JPH0691681B2 - Pantograph active control system - Google Patents
Pantograph active control systemInfo
- Publication number
- JPH0691681B2 JPH0691681B2 JP22984589A JP22984589A JPH0691681B2 JP H0691681 B2 JPH0691681 B2 JP H0691681B2 JP 22984589 A JP22984589 A JP 22984589A JP 22984589 A JP22984589 A JP 22984589A JP H0691681 B2 JPH0691681 B2 JP H0691681B2
- Authority
- JP
- Japan
- Prior art keywords
- pantograph
- overhead line
- laser
- overhead
- control system
- 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
- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は電気車両における集電システムに関する。TECHNICAL FIELD The present invention relates to a current collecting system in an electric vehicle.
第２図は従来の電気鉄道の編成車両におけるパンタグラ
フと架線による集電システムを示す構成図であり、１は
車両、2,2′はそれぞれ進行方向前位と後位のパンタグ
ラフ、３は架線である。FIG. 2 is a block diagram showing a current collecting system using a pantograph and an overhead line in a conventional electric railway formation vehicle. 1 is a vehicle, 2 and 2'are front and rear pantographs in the traveling direction, and 3 is an overhead line. is there.
車両は架線３よりパンタグラフ2,2′により集電し走行
する。The vehicle collects electric power from the overhead line 3 by the pantographs 2 and 2'and runs.
従来の車両において、１編成中に複数個のパンタグラフ
2,2′がある場合、各パンタグラフ2,2′は所定の一定
値、たとえば5.5kgの静押上力の値をもって架線３に接
触し、車両走行中は走行に伴う振動、その他により架線
３とパンタグラフ2,2′の間の動的接触力は変動する
が、静押上力の値そのものが変化することはない。In a conventional vehicle, multiple pantographs in one train
When 2,2 'is present, each pantograph 2,2' comes into contact with the overhead line 3 with a predetermined constant value, for example, a value of a static lifting force of 5.5 kg. Although the dynamic contact force between the pantographs 2 and 2'changes, the static push-up force value itself does not change.
上記のように編成中に複数個のパンタグラフ2,2′をも
つ車両が走行する場合、先頭に位置するパンタグラフ２
は静止状態にある架線３に接触して走行するが、後位の
パンタグラフ２′は先頭のパンタグラフ２の接触により
励起され、第３図に示すように振動している架線３に接
触しながら走行し、集電することになる。更に第３図に
おいて、第３位のパンタグラフは第１位と第２位のパン
タグラフによる励振を受けて更に大きな振動をしている
架線と接触しながら走行して第４図は先頭位のパンタグ
ラフに対して後位のパンタグラフの離線率が増大する実
測例の１つである。When a vehicle having a plurality of pantographs 2 and 2 ′ travels during formation as described above, the pantograph 2 located at the top is
Runs while contacting the overhead line 3 in a stationary state, while the rear pantograph 2'is excited by the contact of the leading pantograph 2 and runs while contacting the vibrating overhead line 3 as shown in FIG. And collect electricity. Furthermore, in FIG. 3, the third pantograph runs while contacting the overhead wire that is excited by the first and second pantographs and is vibrating further, and FIG. 4 shows the top pantograph. On the other hand, this is one of the actual measurement examples in which the line separation rate of the rear pantograph increases.
しかしながら、従来の１編成中に複数個のパンタグラフ
2,2′を有する電気車両においては、前記のように走行
中後位にあるパンタグラフ２′は先頭位にあるパンタグ
ラフ２により振動を励起された架線３に接触して集電す
るため、必然的に架線３に対する追従性が低下し、離線
率が増大する。更に第３図に示すように、第３位のパン
タグラフは、第１位，第２位のパンタグラフの双方によ
り励振された架線中を走行するので、更に離線率が増大
する。このように、従来にあっては編成中に複数個のパ
ンタグラフがある場合は後位のパンタグラフ程離線率が
増大する欠点があり、すり板摩耗の増加、アーク騒音の
増大などにより正常運行に支障する場合がある。However, multiple pantographs can be used during the conventional one formation.
In the electric vehicle having 2,2 ', as described above, the pantograph 2'in the rear position during traveling contacts the overhead line 3 whose vibration is excited by the pantograph 2 in the front position to collect current, which is inevitable. In addition, the ability to follow the overhead line 3 is reduced, and the contact separation rate is increased. Further, as shown in FIG. 3, the third pantograph travels in the overhead wire excited by both the first and second pantographs, so that the derailing rate further increases. As described above, in the conventional case, when there are multiple pantographs during knitting, there is a drawback that the derailment rate increases in the rear pantographs, which interferes with normal operation due to increased wear of the contact plate and increased arc noise. There is a case.
本発明の集電システムは、前記のように従来の複数個の
パンタグラフを搭載した車両における後位のパンタグラ
フに於ける欠点を解消するものである。The current collection system of the present invention eliminates the drawbacks in the rear pantograph in a vehicle equipped with a plurality of conventional pantographs as described above.
つまり、その目的を達成するための手段は、電気車両の
編成において、前位のパンタグラフと後位のパンタグラ
フの間に複数個のレーザ受発信装置を配設し、車両の走
行中、該レーザ受発信装置により測定した架線の上下振
動より、後位パンタグラフの位置における架線の上下振
動を計算機により求めて後位パンタグラフの押上力とパ
ンタグラフ高さとの一方または双方を制御するよう構成
したことにある。That is, a means for achieving the object is to arrange a plurality of laser receiving / transmitting devices between a front pantograph and a rear pantograph in the formation of an electric vehicle so that the laser receiving / transmitting device can be operated while the vehicle is running. The vertical vibration of the overhead wire at the position of the rear pantograph is calculated from the vertical vibration of the overhead wire measured by the transmitting device by a computer to control one or both of the pushing force of the rear pantograph and the height of the pantograph.
その一例として、編成中に２個のパンタグラフを持つ場
合について説明すると、前位（先頭位）のパンタグラフ
と後位のパンタグラフの間に複数個のレーザ受発信装置
を配設し、レーザを架線に向けて発射することによりそ
の位置の架線の上下振動速度を変位を計測し、複数個の
レーザ受発信装置による複数個の計測値より、車両に搭
載の計算機により架線の振動波形を求め、後位のパンタ
グラフの位置における架線の上下振動速度と、変位を予
測して後位のパンタグラフの押上力とパンタグラフ高さ
との一方または双方を変更し、架線に追従せしめるよう
にすることにある。As an example, a case of having two pantographs in the knitting will be explained. A plurality of laser transmitting / receiving devices are arranged between the front (top) pantograph and the rear pantograph, and the laser is connected to the overhead wire. The vertical vibration velocity of the overhead line at that position is measured by firing the target, and the vibration waveform of the overhead line is calculated by the computer mounted on the vehicle from the multiple measured values by multiple laser receivers and transmitters. The vertical vibration speed of the overhead line at the position of the pantograph and the displacement are predicted to change one or both of the push-up force and the pantograph height of the rear pantograph so as to follow the overhead line.
その作用は、前位のパンタグラフの直後に設置したレー
ザ受発信装置により、その点の架線上下振動の速度と上
下方向変位を計測し、同時に後位のパンタグラフの直前
に配置されたレーザ受発信装置により、その点の架線の
上下振動速度と上下方向変位を計測し、これら４個の測
定値と、使用されている架線系の既知の値である架線の
波動伝播速度と車速とから、架線の上下振動波形を計算
機により求め、その値より、後位のパンタグラフの位置
における架線の上下振動速度と上下方向変位を予測し
て、後位のパンタグラフの押上力と、高さ方向変位と適
切な値に制御して、後位のパンタグラフを確実に架線に
追従せしめている。The action is to measure the speed of vertical vibration and overhead displacement of the overhead line at the point by a laser transmitter / receiver installed immediately after the front pantograph, and at the same time, a laser transmitter / receiver placed immediately before the rear pantograph. The vertical vibration velocity and the vertical displacement of the overhead line at that point are measured by using the four measured values and the wave propagation velocity and vehicle speed of the overhead line, which are known values of the overhead line system used. The vertical vibration waveform is calculated by a computer, and the vertical vibration speed and vertical displacement of the overhead line at the position of the rear pantograph are predicted from the calculated values, and the pushing force of the rear pantograph, the displacement in the height direction, and an appropriate value The pantograph at the rear is controlled to follow the overhead line without fail.
以下、本発明の一実施例を、図面に基づいて説明する。An embodiment of the present invention will be described below with reference to the drawings.
第１図は本発明のパンタグラフのアクティブ制御システ
ムの一実施例を示す構成図で、第２図と同じ符号のもの
は同一部品または同一の機能を持つ部品を示す。なお、
説明を簡単にするため１編成中にパンタグラフが２個の
場合について説明する。FIG. 1 is a block diagram showing an embodiment of an active control system for a pantograph of the present invention, in which the same reference numerals as those in FIG. 2 indicate the same parts or parts having the same function. In addition,
In order to simplify the description, a case where there are two pantographs in one formation will be described.
第１図において、4,4′は前位のパンタグラフ２と後位
のパンタグラフ２′の間でそれぞれ前位と後位のパンタ
グラフの近傍に設置されたレーザ受発信装置である。4,
4′からはそれぞれレーザが架線３に向けて発射され上
空に位置する架線３の上下振動速度と上下方向変位を計
測する。この計測値および車速，架線３の波動伝播速度
の値より、架線３′の上下振動波形を図示していない車
載の計算機により求め、後位のパンタグラフ２′の位置
における架線３の上下振動速度と変位を予測して、後位
のパンタグラフ２′の押上力および高さを適切な値に制
御するものである。これをブロック図で示したものが第
５図である。第５図に示すように、本発明のパンタグラ
フアクテイブ制御システムに使用されるパンタクラフの
制御系は、検出系（レーザ受発信装置4,4′、計測装置
５）からの信号を演算系、すなわちメモリ６に入力され
る。このメモリ６においては、基本データとしての、既
知の架線データとしての架線上下ばね定数、波動伝播速
度、車速などの走行条件、前位パンタグラフとの距離、
更には精度、その他を向上するための例えば車体の傾
斜、上下動、上下加速度、車体上下ばね定数、風速、風
向きなどをメモリされた値と、内蔵されている計算機に
よって演算が行われ、架線上下速度及び架線上下変位が
演算系としてのパンタグラフ昇降制御装置７を介して、
操作系のパンタグラフ昇降手段2,2′に出力される。こ
こでパンタグラフを動作させて押上力の増減または高さ
の増減を行うものである。In FIG. 1, reference numerals 4 and 4'indicate laser reference transmitters / receivers installed between the front pantograph 2 and the rear pantograph 2'in the vicinity of the front and rear pantographs, respectively. Four,
Lasers are respectively emitted from the 4'to the overhead line 3 and the vertical vibration velocity and the vertical displacement of the overhead line 3 located in the sky are measured. From this measured value, the vehicle speed, and the value of the wave propagation velocity of the overhead line 3, the vertical vibration waveform of the overhead line 3'is determined by an on-vehicle computer (not shown), and the vertical vibration speed of the overhead line 3 at the position of the pantograph 2'at the rear is calculated. The displacement is predicted and the pushing force and height of the rear pantograph 2'are controlled to appropriate values. This is shown in a block diagram in FIG. As shown in FIG. 5, the control system of the pantograph used in the pantograph active control system of the present invention calculates signals from the detection system (laser receiving / transmitting devices 4, 4 ', measuring device 5), that is, a memory. 6 is input. In the memory 6, overhead wire vertical spring constants as known overhead wire data, running conditions such as wave propagation speed, vehicle speed, and distance from the preceding pantograph as basic data,
Furthermore, in order to improve accuracy and other factors, for example, the inclination, vertical movement, vertical acceleration, vertical spring constant of the vehicle body, vertical velocity of the vehicle body, wind speed, wind direction, etc. are stored in memory, and calculations are performed by the built-in computer. Through the pantograph lifting / lowering control device 7 as a calculation system, the speed and the vertical displacement of the overhead line,
It is output to the pantograph lifting means 2, 2'of the operation system. Here, the pantograph is operated to increase or decrease the pushing force or the height.
具体的にはパンタグラフが空気圧により昇降を行うもの
においては空気圧の増減を行い、電動でパンタグラフの
高さを規定するものにおいては高さの増減を行う。Specifically, the air pressure is increased or decreased when the pantograph moves up and down by air pressure, and the height is increased or decreased when the height of the pantograph is regulated electrically.
以上説明したごとく本発明によれば、レーザ受発信装置
により前位のパンタグラフ２の通過により励振された架
線３の上下振動変位を計測し、その計測値により後位の
パンタグラフ２′の押上力およびパンタグラフ高さを適
切に制御することにより、後位のパンタグラフ２′を確
実に架線３に追従せしめることが可能なので、本発明の
アクティブ制御集電システムは後位のパンタグラフ２′
の集電効率を大巾に向上することが出来、列車全体とし
ての集電効率の向上および列車速度の向上に対しても大
きな効果がある。As described above, according to the present invention, the vertical vibration displacement of the overhead wire 3 excited by the passage of the front pantograph 2 by the laser transmitting / receiving device is measured, and the measured value is used to measure the pushing force of the rear pantograph 2 '. By properly controlling the height of the pantograph, the rear pantograph 2'can be made to follow the overhead line 3 without fail, so that the active control current collecting system of the present invention allows the rear pantograph 2'to operate.
The current collection efficiency of can be greatly improved, and it has a great effect on the improvement of the current collection efficiency and the train speed of the train as a whole.
第１図は本発明の一実施例を示す構成図、第２図は従来
の一例を示す構成図、第３図は従来の列車走行時の前位
のパンタグラフにより励振された架線の上下変位の一例
を示す状態図、第４図は前位のパンタグラフと後位のパ
ンタグラフの離線率の違いを示す特性図である。第５図
は本発明のブロック図である。 １……車両、2,2′……パンタグラフ、３……架線、4,
4′……レーザ受発信装置。FIG. 1 is a block diagram showing an embodiment of the present invention, FIG. 2 is a block diagram showing an example of the prior art, and FIG. 3 is a vertical displacement of an overhead line excited by a pantograph at the front of a conventional train running. FIG. 4 is a state diagram showing an example, and FIG. 4 is a characteristic diagram showing a difference in the contact release rate between the front pantograph and the rear pantograph. FIG. 5 is a block diagram of the present invention. 1 ... Vehicle, 2, 2 '... Pantograph, 3 ... Overhead line, 4,
4 '... Laser receiver / transmitter.
Claims (1)
（５）と、演算装置（６）と、パンタグラフ昇降制御装
置（７）とを有するパンタグラフのアクテイブ制御シス
テムであって、 レーザ受発信装置（4,4′）は、車体屋根上のパンタグ
ラフ（２），（２′）の近傍に設置され、架線に向けて
レーザを発射してその反射光を検出するものであり、 計測装置（５）は、レーザ受発信装置（4,4′）の検出
信号を入力し、架線の上下変位および上下速度を計測
し、 演算装置（６）は、計測装置（５）からの出力を入力
し、予め入力されている架線関係のデータと走行条件と
前位パンタグラフとの距離などから架線の振動波形を演
算し、後位パンタグラフの位置における架線上下速度と
架線上下変位を予測し、 パンタグラフ昇降制御装置（７）は、演算装置（６）か
らのデータを入力し、所定のパンタグラフ（2,2′）に
対し、所望の昇降動作を与える制御指令を出力する パンタグラフのアクテイブ制御システム。1. An active control system for a pantograph, comprising a laser receiving / transmitting device (4, 4 '), a measuring device (5), a computing device (6), and a pantograph lifting / lowering control device (7), The laser transmitter / receiver (4, 4 ') is installed near the pantographs (2), (2') on the roof of the vehicle body and emits a laser toward the overhead wire to detect the reflected light. The measuring device (5) inputs the detection signal of the laser transmitting / receiving device (4, 4 ') and measures the vertical displacement and the vertical speed of the overhead line, and the arithmetic device (6) outputs the measuring device (5). Input, and calculate the vibration waveform of the overhead line from the data of the overhead line-related data that has been entered in advance and the distance between the running condition and the front pantograph, and predict the overhead wire vertical velocity and overhead wire vertical displacement at the position of the rear pantograph, The pantograph lifting control device (7) An active control system for a pantograph, which inputs data from a computing device (6) and outputs a control command for giving a desired lifting operation to a predetermined pantograph (2, 2 ').
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22984589A JPH0691681B2 (en) | 1989-09-05 | 1989-09-05 | Pantograph active control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22984589A JPH0691681B2 (en) | 1989-09-05 | 1989-09-05 | Pantograph active control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0393402A JPH0393402A (en) | 1991-04-18 |
| JPH0691681B2 true JPH0691681B2 (en) | 1994-11-14 |
Family
ID=16898585
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP22984589A Expired - Lifetime JPH0691681B2 (en) | 1989-09-05 | 1989-09-05 | Pantograph active control system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0691681B2 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4232463C2 (en) * | 1992-09-28 | 1995-05-11 | Siemens Ag | Current collector device for high-speed rail vehicles |
| JP5833962B2 (en) * | 2012-03-27 | 2015-12-16 | 公益財団法人鉄道総合技術研究所 | Pantograph control device and control method |
| DE102015121879A1 (en) * | 2015-12-15 | 2017-06-22 | Bombardier Transportation Gmbh | Method for controlling a contact force between a contact wire and at least one current collector of a rail vehicle |
| DE102015122221A1 (en) * | 2015-12-18 | 2017-06-22 | Bombardier Transportation Gmbh | Method for operating a rail vehicle |
| GB2567476B (en) * | 2017-10-13 | 2020-01-15 | Hitachi Ltd | Control system for a train having two raised pantographs |
| CN108859773B (en) * | 2018-08-03 | 2024-02-02 | 陕西通运专用汽车集团有限公司 | Pure electric mine car transportation system |
-
1989
- 1989-09-05 JP JP22984589A patent/JPH0691681B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0393402A (en) | 1991-04-18 |
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