EP2990294B1 - Device and method of controlling the suspension of railway vehicles - Google Patents
Device and method of controlling the suspension of railway vehicles Download PDFInfo
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- EP2990294B1 EP2990294B1 EP14182177.7A EP14182177A EP2990294B1 EP 2990294 B1 EP2990294 B1 EP 2990294B1 EP 14182177 A EP14182177 A EP 14182177A EP 2990294 B1 EP2990294 B1 EP 2990294B1
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- Prior art keywords
- rails
- bearing device
- vehicle
- primary
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
- B61F5/26—Mounting or securing axle-boxes in vehicle or bogie underframes
- B61F5/30—Axle-boxes mounted for movement under spring control in vehicle or bogie underframes
- B61F5/301—Axle-boxes mounted for movement under spring control in vehicle or bogie underframes incorporating metal springs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
- B61F5/02—Arrangements permitting limited transverse relative movements between vehicle underframe or bolster and bogie; Connections between underframes and bogies
- B61F5/14—Side bearings
- B61F5/144—Side bearings comprising fluid damping devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
- B61F5/02—Arrangements permitting limited transverse relative movements between vehicle underframe or bolster and bogie; Connections between underframes and bogies
- B61F5/22—Guiding of the vehicle underframes with respect to the bogies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
- B61F5/26—Mounting or securing axle-boxes in vehicle or bogie underframes
- B61F5/30—Axle-boxes mounted for movement under spring control in vehicle or bogie underframes
- B61F5/36—Arrangements for equalising or adjusting the load on wheels or springs, e.g. yokes
Definitions
- the invention relates to a device and a method for the storage of rail vehicles.
- Rail vehicles have guided in rails rails, possibly bogies on which vehicle bodies are stored.
- the drives should meet different requirements. Requested are u.a. a safe guidance and a smooth running of the rail vehicle, a low-wear construction and in particular a load-free storage of the vehicle body.
- the drives are provided with a spring device which should reduce occurring bearing forces, in particular vertically directed load peaks and laterally directed executives.
- the suspension is intended to isolate the vehicle body against high-frequency vibrations of the wheels and track free of vibrations in a long-wave road contour.
- the suspension of a bogie includes a primary stage and a secondary stage.
- the primary or primary suspension guides and cushions the track frame relative to the axles, thus providing ride comfort and stable running of the bogie.
- the functions "guiding" and “springs” can be carried out by appropriately designed spring elements, such as cone springs or chevron springs, alone or by separate assemblies.
- the suspension can be done separately by coil springs, while the axle is done by a Achsschwinge or a Radsatzlenker.
- the secondary stage or the secondary suspension which connects the vehicle body with the bogie and thereby takes over the suspension and guidance of the vehicle body, usually includes an air spring. Corresponding device parts are known from [1], Freudenberg Schwab, Schwingungstechnik SchienenGermane, catalog 2012.
- a level-adjustable suspension device which allows a load-independent height adjustment of the vehicle body.
- the suspension devices used comprise a hydropneumatic main spring and a series-connected additional spring.
- the hydropneumatic main spring which in principle has a progressive spring characteristic, the position of the upper floor edge (FOK) can be adjusted by repumping hydraulic fluid, eg oil, independently of the load.
- a lateral vibration suppression device for a railway vehicle that includes a variable damper that is actuated to dampen lateral vibrations of the vehicle body relative to the drive. Sensors are used to measure vertical and horizontal accelerations of the vehicle body. Subsequently, it is determined whether a horizontal vibration has occurred, and the damper actuated, if necessary.
- the devices described in [2] and [3] thus allow corrective intervention in the device for supporting the vehicle body, in particular in the secondary suspension.
- the floor top edge is typically set in greater time intervals.
- vibrations of the vehicle body are detected and compensated.
- the intervention in the storage device takes place with a greater time delay after already vibrations of the vehicle body have arisen. Strong jumpy or abrupt Actions can therefore not be corrected with these devices.
- insufficient damping at sudden acting forces result in a low ride comfort, stress and wear of the drives and disturbing noises.
- the US2012167797A1 discloses a system for dynamic weight management for a vehicle by means of vertically oriented hydraulic actuators, which are arranged between the various axles and the frame of a vehicle and which are controlled so that the weight load can be optionally distributed to the individual axles.
- the EP0785122A1 discloses an arrangement for a vehicle with primary suspension and secondary suspension to protect against impacts when driving over bumps of a road. Between a wheel rolling on the road and a vehicle body, an inertial mass is connected as a blocking mass, wherein the vehicle body is as soft as possible against the blocking mass via the secondary spring and the blocking mass relative to the wheel via the primary suspension. To avoid unacceptably large differences in level of the vehicle body relative to the roadway when the vehicle is empty and laden, a device for level control is activated.
- the GB2473502A which may be regarded as a generic document corresponding to the preamble of both independent claims, discloses a device by means of which malfunctions in the storage device of a vehicle are detectable.
- a status variable for the vehicle is determined and analyzed in order to generate a malfunction signal, if corresponding error criteria are met.
- an actuator is actuated which unfolds a force within the bearing devices which influences the status variable.
- the present invention is therefore an object of the invention to provide a bearing device for rail vehicles and to provide a method for this storage device, which allow to reduce occurring bearing forces caused by irregularities in the lane.
- bearing forces and torsions are to be reduced, which are caused by damage to the rails, by rail transitions or by non-linearities in the area of points or joints.
- the ride comfort for passengers is to be increased. Forces that cause disturbing effects, such as shaking, vibrations and impacts on the vehicle body should be avoided. Furthermore, the smoothness of the bogies should be improved.
- the device which serves for the storage of rail vehicles comprises a drive provided for supporting a vehicle body with at least one wheel, possibly a bogie, with a drive frame, which is connected via a primary suspension and preferably via at least one primary link with an associated wheelset and over a secondary suspension and preferably connected via at least one secondary link to the vehicle body.
- the bearing device can be controlled by means of a vehicle computer in dependence on determined status data of the rails such that forces acting on the wheelset and dependent on the changes in state of the rails can be reduced.
- the vehicle computer is preferably located in the towing vehicle, but can also be arranged in any other vehicle of a train composition. Furthermore, several vehicle computers can be used.
- each rail of a rail pair is measured individually.
- the course of the lane or the course and the state of the rails and the intermediate points are detected and preferably stored.
- the storage is preferably carried out in the vehicle and in a host computer, in which the state of the entire rail network is displayed after a short time. Any changes to the rail network as well as changes in its status can thus be recorded continuously.
- Measuring Technique SBB Diagnostic Vehicle of the SBB Infrastructure
- possibilities for track measurement and track inspection by means of a diagnostic vehicle are described.
- the track geometry, the track width, the track direction, the elevation, the torsion, the longitudinal height, and the rail profile can be measured with rail wear and contact geometry.
- Measuring devices provided on the described diagnostic vehicle can also be installed on scheduled vehicles, whereby corresponding data of the rail network can be routinely detected. The determined data can be used as input variables for the control method according to the invention.
- the master computer can communicate the status data of the used rails to the rail vehicles.
- the rail vehicles can thus carry out corrective measures even if they do not measure the condition of the lane or the rails themselves.
- the rail vehicle uses a system for determining position data and the direction of travel, such as the GPS system, the Galileo system, or the GNSS system.
- the rail vehicle can subsequently take the necessary corrective measures in a location-accurate and timely manner initiate. From the rail vehicle, the type and / or the extent of the state change are preferably communicated in this case.
- further position data can be determined by kinematic calculations taking into account the travel time and the driving speed. Furthermore, a possible wheel slip can be determined and taken into account.
- the control of the rail vehicle is comparable to the driving behavior of a skier, whose upper body is guided along a track that is as even as possible with maximum possible curve radii, while the skis follow the lane, which has irregularities. Irregularities of the lane course are continuously evaluated and appropriate preparatory measures are taken. If a bump is detected, the upper body is raised. Upon reaching the bump, the legs are loosened a bit, so that the bump can be overrun elastically without further movement of the upper body.
- the upper body is already tilted accordingly before the turn.
- the vehicle body and / or the drive frame before, during and after irregularities of the rail track out such that this curve is guided vertically and / or horizontally along the largest possible curve radii.
- the master computer is preferably coupled to a traffic computer from which traffic data for the rail network can be retrieved.
- the master computer can thus each rail vehicle or each composition of rail vehicles or to the vehicle computer, the status data of the traveled track including the positions at which state changes of the rails occur.
- the master computer can also determine the type, size and direction of travel of the rail vehicle and transmit correspondingly adapted corrective measures or control signals.
- the nature and size of the state changes are detected. Corrective measures can be defined particularly simply if the detected state changes are assigned to a category. For example, a change of state at a certain position may concern a joint at which the adjacent tracks are vertically and / or horizontally displaced by a certain amount.
- switch points and the expected changes in status can be recorded.
- a rail break can be detected. In the area of a switch, the curve radius for the vehicle body can be increased by the control of the bearing device, wherein the vehicle body or the drive frame does not fully extend a curve, but cuts and thereby increases the radius of curvature traveled by the vehicle body. In this case, there may only be a lateral "breakaway" of the wheelsets that follow the rails precisely.
- the master computer is preferably also connected to a maintenance computer in which maintenance measures planned for the infrastructure are registered. These maintenance measures can be adapted and extended taking into account the transmitted data. If maintenance work is to be carried out in a specific area of the track network, a faulty impact point or a track break that was reported by the master computer to the maintenance computer can be corrected virtually simultaneously with little effort.
- countermeasures can be triggered in a timely manner by means of which the effects of the state changes are preemptively absorbed or treated.
- the present load or load is preferably measured by the rail vehicles and taken into account in the control of the bearing device.
- interferences are intervened almost immediately with the cause of the disorders, so that their effects can be counteracted even before they occur, or that their effects can be optimally treated immediately after they have occurred.
- a change in direction occurs abruptly at a points position, a corresponding lateral displacement of the drive and / or the vehicle body can be effected beforehand, so that only the wheelsets are displaced when the change in state of the rails occurs and a force transmission to the drive frame and / or the vehicle body omitted.
- a corresponding vertical displacement of the drive frame and / or the vehicle body can be effected beforehand, so that only the wheelsets are optionally raised or lowered by the then entering state change with the drive frame and a power transmission to the vehicle body is omitted ,
- control of the bearing device, the damping behavior of the primary suspension and / or the secondary suspension adapted to actions caused by changes in state of the rails.
- the spring system can be optimized for undisturbed driving and, if necessary, adapted for short intervals to disturbances of the rail network.
- the forces acting on the wheel axles are dependent on the one hand on the course and condition of the rail and on the other hand turn of the drive, in particular damaged spring elements and damaged wheels, especially wheels with flats. Flats on wheels cause at least one peak load each wheel revolution.
- the disturbances caused by the drive, especially the flats are identified and subtracted from the rail spectrum in which the disturbances caused by the rails are subtracted.
- typically periodic disturbances on the drive and disturbances on the rails can be separated from one another and evaluated.
- the rail spectrum is therefore not distorted by the effects of the drive.
- the defects detected on the drives can subsequently be reported to a maintenance computer by registering the planned maintenance work for the vehicle fleet.
- the vehicle computer controls the bearing device assigned to each wheel and / or wheel set, in particular the primary suspensions and / or secondary suspensions, taking into account the driving speed and the center distances of the rail vehicle or rail vehicle composition.
- each stored along the lane storage device of a train composition receives the necessary control signals in time before reaching a change in state of the rails. Changes of state measured at the front of the rail vehicle or on the train composition may not be compensated advantageously for the towing vehicle, but for the coupled further rail vehicles.
- the control signals may also be determined taking into account the driving speed, the loading of the rail vehicle and the type of rail vehicle. If the speed of the rail vehicle is high, the corrective measures must be taken more quickly. However, so that the corrective measures themselves do not lead to disturbances, they are preferably carried out as slowly and evenly as possible. For each rail vehicle, the optimum correction values, ie the ideal settings for the bearing device, in particular the primary suspension and the secondary suspension, can be set and stored individually for a specific event.
- the state changes of the rails typically always occur at the same positions in the track network. It is therefore possible to continuously optimize the parameters for the storage device at each crossing.
- force sensors are preferably provided by means of which the success of the corrective measures is checked.
- the parameters are preferably slightly changed at each pass to check whether a reduction of the forces acting on the bearing device has occurred until an optimum is reached.
- Base values for the parameters of the storage device or parameter changes can be defined for each category of state changes, which are optionally scaled with regard to the extent of the change in state and are preferably optimized in the sequence. It should be noted, however, that changes in the status of the rails can also be caused by parallel moving rail vehicles, which is why the further traffic is preferably taken into account when calculating the control measures.
- the measures according to the invention increase the ride comfort for the passengers. Furthermore, vibrations of transported goods in rail vehicles are reduced or avoided. Rail vehicles designed in accordance with the invention thus permit the advantageous transport of goods susceptible to vibration, such as glassware or precision mechanical apparatuses. Due to the reduction of the forces acting on the rail vehicle, in particular on the drive forces are also reduced wear. In the passenger cabin, the facilities, such as tables, seats, window seals or restoration facilities are spared, so that they remain in good condition longer. By avoiding bumps and vibrations it is also avoided that objects, such as luggage, can come loose and endanger people. Continue to be erratic avoiding lateral deflections that can unbalance people. Furthermore, unwanted vibrations in the track bed and the emission of noise are avoided or reduced.
- the interventions in the storage device can be carried out with relatively simple measures.
- the bearing device in particular the primary suspension and the secondary suspension, fulfills the functions »guiding « and »springs «. Both functions can be used according to the invention or optimized on the basis of lane information in order to compensate for or reduce the effects of changes in the status of the rails.
- At least one primary vertical actuator is provided, by means of which primary parameters of the primary suspension can be set and changed.
- Primary parameters are the parameters of the primary suspension.
- the primary vertical actuator is connected to at least one controllable primary pressure cylinder by means of which the bias of an associated primary spring or the force acting on the primary link is adjustable and changeable. The primary suspension can therefore be quickly adjusted to record high-frequency vibrations.
- At least one secondary vertical actuator and / or at least one secondary horizontal actuator is provided, by means of which secondary parameters of the secondary suspension can be adjusted and changed.
- the secondary parameters are the parameters of the secondary suspension.
- the secondary vertical actuator is preferably via at least one media line with at least one hydraulic or pneumatic spring, preferably with an air spring connected to the secondary suspension. The provided in the hydraulic or pneumatic spring pressure and also the vertical position of the vehicle body are therefore selectively adjustable and quickly changeable.
- the secondary horizontal actuator is preferably connected via controllable secondary pressure cylinder with the secondary link or parts thereof, whereby the horizontal position of the vehicle body is selectively adjustable and quickly changed.
- the measures according to the invention are preferably applied near the cause of the disturbances, and thus, if possible, in the area of the primary suspension. In this way can be done by the secondary suspension only a smoothing or clearing of remaining interference components.
- the measures according to the invention can optionally only be used in the secondary suspension.
- a preemptive vertical and / or horizontal displacement of the drive frame or the vehicle body or an adaptation of the spring behavior can basically be provided in both stages.
- the primary controllable pressure cylinders and / or the secondary controllable pressure cylinders are preferably provided in pairs in such a way that can be acted on eni camp from two sides.
- the pressure conditions in the paired pressure cylinders are preferably symmetrical, so that a desired displacement in one direction or the other can thus take place practically without delay, by reducing the pressure in one of the pressure cylinders via a connected valve.
- the vehicle computer may also comprise a distributed system of processor-based control units arranged in the individual rail vehicles of the train composition.
- the vehicle computer is preferably provided with at least one measuring device, e.g. connected to a sensor.
- the track condition can be determined with acoustic sensors, optical sensors, mechanical sensors, capacitive sensors or inductive sensors.
- a distance measurement from the vehicle frame or from the drive frame to the rail is preferably provided with a sensor.
- passive or active measuring devices can be used.
- passive measuring devices effects on the rail vehicle or optical or acoustic effects on the sensor or other measured quantities, in particular geometric measured quantities, are detected.
- active measuring devices optical, acoustic, electrical, inductive or electromagnetic signals are delivered to the rails, which may be due to the rails in Interaction with the rail vehicle to be reflected and / or or modulated. The reflected and / or modulated signals are subsequently detected and evaluated.
- the signals of optical sensors are evaluated by taking pictures of the rails and detecting and evaluating changes in the image.
- Mechanical sensors detect, for example, changes or vibrations of an impeller, possibly a wheel of the drive.
- capacitive sensors By means of capacitive sensors, the change of an electric field can be detected, which is dependent on changes in the state of the rails.
- inductive sensors By inductive sensors, the change of a magnetic field can be detected, which is dependent on changes in the state of the rails, which protrude into the magnetic field.
- the capacitive and inductive sensors therefore generate electrical or magnetic fields and monitor their condition.
- the determined data are preferably processed online and used for controlling the storage device according to the invention or for staggered control of the storage devices of the rail vehicle or the train composition.
- the bearing device is provided with at least one force sensor, by means of which the forces caused by the changes in state of the rails in the drive can be measured. Corresponding quantities are transmitted to the vehicle computer of the rail vehicle, which evaluates the success of the control measures and possibly changes the control parameters in order to achieve further improvements.
- the storage device according to the invention can therefore be part of a control loop as a controlled system, which continuously optimizes the parameters of the storage device for the state changes along the traffic route.
- Fig. 1 shows a rail vehicle 10 with a drive or a bogie 1, which has a bearing device on which a vehicle body 2 is placed.
- the bogie 1 comprises two sets of wheels 13 with wheels 132 and a wheel axle 131, which is connected on both sides via a respective primary spring unit 11 to the frame 18 of the bogie 1, are supported on the four provided with air springs secondary spring units 12 which carry the vehicle body 2.
- Fig. 2 has been the front wheel set 13 is removed, which is why it can be seen that the primary springs 11 have a primary spring, which connect a journal bearing 116 with the drive frame 18.
- the axle bearing 116 is also connected to the drive frame 18 via a primary link 115 and a shock absorber 117.
- the primary springs 112 have been removed so that the wishbone or primary link 115 is more visible.
- the secondary suspensions 12 are held in pairs by a secondary link 125, which has an associated with the drive frame 18 base link 1251 and on both sides adjoining the auxiliary link 1252, which are connected to the secondary springs 12 and guide them.
- a vehicle computer 100 is shown, which is connected on the one hand to active and / or passive sensors 31, 32 and on the other hand to a vertical actuator 121 and a horizontal actuator 122.
- the sensors 31, 32 the condition of the traveled rails is checked and Determines whether there are state changes.
- any sensors suitable for testing rails can be used.
- DE102012219210A1 For example, a method for rail breakage detection is known, in the rail vehicle side, a time course of at least one sensed rolling signal, in particular a rolling noise or Abrollschwingung is evaluated at least one wheel axle of the rail vehicle 10 with respect to changes over the time course with intact rail.
- optical sensors are used, by means of which further information about the state changes of the rails can be detected.
- the vehicle computer 100 can control the actuators 121 and 122 and change the parameters of the storage device to make adjustments to the detected changes in state of the rails.
- the relevant effects on the secondary suspension 12 are particularly easy to implement.
- the vehicle body 2 can be raised, lowered, displaced laterally or rotated to make changes in position that otherwise occur by the state changes of the rails with high force jumps vertically downward or upward or laterally to the left or to the right.
- the position changes can be carried out over a relatively long period of time by means of the control, which is why sudden changes and correspondingly noticeable disturbances are eliminated.
- required changes in the bearing device are made continuously or in small steps, so that the changes or the lateral and / or vertical deflections of the controlled vehicle parts are preferably carried out for each wheel or each wheel as a function of time or according to the time course of the rail changes.
- the spring constant of the secondary suspension can be changed such that the force exerted by the change of state of the rails on the wheelsets 13 and the bogie 1 does not affect the vehicle body 2 is transferred and the bogie 1 can only make the change in position, which has already been completed for the vehicle body 2. That is, upon arrival at the position of the state change, for the corresponding time period, for example, a time period in the range of e.g. 0.1 s to 2.5 s preferably a substantial decoupling of the vehicle body 2 from the bogie 1.
- the bogie 1 can thus complete the change of direction or change in position without disturbing influences on the vehicle body 2.
- Fig. 2 shows that the vehicle computer 100 is additionally connected to a primary vertical actuator 111, by means of which the parameters of the primary suspension 11 are changeable.
- a controllable pressure cylinder or damper 117 is provided by means of which the bias of the primary springs 112 and thus also the height of the drive frame 18 is adjustable.
- a change of state of the rails can therefore be countered in the same way as has already been described for the secondary suspension 12.
- the height of the drive frame 18 is adjusted before reaching the position of a state change of the rails to this, whereby the required change in position of the drive frame 18 is anticipated.
- the elimination of interference components by the primary suspension 11 is particularly advantageous because remaining interference by the secondary suspension 12 can be further reduced. Even lateral displacements can be performed preemptively by the action on the primary links, if they are stored accordingly and allow the necessary lateral deflection.
- the parameters of the primary suspension 11 and the Secondary suspension 12 are advantageously also changed such that caused by the change in state high-frequency vibrations can be absorbed and not or only strongly attenuated transmitted to the vehicle body 2.
- the bias of the primary springs 112 of the primary suspension 11 or the pressure in the air springs of the secondary suspension 12 is slowly reduced before reaching the change in state of the rails and then rebuilt.
- Fig. 2 shows further that the bogie 1 and the bearing device is preferably provided with force sensors 33.
- the force sensors 33 By means of the force sensors 33, the forces or changes thereof which occur under the influence of the change of state of the rails can be measured. In this way, the effect of the inventive control of the storage device can be checked and optimizations made.
- the storage device according to the invention can be optimized taking into account the current characteristics of the rail vehicle, in particular the rolling stock, the driving speed and the weight.
- Force sensors can be attached to the wheels or wheelsets, to the drive frame or to the vehicle body in the area of the primary suspension or the secondary suspension. It is particularly easy to measure the force on the primary suspension and the secondary suspension by measuring the proportional compression of the spring elements.
- Fig. 2 also shows a master computer 1000 to which the changes in position determined by the vehicle computer 100 and the corresponding positions are reported, or which can transmit the status data stored in a database 1001 for the rail track traveled by the rail vehicle 10 to the vehicle computer 100.
- the vehicle computer 100 can also carry out the control of the storage devices according to the invention on the basis of the data retrieved from the host computer 1000.
- the vehicle computer Based on fixed mounted balises or mounted on the rail side Communication units of the command, based on positioning systems and / or kinematic calculations, the vehicle computer can always determine the position of the rail vehicle 10 precisely and trigger the necessary control measures location-accurate and timely. Control measures are preferably carried out before, during and after the state change occurs. Furthermore, it can also be provided that a signal or signal pattern reported by a sensor is selected as the trigger for the control measures.
- the vehicle computer 101 has an operating module 105 which has a program for evaluating the measuring signals of the sensors 31, 32, 33 and a program for corresponding control of the bearing device.
- the vehicle computer 100 and the host computer 1000 are in a known manner, for example via radio with each other.
- Fig. 3a shows the rail vehicle 10 with the bogie 1 of Fig. 2 and two pairs of controllable secondary pressure cylinders 1291, 1293; 1292, 1294 by means of which the secondary link 1252 of a pair of secondary springs 12, which are associated with the first gear, is laterally displaceable.
- pressure cylinder pairs which are preferably aligned perpendicular to the running direction of the rail vehicle 18, is particularly advantageous because the forces acting on the auxiliary link 1291 forces are rapidly changed. If both pressure cylinders 1291, 1293 and 1292, 1294 are under a correspondingly high pressure, by pressure reduction in one of the pressure cylinder 1291 or 1293 or 1292 or 1294, a lateral displacement of the auxiliary link 1252 and thus of the vehicle body 2 in one or the other Direction virtually delay-free. Preferably, however, the shift takes place without sudden changes occurring.
- Fig. 3b shows the rail vehicle 10 of Fig. 3a after the pressure reduction in the pressure cylinders 1293 and 1292 and the lateral displacement of the air springs with the vehicle body 2 by the distance dx to the left.
- the positional shift of the vehicle body 2 is made before reaching the state change of the rails, which is why subsequently only the positional shift of the bogie 1 must be reconstructed.
- the pressure is now reduced in the printing cylinders 1292 and 1294, so that the drive frame below the vehicle body 2 can be automatically returned to the starting position after a certain time.
- Fig. 4 shows a part of the vehicle 10 of Fig. 3a with a vertical actuator 121, which is connected via a media line 1211 with an air spring of the secondary suspension 12, and with a horizontal actuator 122 which via pressure cylinder 1295A, 1295B to the base link 1251 and via the pressure cylinder 1291, 1293 with the auxiliary link 1252 of the secondary link 125 is connected is.
- a vertical actuator 121 which is connected via a media line 1211 with an air spring of the secondary suspension 12
- a horizontal actuator 122 which via pressure cylinder 1295A, 1295B to the base link 1251 and via the pressure cylinder 1291, 1293 with the auxiliary link 1252 of the secondary link 125 is connected is.
- FIG. 10 shows a master computer 1000 and a train composition 10 controlled thereby, which travels rails 5 which have left or right rail status changes at positions P1 and P2.
- state changes of the rails 5 were detected at the positions P1 and P2 of the rail path and reported to the host computer 1000.
- a joint with mutual lateral displacement of the adjoining rails 51, 52 was detected by means of the sensor 31.
- the detected state changes were reported to the master computer 1000 and registered by this for the monitored track network N.
- the host computer 1000 is preferably in contact with a maintenance computer 1002 to which the detected anomalies are reported.
- the master computer 1000 is connected to a traffic computer 1001, in which the timing of the traffic and the involved rail vehicles 10 are registered for the rail network N.
- the master computer 1000 can thus address the rail vehicles 10 before the start of the journey and transmit to them the track data with the previously detected state changes of the rails 5.
- the vehicle computer 100 can subsequently take the necessary measures and control the storage devices in the vehicle composition in good time or with the required time delays, so that each storage device at the position at the state change of the rails 5 is present, is optimally set or will.
- Fig. 5 further shows a balise 6, physically mounted on the rails 5 and virtually mapped to the host computer 1000.
- the vehicle computer 100 of the rail vehicle 10 can read out position data and determine the current position of the rail vehicle 10.
- the distance from the balise 6 can be determined by measuring the time and vehicle speed or by measuring the number of wheel revolutions.
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Description
Die Erfindung betrifft eine Vorrichtung und ein Verfahren zur Lagerung von Schienenfahrzeugen.The invention relates to a device and a method for the storage of rail vehicles.
Schienenfahrzeuge weisen in Schienen geführte Laufwerke, gegebenenfalls Drehgestelle auf, auf denen Fahrzeugaufbauten gelagert sind. Die Laufwerke sollen verschiedene Anforderungen erfüllen. Gefordert sind u.a. eine sichere Führung und eine gute Laufruhe des Schienenfahrzeugs, eine verschleissarme Konstruktion und insbesondere eine belastungsfreie Lagerung des Fahrzeugaufbaus. Zur Erfüllung dieser Anforderungen werden die Laufwerke mit einer Federvorrichtung versehen, welche auftretende Lagerkräfte, insbesondere vertikal gerichtete Lastspitzen und lateral gerichtete Führungskräfte, reduzieren soll. Die Federung soll den Fahrzeugaufbau gegen hochfrequente Schwingungen der Räder isolieren und bei einer langwelligen Fahrbahnkontur frei von Schwingungen nachführen.Rail vehicles have guided in rails rails, possibly bogies on which vehicle bodies are stored. The drives should meet different requirements. Requested are u.a. a safe guidance and a smooth running of the rail vehicle, a low-wear construction and in particular a load-free storage of the vehicle body. To meet these requirements, the drives are provided with a spring device which should reduce occurring bearing forces, in particular vertically directed load peaks and laterally directed executives. The suspension is intended to isolate the vehicle body against high-frequency vibrations of the wheels and track free of vibrations in a long-wave road contour.
Üblicherweise umfasst die Federung eines Drehgestells eine Primärstufe und eine Sekundärstufe. Die Primärstufe oder Primärfederung führt und federt den Laufwerksrahmen relativ zu den Achsen und ist somit für den Fahrkomfort und den stabilen Lauf des Drehgestells verantwortlich. Die Funktionen »Führen« und »Federn« können durch entsprechend ausgestaltete Federelemente, wie Konusfedern oder Chevron-Federn, allein oder durch separate Baugruppen erfolgen. Die Federung kann separat durch Schraubenfedern erfolgen, während die Achsführung durch eine Achsschwinge oder einen Radsatzlenker erfolgt. Die Sekundärstufe bzw. die Sekundärfederung, die den Fahrzeugaufbau mit dem Drehgestell verbindet und dabei die Federung und Führung des Fahrzeugaufbaus übernimmt, umfasst üblicherweise eine Luftfeder. Entsprechende Vorrichtungsteile sind aus [1], Freudenberg Schwab, Schwingungstechnik Schienenfahrzeuge, Katalog 2012, bekannt.Typically, the suspension of a bogie includes a primary stage and a secondary stage. The primary or primary suspension guides and cushions the track frame relative to the axles, thus providing ride comfort and stable running of the bogie. The functions "guiding" and "springs" can be carried out by appropriately designed spring elements, such as cone springs or chevron springs, alone or by separate assemblies. The suspension can be done separately by coil springs, while the axle is done by a Achsschwinge or a Radsatzlenker. The secondary stage or the secondary suspension, which connects the vehicle body with the bogie and thereby takes over the suspension and guidance of the vehicle body, usually includes an air spring. Corresponding device parts are known from [1], Freudenberg Schwab, Schwingungstechnik Schienenfahrzeuge, catalog 2012.
Aus [2],
Aus [3],
Die in [2] und [3] beschriebenen Vorrichtungen erlauben es somit, korrigierend in die Vorrichtung zur Lagerung des Fahrzeugaufbaus, insbesondere in die Sekundärfederung einzugreifen. Mittels der Vorrichtung gemäss [2] wird die Fussbodenoberkante typischerweise in grösseren zeitlichen Abständen eingestellt. Bei der Vorrichtung gemäss [3] werden hingegen Schwingungen des Fahrzeugaufbaus erfasst und kompensiert. Auch bei dieser Lösung erfolgt der Eingriff in die Lagervorrichtung mit einer grösseren zeitlichen Verzögerung, nachdem bereits Schwingungen des Fahrzeugaufbaus entstanden sind. Starke sprunghafte oder schlagartige Einwirkungen können mit diesen Vorrichtungen daher nicht korrigiert werden. Als Folge ungenügender Dämpfung bei sprunghaft einwirkenden Kräften resultieren ein geringer Fahrkomfort, Belastungen und Verschleiss der Laufwerke sowie störende Geräusche.The devices described in [2] and [3] thus allow corrective intervention in the device for supporting the vehicle body, in particular in the secondary suspension. By means of the device according to [2], the floor top edge is typically set in greater time intervals. In the device according to [3], however, vibrations of the vehicle body are detected and compensated. Also in this solution, the intervention in the storage device takes place with a greater time delay after already vibrations of the vehicle body have arisen. Strong jumpy or abrupt Actions can therefore not be corrected with these devices. As a result of insufficient damping at sudden acting forces result in a low ride comfort, stress and wear of the drives and disturbing noises.
Die
Die
Die
Der vorliegenden Erfindung liegt daher die Aufgabe zugrunde, eine Lagervorrichtung für Schienenfahrzeuge zu schaffen und ein Verfahren für diese Lagervorrichtung anzugeben, die es erlauben, auftretende Lagerkräfte zu reduzieren, die durch Unregelmässigkeiten in der Fahrspur verursacht werden.The present invention is therefore an object of the invention to provide a bearing device for rail vehicles and to provide a method for this storage device, which allow to reduce occurring bearing forces caused by irregularities in the lane.
Insbesondere sollen Lagerkräfte und Torsionen reduziert werden, die durch Schäden an den Laufschienen, durch Schienenübergänge oder durch Nichtlinearitäten im Bereich von Weichen oder Stossstellen verursacht werden.In particular, bearing forces and torsions are to be reduced, which are caused by damage to the rails, by rail transitions or by non-linearities in the area of points or joints.
Durch den Einsatz des erfindungsgemässen Verfahrens und der erfindungsgemässen Vorrichtung soll der Fahrkomfort für Passagiere erhöht werden. Kräfte, die störende Einwirkungen, wie Rütteln, Vibrationen und Schläge auf den Fahrzeugaufbau bewirken, sollen vermieden werden. Weiterhin soll die Laufruhe der Drehgestelle verbessert werden.By using the method according to the invention and the device according to the invention, the ride comfort for passengers is to be increased. Forces that cause disturbing effects, such as shaking, vibrations and impacts on the vehicle body should be avoided. Furthermore, the smoothness of the bogies should be improved.
Durch die Reduktion von störenden Lagerkräften und Torsionen sollen Verschleisserscheinungen insbesondere an den Laufwerken und der Federung reduziert werden. Die Intervalle der Wartungsarbeiten sollen entsprechend vergrössert werden können.Through the reduction of disturbing bearing forces and torsions wear phenomena, especially on the drives and the suspension should be reduced. The intervals of maintenance work should be increased accordingly.
Zudem soll das in [4],
Diese Aufgabe wird mit einer Vorrichtung und einem Verfahren zur Lagerung von Schienenfahrzeugen gelöst, welche die in Anspruch 1 bzw. 11 angegebenen Merkmale aufweisen. Vorteilhafte Ausgestaltungen der Erfindung sind in weiteren, davon abhängigen Ansprüchen angegeben.This object is achieved with a device and a method for the storage of rail vehicles, which have the features specified in
Die Vorrichtung, die der Lagerung von Schienenfahrzeugen dient, umfasst ein zur Lagerung eines Fahrzeugaufbaus vorgesehenes Laufwerk mit wenigstens einem Radsatz, gegebenenfalls ein Drehgestell, mit einem Laufwerksrahmen, der über eine Primärfederung und vorzugsweise über wenigstens einen Primärlenker mit einem zugehörigen Radsatz verbunden ist und der über eine Sekundärfederung und vorzugsweise über wenigstens einen Sekundärlenker mit dem Fahrzeugaufbau verbunden ist.The device which serves for the storage of rail vehicles comprises a drive provided for supporting a vehicle body with at least one wheel, possibly a bogie, with a drive frame, which is connected via a primary suspension and preferably via at least one primary link with an associated wheelset and over a secondary suspension and preferably connected via at least one secondary link to the vehicle body.
Erfindungsgemäss ist die Lagervorrichtung mittels eines Fahrzeugrechners in Abhängigkeit von ermittelten Zustandsdaten der Schienen derart steuerbar, dass auf den Radsatz einwirkende und von den Zustandsänderungen der Schienen abhängige Kräfte reduzierbar sind.According to the invention, the bearing device can be controlled by means of a vehicle computer in dependence on determined status data of the rails such that forces acting on the wheelset and dependent on the changes in state of the rails can be reduced.
Der Fahrzeugrechner befindet sich vorzugsweise im Zugfahrzeug, kann jedoch auch in jedem anderen Fahrzeug einer Zugskomposition angeordnet sein. Ferner sind mehrere Fahrzeugrechner einsetzbar.The vehicle computer is preferably located in the towing vehicle, but can also be arranged in any other vehicle of a train composition. Furthermore, several vehicle computers can be used.
Durch die Steuerung der Lagervorrichtung erfolgt eine Adaption an die erwartete Zustandsänderung der Schienen bzw. eine vom Fahrverlauf des Schienenfahrzeugs abhängige Anpassung der Lagervorrichtung an den Verlauf der Fahrspur bzw. an den Verlauf der Schienen und zwischengeschalteter Weichen. Dabei erfolgt die Anpassung vorzugsweise an den Verlauf jeder Schiene eines Schienenpaars. Vorzugsweise wird daher auch jede Schiene eines Schienenpaars individuell vermessen.By controlling the bearing device is an adaptation to the expected change in state of the rails or a dependent on the driving course of the rail vehicle adaptation of the bearing device to the course of the lane or to the course of the rails and interposed switches. The adaptation preferably takes place on the course of each rail of a rail pair. Preferably, therefore, each rail of a rail pair is measured individually.
Dazu werden der Verlauf der Fahrspur bzw. der Verlauf und der Zustand der Schienen und der zwischengeschalteten Weichen erfasst und vorzugsweise abgespeichert. Die Abspeicherung erfolgt vorzugsweise im Fahrzeug und in einem Leitrechner, in dem bereits nach kurzer Zeit der Zustand des gesamten Gleisnetzes abgebildet ist. Allfällige Änderungen des Gleisnetzes sowie Zustandsänderungen desselben können somit kontinuierlich erfasst werden.For this purpose, the course of the lane or the course and the state of the rails and the intermediate points are detected and preferably stored. The storage is preferably carried out in the vehicle and in a host computer, in which the state of the entire rail network is displayed after a short time. Any changes to the rail network as well as changes in its status can thus be recorded continuously.
In [5], Messtechnik SBB, Diagnosefahrzeug der SBB Infrastruktur, sind Möglichkeiten zur Gleismessung und Gleisinspektion mittels eines Diagnosefahrzeuges beschrieben. Insbesondere können die Gleisgeometrie, die Spurweite, die Spurrichtung, die Überhöhung, die Verwindung, die Längshöhe, sowie das Schienenprofil mit Schienenverschleiss und Berührgeometrie vermessen werden. Messvorrichtungen, die auf dem beschriebenen Diagnosefahrzeug vorgesehen sind, können auch auf fahrplanmässig verkehrenden Fahrzeugen installiert werden, wodurch entsprechende Daten des Schienennetzes routinemässig erfasst werden können. Die ermittelten Daten können als Eingangsgrössen für das erfindungsgemässe Steuerungsverfahren verwendet werden.In [5], Measuring Technique SBB, Diagnostic Vehicle of the SBB Infrastructure, possibilities for track measurement and track inspection by means of a diagnostic vehicle are described. In particular, the track geometry, the track width, the track direction, the elevation, the torsion, the longitudinal height, and the rail profile can be measured with rail wear and contact geometry. Measuring devices provided on the described diagnostic vehicle can also be installed on scheduled vehicles, whereby corresponding data of the rail network can be routinely detected. The determined data can be used as input variables for the control method according to the invention.
Gestützt auf das registrierte Gleisabbild kann der Leitrechner die Zustandsdaten der befahrenen Schienen den Schienenfahrzeugen mitteilen. Die Schienenfahrzeuge können Korrekturmassnahmen somit auch dann ausführen, wenn sie den Zustand der Fahrspur bzw. der Schienen nicht selbst ausmessen. In diesem Fall verwendet das Schienenfahrzeug ein System zur Ermittlung von Positionsdaten und der Fahrtrichtung, wie das GPS-System, das Galileo-System, oder das GNSS-System. Anhand der ermittelten Positionsdaten und den vom Leitrechner übermittelten Positionsdaten für die Zustandsänderungen der Schienen kann das Schienenfahrzeug in der Folge die erforderlichen Korrekturmassnahmen ortsgenau und zeitgenau einleiten. Vom Schienenfahrzeug werden in diesem Fall vorzugsweise auch die Art und/oder das Ausmass der Zustandsänderung mitgeteilt. Ausgehend von einer einmal ermittelten Position können weitere Positionsdaten unter Berücksichtigung der Fahrzeit und der Fahrgeschwindigkeit auch durch kinematische Berechnungen ermittelt werden. Ferner kann ein allfälliger Radschlupf bestimmt und berücksichtigt werden. Die Steuerung des Schienenfahrzeugs ist mit dem Fahrverhalten eines Skifahrers vergleichbar, dessen Oberkörper entlang einer möglichst gleichmässigen Bahn mit maximal möglichen Kurvenradien geführt wird, während die Skis der Fahrspur folgen, die Unregelmässigkeiten aufweist. Dabei werden Unregelmässigkeiten des Spurverlaufs laufend evaluiert und entsprechende Vorbereitungsmassnahmen getroffen. Sofern eine Bodenwelle erkannt wird, so wird der Oberkörper angehoben. Bei Erreichen der Bodenwelle werden die Beine etwas gelockert, so dass die Bodenwelle ohne weitere Bewegung des Oberkörpers elastisch überfahren werden kann. Erkennt der Skifahrer eine Kurve, so wird der Oberkörper bereits vor der Kurve entsprechend geneigt. Analog dazu werden bei einem Schienenfahrzeug der Fahrzeugaufbau und/oder der Laufwerksrahmen vor, während und nach Unregelmässigkeiten des Schienenverlaufs derart geführt, dass diese Kurve vertikal und/oder horizontal entlang möglichst grossen Kurvenradien geführt wird. Vor einer Welle oder einer Kurve in den Gleisen werden der Fahrzeugaufbau und/oder der Laufwerksrahmen vertikal und/oder horizontal verschoben, so dass nur noch das Laufwerk bzw. die Radsätze beim Erreichen der Unebenheit folgen müssen. Der Leitrechner ist vorzugsweise mit einem Verkehrsrechner gekoppelt, aus dem Verkehrsdaten für das Gleisnetz abrufbar sind. Der Leitrechner kann somit jedem Schienenfahrzeug oder jeder Komposition von Schienenfahrzeugen bzw. an die Fahrzeugrechner die Zustandsdaten der befahrenen Gleisstrecke einschliesslich der Positionen mitteilen, an denen Zustandsänderungen der Schienen auftreten. In vorzugsweisen Ausgestaltungen kann der Leitrechner auch die Art, Grösse und Fahrtrichtung des Schienenfahrzeugs bestimmen und entsprechend angepasste Korrekturmassnahmen oder Steuersignale übermitteln.Based on the registered track image, the master computer can communicate the status data of the used rails to the rail vehicles. The rail vehicles can thus carry out corrective measures even if they do not measure the condition of the lane or the rails themselves. In this case, the rail vehicle uses a system for determining position data and the direction of travel, such as the GPS system, the Galileo system, or the GNSS system. On the basis of the determined position data and the position data transmitted by the master computer for the state changes of the rails, the rail vehicle can subsequently take the necessary corrective measures in a location-accurate and timely manner initiate. From the rail vehicle, the type and / or the extent of the state change are preferably communicated in this case. Based on a once determined position further position data can be determined by kinematic calculations taking into account the travel time and the driving speed. Furthermore, a possible wheel slip can be determined and taken into account. The control of the rail vehicle is comparable to the driving behavior of a skier, whose upper body is guided along a track that is as even as possible with maximum possible curve radii, while the skis follow the lane, which has irregularities. Irregularities of the lane course are continuously evaluated and appropriate preparatory measures are taken. If a bump is detected, the upper body is raised. Upon reaching the bump, the legs are loosened a bit, so that the bump can be overrun elastically without further movement of the upper body. If the skier detects a curve, the upper body is already tilted accordingly before the turn. Similarly, in a rail vehicle, the vehicle body and / or the drive frame before, during and after irregularities of the rail track out such that this curve is guided vertically and / or horizontally along the largest possible curve radii. Before a wave or a curve in the tracks of the vehicle body and / or the drive frame are moved vertically and / or horizontally, so that only the drive or wheelsets must follow when reaching the unevenness. The master computer is preferably coupled to a traffic computer from which traffic data for the rail network can be retrieved. The master computer can thus each rail vehicle or each composition of rail vehicles or to the vehicle computer, the status data of the traveled track including the positions at which state changes of the rails occur. In preferred embodiments, the master computer can also determine the type, size and direction of travel of the rail vehicle and transmit correspondingly adapted corrective measures or control signals.
Vorzugsweise werden die Art und die Grösse der Zustandsänderungen erfasst. Besonders einfach können Korrekturmassnahmen festgelegt werden, wenn die erfassten Zustandsänderungen einer Kategorie zugeteilt werden. Beispielsweise kann eine Zustandsänderung an einer bestimmten Position eine Stossstelle betreffen, an der die benachbarten Gleise vertikal und/oder horizontal um ein bestimmtes Mass verschoben sind. Ferner können Weichenpositionen sowie die diesbezüglich zu erwartenden Zustandsänderungen erfasst werden. Weiterhin kann ein Schienenbruch erfasst werden. Im Bereich einer Weiche kann durch die Steuerung der Lagervorrichtung der Kurvenradius für den Fahrzeugaufbau vergrössert werden, wobei der Fahrzeugaufbau oder der Laufwerksrahmen eine Kurve nicht voll ausfährt, sondern schneidet und dadurch den vom Fahrzeugaufbau durchfahrenen Kurvenradius vergrössert. In diesem Fall folgt gegebenenfalls nur ein seitlicher "Ausreisser" der Radsätze, die den Schienen präzise folgen.Preferably, the nature and size of the state changes are detected. Corrective measures can be defined particularly simply if the detected state changes are assigned to a category. For example, a change of state at a certain position may concern a joint at which the adjacent tracks are vertically and / or horizontally displaced by a certain amount. In addition, switch points and the expected changes in status can be recorded. Furthermore, a rail break can be detected. In the area of a switch, the curve radius for the vehicle body can be increased by the control of the bearing device, wherein the vehicle body or the drive frame does not fully extend a curve, but cuts and thereby increases the radius of curvature traveled by the vehicle body. In this case, there may only be a lateral "breakaway" of the wheelsets that follow the rails precisely.
Der Leitrechner ist vorzugsweise auch mit einem Wartungsrechner verbunden, in dem für die Infrastruktur geplante Wartungsmassnahmen registriert sind. Diese Wartungsmassnahmen können unter Berücksichtigung der übermittelten Daten angepasst und erweitert werden. Sofern in einem bestimmten Bereich des Gleisnetzes Wartungsarbeiten durchgeführt werden sollen, so kann eine fehlerhafte Stossstelle oder ein Gleisbruch, die vom Leitrechner an den Wartungsrechner gemeldet wurde, praktisch gleichzeitig mit geringem Aufwand korrigiert werden.The master computer is preferably also connected to a maintenance computer in which maintenance measures planned for the infrastructure are registered. These maintenance measures can be adapted and extended taking into account the transmitted data. If maintenance work is to be carried out in a specific area of the track network, a faulty impact point or a track break that was reported by the master computer to the maintenance computer can be corrected virtually simultaneously with little effort.
Anhand der online zum Beispiel in der Lokomotive oder in einer anderen Fahrzeugeinheit ermittelten oder vom Leitrechner zum Fahrzeugrechner übertragenen Zustandsdaten können in der Folge Gegenmassnahmen zeitgenau ausgelöst werden, mittels denen die Auswirkungen der Zustandsänderungen preemptiv aufgefangen oder behandelt werden. Vorzugsweise wird von den Schienenfahrzeugen die vorliegende Beladung bzw. Belastung gemessen und bei der Steuerung der Lagervorrichtung berücksichtigt.Based on the state data determined online, for example, in the locomotive or in another vehicle unit or transmitted from the master computer to the vehicle computer, countermeasures can be triggered in a timely manner by means of which the effects of the state changes are preemptively absorbed or treated. The present load or load is preferably measured by the rail vehicles and taken into account in the control of the bearing device.
Erfindungsgemäss wird daher praktisch unmittelbar bei der Ursache der Störungen eingegriffen, so dass deren Auswirkungen bereits vor deren Eintreten entgegengewirkt werden kann oder dass deren Auswirkungen unmittelbar nach dem Eintreten optimal behandelt werden können.Therefore, according to the invention, interferences are intervened almost immediately with the cause of the disorders, so that their effects can be counteracted even before they occur, or that their effects can be optimally treated immediately after they have occurred.
Sofern an einer Weichenposition eine Richtungsänderung sprunghaft erfolgt, kann eine entsprechende laterale Verschiebung des Laufwerks und/oder des Fahrzeugaufbaus vorgängig bewirkt werden, so dass bei Auftreten der Zustandsänderung der Schienen nur noch die Radsätze verschoben werden und eine Kraftübertragung auf den Laufwerksrahmen und/oder den Fahrzeugaufbau unterbleibt.If a change in direction occurs abruptly at a points position, a corresponding lateral displacement of the drive and / or the vehicle body can be effected beforehand, so that only the wheelsets are displaced when the change in state of the rails occurs and a force transmission to the drive frame and / or the vehicle body omitted.
Sofern an einer Stossstelle eine Höhenänderung erfolgt, kann eine entsprechende vertikale Verschiebung des Laufwerksrahmens und/oder des Fahrzeugaufbaus vorgängig bewirkt werden, so dass durch die dann eintretende Zustandsänderung nur noch die Radsätze gegebenenfalls mit dem Laufwerksrahmen angehoben oder abgesenkt werden und eine Kraftübertragung auf den Fahrzeugaufbau unterbleibt.If a height change takes place at an impact point, a corresponding vertical displacement of the drive frame and / or the vehicle body can be effected beforehand, so that only the wheelsets are optionally raised or lowered by the then entering state change with the drive frame and a power transmission to the vehicle body is omitted ,
Durch die erfindungsgemässen Massnahmen wird somit verhindert, dass durch Zustandsänderungen der Schienen, die sprunghafte vertikale oder laterale Verschiebungen der Radsätze bewirken, Kräfte auf den Laufwerksrahmen und/oder auf den Fahrzeugaufbau übertragen werden. Die bei Zustandsänderungen der Schienen auftretenden Kräfte, die einerseits auf das Schienenfahrzeug und andererseits auf die Schienen einwirken, werden daher wesentlich reduziert. Statt die gesamte Masse des Schienenfahrzeugs verschieben zu müssen, ist nach Durchführung der Korrekturmassnahmen lediglich eine Verschiebung der Masse des Radsatzes, gegebenenfalls des Drehgestells erforderlich, woraus sich die Kraftreduktion ungefähr bestimmen lässt.By means of the measures according to the invention, it is thus prevented that forces on the drive frame and / or on the vehicle body are caused by changes in the state of the rails, which cause abrupt vertical or lateral displacements of the wheel sets be transmitted. The forces which occur during changes in the state of the rails, which act on the one hand on the rail vehicle and on the other hand on the rails, are therefore substantially reduced. Instead of having to move the entire mass of the rail vehicle, after performing the corrective measures, only a shift in the mass of the wheelset, possibly the bogie required, from which the force reduction can be approximately determined.
In einer weiteren vorzugsweisen Ausgestaltung wird durch die Steuerung der Lagervorrichtung das Dämpfungsverhalten der Primärfederung und/oder der Sekundärfederung an Einwirkungen angepasst, die durch Zustandsänderungen der Schienen verursacht werden. Durch die Anpassung der Lagervorrichtung können innerhalb kurzer Zeit Perioden auftretender hochfrequenter Schwingungen, die gegebenenfalls durch einen Impuls verursacht werden, gezielt aufgefangen und absorbiert werden, ohne dass eine Komforteinbusse für die Passagiere resultiert. Das Federsystem kann für die ungestörte Fahrt optimiert und bedarfsweise für kurze Intervalle an Störungen des Gleisnetzes angepasst werden.In a further preferred embodiment, the control of the bearing device, the damping behavior of the primary suspension and / or the secondary suspension adapted to actions caused by changes in state of the rails. By adjusting the bearing device periods occurring high-frequency oscillations, which may be caused by an impulse can be selectively collected and absorbed within a short time, without resulting in a loss of comfort for the passengers. The spring system can be optimized for undisturbed driving and, if necessary, adapted for short intervals to disturbances of the rail network.
Zur Messung des Zustandes der Schienen können vorteilhaft auch die Krafteinwirkungen auf die Radachsen gemessen werden. Diese Krafteinwirkungen sind abhängig einerseits vom Verlauf und Zustand der Schiene und andererseits von Wendung des Laufwerks, insbesondere von beschädigten Federelementen und beschädigten Rädern, insbesondere Rädern mit Flachstellen. Flachstellen an Rädern verursachen mit jeder Radumdrehung wenigstens eine Lastspitze. Vorzugsweise werden die durch das Laufwerk, insbesondere die Flachstellen, verursachten Störungen identifiziert und aus dem Schienenspektrum, in dem die durch die Schienen verursachten Störungen aufgezeichnet sind, subtrahiert.To measure the condition of the rails, it is also advantageous to measure the forces acting on the wheel axles. These forces are dependent on the one hand on the course and condition of the rail and on the other hand turn of the drive, in particular damaged spring elements and damaged wheels, especially wheels with flats. Flats on wheels cause at least one peak load each wheel revolution. Preferably, the disturbances caused by the drive, especially the flats, are identified and subtracted from the rail spectrum in which the disturbances caused by the rails are subtracted.
Erfindungsgemäss können daher typischerweise periodisch auftretende Störungen am Laufwerk und Störungen an den Schienen voneinander getrennt und ausgewertet werden. Das Schienenspektrum ist daher nicht durch die Einwirkungen des Laufwerks verfälscht. Die an den Laufwerken detektierten Mängel können in der Folge an einen Wartungsrechner gemeldet werden, indem die geplanten Wartungsarbeiten für den Fuhrpark registriert sind.Therefore, according to the invention, typically periodic disturbances on the drive and disturbances on the rails can be separated from one another and evaluated. The rail spectrum is therefore not distorted by the effects of the drive. The defects detected on the drives can subsequently be reported to a maintenance computer by registering the planned maintenance work for the vehicle fleet.
Der Fahrzeugrechner steuert die jedem Rad und/oder Radsatz zugeordnete Lagervorrichtung, insbesondere die Primärfederungen und/oder Sekundärfederungen unter Berücksichtigung der Fahrgeschwindigkeit und der Achsabstände des Schienenfahrzeugs bzw. der Schienenfahrzeugkomposition. Auf diese Weise erhält jede entlang der Fahrspur angeordnete Lagervorrichtung einer Zugskomposition die erforderlichen Steuersignale rechtzeitig vor dem Erreichen einer Zustandsänderung der Schienen. Frontseitig am Schienenfahrzeug bzw. an der Zugskomposition gemessene Zustandsänderungen können vielleicht nicht für das Zugfahrzeug, aber für die angekoppelten weiteren Schienenfahrzeuge vorteilhaft kompensiert werden.The vehicle computer controls the bearing device assigned to each wheel and / or wheel set, in particular the primary suspensions and / or secondary suspensions, taking into account the driving speed and the center distances of the rail vehicle or rail vehicle composition. In this way, each stored along the lane storage device of a train composition receives the necessary control signals in time before reaching a change in state of the rails. Changes of state measured at the front of the rail vehicle or on the train composition may not be compensated advantageously for the towing vehicle, but for the coupled further rail vehicles.
Die Steuersignale können ferner unter Berücksichtigung der Fahrgeschwindigkeit, der Beladung des Schienenfahrzeugs sowie der Art des Schienenfahrzeugs festgelegt werden. Sofern die Geschwindigkeit des Schienenfahrzeugs hoch ist, so sind die Korrekturmassnahmen rascher zu vollziehen. Damit die Korrekturmassnahmen selbst nicht zu Störungen führen, werden diese jedoch vorzugsweise so langsam und gleichmässig wie möglich durchgeführt. Für jedes Schienenfahrzeug können die optimalen Korrekturwerte, d.h. die idealen Einstellungen für die Lagervorrichtung, insbesondere die Primärfederung und die Sekundärfederung, für ein spezifisches Ereignis individuell festgelegt und gespeichert werden.The control signals may also be determined taking into account the driving speed, the loading of the rail vehicle and the type of rail vehicle. If the speed of the rail vehicle is high, the corrective measures must be taken more quickly. However, so that the corrective measures themselves do not lead to disturbances, they are preferably carried out as slowly and evenly as possible. For each rail vehicle, the optimum correction values, ie the ideal settings for the bearing device, in particular the primary suspension and the secondary suspension, can be set and stored individually for a specific event.
Die Zustandsänderungen der Schienen treten typischerweise stets an denselben Positionen im Gleisnetz auf. Es ist daher möglich, die Parameter für die Lagervorrichtung bei jeder Überfahrt stetig zu optimieren. Im Laufwerk bzw. Drehgestell werden vorzugsweise Kraftsensoren vorgesehen, mittels denen der Erfolg der Korrekturmassnahmen geprüft wird. Die Parameter werden vorzugsweise bei jeder Durchfahrt leicht geändert, um zu prüfen ob eine Reduktion der auf die Lagervorrichtung einwirkenden Kräfte aufgetreten ist, bis ein Optimum erreicht ist. Für jede Kategorie von Zustandsänderungen können dabei Basiswerte für die Parameter der Lagervorrichtung oder Parameteränderungen festgelegt werden, die gegebenenfalls hinsichtlich des Ausmasses der Zustandsänderung skaliert und in der Folge vorzugsweise optimiert werden. Es ist jedoch zu beachten, dass Zustandsänderungen der Schienen auch von parallel fahrenden Schienenfahrzeugen verursacht werden können, weshalb bei der Berechnung der Steuerungsmassnahmen der weitere Verkehr vorzugsweise beachtet wird.The state changes of the rails typically always occur at the same positions in the track network. It is therefore possible to continuously optimize the parameters for the storage device at each crossing. In the drive or bogie force sensors are preferably provided by means of which the success of the corrective measures is checked. The parameters are preferably slightly changed at each pass to check whether a reduction of the forces acting on the bearing device has occurred until an optimum is reached. Base values for the parameters of the storage device or parameter changes can be defined for each category of state changes, which are optionally scaled with regard to the extent of the change in state and are preferably optimized in the sequence. It should be noted, however, that changes in the status of the rails can also be caused by parallel moving rail vehicles, which is why the further traffic is preferably taken into account when calculating the control measures.
Durch die erfindungsgemässen Massnahmen erhöht sich der Fahrkomfort für die Passagiere. Ferner werden Erschütterungen von in Schienenfahrzeugen transportierten Gütern reduziert oder vermieden. Erfindungsgemäss ausgestaltete Schienenfahrzeuge erlauben somit den vorteilhaften Transport von erschütterungsempfindlichen Gütern, wie Glasgut oder feinmechanische Apparate. Aufgrund der Reduktion der auf das Schienenfahrzeug, insbesondere auf das Laufwerk einwirkenden Kräfte reduzieren sich auch Verschleisserscheinungen. In der Fahrgastkabine werden die Einrichtungen, wie Tische, Sitze, Fensterdichtungen oder Restaurationseinrichtungen geschont, so dass diese länger in gutem Zustand erhalten bleiben. Durch die Vermeidung von Stössen und Erschütterungen wird auch vermieden, dass sich Gegenstände, wie Gepäck, lösen und Personen gefährden können. Weiterhin werden sprunghafte seitliche Auslenkungen vermieden, die Personen aus dem Gleichgewicht bringen können. Weiterhin werden unerwünschte Erschütterungen im Gleisbett und die Emission von Geräuschen vermieden oder reduziert.The measures according to the invention increase the ride comfort for the passengers. Furthermore, vibrations of transported goods in rail vehicles are reduced or avoided. Rail vehicles designed in accordance with the invention thus permit the advantageous transport of goods susceptible to vibration, such as glassware or precision mechanical apparatuses. Due to the reduction of the forces acting on the rail vehicle, in particular on the drive forces are also reduced wear. In the passenger cabin, the facilities, such as tables, seats, window seals or restoration facilities are spared, so that they remain in good condition longer. By avoiding bumps and vibrations it is also avoided that objects, such as luggage, can come loose and endanger people. Continue to be erratic avoiding lateral deflections that can unbalance people. Furthermore, unwanted vibrations in the track bed and the emission of noise are avoided or reduced.
Die Eingriffe in die Lagervorrichtung können mit relativ einfachen Massnahmen durchgeführt werden. Eingangs wurde ausgeführt, dass die Lagervorrichtung, insbesondere die Primärfederung und die Sekundärfederung, die Funktionen »Führen« und »Federn« erfüllen. Beide Funktionen können erfindungsgemäss dazu verwendet bzw. gestützt auf Fahrspurinformationen optimiert werden, um die Auswirkungen von Zustandsänderungen der Schienen zu kompensieren oder zu reduzieren.The interventions in the storage device can be carried out with relatively simple measures. At the outset, it was stated that the bearing device, in particular the primary suspension and the secondary suspension, fulfills the functions »guiding« and »springs«. Both functions can be used according to the invention or optimized on the basis of lane information in order to compensate for or reduce the effects of changes in the status of the rails.
In ersten vorzugsweisen Ausgestaltungen ist wenigstens ein primärer Vertikalaktuator vorgesehen ist, mittels dessen Primärparameter der Primärfederung einstellbar und änderbar sind. Primärparameter sind dabei die Parameter der Primärfederung. Vorzugsweise ist der primäre Vertikalaktuator mit wenigstens einem steuerbaren primären Druckzylinder verbunden, mittels dessen die Vorspannung einer zugeordneten Primärfeder oder die Krafteinwirkung auf den Primärlenker einstellbar und änderbar ist. Die Primärfederung kann daher kurzfristig für die Aufnahme hochfrequenter Schwingungen eingestellt werden.In first preferred embodiments, at least one primary vertical actuator is provided, by means of which primary parameters of the primary suspension can be set and changed. Primary parameters are the parameters of the primary suspension. Preferably, the primary vertical actuator is connected to at least one controllable primary pressure cylinder by means of which the bias of an associated primary spring or the force acting on the primary link is adjustable and changeable. The primary suspension can therefore be quickly adjusted to record high-frequency vibrations.
In zweiten vorzugsweisen Ausgestaltungen ist wenigstens ein sekundärer Vertikalaktuator und/oder wenigstens ein sekundärer Horizontalaktuator vorgesehen, mittels dessen Sekundärparameter der Sekundärfederung einstellbar und änderbar sind. Die Sekundärparameter sind dabei die Parameter der Sekundärfederung. Der sekundäre Vertikalaktuator ist vorzugsweise über wenigstens eine Medienleitung mit wenigstens einer hydraulischen oder pneumatischen Feder, vorzugsweise mit einer Luftfeder, der Sekundärfederung verbunden. Der in der hydraulischen oder pneumatischen Feder vorgesehene Druck und auch die vertikale Lage des Fahrzeugaufbaus sind daher wahlweise einstellbar und rasch änderbar.In second preferred embodiments, at least one secondary vertical actuator and / or at least one secondary horizontal actuator is provided, by means of which secondary parameters of the secondary suspension can be adjusted and changed. The secondary parameters are the parameters of the secondary suspension. The secondary vertical actuator is preferably via at least one media line with at least one hydraulic or pneumatic spring, preferably with an air spring connected to the secondary suspension. The provided in the hydraulic or pneumatic spring pressure and also the vertical position of the vehicle body are therefore selectively adjustable and quickly changeable.
In weiteren vorzugsweisen Ausgestaltungen ist der sekundäre Horizontalaktuator vorzugsweise über steuerbare sekundäre Druckzylinder mit dem Sekundärlenker oder Teilen davon verbindbar, wodurch die horizontale Lage des Fahrzeugaufbaus wahlweise einstellbar und rasch änderbar ist.In further preferred embodiments of the secondary horizontal actuator is preferably connected via controllable secondary pressure cylinder with the secondary link or parts thereof, whereby the horizontal position of the vehicle body is selectively adjustable and quickly changed.
Durch die genannten Massnahmen können somit vertikale und/oder horizontale Verschiebungen des Fahrzeugaufbaus vorgenommen werden, um diesen an erwartete Zustandsänderungen anzupassen. Bei Laufwerken mit mehreren Radsätzen wird vorzugsweise für jeden Radsatz, gegebenenfalls für jedes Rad der Radsätze eine Korrektur vorgenommen.As a result of said measures, vertical and / or horizontal displacements of the vehicle body can be made in order to adapt it to expected state changes. For drives with multiple sets of wheels, a correction is preferably made for each wheel, possibly for each wheel of the wheelsets.
Generell gilt, dass die erfindungsgemässen Massnahmen vorzugsweise nahe der Ursache der Störungen, und somit falls möglich im Bereich der Primärfederung angewendet werden. Auf diese Weise kann durch die Sekundärfederung lediglich eine Glättung oder Bereinigung verbleibender Störungsanteile erfolgen. Es ist jedoch zu beachten, dass im Bereich der Primärfederung besonders hohe Kräfte wirken, weshalb die erfindungsgemässen Massnahmen gegebenenfalls nur in der Sekundärfederung angewendet werden können. Eine preemptive vertikale und/oder horizontale Verschiebung des Laufwerksrahmens oder des Fahrzeugaufbaus oder eine Anpassung des Federverhaltens kann grundsätzlich jedoch in beiden Stufen vorgesehen werden.In general, the measures according to the invention are preferably applied near the cause of the disturbances, and thus, if possible, in the area of the primary suspension. In this way can be done by the secondary suspension only a smoothing or clearing of remaining interference components. However, it should be noted that especially high forces act in the region of the primary suspension, which is why the measures according to the invention can optionally only be used in the secondary suspension. However, a preemptive vertical and / or horizontal displacement of the drive frame or the vehicle body or an adaptation of the spring behavior can basically be provided in both stages.
Um eine Reduktion der Aktuatorkräfte zu erzielen, können alle Krafteinwirkungen auf die Lagervorrichtung über Hebel oder Hebelsysteme erfolgen.To achieve a reduction of the actuator forces, all forces can be applied to the bearing device via levers or lever systems.
Die primären steuerbaren Druckzylinder und/oder die sekundären steuerbaren Druckzylinder sind vorzugsweise paarweise derart vorgesehen, das von zwei Seiten auf eni Lager eingewirkt werden kann. Die Druckverhältnisse in den gepaarten Druckzylindern sind vorzugsweise symmetrisch, so dass eine gewünschte Verschiebung in die eine oder andere Richtung somit praktisch verzögerunglos erfolgen kann, indem der Druck in einem der Druckzylinder über ein angeschlossenes Ventil reduziert wird.The primary controllable pressure cylinders and / or the secondary controllable pressure cylinders are preferably provided in pairs in such a way that can be acted on eni camp from two sides. The pressure conditions in the paired pressure cylinders are preferably symmetrical, so that a desired displacement in one direction or the other can thus take place practically without delay, by reducing the pressure in one of the pressure cylinders via a connected valve.
Die Leitungen, über die Medien, wie Luft oder Flüssigkeit, der Lagervorrichtung mit entsprechendem Druck zuführbar sind, sind daher mit Ventilen versehen, die durch den Fahrzeugrechner steuerbar sind. Der Fahrzeugrechner kann auch ein verteiltes System von prozessorgestützten Steuereinheiten umfassen, die in den einzelnen Schienenfahrzeugen der Zugskomposition angeordnet sind.The lines through which media, such as air or liquid, the bearing device can be fed with appropriate pressure, therefore, are provided with valves that are controlled by the vehicle computer. The vehicle computer may also comprise a distributed system of processor-based control units arranged in the individual rail vehicles of the train composition.
Zur Ermittlung des Gleiszustandes und entsprechender Zustandsänderungen ist der Fahrzeugrechner vorzugsweise mit wenigstens einer Messvorrichtung, z.B. einem Sensor verbunden. Der Gleiszustand kann mit akustischen Sensoren, optischen Sensoren, mechanischen Sensoren, kapazitiven Sensoren oder induktiven Sensoren ermittelt werden. Vorzugsweise erfolgt auch eine Distanzmessung vom Fahrzeugrahmen oder vom Laufwerksrahmen zur Schiene.For determining the track condition and corresponding state changes, the vehicle computer is preferably provided with at least one measuring device, e.g. connected to a sensor. The track condition can be determined with acoustic sensors, optical sensors, mechanical sensors, capacitive sensors or inductive sensors. Preferably, a distance measurement from the vehicle frame or from the drive frame to the rail.
Erfindungsgemäss können passive oder aktive Messvorrichtungen verwendet werden. Mittels passiver Messvorrichtungen werden Einwirkungen auf das Schienenfahrzeug oder optische oder akustische Einwirkungen auf den Sensor oder sonstige Messgrössen, insbesondere geometrische Messgrössen erfasst. Mittels aktiver Messvorrichtungen werden optische, akustische, elektrische, induktive oder elektromagnetische Signale an die Schienen abgegeben, die durch die Schienen gegebenenfalls in Wechselwirkung mit dem Schienenfahrzeug reflektiert und/oder oder moduliert werden. Die reflektierten und/oder modulierten Signale werden in der Folge erfasst und ausgewertet.According to the invention, passive or active measuring devices can be used. By means of passive measuring devices, effects on the rail vehicle or optical or acoustic effects on the sensor or other measured quantities, in particular geometric measured quantities, are detected. By means of active measuring devices optical, acoustic, electrical, inductive or electromagnetic signals are delivered to the rails, which may be due to the rails in Interaction with the rail vehicle to be reflected and / or or modulated. The reflected and / or modulated signals are subsequently detected and evaluated.
Die Signale optischer Sensoren werden ausgewertet, indem Bilder der Schienen aufgenommen und Bildänderungen detektiert und ausgewertet werden. Mechanische Sensoren erfassen beispielsweise Änderungen oder Erschütterungen eines Laufrades, gegebenenfalls eines Rades des Laufwerks. Mittels kapazitiven Sensoren kann die Änderung eines elektrischen Feldes erfasst werden, welches von Zustandsänderungen der Schienen abhängig ist. Mittels induktiven Sensoren kann die Änderung eines Magnetfeldes erfasst werden, welches von Zustandsänderungen der Schienen abhängig ist, die in das Magnetfeld hineinragen. Die kapazitiven und induktiven Sensoren erzeugen daher elektrische oder magnetische Felder und überwachen deren Zustand.The signals of optical sensors are evaluated by taking pictures of the rails and detecting and evaluating changes in the image. Mechanical sensors detect, for example, changes or vibrations of an impeller, possibly a wheel of the drive. By means of capacitive sensors, the change of an electric field can be detected, which is dependent on changes in the state of the rails. By inductive sensors, the change of a magnetic field can be detected, which is dependent on changes in the state of the rails, which protrude into the magnetic field. The capacitive and inductive sensors therefore generate electrical or magnetic fields and monitor their condition.
Die ermittelten Daten werden vorzugsweise online verarbeitet und zur erfindungsgemässen Steuerung der Lagervorrichtung oder zur zeitlich gestaffelten Steuerung der Lagervorrichtungen des Schienenfahrzeugs bzw. der Zugskomposition verwendet.The determined data are preferably processed online and used for controlling the storage device according to the invention or for staggered control of the storage devices of the rail vehicle or the train composition.
Vorzugsweise ist die Lagervorrichtung mit wenigstens einem Kraftsensor versehen, mittels dessen durch die Zustandsänderungen der Schienen im Laufwerk verursachte Kräfte messbar sind. Entsprechende Messgrössen werden dem Fahrzeugrechner des Schienenfahrzeugs übermittelt, der den Erfolg der Steuermassnahmen evaluiert und die Steuerparameter gegebenenfalls ändert, um weitere Verbesserungen zu erzielen. Die erfindungsgemässe Lagervorrichtung kann daher als Regelstrecke Teil eines Regelkreises sein, der die Parameter der Lagervorrichtung für die Zustandsänderungen entlang der Verkehrsstrecke laufend optimiert.Preferably, the bearing device is provided with at least one force sensor, by means of which the forces caused by the changes in state of the rails in the drive can be measured. Corresponding quantities are transmitted to the vehicle computer of the rail vehicle, which evaluates the success of the control measures and possibly changes the control parameters in order to achieve further improvements. The storage device according to the invention can therefore be part of a control loop as a controlled system, which continuously optimizes the parameters of the storage device for the state changes along the traffic route.
Nachfolgend wird die Erfindung anhand von Zeichnungen näher erläutert. Dabei zeigt:
- Fig. 1
ein Schienenfahrzeug 10 mit einem Laufwerk bzw.einem Drehgestell 1,das einen Fahrzeugaufbau 2 mittels einer Lagervorrichtung trägt, dieeine Primärfederung 11 und eine Sekundärfederung 12 umfasst und die durch eine Steuervorrichtung steuerbar ist, die mittels Sensoren 31, 32 Zustandsänderungen der befahrenen Schienen erfasst und Aktuatoren 121, 122 entsprechend betätigt;- Fig. 2
das Drehgestell 1 vonFig. 1 (ohne den frontseitigen Radsatz) mit einer erweiterten Steuervorrichtung und wenigstens einemSensor 33, mittels dessen durch die Zustandsänderungen der befahrenen Schienen verursachte Kräfte F erfasst und bei weiteren Steuerungsvorgängen berücksichtigt werden können;- Fig. 3a
das Schienenfahrzeug 10mit dem Drehgestell 1 vonFig. 2 und zwei Paaren von steuerbaren sekundären Druckzylindern 1291, 1293; 1292, 1294 mittels denen der Sekundärlenker 1252 einesPaares von Sekundärfederungen 12 lateral verschiebbar ist, die dem ersten Radsatz zugeordnet sind (nicht gezeigt);- Fig. 3b
das Schienenfahrzeug 10 vonFig. 3a nach der Betätigung der Druckzylinder 1293 bzw. 1292 und der seitlichen Verschiebung desFahrzeugaufbaus 2 gegenüberdem Drehgestell 1;- Fig. 4
- einen Teil des Fahrzeugs 10 von
Fig. 3a mit einem Vertikalaktuator 121, der über eine Medienleitung 1211 mit einer Luftfeder der Sekundärfederung 12 verbunden ist, undmit einem Horizontalaktuator 122, der über 1295A, 1295BDruckzylinder mit dem Basislenker 1251 und über die 1291, 1293Druckzylinder mit dem Hilfslenker 1252 desSekundärlenkers 125 verbunden ist; und - Fig. 5
- einen
Leitrechner 1000 und eine damit kontrollierte Komposition eines Schienenfahrzeugs 10, welchesSchienen 5 befährt, die an den Positionen P1 und P2 Zustandsänderungen an der rechten und/oder linken Schiene aufweist.
- Fig. 1
- a
rail vehicle 10 with a drive or abogie 1, which carries avehicle body 2 by means of a bearing device comprising aprimary suspension 11 and asecondary suspension 12 and which is controllable by a control device which detects by means of 31, 32 changes in state of the traveled rails andsensors 121, 122 actuated accordingly;Actuators - Fig. 2
- the
bogie 1 ofFig. 1 (without the front wheel set) with an advanced control device and at least onesensor 33, by means of which the forces caused by the state changes of the traveled rails F can be detected and taken into account in further control operations; - Fig. 3a
- the
rail vehicle 10 with thebogie 1 ofFig. 2 and two pairs of controllable 1291, 1293; 1292, 1294 by means of which thesecondary pressure cylinders secondary link 1252 of a pair ofsecondary suspensions 12 is laterally displaceable, which are associated with the first gear set (not shown); - Fig. 3b
- the
rail vehicle 10 ofFig. 3a after the actuation of the 1293 or 1292 and the lateral displacement of theprinting cylinder vehicle body 2 relative to thebogie 1; - Fig. 4
- a part of the
vehicle 10 ofFig. 3a with avertical actuator 121, which is connected via amedia line 1211 with an air spring of thesecondary suspension 12, and with ahorizontal actuator 122, the 1295A, 1295B with thepressure cylinder base link 1251 and via the 1291, 1293 is connected to thepressure cylinder auxiliary link 1252 of thesecondary link 125; and - Fig. 5
- a
master computer 1000 and a controlled composition of arail vehicle 10, which travelsrails 5, which has at the positions P1 and P2 state changes to the right and / or left rail.
Aus
Die Sekundärfederungen 12 sind paarweise von einem Sekundärlenker 125 gehalten, der einen mit dem Laufwerksrahmen 18 verbunden Basislenker 1251 und beidseits daran anschliessende Hilfslenker 1252 aufweist, die mit den Sekundärfederungen 12 verbunden sind und diese führen.The
In
In Abhängigkeit der ermittelten Zustandsänderungen kann der Fahrzeugrechner 100 die Aktuatoren 121 und 122 ansteuern und die Parameter der Lagervorrichtung ändern, um Anpassungen an die detektieren Zustandsänderungen der Schienen vorzunehmen. Die diesbezüglichen Einwirkungen auf die Sekundärfederung 12 sind besonders einfach realisierbar. Durch Einwirkung auf die Luftfedern kann der Fahrzeugaufbau 2 angehoben, abgesenkt, seitlich verschoben oder gedreht werden, um Lageänderungen vorzunehmen, die ansonsten durch die Zustandsänderungen der Schienen mit hohen Krafteinwirkungen sprunghaft vertikal nach unten oder nach oben oder lateral nach links oder nach rechts erfolgen. Mittels der Steuerung können die Lageänderungen hingegen über eine grössere Zeitperiode vollzogen werden, weshalb sprunghafte Änderungen und entsprechend wahrnehmbare Störungen entfallen.Depending on the determined state changes, the
Vorzugsweise werden erforderliche Änderungen der Lagervorrichtung kontinuierlich oder in kleinen Schritten vorgenommen, so dass die Änderungen bzw. die lateralen und/oder vertikalen Auslenkungen der gesteuerten Fahrzeugteile vorzugsweise für jeden Radsatz oder jedes Rad in Funktion der Zeit bzw. entsprechend dem zeitlichen Verlauf der Schienenänderungen erfolgen.Preferably, required changes in the bearing device are made continuously or in small steps, so that the changes or the lateral and / or vertical deflections of the controlled vehicle parts are preferably carried out for each wheel or each wheel as a function of time or according to the time course of the rail changes.
Bei oder kurz vor Erreichen der Position, an der die Zustandsänderung der Schienen vorliegt, kann in der Folge die Federkonstante der Sekundärfederung derart geändert werden, dass die durch die Zustandsänderung der Schienen auf die Radsätze 13 und das Drehgestell 1 ausgeübte Krafteinwirkung nicht auf den Fahrzeugaufbau 2 übertragen wird und das Drehgestell 1 lediglich die Lageänderung vollziehen kann, die für den Fahrzeugaufbau 2 bereits vollzogen wurde. D.h., beim Eintreffen bei der Position der Zustandsänderung erfolgt für die entsprechende Zeitperiode, beispielsweise für eine Zeitperiode im Bereich von z.B. 0.1 s bis 2.5 s vorzugsweise eine weitgehende Entkopplung des Fahrzeugaufbaus 2 vom Drehgestell 1. Das Drehgestell 1 kann die Richtungsänderung oder Lageänderung somit ohne störende Einwirkungen auf den Fahrzeugaufbau 2 vollziehen.As a result, at or shortly before reaching the position at which the state of the rails changes, the spring constant of the secondary suspension can be changed such that the force exerted by the change of state of the rails on the
Vor Erreichen der Position einer Zustandsänderung der Schienen können die Parameter der Primärfederung 11 und der Sekundärfederung 12 vorteilhaft auch derart geändert werden, dass durch die Zustandsänderung verursachte hochfrequente Schwingungen absorbiert werden können und nicht oder nur stark gedämpft zum Fahrzeugaufbau 2 übertragen werden. Beispielsweise wird die Vorspannung der Primärfedern 112 der Primärfederung 11 oder der Druck in den Luftfedern der Sekundärfederung 12 vor Erreichen der Zustandsänderung der Schienen langsam reduziert und anschliessend wieder aufgebaut.Before reaching the position of a state change of the rails, the parameters of the
Zur Durchführung der erfindungsgemässen Massnahmen weist der Fahrzeugrechner 101 ein Betriebsmodul 105 auf, welches ein Programm zur Auswertung der Messsignale der Sensoren 31, 32, 33 und ein Programm zur entsprechenden Steuerung der Lagervorrichtung aufweist. Der Fahrzeugrechner 100 und der Leitrechner 1000 stehen in bekannter Weise, zum Beispiel über Funk miteinander in Verbindung.In order to carry out the measures according to the invention, the vehicle computer 101 has an
Die Verwendung von Druckzylinderpaaren, die vorzugsweise senkrecht zur Laufrichtung des Schienenfahrzeugs 18 ausgerichtet sind, ist besonders vorteilhaft, da die auf die Hilfslenker 1291 einwirkenden Kräfte rasch änderbar sind. Sofern beide Druckzylinder 1291, 1293 bzw. 1292, 1294 unter einem entsprechend hohen Druck stehen, kann durch Druckreduktion in einem der Druckzylinder 1291 oder 1293 bzw. 1292 oder 1294 eine seitliche Verschiebung des Hilfslenkers 1252 und somit des Fahrzeugaufbaus 2 in die eine oder andere Richtung praktisch verzögerunglos erfolgen. Vorzugsweise erfolgt die Verschiebung jedoch, ohne dass sprunghafte Änderungen auftreten.The use of pressure cylinder pairs, which are preferably aligned perpendicular to the running direction of the
Die Lageverschiebung des Fahrzeugaufbaus 2 ist vor Erreichen der Zustandsänderung der Schienen erfolgt, weshalb anschliessend nur noch die Lageverschiebung des Drehgestells 1 nachvollzogen werden muss. Zur Vorbereitung dieses Vorgangs wird der Druck nun auch in den Druckzylindern 1292 und 1294 abgebaut, so dass der Laufwerksrahmen unterhalb des Fahrzeugaufbaus 2 nach einer gewissen Zeit automatisch wieder in die Ausgangsstellung zurückgeführt werden kann.The positional shift of the
Der Leitrechner 1000 steht vorzugsweise in Kontakt mit einem Wartungsrechner 1002, dem die festgestellten Anomalien gemeldet werden.The
Weiter steht der Leitrechner 1000 mit einem Verkehrsrechner 1001 in Verbindung, in dem der zeitliche Ablauf des Verkehrs und die involvierten Schienenfahrzeuge 10 für das Schienennetz N registriert sind. Der Leitrechner 1000 kann somit die Schienenfahrzeuge 10 vor Fahrtbeginn adressieren und diesen die Fahrwegdaten mit den früher erfassten Zustandsänderungen der Schienen 5 übermitteln.Furthermore, the
Anhand der online ermittelten oder vom Leitrechner 1000 übermittelten Zustandsdaten des befahrenen Schienenweges 5 kann der Fahrzeugrechner 100 in der Folge die erforderlichen Massnahmen ergreifen und die Lagervorrichtungen in der Fahrzeugkomposition rechtzeitig bzw. mit den erforderlichen zeitlichen Verzögerungen ansteuern, so dass jede Lagervorrichtung an der Position, an der die Zustandsänderung der Schienen 5 vorliegt, optimal eingestellt ist bzw. wird.On the basis of the state data of the
- 11
- Laufwerk, DrehgestellDrive, bogie
- 1010
- Schienenfahrzeugtrack vehicle
- 100100
- Fahrzeugrechnervehicle computer
- 10001000
- Leitrechnermaster computer
- 10011001
- DatenbankDatabase
- 10021002
- Verkehrsrechnertraffic computer
- 10031003
- Wartungsrechnermaintenance computer
- 1111
- Primärfederungprimary suspension
- 111111
- primärer Vertikalaktuatorprimary vertical actuator
- 112112
- Primärfedernprimary springs
- 115115
- Primärlenker, AchslenkerPrimary link, wishbone
- 116116
- AchslagerAchslager
- 119119
- primärer steuerbarer Druckzylinder, Dämpferprimary controllable pressure cylinder, damper
- 1212
- Sekundärfederungsecondary suspension
- 121121
- sekundärer Vertikalaktuatorsecondary vertical actuator
- 12111211
- Medienleitung für Flüssigkeit oder GasMedia line for liquid or gas
- 122122
- sekundärer Horizontalaktuatorsecondary horizontal actuator
- 125125
- Sekundärlenkersecondary link
- 12511251
- Basislenkerbase Bar
- 1252, 1252'1252, 1252 '
- Hilfslenkerauxiliary link
- 1291-12941291-1294
- sekundäre steuerbare Druckzylindersecondary controllable pressure cylinder
- 12951295
- steuerbar erster primärer Druckzylindercontrollable first primary pressure cylinder
- 1313
- Radsätzewheelsets
- 131131
- Radachsewheel axle
- 132132
- Räderbikes
- 1818
- LaufwerksrahmenDrive cage
- 22
- Fahrzeugaufbauvehicle body
- 31, 3231, 32
- Sensoren zur Prüfung der SchienenSensors for testing the rails
- 3333
- Kraftsensorenforce sensors
- 55
- Schienenrails
- 51, 5251, 52
- Schienen mit erster StossstelleRails with first impact point
- 53, 5453, 54
- Schienen mit zweiter StossstelleRails with second impact point
- 66
- BaliseBalise
- NN
- Schienennetz mit SchienenpositionenRail network with rail positions
- P1, P2P1, P2
- Schienenpositionenrail positions
- [1] Freudenberg Schwab, Schwingungstechnik Schienenfahrzeuge, Katalog 2012[1] Freudenberg Schwab, Vibration Control Rail Vehicles, 2012 catalog
-
[2]
DE10256022A1 DE10256022A1 -
[3]
EP2020356B1 EP2020356B1 -
[4]
Lothar Fendrich, Handbuch Eisenbahninfrastruktur, Springer Verlag, Berlin 2007 Lothar Fendrich, Railway Infrastructure Handbook, Springer Verlag, Berlin 2007 - [5] Messtechnik SBB, Diagnosefahrzeug der SBB Infrastruktur[5] Measurement SBB, diagnostic vehicle of SBB Infrastructure
Claims (14)
- Bearing device for rail vehicles (10) with a carriage (1), optionally a bogie, serving for supporting a vehicle body (2) and comprising a carriage frame (18) that is connected via a primary suspension (11) and preferably via at least a primary guide bar (115) with a related wheel set (13) and via a secondary suspension (12) and preferably via at least a secondary guide bar (125) with the vehicle body (2) and with a vehicle computer (100) and actuators (121, 122) that are controllable by the vehicle computer (100) in order to change parameters of the bearing device, characterised in that the bearing device is controllable by means of the vehicle computer (100) depending on gathered status data of the rails (5) such, that forces acting on the wheel set (13) and forces depending on the status changes of the rails (5) are reducible, whereby by controlling the bearing device a horizontal and/or vertical displacement of the carriage frame (18) relative to the at least one wheel set (13) or a horizontal and/or vertical relative movement of the vehicle body (2) relative to the carriage frame (18) is adjustable such, that in view of status changes of the rails (5) expected displacements of the carriage frame (18) and/or of the vehicle body (2) are forestalled before the status change of the rails (5) occurs.
- Bearing device according to claim 1, characterised in that at least one primary vertical actuator (111) is provided with which primary parameters of the primary suspension (11) are adjustable and changeable.
- Bearing device according to claim 2, characterised in that the primary vertical actuator (111) is connected to at least one controllable primary pressure cylinder (119) with which the pre-stressing of a related primary spring (112) or the impact of force onto the primary guide bar (115) is adjustable and changeable.
- Bearing device according to claim 1, 2 or 3, characterised in that at least one secondary vertical actuator (121) and/or at least one secondary horizontal actuator (122) is provided, with which secondary parameters of the secondary suspension (12) are adjustable and changeable.
- Bearing device according to claim 4, characterised in that the secondary vertical actuator (121) is connected via at least one media pipe (1211) with at least one hydraulic or pneumatic spring, preferably with an air spring, of the secondary suspension (12), so that the pressure provided therein and therefore the vertical position of the vehicle body (2) is adjustable and changeable.
- Bearing device according to claim 4 or 5, characterised in that the secondary horizontal actuator (122) is connectable preferably via controllable secondary pressure cylinders (1291; ...; 1295) with the secondary guide bar (125) or parts (1251, 1252) thereof, whereby the horizontal position of the vehicle body (2) is adjustable and changeable.
- Bearing device according to claim 4, 5 or 6, characterised in that the primary controllable pressure cylinders (119) and/or the secondary controllable pressure cylinders (1291; ...; 1295) are provided in pairs, whereby the pressure conditions in the paired pressure cylinders (119) or (1291; ...; 1295) respectively are symmetrical or asymmetrical.
- Bearing device according to one of the claims 1 - 7, characterised in that the vehicle computer (100) is connected to at least one sensor (31, 32), with which status data of the rails (5) are measurable, storable and optionally transferable to a main computer (1000) and/or that the vehicle computer (100) is connected to at least one sensor (33), with which forces are measurable that were caused in the carriage (1) by the status changes of the rails (5).
- Bearing device according to claim 6, 7 or 8, characterised in that the vehicle computer (100) is connectable to a main computer (1000), with which status data of the rails (5) gathered by the rail vehicles (10) preferably for the complete railway network are registrable and transferable to the rail vehicles (10) and optionally to a maintenance computer.
- Bearing device according to claim 9, characterised in that the vehicle computer (100) comprises a memory for storing measured status data and an operating module (105), with which control data for the bearing device can be generated, which can be forwarded to the primary actuators (111) and/or the secondary actuators (121, 122) under consideration of kinematic data such that a status change of the bearing device is adjustable before or simultaneously with reaching a status change of the rails (5), so that by the status change of the bearing device the status change of the rails (5) can at least partially be compensated and/or a reduction of the impact of forces, which are caused by the status change of the rails (5), can be effectuated.
- Method for a bearing device of a rail vehicle (10) guided in rails (5), comprising a carriage (1), optionally a bogie, serving for supporting a vehicle body (2) and a carriage frame (18) that is connected via a primary suspension (11) and preferably via at least one primary guide bar (115) with a related wheel set (13) and via a secondary suspension (12) and preferably via at least one secondary guide bar (125) with the vehicle body (2) and with a vehicle computer (100) and actuators (121, 122), that are controllable by the vehicle computer (100) in order to change parameters of the bearing device, characterised in that status data of the rails (5) traversed by the rail vehicle (10) are gathered and that the bearing device is controlled by means of the vehicle computer (100) depending on gathered status data of the rails (5) such, that forces acting on the wheel set (13) and forces depending on the status changes of the rails (5) are reduced, whereby by controlling the bearing device a horizontal and/or vertical displacement of the carriage frame (18) relative to the at least one wheel set (13) or a horizontal and/or vertical relative movement of the vehicle body (2) relative to the carriage frame (18) is adjusted such, that displacements of the carriage frame (18) and/or of the vehicle body (2) to be expected in view of status changes of the rails (5) are forestalled before the status change of the rails (5) occurs.
- Method according to claim 11, characterised in that the vehicle computer (100) is connected with at least one sensor (31, 32, 33), with which status data of the rails (5) are measurable and storable and/or that the vehicle computer (100) is connected with a main computer (1000), from which or to which status data of the rails (5) are transferable and that the vehicle computer (100) comprises an operating module (105), with which control data for the bearing device are generated, which are forwarded to the primary actuators (111) and/or to the secondary actuators (121, 122) under consideration of kinematic data such, that the influence on the bearing device is executable before or simultaneously with reaching of a status change of the rails (5) such, that the status change of the bearing device at least partially compensates the status change of the rails (5) and/or effectuates a reduction of the impact of force caused by the status change of the rails (5).
- Method according to claim 11 or 12, characterised in that the vehicle computer (100) controls the bearing device such, that the damping behaviour of the primary suspension and/or the secondary suspension is adapted to the influences, caused by the status changes of the rails (5; 51, 52; 53, 54) and that the vehicle computer (100), preferably by means of sensors (33), registers forces, which occur when driving through the rail section, in which status changes of the rails (5; 51, 52; 53, 54) are present and that the control parameters are preferably optimised depending on the measured forces.
- Method according to one of the claims 11-13, characterised in that the vehicle computer (100) controls the primary suspensions (11) and/or secondary suspensions (12) assigned to each wheel set (13) under consideration of the speed and the distance between axles of the rail vehicle (10) and/or that the vehicle computer (100) signals status changes of the rails (5) inside the rail vehicle (10) before they are passed by.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP14182177.7A EP2990294B1 (en) | 2014-08-25 | 2014-08-25 | Device and method of controlling the suspension of railway vehicles |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP14182177.7A EP2990294B1 (en) | 2014-08-25 | 2014-08-25 | Device and method of controlling the suspension of railway vehicles |
Publications (2)
Publication Number | Publication Date |
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EP2990294A1 EP2990294A1 (en) | 2016-03-02 |
EP2990294B1 true EP2990294B1 (en) | 2017-10-18 |
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Family Applications (1)
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EP14182177.7A Active EP2990294B1 (en) | 2014-08-25 | 2014-08-25 | Device and method of controlling the suspension of railway vehicles |
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Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102018009962B3 (en) * | 2018-12-20 | 2020-04-23 | Aventics Gmbh | Valve arrangement and method for regulating the air suspension level of a rail vehicle |
CN117948487B (en) * | 2024-03-26 | 2024-06-21 | 山东省地矿工程勘察院(山东省地质矿产勘查开发局八〇一水文地质工程地质大队) | Groundwater runoff passage repairing equipment and system method |
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Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19601337A1 (en) * | 1996-01-16 | 1997-07-17 | Linke Hofmann Busch | Arrangement to improve driving comfort |
AT411349B (en) | 2001-12-11 | 2003-12-29 | Siemens Sgp Verkehrstech Gmbh | SUSPENSION DEVICE |
KR101300893B1 (en) | 2007-07-30 | 2013-08-27 | 카야바 고교 가부시기가이샤 | Vibration restraint apparatus for railroad car |
GB2473502A (en) * | 2009-09-15 | 2011-03-16 | Bombardier Transp Gmbh | Rail vehicle suspension system with malfunction sensor |
US8468952B2 (en) * | 2010-12-31 | 2013-06-25 | General Electric Company | Dynamic weight management for a vehicle via hydraulic actuators |
EP2524852B1 (en) * | 2011-05-17 | 2019-09-25 | Schweizerische Bundesbahnen SBB | Method and device for monitoring a section of a rail |
DE102012219210A1 (en) | 2012-10-22 | 2014-04-24 | Siemens Aktiengesellschaft | Method and device for rail break detection |
-
2014
- 2014-08-25 EP EP14182177.7A patent/EP2990294B1/en active Active
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