JP3338648B2 - Abnormality detection method in vibration control system of railway vehicle - Google Patents
Abnormality detection method in vibration control system of railway vehicleInfo
- Publication number
- JP3338648B2 JP3338648B2 JP04433598A JP4433598A JP3338648B2 JP 3338648 B2 JP3338648 B2 JP 3338648B2 JP 04433598 A JP04433598 A JP 04433598A JP 4433598 A JP4433598 A JP 4433598A JP 3338648 B2 JP3338648 B2 JP 3338648B2
- Authority
- JP
- Japan
- Prior art keywords
- value
- vibration
- control system
- vehicle body
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Landscapes
- Vehicle Body Suspensions (AREA)
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、左右動アクチュエ
ータを備えた鉄道車両の振動制御系の異常をソフト的に
検知するための異常検知方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an abnormality detecting method for softly detecting an abnormality in a vibration control system of a railway vehicle having a left-right actuator.
【０００２】[0002]
【従来の技術】鉄道車両は、レールの不整により上下
動、ローリング及びヨーイングの振動加速度を受ける。
これらの振動を制御するため、従来は空気ばねやオイル
ダンパの絞りなどを用いた減衰力発生機構とばねから振
動制御装置が構成されていた。また、改良された振動制
御装置として複動型空気圧シリンダを空気圧サーボ弁で
駆動するものや、アクティブ制御を取り入れ全ての周波
数域で乗り心地の改善を図った振動制御装置が開発され
ている。2. Description of the Related Art A railroad vehicle receives vibration acceleration due to vertical movement, rolling and yawing due to irregular rails.
Conventionally, in order to control these vibrations, a vibration control device has been constituted by a damping force generating mechanism using an air spring or a throttle of an oil damper and a spring. Further, as an improved vibration control device, a device that drives a double-acting pneumatic cylinder with a pneumatic servo valve, and a vibration control device that incorporates active control to improve ride comfort in all frequency ranges have been developed.
【０００３】前記鉄道車両の振動抑制のための車体振動
制御系においては、車体と台車間の左右変位計、上下変
位計、車体の左右加速度計、上下加速度計など各種セン
サや各種弁が用いられている。In the vehicle body vibration control system for suppressing the vibration of the railway vehicle, various sensors and various valves such as a lateral displacement meter, a vertical displacement meter, a lateral left and right accelerometer and a vertical accelerometer between the vehicle and the bogie are used. ing.
【０００４】この車体振動制御系では、長期の使用にお
いて各種センサの健全性を保つことが制御の正常な状態
を保証する上で重要な要素である。そのため、車体振動
制御系の各種機器の作動状態や故障を早期に検知する方
法の開発が望まれている。In this vehicle body vibration control system, maintaining the soundness of various sensors during long-term use is an important factor in ensuring a normal control state. Therefore, it is desired to develop a method for early detecting the operating state and failure of various devices of the vehicle body vibration control system.
【０００５】[0005]
【発明が解決しようとする課題】鉄道車両の左右方向の
振動を抑制する方法として、車体と台車の間に左右動ア
クチュエータを設け、圧縮空気を使用して左右方向の振
動を低減する方向に荷重を発生させる車体振動制御系が
ある。この車体振動制御系においては、何らかの原因で
制御に異常が発生した場合には、速やかにその異常を検
知して制御を停止し、車両の安全走行を図ることが重要
である。As a method for suppressing the left-right vibration of a railway vehicle, a left-right motion actuator is provided between a vehicle body and a bogie, and a load is applied in a direction to reduce the left-right vibration using compressed air. There is a vehicle body vibration control system that generates vibration. In the vehicle body vibration control system, when an abnormality occurs in the control for some reason, it is important to detect the abnormality promptly and stop the control so that the vehicle can travel safely.
【０００６】本発明は、前記の要望に答えるため、鉄道
車両の台車と車体間に左右方向の車体振動を抑制するた
めの左右動アクチュエータを備えた車体振動制御系にお
いて、制御の異常をソフト的に検知する鉄道車両の振動
制御系における異常検知方法を提供するものである。SUMMARY OF THE INVENTION In order to meet the above-mentioned demand, the present invention provides a vehicle body vibration control system having a left-right movement actuator for suppressing left-right vibration of a vehicle between a bogie of a railway vehicle and a vehicle body. The present invention provides a method of detecting an abnormality in a vibration control system of a railway vehicle for detecting an abnormality.
【０００７】[0007]
【課題を解決するための手段】本発明者らは、前記目的
を達成するため、種々と研究の結果、走行中の車体の左
右振動を監視し、その振動が異常のパターンと一致すれ
ば制御異常と判断し制御を停止して車両を安全な状態に
すればよいことを知見した。本出願の鉄道車両の振動制
御系における異常検知方法は、前記知見に基づいて、次
のように構成される。Means for Solving the Problems To achieve the above object, the present inventors have conducted various studies and as a result, have monitored left and right vibrations of a running vehicle body, and if the vibrations coincide with an abnormal pattern, control has been performed. It has been found that it is only necessary to judge that an abnormality has occurred and stop the control to bring the vehicle into a safe state. The abnormality detection method in the vibration control system for a railway vehicle according to the present application is configured as follows based on the above knowledge.
【０００８】（１） 鉄道車両の台車と車体間に左右方
向の車体振動を抑制するための左右動アクチュエータを
備えた車体振動制御系において、予め設定した時間内に
おける左右振動加速度の最大値、圧力指令値の最大値と
最小値を求める計測を複数回繰り返して得た計測データ
を、上記設定時間経過ごと、左右動アクチュエータへの
制御圧力指令値が予め設定した圧力基準値を超え、かつ
左右方向の振動加速度センサ値が予め設定した加速度基
準値を超える現象が、予め設定した回数に連続して達し
た場合を制御系のフェールと判断する。[0008] (1) In the vehicle body vibration control system having a lateral movement actuator for suppressing the vehicle body vibration in the horizontal direction between the bogie and the vehicle body of the railway vehicle, the preset time
Maximum value of lateral vibration acceleration, maximum value of pressure command value and
Measurement data obtained by repeating the measurement for the minimum value multiple times
The phenomenon that the control pressure command value to the left and right motion actuators exceeds a preset pressure reference value and the vibration acceleration sensor value in the left and right direction exceeds a preset acceleration reference value every time the set time elapses is a preset phenomenon. the case has been reached in succession number you determined that failure of the control system.
【０００９】（２） 鉄道車両の台車と車体間に左右方
向の車体振動を抑制するための左右動アクチュエータを
備えた車体振動制御系において、予め設定した時間内
で、左右動アクチュエータへの制御圧力指令値と左右方
向の振動加速度センサ値が共に予め設定した基準値を超
え、かつ制御圧力指令値の向きが、そのときの左右方向
の振動加速度センサ値を拡大する方向に左右アクチュエ
ータ力を発生し、ある一定範囲の時間継続する現象を計
測し、連続してある回数の基準値を超えた場合に制御系
のフェールと判断する。(2) In a vehicle body vibration control system having a left-right movement actuator for suppressing left-right movement of a vehicle body between a bogie of a railway vehicle and a vehicle body, a control pressure applied to the left-right movement actuator within a preset time. Both the command value and the vibration acceleration sensor value in the left and right direction exceed a preset reference value, and the direction of the control pressure command value generates a left and right actuator force in a direction to expand the vibration acceleration sensor value in the left and right direction at that time. measures the phenomenon of time continuation of a certain range, it determined that failure of the control system if it exceeds the reference value of the number of times that is continuous.
【００１０】（３） 鉄道車両の台車と車体間に左右方
向の車体振動を抑制するための左右動アクチュエータを
備えた車体振動制御系において、予め設定した時間内に
おける左右方向振動加速度の最大値と最小値を求める計
測を複数回繰り返し、その予め設定した複数回の時間枠
内で計測した最大値と最小値を用いて、振れ幅の最大値
を求める演算を行い、その振れ幅の最大値が予め設定し
た基準値を超える回数が複数回続いた場合を制御系のフ
ェールと判断する。(3) In a vehicle body vibration control system provided with a left-right movement actuator for suppressing the left-right vibration of a vehicle body between a bogie of a railway vehicle and a vehicle body, the maximum value of the left-right vibration acceleration within a preset time is determined. The measurement for obtaining the minimum value is repeated a plurality of times, and using the maximum value and the minimum value measured within the plurality of time frames set in advance, a calculation for obtaining the maximum value of the swing width is performed, and the maximum value of the swing width is calculated. number exceeding preset reference value you determine a plurality of times lasted failure of the control system where.
【００１１】[0011]
【発明の実施の形態】本発明の実施による車体振動制御
系の異常検知は、図１に示す車体の左右方向振動制御の
システムにより、図２に示すプログラム全体のアルゴリ
ズムにおけるフェール検知のルーチンとして行われる。
以下に、そのフェール検知について詳細に説明する。な
お、説明中のフェール検知基準の各数値は一例であり、
車両や軌道あるいは運用の考え方により調整すべきもの
であり、ここで示した値に限定するものではない。そし
て、ソフト的フェール検知として制御状態の異常を、次
の３種類の方法（サブルーチン）で独立して監視するこ
とにより、車体振動制御系としての信頼性を向上させ得
る。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The abnormality detection of a vehicle body vibration control system according to the present invention is performed as a failure detection routine in the algorithm of the entire program shown in FIG. Will be
Hereinafter, the failure detection will be described in detail. In addition, each numerical value of the failure detection criterion in the description is an example,
It should be adjusted according to the concept of the vehicle, the track, or the operation, and is not limited to the values shown here. By independently monitoring the abnormality of the control state as the soft failure detection by the following three methods (subroutines), the reliability of the vehicle body vibration control system can be improved.
【００１２】（１） 第１の判定基準は、ｔ1秒間内に
制御圧力指令値（最大値Ｐ−最小値ｐ；ピークｔｏピー
ク）の値が圧力基準値Ｐ1（気圧）より大きく、かつ左
右振動加速度（Ｏ−ｐ；零ｔｏピーク）の値が加速度基
準値Ａ1（Ｇ）より大きい現象がＮ1回連続して発生する
と制御異常と判断する。(1) The first criterion is that the value of the control pressure command value (maximum value P-minimum value p; peak-to-peak) is larger than the pressure reference value P 1 (atmospheric pressure) within t 1 second, and If a phenomenon in which the value of the left-right vibration acceleration (Op; zero to peak) is larger than the acceleration reference value A 1 (G) occurs N 1 times consecutively, it is determined that the control is abnormal.
【００１３】（２） 第２の判定基準は、制御圧力指令
値（Ｐ−ｐ）の値が圧力基準値Ｐ2（気圧）より大き
く、かつ左右振動加速度（Ｏ−ｐ）の値が加速度基準値
Ａ2（Ｇ）より大きく、更に制御圧力指令の向きが、そ
のときの左右振動加速度の大きさを拡大する方向である
状態がｔ2秒以上ｔ3秒以下の間継続する現象がｔ4秒間
内にＮ2回発生すると制御異常と判断する。(2) The second judgment criterion is that the value of the control pressure command value (P-p) is larger than the pressure reference value P 2 (atmospheric pressure), and the value of the lateral vibration acceleration (Op) is the acceleration reference value. The phenomenon in which the state larger than the value A 2 (G) and the direction of the control pressure command is the direction in which the magnitude of the lateral vibration acceleration at that time is expanded for t 2 seconds or more and t 3 seconds or less occurs at t 4. When N 2 times occur within a second, it is determined that the control is abnormal.
【００１４】（３） 第３の判定基準は、ｔ5秒間に左
右振動加速度（Ｏ−ｐ）の値が、加速度基準値Ａ
3（Ｇ）より大きい現象がＮ3回発生すると制御異常と判
断する。(3) The third criterion is that the value of the left-right vibration acceleration (Op) during t 5 seconds is the acceleration reference value A
When a phenomenon larger than 3 (G) occurs N 3 times, it is determined that the control is abnormal.
【００１５】前記（１）のサブルーチン制御異常検知１
のアルゴリズムを図３に基づいて説明する。この検知方
法は、設定時間ｔ1秒間における左右振動加速度の最大
値を監視することにより、広範囲の異常振動を発生する
空気ばね共振点以上の高周波の異常振動も検出可能であ
る。その方法は、まず左右方向の振動加速度センサの値
の読み込みを設定時間内において複数回繰り返し、この
左右振動加速度の絶対値を計算し、左右振動加速度（Ｏ
−ｐ）の値の最大値が出れば順次このデータを更新し、
それと同時に圧力指令値の最大値と最小値も更新する。
ｔ 1 秒間経過後、これらの計測ピーク値を基準値と比較
し、圧力指令の基準値Ｐ1（気圧）を超え、かつ左右振
動加速度の基準値Ａ1（Ｇ）を超えた場合、検知カウン
タを１加算し、同様の現象がｔ 1秒間内に連続してＮ1回
発生した場合にエラーコードを設定し、メインルーチン
に受け渡すようにしたアルゴリズムである。Subroutine control abnormality detection 1 of the above (1)
Will be described based on FIG. This detection method is by monitoring the maximum value of the right and left vibration acceleration at the set time t 1 seconds, abnormal vibration of a wide range of abnormal vibration to generate an air spring resonance point or high frequency can also be detected. The method is as follows.
Repeated several times in the read setting time, calculates the absolute value of the lateral vibration acceleration, lateral vibration acceleration (O
If the maximum value of -p) comes out, this data is updated sequentially,
At the same time, the maximum and minimum pressure command values are updated.
After a lapse of t 1 second, these measured peak values are compared with a reference value. When the measured peak value exceeds the reference value P 1 (atmospheric pressure) of the pressure command and exceeds the reference value A 1 (G) of the lateral vibration acceleration, a detection counter is provided. 1 is added, a similar phenomenon to set an error code in the event of one N in succession t 1 seconds is an algorithm which is adapted passed to the main routine.
【００１６】実際の波形例を示すと図６のようになる。
この検知ルーチンの特徴は、図７のような高周波振動の
異常パターンも検知できること、また図８のような片側
に片寄った異常振動のパターンも検出でき、広いパター
ンの異常波形をカバーできる点である。FIG. 6 shows an actual waveform example.
The feature of this detection routine is that an abnormal pattern of high frequency vibration as shown in FIG. 7 can be detected, and a pattern of abnormal vibration deviated to one side as shown in FIG. 8 can be detected, and a wide pattern of abnormal waveform can be covered. .
【００１７】前記（２）のサブルーチン制御異常検知２
のアルゴリズムを図４に基づいて説明する。この検知方
法は、左右振動加速度がある程度大きくなったとき、加
速度の向きと出力信号の向きを監視し、かつ周波数も監
視して制御しないときの小さな振動を助長して大きくし
てしまう逆制御のような制御異常を検知することにあ
る。その方法は、まず圧力指令値の絶対値が基準値Ｐ2
（気圧）を超え、かつ左右振動加速度の絶対値が基準値
Ａ2（Ｇ）を超え、更に圧力指令値が左右振動加速度を
拡大する方向か否かを制御周期ごとに判断し、左右振動
加速度を大きくする方向の場合は、ｔ2秒以上ｔ3秒以下
の間、前記の条件を満たしていたか、どうかを判断し、
満たしている場合は１回現象が生じたとして検知カウン
ト（Ａ）を１増加させる。ここで、ｔ2秒以上ｔ3秒以下
の時間幅Ｔを設定したのは、ｔ2秒以下の短い瞬間、ノ
イズなどで圧力指令値と加速度の向きが一致しても、空
圧アクチュエータは瞬間的には反応せず、制御に大きな
悪影響はないからであり、またｔ3秒以上の長時間発生
しても、車体と空気ばね系の共振周波数（１〜３Ｈｚ前
後）の振動を助長することはなく、大きな悪影響は及ば
さないからである。すなわち、共振周波数の１〜３Ｈｚ
前後で逆制御する場合を検知対象として抽出する。Subroutine control abnormality detection 2 of the above (2)
Will be described based on FIG. This detection method monitors the direction of the acceleration and the direction of the output signal when the lateral vibration acceleration increases to some extent, and also monitors the frequency to promote small vibrations that are not controlled by monitoring. It is to detect such a control abnormality. First, the absolute value of the pressure command value is set to the reference value P 2
(Atmospheric pressure), the absolute value of the lateral vibration acceleration exceeds the reference value A 2 (G), and it is determined at each control cycle whether or not the pressure command value is in a direction to expand the lateral vibration acceleration. In the case of increasing the value, it is determined whether or not the above condition is satisfied during the period from t 2 seconds to t 3 seconds,
When the condition is satisfied, the detection count (A) is increased by 1 assuming that a phenomenon has occurred once. Here, the time width T of t 2 seconds or more and t 3 seconds or less is set because the pneumatic actuator operates at the moment even when the pressure command value and the direction of the acceleration match due to noise or the like at a short moment of t 2 seconds or less. does not react in, the large negative impact on the control is because no also occur long or t 3 seconds, to facilitate the vibration of the vehicle body and the air spring system of the resonance frequency (longitudinal 1 to 3 Hz) It does not have a significant adverse effect. That is, the resonance frequency of 1-3 Hz
The case where reverse control is performed before and after is extracted as a detection target.
【００１８】実際の波形例を示すと図９のようになる。
制御出力指令の向きと加速度の向きが逆で、制御出力指
令の向きがそのときの加速度の大きさを拡大する方向に
あり、それぞれが基準値を超えたときの継続時間Ｔを、
ｔ2＜Ｔ＜ｔ3の範囲に限定しているが、例えばｔ2＝
０．１２５秒、ｔ3＝１秒を設定すると、図１０
（ａ）、（ｂ）に示すように、異常振動の周波数ｆ（＝
１／２Ｔ）は、約０．５Ｈｚ＜ｆ＜４Ｈｚの範囲を検出
することになる。FIG. 9 shows an example of an actual waveform.
The direction of the control output command and the direction of the acceleration are opposite, and the direction of the control output command is in the direction of increasing the magnitude of the acceleration at that time, and the duration T when each exceeds the reference value is
Although the range is limited to t 2 <T <t 3 , for example, t 2 =
When 0.125 seconds and t 3 = 1 second are set, FIG.
As shown in (a) and (b), the frequency f (=
ＴT) will detect a range of about 0.5 Hz <f <4 Hz.
【００１９】前記（３）のサブルーチン制御異常検知３
のアルゴリズムを図５に基づいて説明する。この検知方
法は、左右振動加速度の基準値（最大値）が発生する前
に異常振動を検知し制御を停止することにある。その方
法は、まず図１１に示すように、過去３×ｔ5秒での左
右振動加速度の最大値及び最小値を決める。この過去３
×ｔ5秒の３は、２または更に大きな自然数でもよい。
このとき、ピーク値発生時の時刻も記録し、ｔ5秒なる
時間枠の境界で検出したピークを除外し、境界をまたい
で同じピーク値が使用されるのを防止した状態で、各時
間枠内での最大値Ａ、Ｂ、Ｃにおける最大値をＸとし、
また各時間枠内での最小値ａ、ｂ、ｃにおける最小値を
ｘとし、（最大値Ｘ−最小値ａ）と（最大値Ａ−最小値
ｘ）を比較し、大きい方を左右振動加速度（Ｐ−ｐ）値
とする。Subroutine control abnormality detection 3 of the above (3)
Will be described based on FIG. This detection method is to detect abnormal vibration and stop control before a reference value (maximum value) of the lateral vibration acceleration is generated. In the method, first, as shown in FIG. 11, the maximum value and the minimum value of the lateral vibration acceleration in the past 3 × t 5 seconds are determined. This past 3
3 in × t 5 seconds may be 2 or a larger natural number.
At this time, the time of peak value occurs also recorded, excluding the peaks detected at the boundary of t 5 seconds becomes time frame, with the same peak value is prevented from being used across boundaries, each time frame X is the maximum value of the maximum values A, B, and C in
The minimum value of the minimum values a, b, and c in each time frame is x, and (maximum value X-minimum value a) is compared with (maximum value A-minimum value x). (Pp) value.
【００２０】そして、この左右振動加速度（Ｐ−ｐ）値
が基準値Ａ3（Ｇ）を超えたか否かを判断し、基準値Ａ3
（Ｇ）を超えている場合は、検知カウンタを１増加させ
る。すなわち、３×ｔ5秒内でＮ3回、この現象が発生し
たときフェールとみなす。Ｎ3であればエラーコードを
設定する。基準値Ａ3（Ｇ）を超えていない場合は、検
知カウンタを零にリセットする。最後に、最大値Ｂ、最
小値ｂを最大値Ｃ、最小値ｃに、最大値Ａ、最小値ａを
最大値Ｂ、最小値ｂにそれぞれ更新しメインルーチンに
もどる。[0020] Then, it is determined whether the lateral vibration acceleration (P-p) value exceeds the reference value A 3 (G), the reference value A 3
If it exceeds (G), the detection counter is incremented by one. That is, when this phenomenon occurs N 3 times within 3 × t 5 seconds, it is regarded as a failure. If N 3 sets the error code. If not exceeding the reference value A 3 (G), the detection counter is reset to zero. Finally, the maximum value B and the minimum value b are updated to the maximum value C and the minimum value c, and the maximum value A and the minimum value a are updated to the maximum value B and the minimum value b, respectively, and the process returns to the main routine.
【００２１】このような複数の時間枠（ｔ5）に渡る左
右振動加速度の振れ幅（Ｐ−ｐ）値の決め方を採用した
のは下記の理由による。すなわち、曲線の入口・出口な
どで、左右振動加速度の振動成分に遠心力による定常成
分が付加されるため、図１２（ａ）のような波形が現れ
る。このような場合、例えば検知の時間枠（ｔ5）を一
つのみで最大・最小の振れ幅を決定するとすれば、図１
２（ｂ）の時間枠の場合では（Ｐ−ｐ）値は小さいが、
図１２（ｃ）の時間枠の場合では（Ｐ−ｐ）値は大きく
なり再現性がない。しかし、本発明のようにｔ5の複数
枠で振れ幅を決定すれば、長い時間の最大・最小となる
ので再現性のある値が得られる。The method for determining the swing width (Pp) of the lateral vibration acceleration over a plurality of time frames (t 5 ) is employed for the following reason. That is, since a steady component due to centrifugal force is added to the vibration component of the left-right vibration acceleration at the entrance / exit of the curve, a waveform as shown in FIG. In such a case, if the maximum / minimum swing width is determined by using only one detection time frame (t 5 ), for example, FIG.
In the case of the time frame of 2 (b), the (P-p) value is small,
In the case of the time frame shown in FIG. 12C, the (P-p) value becomes large and there is no reproducibility. However, if determining the amplitude of a plurality frames of t 5 as in the present invention, a reproducible value is obtained because the maximum and minimum long time.
【００２２】[0022]
【実施例】本発明の異常検知方法を実施するための鉄道
車両の左右振動制御のシステム構成を図１に示す。車体
８と台車９の間に車体の左右方向に働く左右動アクチュ
エータ１を設置する。この左右動アクチュエータ１には
左右室にそれぞれ通じる流量制御弁２が設けられてい
る。この流量制御弁２の左右室に圧縮空気を供給するた
め、空気元溜３との間を空気配管６により接続されてい
る。そして、制御器５からの制御信号により各流量制御
弁２を開閉して圧縮空気の流れを制御して左右動アクチ
ュエータ１を左右方向に動かすように構成されている。
更に、流量制御弁２と空気元溜３との間を接続する空気
配管６の途中には無加圧時に弁が閉じる締切り電磁弁４
が設けられている。この締切り電磁弁４は制御器５との
間を電気配線７により接続され、流量制御弁の空気の流
れを確実に遮断するためのもので、制御ソフトにより弁
を閉じるようになっている。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows a system configuration of left and right vibration control of a railway vehicle for implementing an abnormality detection method according to the present invention. The left-right motion actuator 1 that works in the left-right direction of the vehicle body is installed between the vehicle body 8 and the bogie 9. The left-right actuator 1 is provided with a flow control valve 2 communicating with the left and right chambers. In order to supply compressed air to the left and right chambers of the flow control valve 2, an air pipe 6 is connected to the air source reservoir 3. Each flow control valve 2 is opened and closed by a control signal from the controller 5 to control the flow of the compressed air, thereby moving the left-right moving actuator 1 in the left-right direction.
Further, in the middle of an air pipe 6 that connects between the flow control valve 2 and the air reservoir 3, a shut-off solenoid valve 4 that closes when no pressure is applied.
Is provided. The shutoff solenoid valve 4 is connected to the controller 5 by an electric wiring 7 and is for surely shutting off the air flow of the flow control valve, and is closed by control software.
【００２３】車両の振動を抑制するためのシステムは、
車体８に上下方向及び左右方向の振動を計測するための
加速度計１０が設置されており、加速度計１０の計測値
は制御器５に入力され、その振動を抑制するための演算
を実行し、その結果の制御出力を各流量制御弁２に出力
するように構成されている。A system for suppressing vehicle vibration includes:
An accelerometer 10 for measuring the vertical and horizontal vibrations is installed on the vehicle body 8, and the measured value of the accelerometer 10 is input to the controller 5 and executes an operation for suppressing the vibration, The resulting control output is configured to be output to each flow control valve 2.
【００２４】前記構成からなるシステムを制御するため
のプログラムの全体のアルゴリズムを図２に示す。ま
ず、加速度計１０からの左右振動加速度の検出値を制御
器５に入力してＡ／Ｄ変換し、ローパスフィルタを通し
て前記した本発明の実施によるフェール検知のルーチン
においてフェールが発生したか否かを判断する。フェー
ルがあれば、制御器５からの制御出力により締切り電磁
弁４を閉じ左右動アクチュエータ１への圧力空気の供給
を遮断し、制御を中止する。また、フェールの発生がな
ければ、制御演算を行い、その演算結果を左右の流量制
御弁に出力して左右動アクチュエータの振動を低減させ
る方向に加圧し、振動を低減させる。FIG. 2 shows the overall algorithm of a program for controlling the system having the above-described configuration. First, the detected value of the lateral vibration acceleration from the accelerometer 10 is input to the controller 5 and A / D-converted, and it is determined whether or not a failure has occurred in the above-described failure detection routine according to the embodiment of the present invention through a low-pass filter. to decide. If there is a failure, the shut-off solenoid valve 4 is closed by the control output from the controller 5 to shut off the supply of pressurized air to the left-right moving actuator 1 and the control is stopped. If a failure does not occur, control calculation is performed, and the calculation result is output to the left and right flow control valves to apply pressure in a direction to reduce vibration of the left and right motion actuator, thereby reducing vibration.
【００２５】なお、フェール検知のアルゴリズムは、前
記「発明の実施の形態」において詳記したように、３種
類の制御異常検知の方法があり、その中から少なくとも
１つを選んで制御を実施する。また、２種類あるいは３
種類のサブルーチンを順次行ってフェール検知すること
もできる。As described in detail in the above-mentioned "embodiment of the invention", there are three types of fail detection algorithms, and there are three types of control abnormality detection methods, and control is performed by selecting at least one of them. . Two or three
Failure detection can also be performed by sequentially performing various types of subroutines.
【００２６】[0026]
【発明の効果】本発明は、鉄道車両の振動制御装置の制
御演算を行うソフトのルーチンの中に異常検知のための
ルーチンを設け、走行中の車体の左右振動を監視し、そ
の振動が異常パターンと一致すれば、制御異常と判断し
制御を停止するルーチン、また振動の異常と制御出力の
方向をソフト的に監視し、方向が不一致の場合は制御異
常と判断し制御を停止するルーチンを入れ、これらのル
ーチンにより異常を検知した場合、制御に使用する圧縮
空気の供給回路を速やかに遮断して制御を停止させ、車
両の安全走行を確保することができる。According to the present invention, a routine for detecting an abnormality is provided in a software routine for performing a control operation of a vibration control device of a railway vehicle, and a left-right vibration of a running vehicle is monitored, and the vibration is detected as abnormal. If the pattern matches, a routine to stop the control by judging the control as abnormal, and a routine to monitor the abnormality of the vibration and the direction of the control output by software, and if the directions do not match, determine that the control is abnormal and stop the control. In addition, when an abnormality is detected by these routines, the supply circuit of the compressed air used for the control is promptly shut off to stop the control, thereby ensuring the safe running of the vehicle.
【図１】本発明を実施するための鉄道車両の振動制御系
における構成の一例を示す説明図である。FIG. 1 is an explanatory diagram showing an example of a configuration in a vibration control system of a railway vehicle for implementing the present invention.
【図２】図１の振動制御系による制御のプログラム全体
のアルゴリズムである。FIG. 2 is an algorithm of an entire control program by the vibration control system of FIG. 1;
【図３】本発明の実施によるサブルーチン制御異常検知
１のアルゴリズムである。FIG. 3 is an algorithm of subroutine control abnormality detection 1 according to the embodiment of the present invention.
【図４】本発明の実施によるサブルーチン制御異常検知
２のアルゴリズムである。FIG. 4 is an algorithm of subroutine control abnormality detection 2 according to the embodiment of the present invention.
【図５】本発明の実施によるサブルーチン制御異常検知
３のアルゴリズムである。FIG. 5 is an algorithm of subroutine control abnormality detection 3 according to the embodiment of the present invention.
【図６】サブルーチン制御異常検知１の検知波形例を示
す線図で、（ａ）は左右振動加速度、（ｂ）は制御出力
指令である。FIG. 6 is a diagram showing an example of a detection waveform of subroutine control abnormality detection 1, in which (a) is a lateral vibration acceleration and (b) is a control output command.
【図７】サブルーチン制御異常検知１で検知できる高周
波異常波形例を示す線図で、（ａ）は左右振動加速度、
（ｂ）は制御出力指令である。FIG. 7 is a diagram showing an example of a high-frequency abnormal waveform that can be detected by subroutine control abnormality detection 1, in which (a) is a lateral vibration acceleration,
(B) is a control output command.
【図８】サブルーチン制御異常検知１で検知できる片寄
り異常波形例を示す線図で、（ａ）は左右振動加速度、
（ｂ）は制御出力指令である。FIG. 8 is a diagram showing an example of a deviation abnormal waveform that can be detected by subroutine control abnormality detection 1;
(B) is a control output command.
【図９】サブルーチン制御異常検知２の検知波形例を示
す線図で、（ａ）は左右振動加速度、（ｂ）は制御出力
指令、（ｃ）は制御出力指令の向きがそのときの左右振
動加速度の大きさを拡大する方向になる時間、（ｄ）は
継続時間Ｔ（ｔ2＜Ｔ＜ｔ3）を満足するものである。FIG. 9 is a diagram showing an example of a detection waveform of subroutine control abnormality detection 2; FIG. 9A shows a lateral vibration acceleration, FIG. 9B shows a control output command, and FIG. (D) satisfies the continuation time T (t 2 <T <t 3 ) in the direction in which the magnitude of the acceleration is increased.
【図１０】サブルーチン制御異常検知２の検知対象周波
数を示す説明図で、（ａ）は周波数ｆ＝１／２Ｔ（正弦
波）、（ｂ）はｔ2＜Ｔ＜ｔ3（検知基準）である。10A and 10B are explanatory diagrams showing detection target frequencies of subroutine control abnormality detection 2, in which FIG. 10A is a frequency f = １ ／ T (sine wave), and FIG. 10B is t 2 <T <t 3 (detection reference). is there.
【図１１】サブルーチン制御異常検知３における左右振
動の最大値・最小値の考え方を示す説明図である。FIG. 11 is an explanatory diagram showing the concept of the maximum value / minimum value of left-right vibration in subroutine control abnormality detection 3.
【図１２】サブルーチン制御異常検知３の最大・最小値
を決める時間枠を複数化しないときに生じる課題を示す
説明図で、（ａ）は曲線の入口・出口などで現れる波
形、（ｂ）は制御圧力指令（Ｐ−ｐ）値が小さくなる時
間枠の取り方の場合、（ｃ）は制御圧力指令（Ｐ−ｐ）
値が大きくなる時間枠の取り方の場合である。FIGS. 12A and 12B are explanatory diagrams showing problems that occur when a plurality of time frames for determining the maximum and minimum values of the subroutine control abnormality detection 3 are not set, in which FIG. 12A shows waveforms appearing at the entrance and exit of the curve, and FIG. In the case of setting a time frame in which the control pressure command (P-p) value becomes small, (c) shows the control pressure command (P-p).
This is the case of setting a time frame in which the value increases.
１ アクチュエータ ２ 流量制御弁 ３ 空気元溜 ４ 締切り電磁弁 ５ 制御器 ６ 空気配管 ７ 電気配線 ８ 車体 ９ 台車 １０ 加速度計 DESCRIPTION OF SYMBOLS 1 Actuator 2 Flow control valve 3 Air reservoir 4 Shutoff solenoid valve 5 Controller 6 Air piping 7 Electric wiring 8 Body 9 Dolly 10 Accelerometer
───────────────────────────────────────────────────── フロントページの続き (72)発明者 石原 広一郎 大阪府大阪市中央区北浜４丁目５番33号 住友金属工業株式会社内 (72)発明者 玉生 士人 大阪府大阪市此花区島屋５丁目１番109 号 住友金属工業株式会社関西製造所製 鋼品事業所内 (56)参考文献 特開 平４−176772（ＪＰ，Ａ) 特開 平５−184002（ＪＰ，Ａ) 特開 平８−282486（ＪＰ，Ａ) 特開 平６−72328（ＪＰ，Ａ) (58)調査した分野(Int.Cl.7，ＤＢ名) B61F 5/24 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Koichiro Ishihara 4-33, Kitahama, Chuo-ku, Osaka-shi, Osaka Within Sumitomo Metal Industries, Ltd. No. 1 109 Sumitomo Metal Industries, Ltd. Kansai Works Steel Works (56) References JP-A-4-176772 (JP, A) JP-A-5-184002 (JP, A) JP-A 8-282486 (JP, A) JP-A-6-72328 (JP, A) (58) Fields investigated (Int. Cl. 7 , DB name) B61F 5/24
Claims (3)
体振動を抑制するための左右動アクチュエータを備えた
車体振動制御系において、予め設定した時間内における
左右振動加速度の最大値、圧力指令値の最大値と最小値
を求める計測を複数回繰り返して得た計測データを、上
記設定時間経過ごと、左右動アクチュエータへの制御圧
力指令値が予め設定した圧力基準値を超え、かつ左右方
向の振動加速度センサ値が予め設定した加速度基準値を
超える現象が、予め設定した回数に連続して達した場合
を制御系のフェールと判断することを特徴とする鉄道車
両の振動制御系における異常検知方法。In a vehicle body vibration control system provided with a left-right motion actuator for suppressing a vehicle body vibration in a left-right direction between a bogie of a railway vehicle and a vehicle body, the vehicle body is controlled within a predetermined time .
Maximum value of lateral vibration acceleration, maximum value and minimum value of pressure command value
The measurement data obtained by repeating the measurement
Every time the set time elapses, the phenomenon that the control pressure command value to the left / right moving actuator exceeds the preset pressure reference value and the vibration acceleration sensor value in the left / right direction exceeds the preset acceleration reference value occurs at a preset number of times. anomaly detection method in the vibration control system of a railway vehicle, characterized that you determine when it has reached in succession with failure of the control system.
体振動を抑制するための左右動アクチュエータを備えた
車体振動制御系において、予め設定した時間内で左右動
アクチュエータへの制御圧力指令値と左右方向の振動加
速度センサ値が共に予め設定した基準値を超え、かつ制
御圧力指令値の向きが、そのときの左右方向の振動加速
度センサ値を拡大する方向に左右動アクチュエータ力を
発生し、ある一定範囲の時間継続する現象を計測し、連
続してある回数の基準値を超えた場合に制御系のフェー
ルと判断することを特徴とする鉄道車両の振動制御系に
おける異常検知方法。2. A control pressure command value to a left / right moving actuator within a preset time in a body vibration control system including a left / right moving actuator for suppressing left / right body vibration between a bogie of a railway vehicle and a vehicle body. Both the left and right vibration acceleration sensor values exceed a preset reference value, and the direction of the control pressure command value generates a left and right motion actuator force in a direction to expand the left and right vibration acceleration sensor value at that time, measuring the phenomenon of time continuation of a certain range, the abnormality detecting method in the vibration control system of a railway vehicle, characterized that you determined that failure of the control system if it exceeds the reference value of the number of times that is continuous.
体振動を抑制するための左右動アクチュエータを備えた
車体振動制御系において、予め設定した時間内における
左右方向振動加速度の最大値と最小値を求める計測を複
数回繰り返し、その予め設定した複数回の時間枠内で計
測した最大値と最小値を用いて、振れ幅の最大値を求め
る演算を行い、その振れ幅の最大値が予め設定した基準
値を超える回数が複数回続いた場合を制御系のフェール
と判断することを特徴とする鉄道車両の振動制御系にお
ける異常検知方法。3. A maximum and minimum lateral vibration acceleration within a preset time period in a vehicle body vibration control system including a lateral motion actuator for suppressing lateral vehicle body vibration between a bogie of a railway vehicle and a vehicle body. The measurement for obtaining the value is repeated a plurality of times, and using the maximum value and the minimum value measured within the plurality of time frames set in advance, the calculation for obtaining the maximum value of the swing is performed. anomaly detection method in the vibration control system of the rail vehicle number exceeding the reference value set by the is characterized that you determined that multiple lasted failure of the control system where.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP04433598A JP3338648B2 (en) | 1998-02-09 | 1998-02-09 | Abnormality detection method in vibration control system of railway vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP04433598A JP3338648B2 (en) | 1998-02-09 | 1998-02-09 | Abnormality detection method in vibration control system of railway vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH11222128A JPH11222128A (en) | 1999-08-17 |
| JP3338648B2 true JP3338648B2 (en) | 2002-10-28 |
Family
ID=12688656
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP04433598A Expired - Lifetime JP3338648B2 (en) | 1998-02-09 | 1998-02-09 | Abnormality detection method in vibration control system of railway vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3338648B2 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2003270148A1 (en) * | 2002-09-05 | 2004-03-29 | Bombardier Transportation Gmbh | Method and device for monitoring the state of vehicle chassis |
| JP4845426B2 (en) * | 2005-05-30 | 2011-12-28 | 川崎重工業株式会社 | Car body vibration control device and car body vibration control method |
| ES2384005T3 (en) * | 2008-09-19 | 2012-06-28 | Bombardier Transportation Gmbh | Instability monitoring device and system, in particular for a railway vehicle |
| JP5565666B2 (en) * | 2009-12-28 | 2014-08-06 | 日立オートモティブシステムズ株式会社 | Suspension control device diagnosis method |
| AU2011294663B2 (en) * | 2010-08-25 | 2014-05-22 | Nippon Steel Corporation | Vibration suppression device for railway vehicle |
-
1998
- 1998-02-09 JP JP04433598A patent/JP3338648B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH11222128A (en) | 1999-08-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104155968B (en) | A kind of small fault diagnostic method for bullet train suspension system executor | |
| KR101742339B1 (en) | Method and device for monitoring the driving behavior of a railway vehicle | |
| TWI449642B (en) | Vibration Suppression Device for Railway Vehicles | |
| JP3338648B2 (en) | Abnormality detection method in vibration control system of railway vehicle | |
| DE19837595A1 (en) | Device and method for balancing the weight of a robot arm | |
| JP2012076553A (en) | Vibration control device for railroad vehicle | |
| JP2002529756A (en) | Obstacle detection method in rail traffic | |
| JP4211268B2 (en) | Railway vehicle vibration control diagnostic apparatus and diagnostic method, and railway vehicle | |
| CN110823542B (en) | Shock absorber testing device and shock absorber testing method | |
| Goodall et al. | Assessment of the performance of tilt system controllers | |
| JPH05184002A (en) | Diagnostic method for body vibration control system in rolling stock | |
| US5622338A (en) | Truck hunting detection and abatement apparatus using selective brake application | |
| JP2011213183A (en) | Device and method for detecting abnormality of variable damping shaft damper | |
| JP2010072868A (en) | Apparatus, method and program for diagnosing plant control | |
| CN107560782B (en) | Water supply pipeline burst detection method and system | |
| JP3338652B2 (en) | Abnormality detection method for vibration control device for railway vehicles | |
| JPS6014315B2 (en) | Earthquake early detection warning system | |
| JP2023532795A (en) | Machine and method for compacting track ballast bed | |
| JP4771727B2 (en) | Wheel load fluctuation suppression device | |
| JP4742548B2 (en) | Method and apparatus for monitoring a liquefied gas tank | |
| JPH10310053A (en) | Diagnostic device for vibration control device for rolling stock | |
| US20210252317A1 (en) | Obogs composition control and health monitoring | |
| JP3162863B2 (en) | Railway vehicle vibration control device | |
| Lee et al. | A comparative study on impact force prediction on a railway track-like structure | |
| JP2002370642A (en) | Brake device for rolling stock |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20070809 Year of fee payment: 5 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20080809 Year of fee payment: 6 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20080809 Year of fee payment: 6 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20090809 Year of fee payment: 7 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20090809 Year of fee payment: 7 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20100809 Year of fee payment: 8 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20110809 Year of fee payment: 9 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20110809 Year of fee payment: 9 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120809 Year of fee payment: 10 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120809 Year of fee payment: 10 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130809 Year of fee payment: 11 |
|
| S111 | Request for change of ownership or part of ownership |
Free format text: JAPANESE INTERMEDIATE CODE: R313115 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130809 Year of fee payment: 11 |
|
| R371 | Transfer withdrawn |
Free format text: JAPANESE INTERMEDIATE CODE: R371 |
|
| S111 | Request for change of ownership or part of ownership |
Free format text: JAPANESE INTERMEDIATE CODE: R313115 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130809 Year of fee payment: 11 |
|
| R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| EXPY | Cancellation because of completion of term |