than 50% field weakening in this embodiment. The torque required for this follow-up control is calculated as shown in Figure 5.
When T ₀ , current I _MC is required for 35% field weakening, but in this example, current I _MB
This torque T ₀ can be obtained by the present invention, and therefore, according to the present invention, power consumption can be reduced.

Among the 15 stations on all lines, the reduction in power consumption mentioned above
When we simulated a case where there were five sections where the ATC signal 100 was 45 km/h, we found that the RMS (Root Mean Square) current of the traction motor was 1%, and the power ratio [WH/t.
It was concluded that a reduction of about 2% can be achieved in [Km] (power consumption per unit distance and unit train weight). As described above, according to the present invention, when the present invention is applied to trains running on routes with many sections where the ATC signal 100 is low, the power consumption can be significantly reduced, and It is extremely effective for such purposes.

Figure 6 shows the follow-up control characteristics of this embodiment during low-speed running, and shows that the follow-up control is performed with a 50% field-weakening torque compared to the conventional follow-up control with a 35% field-weakening torque. Therefore, the speed deviation Δv becomes smaller by ΔΔv of the speed deviation Δv, and the train is operated at a speed closer to the reference speed.

As explained above, according to the present invention, the train
When the speed indicated by the ATC signal is low, the field is not weakened more than necessary and sufficient torque is generated in the traction motor, reducing the power consumption of the traction motor. It is possible to improve the ability of the train to follow the speed of the train.

[Brief explanation of drawings]

Fig. 1 is a conventional block diagram configuration diagram, Fig. 2 is a power running notch curve diagram of the conventional system shown in Fig. 1, Fig. 3 is a control characteristic diagram of the conventional system shown in Fig. 1, and Fig. 4 is a preferred embodiment of the present invention. FIG. 5 is a power running notch curve diagram of the embodiment in FIG. 4, and FIG. 6 is a control characteristic diagram of the embodiment in FIG. 4. 10...ATO device, 12...Basic pattern generator, 14...Comparator, 16...Notch command converter, 18...Chopper device, 100...ATC signal, 102...Operation control command, 104... Reference speed signal, 106...Speed detection signal, 108...Speed deviation signal, 110...Notch command.

Claims (1)

[Claims] 1 Determine the reference speed from the allowable speed command and the operation control command, determine the deviation between the standard speed and the actual running speed of the train, determine the power running notch command or brake notch command proportional to the speed deviation, and issue the notch command. In an automatic operation control method for an electric vehicle, in which a chopper device that performs field weakening control of a main motor for driving an electric vehicle is provided to drive a train following a reference speed, an allowable speed command is given to the chopper device to control the current of the motor. The field minimum speed group defined for each field weakening characteristic is compared with the allowable speed command in response to the minimum train speed specified by 1. An automatic driving control method for an electric vehicle, comprising: selecting a field weakening notch command in accordance with a field rate characteristic in which a minimum magnetic speed is lower than a specific minimum field speed as a notch command with the lowest field rate.