JPH08244601A - Magnetic levitation type rolling stock truck control device - Google Patents
Magnetic levitation type rolling stock truck control deviceInfo
- Publication number
- JPH08244601A JPH08244601A JP5228995A JP5228995A JPH08244601A JP H08244601 A JPH08244601 A JP H08244601A JP 5228995 A JP5228995 A JP 5228995A JP 5228995 A JP5228995 A JP 5228995A JP H08244601 A JPH08244601 A JP H08244601A
- Authority
- JP
- Japan
- Prior art keywords
- traveling
- wheel
- running
- superconducting magnet
- vehicle
- 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.)
- Granted
Links
Landscapes
- Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は磁気浮上式鉄道で車輪走
行と浮上走行との間の相互移行時の走行抵抗急変を抑制
する浮上式鉄道用台車の制御装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control system for a bogie for a levitation railway which suppresses a sudden change in running resistance during a mutual transition between wheel traveling and levitation traveling in a magnetic levitation railway.
【０００２】[0002]
【従来の技術】磁気浮上式鉄道では、低速走行時は台車
に設けた走行用車輪を下降させて走行するが、磁気浮上
走行時はガイドウェイ面より車輪を車両側へ引上げるこ
と（上昇）により、車輪走行している車両を磁気浮上走
行へと移行させている。2. Description of the Related Art In a magnetically levitated railway, a traveling wheel provided on a bogie is lowered when traveling at a low speed, but when the magnetically levitated traveling, a wheel is pulled up from a guideway surface toward a vehicle (elevation). Thus, the vehicle running on wheels is switched to magnetic levitation running.
【０００３】従来、車輪走行から磁気浮上走行へ移行さ
せる方法としては、予め設定されていた走行速度に実際
の列車走行速度が達した時点を浮上走行への切換時期と
判断し、全ての走行車輪を一斉に上昇させて、磁気浮上
走行へと移行させていた。Conventionally, as a method of shifting from wheel traveling to magnetic levitation traveling, it is determined that the time when the actual train traveling speed reaches a preset traveling speed is the switching time to levitation traveling, and all traveling wheels are moved. Were raised all at once, and it was shifting to magnetic levitation.
【０００４】また、車上の超電導磁石は台車に固定して
おり、地上ガイドウェイに敷設された地上コイルと、車
上超電導磁石との位置ずれにより発生する走行抵抗を調
整する機能は特に備えられていなかった。Further, the superconducting magnet on the vehicle is fixed to the trolley, and the function of adjusting the running resistance generated by the positional deviation between the ground coil laid on the ground guideway and the onboard superconducting magnet is particularly provided. Didn't.
【０００５】[0005]
【発明が解決しようとする課題】このような方法により
磁気浮上車両を車輪走行から磁気浮上走行へ移行させた
場合、浮上用地上コイルと車両全体の複数台の推進・案
内・駆動用の超電導磁石との間に、磁気抗力が同時に発
生し、走行抗力の急変を招き、そのため、磁気浮上に移
行する時点で、速度追従性が一時的に悪化するととも
に、乗り心地が悪化するという問題点があった。When a magnetically levitated vehicle is changed from wheel traveling to magnetically levitated traveling by such a method, a ground coil for levitating and a plurality of superconducting magnets for propulsion, guidance and driving of the entire vehicle. During this time, a magnetic drag force is generated at the same time, which causes a sudden change in the running drag force.Therefore, at the time of shifting to magnetic levitation, there is a problem that the speed following property is temporarily deteriorated and the riding comfort is deteriorated. It was
【０００６】また、磁気浮上走行している際に車両重量
や乗客数の違い等により生じた各車両の傾斜を制御する
有力な手段がなく、車両が傾斜することにより、高速走
行時に不均等な走行抵抗が発生し、車体へ悪影響を及ぼ
すとともに、乗り心地が悪化するという問題もあった。Further, there is no effective means for controlling the inclination of each vehicle caused by the difference in the weight of the vehicle or the number of passengers during the magnetic levitation traveling, and the inclination of the vehicle causes unevenness during high speed traveling. There is also a problem that running resistance occurs, which adversely affects the vehicle body and deteriorates the riding comfort.
【０００７】本発明は上記これらの問題を解消するた
め、走行時の車体および台車の状況に応じて車両駆動用
の超電導磁石の台車との取付位置、および走行車輪を台
車に対して昇降させて制御する制御装置を設けて、常に
最適の車両状態を得て、乗り心地の良い浮上式鉄道の車
両を得ること目的とするものである。In order to solve the above problems, the present invention raises and lowers the traveling position of the superconducting magnet for driving the vehicle with respect to the carriage and the traveling wheels with respect to the carriage according to the conditions of the vehicle body and the carriage during traveling. It is an object of the present invention to provide a controllable control device so as to always obtain an optimum vehicle state and to obtain a vehicle of the levitation railway which is comfortable to ride.
【０００８】[0008]
手段１ （請求項１記載の発明） 地上施設との間で各種情報の授受を行い、車輪走行から
磁気浮上走行への切換時期を判断するに必要な列車速度
情報や各指令を得ることのできる伝送部と、前記伝送部
からの情報により、浮上走行切換時期を判断し、超電導
磁石昇降制御部に対して指令を出力することのできる走
行抵抗調節部と、前記走行抵抗調節部からの指令によ
り、車輪走行から磁気浮上走行へ移る際に生じる磁気抗
力の急変を抑制するため、車輪走行時に、予め車上超電
導磁石の中心位置を地上側コイルのヌルフラックス部分
よりも下方へ移動させ、浮上走行へ切り換わったのち、
元の位置に戻すということを各超電導磁石毎に制御し、
浮上走行に切換わる際の磁気抗力の変化を緩やかに変化
させる超電導磁石昇降制御部と、前記した超電導磁石昇
降制御部からの指示に従って、超電導磁石を昇降させる
超電導磁石駆動部とを設けて浮上式鉄道用台車制御装置
を構成する。Means 1 (Invention of Claim 1) It is possible to exchange various kinds of information with the ground facilities and obtain train speed information and various commands necessary for determining the timing of switching from wheel traveling to magnetic levitation traveling. Based on the transmission unit and the information from the transmission unit, the traveling resistance adjustment unit that determines the floating traveling switching time and can output a command to the superconducting magnet lifting control unit, and the command from the traveling resistance adjustment unit. , In order to suppress the sudden change of the magnetic drag force that occurs when moving from wheel running to magnetic levitation running, the center position of the on-board superconducting magnet is moved below the null flux part of the ground side coil in advance while running the wheel. After switching to
Controlling returning to the original position for each superconducting magnet,
The levitation type is provided with a superconducting magnet raising / lowering control unit that gently changes the change in magnetic resistance when switching to levitation traveling, and a superconducting magnet drive unit that raises / lowers the superconducting magnet according to an instruction from the superconducting magnet raising / lowering control unit described above. Configure a trolley control device for railways.
【０００９】手段２ （請求項２記載の発明） 磁気浮上式鉄道の車上超電導磁石制御装置において、地
上施設との間で各種情報の授受を行い、車輪走行から磁
気浮上走行への切換時期を判断するに必要な列車速度情
報や各指令を得ることのできる伝送部と、浮上走行時の
走行ガイドウェイとの間の車両浮上距離を測定する非接
触型距離センサを用いた浮上距離測定部を各車両毎に設
け、前記伝送部および、浮上距離測定部からの情報によ
り、車体の傾斜状況を判断し、超電導磁石位置昇降制御
部に対して指令を出力する車体傾斜調節部と、各車両重
量の違い、乗客数の違いより生じる浮上距離の差を解消
するため、超電導磁石の位置を前記した浮上距離情報に
応じて各超電導磁石を制御し、各車両の浮上距離を均等
にすることにより、発生する空力抵抗や騒音を低減する
状態へ近づける超電導磁石位置昇降制御部と、前記超電
導磁石昇降制御部からの指示に従って、超電導磁石を昇
降させる超電導磁石油圧駆動・制御部とを設けた台車制
御装置。Means 2 (Invention according to Claim 2) In an on-board superconducting magnet control device for a magnetic levitation railway, various kinds of information are exchanged with a ground facility, and a switching timing from wheel traveling to magnetic levitation traveling is provided. A levitation distance measurement unit that uses a non-contact distance sensor that measures the vehicle levitation distance between the transmission unit that can obtain train speed information and each command necessary for judgment and the traveling guideway during levitation. A vehicle body inclination adjusting section which is provided for each vehicle, judges the inclination state of the vehicle body based on the information from the transmission section and the flying distance measuring section, and outputs a command to the superconducting magnet position elevation control section, and the weight of each vehicle. In order to eliminate the difference in the levitation distance caused by the difference in the number of passengers, the position of the superconducting magnet is controlled by controlling each superconducting magnet according to the above-mentioned levitation information, and by making the levitation distance of each vehicle equal, Occur Aerodynamic drag and the superconducting magnet position elevation controller closer to the state to reduce noise, the in accordance with an instruction from the superconducting magnet elevation controller, carriage control device provided with a superconducting magnet hydraulic drive and control unit for raising and lowering the superconducting magnet.
【００１０】手段３ （請求項３記載の発明） 地上施設との間で各種情報の授受を行い、車輪走行から
磁気浮上走行へ切り換える時期を判断するに必要な列車
速度情報や各指令を得ることのできる伝送部と、前記伝
送部からの情報により制動時期を判断し、超電導磁石位
置昇降制御部に対して指令を出力することのできる走行
抵抗調節部と、走行車輪制動時に車上超電導磁石の中心
位置を地上側コイルのヌルフラックス部分よりも上方へ
移動させるように各超電導磁石を制御し、電力回生ブレ
ーキ、発電ブレーキのブレーキ力を高め、かつ、車体を
下方へ押さえつける力を発生させることで走行車輪のタ
イヤと走行ガイドウェイとの粘性を向上させ、ディスク
ブレーキのブレーキ力を高めることのできる超電導磁石
位置昇降制御部と、前記した超電導磁石位置昇降制御部
からの指示に従って、超電導磁石の昇降を行う超電導磁
石油圧駆動・制御部とを設ける。Means 3 (Invention according to claim 3) Various information is exchanged with the ground facility to obtain train speed information and each command necessary for determining the time to switch from wheel traveling to magnetic levitation traveling. A transmission unit capable of performing, a braking resistance is determined based on information from the transmission unit, a running resistance adjusting unit capable of outputting a command to the superconducting magnet position elevating control unit, and an on-vehicle superconducting magnet during traveling wheel braking. By controlling each superconducting magnet so as to move the center position above the null flux part of the ground side coil, the braking force of the power regenerative brake and the power generation brake is increased, and the force that presses down the vehicle body is generated. A superconducting magnet position raising / lowering control unit capable of improving the viscosity of the traveling wheel tires and the traveling guideway and enhancing the braking force of the disc brake; According to an instruction from the superconducting magnet position elevation controller, providing a superconducting magnet hydraulic drive and control unit for performing vertical movement of a superconducting magnet.
【００１１】手段４ （請求項４記載の発明） 走行車輪支持装置において、地上施設との間で各種情報
の授受を行い、車輪走行から磁気浮上走行へ切り換える
時期を判断するために必要となる列車速度情報や各指令
を得ることのできる伝送部と、前記伝送部からの情報よ
り制動時期を判断し、走行車輪昇降制御部に対して指令
を出力することのできる走行抵抗調節部と、車輪走行か
ら磁気浮上走行へ移る際に生じる磁気抗力の急変を抑制
するためには、支持車輪の上昇を台車毎に制御し、磁気
抗力の変化を段階的に変化させ、制動時には超電導磁石
の中心位置が地上コイルのヌルフラックス位置よりも上
方にするため走行車輪を下降させて、車上超電導磁石を
移動させる代りをすることができる走行車輪昇降制御部
からの指示によって車輪を昇降させる走行車輪装置の昇
降駆動部を設けた車輪支持装置。Means 4 (Invention according to Claim 4) In the traveling wheel support device, various trains are required for exchanging various kinds of information with the ground facility and for deciding when to switch from wheel traveling to magnetic levitation traveling. A transmission unit that can obtain speed information and each command, a traveling resistance adjustment unit that can determine a braking time from the information from the transmission unit, and can output a command to a traveling wheel lift control unit, and a wheel traveling system. In order to suppress the sudden change in the magnetic drag force that occurs when the vehicle moves from the magnetic levitation to the magnetic levitation traveling, the rise of the support wheels is controlled for each trolley, the change in the magnetic drag force is changed in stages, and the center position of the superconducting magnet is changed during braking. The traveling wheels can be moved down so as to be above the null flux position of the ground coil, and the wheels can be moved by an instruction from the traveling wheel lift control unit instead of moving the on-board superconducting magnet. Wheel supporting device provided with a lift drive unit of the downhill causes the running wheel assembly.
【００１２】手段５ （請求項５記載の発明） 請求項１或いは３による浮上式鉄道用台車装置と請求項
４記載の浮上式鉄道用台車装置とを協調させて動作させ
るため、浮上走行へ移行させる際には、車上超電導磁石
を下方へ移動させ過ぎないように監視し、制動時には車
上超電導磁石を上方へ移動させることにより、過度の重
力が支持脚装置にかからないように監視するため、支持
脚装置にかかる重力を測定することのできる車輪支持装
置の負荷測定部を台車装置に設ける。Means 5 (Invention of Claim 5) In order to operate the levitation railway trolley device according to claim 1 or 3 and the levitation railway trolley device according to claim 4 in cooperation with each other, shift to levitation traveling. When doing, monitor the on-board superconducting magnet so that it does not move too downward, and by moving the on-board superconducting magnet upward during braking, to monitor so that excessive gravity does not affect the supporting leg device, A load measuring unit of a wheel supporting device capable of measuring gravity applied to a supporting leg device is provided in a truck device.
【００１３】手段６ （請求項６記載の発明） 請求項１、３のいずれか一つに記載の浮上式鉄道用台車
装置と地上施設より列車側へ電力を供給させるための誘
導集電装置を協調させて動作させるため、車上電源を充
電し過ぎないように監視し、集電用コイル位置を変化さ
せ、集電電力を調整することができるとともに、集電が
不要となった場合には誘導集電抵抗が軽減されるように
超電導磁石を移動させることのできる集電調整部を設け
る。Means 6 (Invention of Claim 6) The bogie device for a levitation railway according to any one of claims 1 and 3 and an induction current collector for supplying electric power from the ground facility to the train side. In order to operate in coordination, it is possible to monitor the on-board power supply so that it does not overcharge, change the position of the current collection coil, and adjust the current collection power. Provided is a current collecting adjustment unit capable of moving the superconducting magnet so that the induction current collecting resistance is reduced.
【００１４】[0014]
作用１ （請求項１記載の発明） 車輪走行から磁気浮上走行へ移行させる際に、車輪走行
時に予め、車上超電導磁石の中心位置を地上側コイルの
ヌルフラックスよりも下方へ移動させ、浮上走行へ切り
換わったのち、元の位置に戻すということを各超電導磁
石毎に制御し、浮上走行に切り換わる際の磁気抗力の変
化を段階的に変化させることのできるとともに、台車毎
に車輪の昇降を制御することができるため、各台車をい
くつかのグループに分けて段階的に車輪の昇降を行うこ
とにより、発生する磁気抗力を段階的に分散させること
が可能となる。Action 1 (Invention according to claim 1) When shifting from wheel traveling to magnetic levitation traveling, the center position of the on-board superconducting magnet is moved below the null flux of the ground side coil in advance during traveling of the wheel to levitate. It is possible to control each superconducting magnet to return to the original position after switching to, so that the change in the magnetic resistance when switching to levitation can be changed in stages, and the wheels can be moved up and down for each bogie. Since it is possible to control the vehicle, it is possible to disperse the generated magnetic drag in stages by dividing each carriage into several groups and raising and lowering the wheels in stages.
【００１５】このような作用により、磁気浮上に移行す
る時点で発生していた走行抵抗の急変が抑制され、速度
追従性の悪化を改善することが出来る。By such an action, the sudden change of the running resistance that occurs at the time of shifting to the magnetic levitation can be suppressed, and the deterioration of the speed followability can be improved.
【００１６】作用２ （請求項２記載の発明） 車輪走行での制動時には、逆に走行抵抗を増加させると
ともに、支持車輪と走行ガイドウェイとの粘性を向上さ
せることにより、制動力を高めることになる。各車両の
傾斜を解消し、発生する空力抵抗、騒音を低減する。そ
の他、浮上走行時に発生した列車の傾斜を積極的に調整
する事ができるため、乗り心地等の向上を図れることに
もなる。Action 2 (Invention according to Claim 2) When braking during wheel traveling, on the contrary, the traveling resistance is increased, and the braking force is increased by improving the viscosity of the supporting wheels and the traveling guideway. Become. The inclination of each vehicle is eliminated and the aerodynamic resistance and noise generated are reduced. In addition, it is possible to positively adjust the inclination of the train that occurs when the vehicle is levitating, so that it is possible to improve riding comfort and the like.
【００１７】作用３ （請求項３記載の発明） 超電導磁石の位置の移動により車輪への負荷が変わりブ
レーキ力が高められる。Action 3 (Invention of Claim 3) The load on the wheels is changed by the movement of the position of the superconducting magnet, and the braking force is increased.
【００１８】作用４ （請求項４記載の発明） 台車毎の走行車輪の位置の昇降により磁気抗力の変化を
段階的に変化させ、更にこれを各台車毎に制御すること
により急変を避ける事ができる。Action 4 (Invention according to Claim 4) By changing the position of the traveling wheel of each trolley, the change of the magnetic reaction force is changed stepwise, and by controlling this for each trolley, a sudden change can be avoided. it can.
【００１９】作用５ （請求項５記載の発明） 浮上距離の測定により制動時や浮上時の車輪支持装置へ
の過度の負荷、車両の傾斜を防止する。Action 5 (Invention of Claim 5) By measuring the levitation distance, it is possible to prevent an excessive load on the wheel supporting device and a leaning of the vehicle during braking or levitation.
【００２０】作用６ （請求項６記載の発明） 超電導磁石を移動させることのできる集電調整部を設け
たことにより、車上電源の過充電を防ぐため集電用コイ
ル位置を変えて集電電力を調整するとともに、集電が不
要の場合に誘導集電抵抗を軽減することができる。Action 6 (Invention according to claim 6) By providing the current collecting adjustment part capable of moving the superconducting magnet, the position of the current collecting coil is changed to prevent overcharging of the on-vehicle power source. It is possible to adjust the power and reduce the inductive current collecting resistance when current collection is unnecessary.
【００２１】[0021]
【実施例】各請求項に記載の各発明を図１〜図５に示す
実施例に基づいて説明する。なお、各請求項に記載の各
発明に応じる実施例を各請求項の番号に対応させて実施
例１、実施例２…のように同一番号を付与して説明す
る。DESCRIPTION OF THE PREFERRED EMBODIMENTS Each invention described in each claim will be described based on the embodiments shown in FIGS. It should be noted that the embodiments according to the respective inventions described in each claim will be described by giving the same numbers as Example 1, Example 2, ... Corresponding to the numbers in each claim.
【００２２】実施例１（図１、２、３） 走行抵抗の急変を抑制するため、台車上の超電導磁石装
置の位置及び台車支持脚の昇降制御をなす台車制御装置
を図１、２のような構成にする。Embodiment 1 (FIGS. 1, 2 and 3) A trolley control device for controlling the position of a superconducting magnet device on a trolley and lifting and lowering of a trolley support leg is shown in FIGS. To make a different structure.
【００２３】即ち、車両の速度情報などを得る伝送部１
と、この伝送部１の情報により車輪走行から浮上走行切
替及び磁石位置昇降制御の指令を出力する走行抵抗調節
部２と、超電導磁石昇降駆動・制御部３を設け、伝送部
１で、地上側施設との間で各種情報の授受を行い、通常
走行時、および、車輪走行から浮上走行への切り換え制
御に必要となる位置情報や速度情報等を例えば、列車無
線や交差誘導線等を介して送信、受信する。That is, the transmission unit 1 for obtaining vehicle speed information and the like.
Further, a traveling resistance adjusting unit 2 for outputting a command for switching between levitation traveling and magnet position elevation control based on the information of the transmission unit 1 and a superconducting magnet elevation drive / control unit 3 are provided. Various information is exchanged with the facility, and the position information and speed information, etc., necessary for normal traveling and switching control from wheel traveling to levitating traveling are transmitted, for example, via train radio or crossing guide lines. Send and receive.
【００２４】走行抵抗調整部２は、前記伝送部１より得
た情報より発生する走行抵抗を随時演算し、走行抵抗の
急変が起こらないよう後述する超電導磁石昇降制御部３
と支持脚装置１０へ指令を与える。例えば、走行速度が
浮上走行へ切り換える基準速度に近づいたことにより、
走行抵抗の急変を予測し、急変防止策として車輪走行時
から前もって超電導磁石位置を移動させ、ある程度の走
行抵抗が発生するように調整し、その後、支持車輪を車
体側に上昇させるよう調整する。The running resistance adjusting section 2 calculates the running resistance generated from the information obtained from the transmitting section 1 at any time, and the superconducting magnet lifting control section 3 described later is used so that the running resistance does not change suddenly.
And gives a command to the supporting leg device 10. For example, when the running speed approaches the reference speed for switching to levitating running,
By predicting a sudden change in the running resistance, the position of the superconducting magnet is moved in advance from the time when the wheel is running to prevent a sudden change, and the running resistance is adjusted to a certain extent, and then the support wheels are adjusted to the vehicle body side.
【００２５】超電導磁石昇降制御部３は、走行抵抗調整
部２からの指令に従い、超電導磁石８が取り付けられた
台車可動部７をシリンダ４、および、実際の駆動装置と
なる油圧モータ５により、上下方向に移動させることが
可能である。また、超電導磁石昇降制御部は台車の左右
で個々に用意されており、左右別々に超電導磁石位置を
制御することが可能である。In accordance with a command from the running resistance adjusting section 2, the superconducting magnet lifting control section 3 moves the carriage moving section 7 to which the superconducting magnet 8 is attached up and down by the cylinder 4 and the hydraulic motor 5 serving as an actual drive unit. It is possible to move in the direction. Further, the superconducting magnet raising / lowering control units are individually prepared on the left and right sides of the carriage, and the positions of the superconducting magnets can be controlled separately for the left and right sides.
【００２６】台車固定部６は車体および各種装置が取付
けられている。距離センサ９により、走行ガイドウェイ
と台車との距離を測定することが可能である。この距離
センサ９も台車の前後左右に取り付けられているため、
浮上距離のみでなく、傾斜状況等も認識することが可能
となっている。A vehicle body and various devices are attached to the carriage fixing portion 6. The distance sensor 9 can measure the distance between the traveling guideway and the carriage. Since the distance sensors 9 are also attached to the front, rear, left and right of the bogie,
It is possible to recognize not only the ascending distance but also the inclination situation.
【００２７】車輪走行時に必要となる支持脚装置１０、
支持脚移動用油圧モータ１１、タイヤ１２は、走行抵抗
調整部２や地上側施設からの指令に応じて、支持車輪の
昇降がなされるようになっている。A supporting leg device 10, which is required when the wheels are running,
The support leg moving hydraulic motor 11 and the tire 12 are configured such that the support wheels are moved up and down in response to commands from the running resistance adjusting unit 2 and the ground side facility.
【００２８】以上のように構成された装置の動作につい
て、図３、図５を参照して説明する。The operation of the apparatus configured as described above will be described with reference to FIGS. 3 and 5.
【００２９】車体にかかる走行抵抗特性を図５に示した
グラフで示す。The running resistance characteristic of the vehicle body is shown in the graph of FIG.
【００３０】グラフに示したように、車体にかかる走行
抵抗には、空気抵抗と磁気抗力、渦電流損、誘導集電抵
抗があり、その中の磁気抗力が浮上走行切り換え時の走
行抵抗急変の要因となっている。As shown in the graph, the running resistance applied to the vehicle body includes air resistance, magnetic resistance, eddy current loss, and inductive current collecting resistance, and the magnetic resistance among them causes a sudden change in running resistance when switching between levitation and running. It is a factor.
【００３１】磁気抗力とは、車載超電導磁石の中心位置
と地上側浮上コイルのヌルフラックス位置とがずれるこ
とにより、地上側浮上コイルに電流が誘起し、その電流
により地上側浮上コイルに磁界が発生し、走行抵抗とな
るものである。The magnetic drag means that a current is induced in the ground-side levitation coil due to a deviation between the center position of the vehicle-mounted superconducting magnet and the null flux position of the ground-side levitation coil, and the current causes a magnetic field in the ground-side levitation coil. However, it becomes a running resistance.
【００３２】通常、車輪走行時には磁気抗力が発生しな
いように、車載超電導磁石の中心位置と地上側浮上コイ
ルのヌルフラックス位置が一致するように調整されてい
る。しかしながら、浮上走行時には車体にかかる重力と
浮上コイルからの磁力とがつり合う位置までずれて走行
するため、車輪走行から浮上走行に切り換わる際に磁気
抗力が一斉に発生し、走行抵抗の急変を招いてしまう。Normally, the central position of the vehicle-mounted superconducting magnet and the null flux position of the ground-side levitation coil are adjusted to coincide with each other so that no magnetic drag is generated when the wheels are running. However, during levitation, the vehicle moves while shifting to a position where the gravity applied to the vehicle body and the magnetic force from the levitation coil are balanced, so magnetic resistance is generated all at once when switching from wheel running to levitation, causing a sudden change in running resistance. I will leave.
【００３３】そこで、図３（ａ）（ｂ）（ｃ）に示すよ
うな手順で浮上走行への切り換えを行う。Therefore, switching to levitating traveling is performed in the procedure shown in FIGS. 3 (a), 3 (b) and 3 (c).
【００３４】まず第一（図３（ａ））に車輪走行中に走
行速度を監視し、浮上走行への切り換え目標速度に近づ
いた時点で車載超電導磁石をヌルフラックス位置より下
方になるよう徐々に移動させる。すなわち、予め、磁気
抗力を徐々に発生させておく。First of all (FIG. 3 (a)), the traveling speed is monitored while the wheels are traveling, and when the vehicle speed approaches the target speed for switching to the levitating traveling, the on-vehicle superconducting magnet is gradually moved downward from the null flux position. To move. That is, the magnetic resistance is gradually generated in advance.
【００３５】第二（図３（ｂ））に支持車輪を車体側に
上昇させ、浮上走行へ切り換える。この時点では前記し
た操作により、既に超電導磁石位置がヌルフラックス位
置よりも下方に位置しているため、切り換え時の変動
は、従来に比べて予め移動させた分だけ軽減させること
になる。浮上走行切り換え得る際には、支持車輪を上昇
させるのと同期させて超電導磁石位置を元の位置に戻
す。（請求項５記載の支持車輪装置、超電導磁石昇降装
置を協調させる場合） 上記したような操作を行うことにより、浮上走行時へ切
り換える際の走行抵抗急変を軽減することが可能とな
る。また、切り換え目標速度、および、近づいたと判定
するための距離を変更することで、走行抵抗の変化率を
調整することが可能である。Secondly (FIG. 3 (b)), the supporting wheels are raised to the vehicle body side, and the running mode is switched to the levitation. At this point in time, since the position of the superconducting magnet is already located below the null flux position by the above-described operation, the fluctuation at the time of switching can be reduced by the amount moved in advance as compared with the conventional case. When it is possible to switch to the floating mode, the position of the superconducting magnet is returned to the original position in synchronization with the lifting of the supporting wheels. (When the supporting wheel device and the superconducting magnet lifting device according to claim 5 are made to cooperate with each other) By performing the above-described operation, it becomes possible to reduce a sudden change in running resistance when switching to the floating running mode. Further, it is possible to adjust the rate of change of the running resistance by changing the switching target speed and the distance for determining that the vehicle is approaching.
【００３６】実施例２（図３（ｃ）） 浮上走行に切り換わった後に、台車下方に取り付けた距
離センサより浮上距離を適宜監視し、各台車毎の浮上距
離が均等になるよう前記した図３に示した第一の操作同
様、超電導磁石位置を調整し車体の傾斜等を解消するこ
とが可能となる。Embodiment 2 (FIG. 3 (c)) After switching to floating operation, the flying distance is appropriately monitored by a distance sensor attached to the lower portion of the bogie to make the flying distance of each bogie uniform. Similar to the first operation shown in 3, it is possible to adjust the position of the superconducting magnet and eliminate the inclination of the vehicle body.
【００３７】ここで、図３（ａ）に示した第一の操作で
は超電導磁石位置を下方にのみ移動させているが、上方
へ移動させることも可能な構成としている。Here, in the first operation shown in FIG. 3A, the position of the superconducting magnet is moved only downward, but it can also be moved upward.
【００３８】実施例３（図３（ｂ）） 車輪走行制動中に超電導磁石位置を上方へ移動させ、磁
気抗力を発生させて、走行抵抗を増加させるとともに、
タイヤと走行面との粘性を向上させ、従来より備えられ
ているディスクブレーキのブレーキ力をたかめることが
できる。Embodiment 3 (FIG. 3 (b)) The position of the superconducting magnet is moved upward while the wheel is being braked to generate a magnetic drag to increase the running resistance and
It is possible to improve the viscosity between the tire and the running surface and increase the braking force of the disc brake that has been conventionally provided.
【００３９】実施例４（図４） 支持車輪の昇降制御のみにて、磁気抗力の変化を段階的
な変化にする方法であり、一列車に設置してある複数の
台車毎に支持車輪の昇降を制御し、図４に示したような
手順により段階的に浮上走行へ移行させることで、従来
の台車を用いたまま、走行抵抗の急変防止を実現するこ
とができる。Embodiment 4 (FIG. 4) This is a method of changing the change of the magnetic resistance in a stepwise manner only by raising and lowering the supporting wheels, and raising and lowering the supporting wheels for each of a plurality of bogies installed in one train. By controlling the vehicle and gradually shifting to the floating traveling according to the procedure shown in FIG. 4, it is possible to prevent the sudden change of the traveling resistance while using the conventional truck.
【００４０】実施例５（図３（ｂ）） 実施例１に既述の通りである。Example 5 (FIG. 3 (b)) As described in Example 1 above.
【００４１】実施例６ 上記台車を誘導集電台車に応用し、誘導集電電力を測定
する装置を追加することにより、過充電等の事故を未然
に防ぐことが可能てであると同時に、集電の必要がない
場合には、誘導集電用の超電導磁石中心位置をヌルフラ
ックス位置まで移動させることにより、図５で示した走
行抵抗の一つである誘導集電抵抗を軽減することが可能
となる。Embodiment 6 By applying the above trolley to an induction current collection trolley and adding a device for measuring the induction current collection power, it is possible to prevent accidents such as overcharging and the like at the same time. When there is no need for electricity, it is possible to reduce the induction current collecting resistance, which is one of the running resistances shown in FIG. 5, by moving the center position of the superconducting magnet for induction current collection to the null flux position. Becomes
【００４２】尚、本発明は上記した実施例に限定される
ものではない。例えば、一列車に設置されている全ての
台車に本装置を備える必要はなく、従来の台車（誘導集
電台車も含む）と組み合わせて用いても、同様の効果を
得ることが可能である。The present invention is not limited to the above embodiment. For example, it is not necessary to equip all the trolleys installed in one train with this device, and the same effect can be obtained even if it is used in combination with a conventional trolley (including an induction current collecting trolley).
【００４３】その他、本発明はその要旨を逸脱しない範
囲で種々変形して実施することができる。In addition, the present invention can be variously modified and implemented without departing from the scope of the invention.
【００４４】[0044]
【発明の効果】本発明により、車輪走行から磁気浮上走
行へ移行する際に、車上超電導磁石位置や支持脚の昇降
を台車毎に制御することができるため、走行抵抗の変化
を段階的な変化に抑制することが可能となり、結果とし
て、磁気浮上走行へ移行する際に発生していた速度追従
性の一時的な悪化を改善することが可能となる。According to the present invention, it is possible to control the position of the superconducting magnet on the vehicle and the elevation of the support legs for each trolley at the time of shifting from the wheel traveling to the magnetic levitation traveling. It is possible to suppress the change, and as a result, it is possible to improve the temporary deterioration of the speed following performance that has occurred when shifting to magnetic levitation traveling.
【００４５】また、列車の傾斜抑制、制動力の向上、集
電装置保護を実現することができる。Further, it is possible to suppress the inclination of the train, improve the braking force, and protect the current collector.
【図１】本発明による台車の制御装置構成図、FIG. 1 is a block diagram of a trolley controller according to the present invention;
【図２】図１の左側面図、2 is a left side view of FIG.
【図３】図１の台車の超電導磁石位置制御による動作説
明図、FIG. 3 is an explanatory view of the operation of the bogie of FIG. 1 by controlling the position of the superconducting magnet.
【図４】列車の車輪走行・磁気浮上切換制御動作説明
図、FIG. 4 is an explanatory diagram of a train wheel traveling / magnetic levitation switching control operation,
【図５】磁気浮上列車にかかる走行抵抗特性曲線図。FIG. 5 is a travel resistance characteristic curve diagram of the magnetic levitation train.
１…伝送部 ２…走行抵抗調節部 ３…超電導磁石昇降制御部 ４…シリンダ ５…油圧モータ（超電導磁石駆動用） ６…台車固定部 ７…台車可動部 ８…超電導磁石 ９…浮上距離センサ １０…支持脚装置 １１…支持脚昇降用油圧モータ １２…タイヤ DESCRIPTION OF SYMBOLS 1 ... Transmission part 2 ... Running resistance adjusting part 3 ... Superconducting magnet raising / lowering control part 4 ... Cylinder 5 ... Hydraulic motor (for driving superconducting magnets) 6 ... Bogie fixed part 7 ... Bogie movable part 8 ... Superconducting magnet 9 ... Floating distance sensor 10 ... Support leg device 11 ... Hydraulic motor for lifting support legs 12 ... Tire
Claims (6)
相互作用により、低速時の車輪走行および高速時の磁気
浮上推進案内走行を制御する磁気浮上式鉄道車両用台車
制御装置において、 車両の速度情報などを得る伝送部と、この伝送部の情報
により車輪走行から浮上走行切替及び磁石位置昇降制御
の指令を出力する走行抵抗調節部と、超電導磁石昇降駆
動・制御部とを備えたことを特徴とする磁気浮上式鉄道
車両用台車制御装置。1. A bogie control device for a magnetic levitation railway vehicle, which controls wheel traveling at low speed and magnetic levitation propulsion guide traveling at high speed by interaction between a ground coil and a superconducting magnet on the bogie of the vehicle. It is provided with a transmission unit for obtaining speed information, a traveling resistance adjustment unit for outputting a command for levitation traveling switching and magnet position elevation control from wheel traveling based on the information of this transmission unit, and a superconducting magnet elevation drive / control unit. A levitation control system for magnetically levitated railway vehicles.
相互作用により、低速時の車輪走行および高速時の磁気
浮上推進案内走行を制御する磁気浮上式鉄道車両用台車
制御装置において、 車両の速度情報などを得る伝送部と台車の浮上距離測定
部と、これらの情報に応じて車体傾斜を超電導磁石位置
昇降制御により調節する車体傾斜調節部と、各車両重量
及び乗客数の相違に起因する各台車の浮上距離の差異を
均等にする超電導磁石昇降制御部と、超電導磁石を昇降
させる油圧駆動・制御部とを設けたことを特徴とする磁
気浮上式鉄道車両用台車制御装置。2. A bogie controller for a magnetic levitation railway vehicle for controlling wheel traveling at low speed and magnetic levitation propulsion guide traveling at high speed by interaction between a ground coil and a superconducting magnet on the bogie of the vehicle. Due to the difference between the weight of the vehicle and the number of passengers, the transmission unit that obtains speed information and the like, the flying distance measurement unit of the bogie, the vehicle body tilt adjustment unit that adjusts the vehicle body tilt by superconducting magnet position elevation control according to these information. A bogie control device for a magnetic levitation railway vehicle, comprising: a superconducting magnet lifting control unit that equalizes the differences in the levitation distances of the bogies; and a hydraulic drive / control unit that lifts and lowers the superconducting magnets.
相互作用により、低速時の車輪走行および高速時の磁気
浮上推進案内走行を制御する磁気浮上式鉄道車両用台車
制御装置において、 地上施設との情報の授受により車輪走行から浮上走行切
換時期などを知る伝送部と、この伝送部の情報により制
動時期を判断し、超電導磁石位置昇降制御指令を出力す
る走行抵抗調節部と、走行車輪制動時に各台車上の超電
導磁石の中心位置を地上側コイルのヌルフラックス部分
よりも上方へ移動させて、発電・回生電気ブレーキ力お
よび、ディスクブレーキ力を高める超電導磁石位置昇降
駆動・制御部とを設けたことを特徴とする磁気浮上式鉄
道車両用台車制御装置。3. A magnetic levitation bogie controller for a magnetic levitation railway vehicle, which controls wheel traveling at low speed and magnetic levitation propulsion guide traveling at high speed by interaction between a ground coil and a superconducting magnet on the trolley of the vehicle. A transmission section that knows the timing of switching from the wheel running to the levitating mode by exchanging information with the wheel, a running resistance adjustment section that determines the braking time based on the information from this transmission section, and outputs a superconducting magnet position elevation control command, and running wheel braking Occasionally, the center position of the superconducting magnet on each trolley is moved above the null flux part of the ground side coil to provide a superconducting magnet position elevating drive / control unit that enhances power generation / regenerative electric braking force and disc braking force. A levitation control system for a magnetically levitated railway vehicle.
輪走行から浮上走行への切換時期を判断する伝送部と、
前記伝送部情報により制動時期を判断し、走行車輪の昇
降制御部に対して指令を出力する走行抵抗調節部と、車
輪走行から磁気浮上走行の切替時の磁気抗力急変の抑制
と、制動時の磁気抗力の変化を段階的に変化させ走行車
輪の昇降を台車毎に制御する走行車輪昇降制御部と、車
輪支持装置を昇降させる駆動部とを設けたことを特徴と
する請求項１或いは請求項３に記載の磁気浮上式鉄道車
両用台車制御装置。4. A transmission unit for judging the timing of switching from wheel traveling to levitating traveling by exchanging various information from the ground facility.
A traveling resistance adjusting unit that determines the braking timing based on the transmission unit information and outputs a command to the traveling wheel ascending / descending control unit, suppresses a sudden change in the magnetic reaction force when switching from wheel traveling to magnetic levitation traveling, and during braking. 2. A traveling wheel elevating / lowering control unit for controlling the elevating and lowering of traveling wheels for each trolley by changing a change in magnetic drag stepwise, and a drive unit for elevating / lowering a wheel supporting device. 3. A bogie control device for a magnetic levitation railway vehicle according to item 3.
の超電導磁石の中心位置の昇降による走行車輪支持装置
にかかる負荷の測定部を設けたことを特徴とする請求項
１或いは請求項３記載の浮上式鉄道用台車制御装置。5. A load measuring unit for measuring a load applied to a traveling wheel supporting device by raising and lowering a central position of a superconducting magnet during switching from wheel traveling to levitating traveling and during braking is provided. Levitation railway bogie control device.
位置を変えて集電電力を調整するとともに、集電が不要
の場合に誘導集電抵抗を軽減するため超電導磁石を移動
させることのできる集電調整部を設けたことを特徴とす
る請求項１或いは請求項３記載の磁気浮上式鉄道用台車
制御装置。6. The position of a current collecting coil is adjusted to prevent overcharging of an on-vehicle power source to adjust the current collecting power, and a superconducting magnet is moved to reduce an induction current collecting resistance when current collection is unnecessary. The magnetic levitation railway bogie control device according to claim 1 or 3, further comprising: a current collecting adjustment unit capable of performing the above operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP05228995A JP3383114B2 (en) | 1995-03-13 | 1995-03-13 | Truck control device for magnetically levitated railway vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP05228995A JP3383114B2 (en) | 1995-03-13 | 1995-03-13 | Truck control device for magnetically levitated railway vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH08244601A true JPH08244601A (en) | 1996-09-24 |
| JP3383114B2 JP3383114B2 (en) | 2003-03-04 |
Family
ID=12910654
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP05228995A Expired - Fee Related JP3383114B2 (en) | 1995-03-13 | 1995-03-13 | Truck control device for magnetically levitated railway vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3383114B2 (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010016951A (en) * | 2008-07-02 | 2010-01-21 | Railway Technical Res Inst | Method of suppressing temperature rise of magnetic floating ground coil |
| CN108340930A (en) * | 2018-03-19 | 2018-07-31 | 张跃 | A kind of wheel rail drive and magnetic suspension system |
| CN108382266A (en) * | 2018-01-22 | 2018-08-10 | 武汉理工大学 | A kind of EDS supporting systems for vacuum line magnetic suspension train |
| CN109027614A (en) * | 2018-09-10 | 2018-12-18 | 嘉兴市芸芸纺织有限公司 | A kind of weaving loom easy to remove |
| WO2020048044A1 (en) * | 2018-09-04 | 2020-03-12 | 中车株洲电力机车有限公司 | Support structure, maglev train rescue device, suspension and maglev train |
| CN111536082A (en) * | 2020-04-28 | 2020-08-14 | 中车青岛四方车辆研究所有限公司 | Hydraulic control system of supporting wheel based on magnetic levitation vehicle |
| CN114347797A (en) * | 2021-11-30 | 2022-04-15 | 北京全路通信信号研究设计院集团有限公司 | Control method and system for supporting wheels of magnetic suspension train |
| CN116001848A (en) * | 2023-03-27 | 2023-04-25 | 北京全路通信信号研究设计院集团有限公司 | Wheel control method and system of magnetic levitation train |
| CN116039709A (en) * | 2023-03-27 | 2023-05-02 | 北京全路通信信号研究设计院集团有限公司 | Train wheel control method and system based on ground operation control system |
-
1995
- 1995-03-13 JP JP05228995A patent/JP3383114B2/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010016951A (en) * | 2008-07-02 | 2010-01-21 | Railway Technical Res Inst | Method of suppressing temperature rise of magnetic floating ground coil |
| CN108382266A (en) * | 2018-01-22 | 2018-08-10 | 武汉理工大学 | A kind of EDS supporting systems for vacuum line magnetic suspension train |
| CN108340930A (en) * | 2018-03-19 | 2018-07-31 | 张跃 | A kind of wheel rail drive and magnetic suspension system |
| CN108340930B (en) * | 2018-03-19 | 2023-11-28 | 张跃 | Wheel rail driving and magnetic suspension system |
| WO2020048044A1 (en) * | 2018-09-04 | 2020-03-12 | 中车株洲电力机车有限公司 | Support structure, maglev train rescue device, suspension and maglev train |
| CN109027614A (en) * | 2018-09-10 | 2018-12-18 | 嘉兴市芸芸纺织有限公司 | A kind of weaving loom easy to remove |
| CN111536082A (en) * | 2020-04-28 | 2020-08-14 | 中车青岛四方车辆研究所有限公司 | Hydraulic control system of supporting wheel based on magnetic levitation vehicle |
| CN114347797A (en) * | 2021-11-30 | 2022-04-15 | 北京全路通信信号研究设计院集团有限公司 | Control method and system for supporting wheels of magnetic suspension train |
| CN114347797B (en) * | 2021-11-30 | 2024-01-19 | 北京全路通信信号研究设计院集团有限公司 | Control method and system for supporting wheel of maglev train |
| CN116001848A (en) * | 2023-03-27 | 2023-04-25 | 北京全路通信信号研究设计院集团有限公司 | Wheel control method and system of magnetic levitation train |
| CN116039709A (en) * | 2023-03-27 | 2023-05-02 | 北京全路通信信号研究设计院集团有限公司 | Train wheel control method and system based on ground operation control system |
| CN116039709B (en) * | 2023-03-27 | 2023-06-30 | 北京全路通信信号研究设计院集团有限公司 | Train wheel control method and system based on ground operation control system |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3383114B2 (en) | 2003-03-04 |
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