JPH10287241A - Car body tilt control device for rolling stock and its car body tilt control method - Google Patents
Car body tilt control device for rolling stock and its car body tilt control methodInfo
- Publication number
- JPH10287241A JPH10287241A JP11644297A JP11644297A JPH10287241A JP H10287241 A JPH10287241 A JP H10287241A JP 11644297 A JP11644297 A JP 11644297A JP 11644297 A JP11644297 A JP 11644297A JP H10287241 A JPH10287241 A JP H10287241A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle body
- height adjustment
- bogie
- air springs
- pipe
- 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.)
- Pending
Links
Landscapes
- Vehicle Body Suspensions (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、カント均衡速度を
超えた速度で曲線路を走行する際の乗り心地を向上させ
るための鉄道車両の車体傾斜制御装置及びその車体傾斜
制御方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle body inclination control device and a vehicle body inclination control method for improving the ride comfort when traveling on a curved road at a speed exceeding a cant equilibrium speed.
【０００２】[0002]
【従来の技術】曲線路を走行する鉄道車両は、カント量
に釣り合う速度で走行しなければ、乗客に横方向の加速
度が作用して乗り心地を悪くする。そのため、車体に働
く遠心力と重力との合力が車体床面に対し垂直に作用す
るような速度で走行する必要がある。2. Description of the Related Art If a railway vehicle traveling on a curved road does not travel at a speed commensurate with the amount of cant, a lateral acceleration acts on passengers, thereby deteriorating ride comfort. Therefore, it is necessary to travel at such a speed that the resultant force of the centrifugal force and the gravity acting on the vehicle body acts vertically on the vehicle body floor.
【０００３】この曲線路での走行速度をより速くするに
は、カント量を大きくすればよいが、その曲線路を低速
で走行したり、または停車した場合には、車体の傾きが
大きいため曲線内軌側へ車両が転倒する危険がある。そ
のため、安全上カント量には上限が設定されている。し
たがって、最大カント量から算出される均衡速度を超え
て曲線路を高速で走行すると、超過遠心力が発生し乗り
心地が悪くなる。To increase the traveling speed on this curved road, the cant amount may be increased. However, when the vehicle is traveling on the curved road at a low speed or stopped, the inclination of the vehicle body is large. There is a danger of the vehicle falling over to the inner rail side. Therefore, an upper limit is set for the amount of cant for safety. Therefore, if the vehicle travels on a curved road at a high speed exceeding the equilibrium speed calculated from the maximum cant amount, an excessive centrifugal force is generated, and the riding comfort deteriorates.
【０００４】そこで、超過遠心力を受けた場合に、この
超過遠心力と車体の重力との合力が床面に対し垂直に作
用するまで車体を傾斜させることによって乗り心地をよ
くするようにした振り子台車が知られている。この振り
子台車には、自然振り子式台車と、油圧や空気圧を用い
て強制的に車体を傾斜させる制御振り子式台車がある。Therefore, when an excessive centrifugal force is applied, the pendulum is tilted so that the vehicle body is tilted until the resultant of the excessive centrifugal force and the gravity of the vehicle body acts perpendicularly to the floor surface, thereby improving the riding comfort. Dolly is known. The pendulum cart includes a natural pendulum cart and a controlled pendulum cart forcibly tilting the vehicle body using hydraulic pressure or air pressure.
【０００５】前記従来の振り子式台車は、車体傾斜の中
心が車体の重心より上にあるため、車体を内軌側に傾斜
させると、車体重心が外軌側に移動し、外輪側輪重が増
え、内軌側輪重が減るため、車両が転倒する危険性があ
る。また、空気ばねが台車と車体の間に装架されている
振り子式車両では、超過遠心力を正確に相殺できない場
合には、空気ばね支持系のローリング剛性が小さいこと
により、車体傾斜角が変化する問題がある。In the conventional pendulum type bogie, since the center of the vehicle body tilt is above the center of gravity of the vehicle body, when the vehicle body is tilted to the inner rail side, the vehicle center of gravity moves to the outer rail side, and the outer wheel side wheel weight is reduced. There is a danger that the vehicle will fall because the weight increases and the inner rail side wheel weight decreases. In the case of a pendulum type vehicle in which an air spring is mounted between a bogie and a vehicle body, if the excess centrifugal force cannot be accurately offset, the vehicle body inclination angle changes due to the low rolling rigidity of the air spring support system. There is a problem to do.
【０００６】また、車体傾斜装置から独立して空気ばね
が配置されているために、傾斜動作の途中で空気ばねの
上下変位による車体ローリングが発生すると、これが車
体傾斜方向とは逆向きに発生した場合には、車体傾斜の
速度を減少させて、曲線路の変化に合わせたスムーズな
車体傾斜ができなくなり、緩和曲線での乗り心地が悪化
する。なお、車体傾斜を行なわない場合には傾斜機構の
動作を止めるストッパが必要である。Further, since the air spring is arranged independently of the vehicle body tilting device, when the vehicle body rolls due to the vertical displacement of the air spring during the tilting operation, the rolling occurs in the direction opposite to the vehicle body tilt direction. In this case, the speed of the leaning of the vehicle body is reduced to make it impossible to smoothly lean the vehicle body in accordance with the change of the curved road, and the riding comfort on the eased curve deteriorates. When the vehicle is not tilted, a stopper for stopping the operation of the tilting mechanism is required.
【０００７】そして、図７に示すように、台車１８と車
体１９との間において、台車１８の左右方向に配置した
アンチロールバー２０の両端にリンクを介して垂直方向
にアクチュエータ２１を取付けた装置（鉄道車両輸出組
合報 １９９６・４−ＮＯ．２ ＮＯ．１８７の３７〜
３８頁）がある。[0007] As shown in FIG. 7, an apparatus in which an actuator 21 is vertically attached via a link between both ends of an anti-roll bar 20 disposed between the bogie 18 and the vehicle body 19 in the left-right direction of the bogie 18. (Railway Exporters Association Report 1996-4-NO.2 NO.187 37-
38).
【０００８】更に、図８（Ａ）（Ｂ）に示すように、台
車２２の左右方向に配置したトーションバーの両端にリ
ンク２３を介して斜め上方に伸び車体２４に接続したロ
ッド２５を設け、トーションバーは中央の第１トーショ
ンバー２６と左右の第２トーションバー２７、２８をア
クチュエータ２９、３０で接続してなり、アクチュエー
タ２９、３０を操作して左右のロッド間の相対角度を制
御するように構成した車体傾斜装置（特開平６−５６０
３４号公報）がある。Further, as shown in FIGS. 8 (A) and 8 (B), rods 25 which extend obliquely upward through links 23 and are connected to a vehicle body 24 are provided at both ends of a torsion bar arranged in the left-right direction of the bogie 22. The torsion bar is formed by connecting the first torsion bar 26 at the center and the second torsion bars 27 and 28 at the left and right by actuators 29 and 30 and operating the actuators 29 and 30 to control the relative angle between the right and left rods. (Japanese Unexamined Patent Publication No. 6-560)
No. 34).
【０００９】[0009]
【発明が解決しようとする課題】前記のごとく、車体傾
斜中心が車体重心より上方にある車両では、車体を内軌
側に傾斜させた場合、車体重心が外軌側に移動して外輪
側輪重が増え、内軌側輪重か減るため、車両が内軌側に
転倒する危険がある。また、図７に示す車体傾斜制御装
置は、空気ばねの高さ調整弁の切換えを連携していない
ため、傾斜時に空気ばね側の反力が大きくなり、大きな
傾斜変位を得ることができない。更に、図８に示す車体
傾斜制御装置は、トーションバーが３分割されているこ
とが前提条件であり、そのため、構成部材が増大し組立
てに手間がかかる。また、アクチュエータで接続された
第２トーションバーの先端に空気ばねの高さ調整弁のレ
バーを接続しているため、アクチュエータの制御がフェ
ールしたとき、空気ばね高さを一定に保つことができ
ず、車体が異常傾斜する危険がある。As described above, in a vehicle in which the vehicle body tilt center is above the vehicle center of gravity, when the vehicle body is tilted to the inner rail side, the vehicle weight center moves to the outer rail side and the outer wheel side wheel is moved. Since the weight increases and the wheel weight on the inner rail side decreases, there is a danger that the vehicle will fall on the inner rail side. In addition, since the vehicle body tilt control device shown in FIG. 7 does not cooperate with the switching of the height adjustment valve of the air spring, the reaction force on the air spring side during tilting increases, and a large tilt displacement cannot be obtained. Furthermore, the vehicle body inclination control device shown in FIG. 8 is a prerequisite that the torsion bar is divided into three parts, so that the number of constituent members increases, and it takes time to assemble. In addition, since the lever of the height adjustment valve of the air spring is connected to the tip of the second torsion bar connected by the actuator, the height of the air spring cannot be kept constant when the control of the actuator fails. However, there is a risk that the vehicle body may abnormally tilt.
【００１０】本発明は、前記従来の車体傾斜制御装置に
見られる問題点を排除することを目的として、車体傾斜
時は傾斜変位に対して空気ばねの反力が発生しないよう
にすることにより傾斜変位を正確に制御でき、かつ装置
がフェールしたとき、またはこの装置により車体傾斜制
御を行なわない場合には、空気ばねの高さ調整に切り換
えられ通常の車体傾斜制御が行われるように構成した鉄
道車両用車体傾斜制御装置及びその車体傾斜制御方法を
提供する。An object of the present invention is to eliminate the problems seen in the above-mentioned conventional vehicle body inclination control device, and to prevent the reaction force of an air spring from being generated with respect to the inclination displacement when the vehicle body is inclined. A railway configured so that displacement can be controlled accurately and, when the device fails or when the vehicle body tilt control is not performed by the device, switching to height adjustment of the air spring is performed and normal vehicle body tilt control is performed. A vehicle body inclination control device and a vehicle body inclination control method thereof are provided.
【００１１】[0011]
【課題を解決するための手段】前記目的を達成するた
め、本発明は、空気源と左右の空気ばねを接続する配管
及び左右の空気ばね間を接続し更に空気源に接続する配
管に、それぞれ高さ調整弁と開閉制御弁を設けることを
基本的な構成とし、下記の車体傾斜制御装置及びその車
体傾斜制御方法からなる。In order to achieve the above object, the present invention provides a pipe connecting an air source and left and right air springs and a pipe connecting between the left and right air springs and further connecting to an air source. Basically, a height adjusting valve and an opening / closing control valve are provided, and the vehicle tilt control device and the vehicle tilt control method described below are provided.
【００１２】（１） 台車の左右側に設けた空気ばね上
に傾斜梁を支持し、傾斜梁と車体との間を弾性体または
側受けによりヨーイング変位可能に支持し、台車の側梁
間または傾斜梁に支持したアクチュエータに、台車の側
梁間または傾斜梁に横設したトーションバーの両端をリ
ンクを介して屈曲自在に接合した車体傾斜制御装置を備
えた車両において、空気ばねの高さ調整弁を台車と傾斜
梁間の左右側及び中央の３か所に設置し、空気源と左右
の空気ばねとの間を左右の高さ調整弁を介在して配管で
接続し、かつ左右の空気ばね間を配管で接続し、配管中
央部と空気源との間を中央の高さ調整弁を介在して配管
で接続し、各高さ調整弁と左右空気ばねとの間の配管途
中に開閉制御弁を設け、各開閉制御弁を開閉操作して車
体傾斜制御を行なうように構成する。(1) An inclined beam is supported on air springs provided on the left and right sides of the bogie, and a yaw displacement is supported between the inclined beam and the vehicle body by an elastic body or a side support. In a vehicle equipped with a vehicle body inclination control device in which both ends of a torsion bar laterally provided between the side beams of the bogie or the inclined beam are flexibly joined via a link to an actuator supported by the beam, a height adjustment valve of an air spring is provided. It is installed on the left and right sides and the center between the trolley and the inclined beam at three places. The air source and the left and right air springs are connected by pipes via left and right height adjustment valves, and the left and right air springs are connected. Connected by piping, the center of the pipe and the air source are connected by piping with a central height adjustment valve interposed, and an on-off control valve is provided in the middle of the pipe between each height adjustment valve and the left and right air springs. To control the body tilt by opening and closing each open / close control valve The configuration is as follows.
【００１３】（２） 台車の左右側に設けた前後動大変
位可能な空気ばねにより車体を支持し、車体の底面両側
端または台車の両側端に支持したアクチュエータに、台
車の側梁間または車体底面に横設したトーションバーの
両端をリンクを介して屈曲自在に接合した車体傾斜制御
装置を備えた車両において、空気ばね用の高さ調整弁を
車体と台車間の左右側及び中央の３か所に設置し、空気
源と前記各高さ調整弁との間を配管で接続し、左右の高
さ調整弁と左右の空気ばねとの間及び左右の空気ばねの
間をそれぞれ配管で接続し、左右の空気ばね間を接続す
る配管中央部と中央の高さ調整弁との間を配管で接続
し、各高さ調整弁と左右空気ばねとの間の配管途中に開
閉制御弁を設け、各開閉制御弁を開閉操作して車体傾斜
制御を行なうよう構成する。(2) The vehicle body is supported by air springs provided on the left and right sides of the bogie and capable of large displacement in the longitudinal direction. In a vehicle equipped with a vehicle body inclination control device in which both ends of a torsion bar laterally mounted on the vehicle are flexibly joined via a link, height adjusting valves for an air spring are provided at three positions on the left, right, and center between the vehicle and the bogie. Installed in the air source and the respective height adjustment valve is connected by piping, between the left and right height adjustment valve and the left and right air springs and between the left and right air springs are connected by pipes, The center of the pipe connecting the left and right air springs is connected by a pipe to the center height adjustment valve, and an open / close control valve is provided in the middle of the pipe between each height adjustment valve and the left and right air springs. Configuration to perform body tilt control by opening and closing the open / close control valve I do.
【００１４】（３） 前記（１）または（２）記載の鉄
道車両用車体傾斜制御装置を備えた鉄道車両において、
車体傾斜制御を行なう場合には、中央の高さ調整弁と左
右の空気ばねを接続する配管途中に設けた開閉制御弁を
開き、左右の高さ調整弁と左右の空気ばねを接続する配
管途中に設けた開閉制御弁を閉じて、左右の空気ばねの
平均高さを、中央の高さ調整弁の作用により一定に保
ち、左右個々の空気ばね高さを、傾斜梁または車体の底
面両側端に支持したアクチュエータの長さを調整して、
台車と傾斜梁との間または台車と車体との間の傾斜角を
目的とする角度に調整して車体傾斜制御を行なう。(3) A railway vehicle provided with the railway vehicle body inclination control device according to (1) or (2),
When performing body tilt control, open the open / close control valve provided in the middle of the pipe connecting the center height adjustment valve and the left and right air springs, and open the middle of the pipe connecting the left and right height adjustment valves and the left and right air springs. Close the open / close control valve provided on the left and right sides, and keep the average height of the left and right air springs constant by the action of the center height adjustment valve. Adjust the length of the actuator supported by
The vehicle body tilt control is performed by adjusting the tilt angle between the bogie and the inclined beam or between the bogie and the vehicle body to a desired angle.
【００１５】[0015]
【発明の実施の形態】台車の左右側に設けた空気ばね上
に傾斜梁を支持し、該傾斜梁と車体との間に左右一対の
積層ゴムやばねの弾性体または側受けにより車体と傾斜
梁間をヨーイング変位可能に支持した車両、及び台車の
左右側に設けた前後動大変位可能な空気ばねにより車体
を支持した車両は、いずれも台車と車体との間の上下・
左右変位及び傾斜変位が許容される。BEST MODE FOR CARRYING OUT THE INVENTION An inclined beam is supported on air springs provided on the left and right sides of a bogie, and between the inclined beam and the vehicle body, a pair of left and right laminated rubber or elastic bodies of springs or side supports are used to incline the vehicle body. Vehicles that support yaw displacement between beams and vehicles that support the vehicle body with large displacement air springs provided on the left and right sides of the bogie,
Left-right displacement and tilt displacement are allowed.
【００１６】そして、車体傾斜制御時は、左右の高さ調
整弁と左右の空気ばねとの間の開閉制御弁を閉じ、中央
の高さ調整弁と左右の空気ばねとの間の開閉制御弁を開
いて、左右の空気ばねへの圧縮空気の供給を中央の高さ
調整弁を通して行なうことにより、左右の空気ばねは傾
斜変位に対し反力を生じることなく、左右の空気ばねの
高さを一定に保持することができる。When the vehicle body is tilted, the open / close control valve between the left and right height adjustment valves and the left and right air springs is closed, and the open / close control valve between the center height adjustment valve and the left and right air springs is closed. , And the supply of compressed air to the left and right air springs is performed through the central height adjustment valve. It can be kept constant.
【００１７】左右の空気ばねの高さが一定に保持された
状態で、曲線路を高速で通過する際、その曲線路のカン
ト量、走行速度の検出信号を制御器に入力して予め設定
されている曲線路データと比較演算して得られた制御信
号を左右のアクチュエータに出力して長さを伸縮し、車
体を走行速度に見合った傾斜角をもって傾斜させる。When the vehicle travels on a curved road at a high speed while the heights of the left and right air springs are kept constant, detection signals of the cant amount and the traveling speed of the curved road are inputted to a controller and preset. The control signal obtained by performing the comparison operation with the curved road data is output to the left and right actuators to expand and contract the length, and the vehicle body is inclined at an inclination angle corresponding to the traveling speed.
【００１８】前記のごとく、高速で通過する曲線路のカ
ント量と走行速度に基づいて制御器で演算された時々刻
々変化する制御信号により、乗客に超過遠心力が作用し
ないように車体傾斜制御が行われるため、円曲線路ばか
りでなく、ねじれた曲線からなる緩和曲線においても乗
客の乗り心地を向上できる。As described above, the vehicle body inclination control is carried out by the control signal which changes every moment by the controller based on the cant amount and the traveling speed of the curved road passing at a high speed so that the excessive centrifugal force does not act on the passenger. Therefore, the ride comfort of passengers can be improved not only on a circular curved road but also on a relaxation curve formed of a twisted curve.
【００１９】また、車体傾斜制御装置に故障が生じた場
合やこの装置による車体傾斜制御が不要な場合には、左
右の高さ調整弁と左右の空気ばねとの間の開閉制御弁を
開き、中央の高さ調整弁と左右の空気ばねとの間の開閉
制御弁を閉じて、左右の空気ばねへの圧縮空気の供給を
左右の高さ調整弁を通して個々に行なうことにより、通
常の空気ばねの高さ調整により車体の傾斜制御が行われ
る。前記車体傾斜制御時及び車体傾斜制御が不要な場合
の制動動作のフローチャートを図９に示した。なお、開
閉制御弁としては、電磁弁、空気制御弁を用いることが
できる。When a failure occurs in the vehicle body inclination control device or when the vehicle body inclination control by this device is unnecessary, the open / close control valve between the left and right height adjustment valves and the left and right air springs is opened. By closing the open / close control valve between the central height adjustment valve and the left and right air springs and supplying compressed air to the left and right air springs individually through the left and right height adjustment valves, the normal air spring Is controlled by the height adjustment of the vehicle. FIG. 9 shows a flowchart of the braking operation during the vehicle body tilt control and when the vehicle body tilt control is unnecessary. In addition, as an opening / closing control valve, an electromagnetic valve and an air control valve can be used.
【００２０】[0020]
実施例１ 請求項１に対応する実施例を図１（Ａ）（Ｂ）、図２に
基づいて説明する。台車２の左右側に設けた空気ばね９
上に傾斜梁３を支持し、該傾斜梁３と車体１との間に左
右一対の積層ゴムからなる弾性支持体４により車体１と
傾斜梁３間をヨーイング変位可能に支持し、傾斜梁３の
両端に吊支したアクチュエータ５に、台車１の左右側梁
に設けたブラケット８に軸支したトーションバー６の両
端をリンク７を介して屈曲自在に接合し、空気ばね９の
高さ調整弁１０ａ、１０ｂ、１０ｃを台車２と傾斜梁３
間の左右側及び中央の３か所に設置し、空気源１３と左
右の空気ばね９との間を左右の高さ調整弁１０ａ、１０
ｂを介在して配管１１で接続し、かつ左右の空気ばね９
の間を配管１２で接続し、配管中央部と空気源との間を
中央の高さ調整弁１０ｃを介在して配管１２ａで接続
し、各高さ調整弁１０ａ、１０ｂ、１０ｃと左右空気ば
ね９との間の配管途中に開閉制御弁１４ａ、１４ｂを設
け、各開閉制御弁１４ａ、１４ｂを開閉操作して車体傾
斜制御を行なうように構成する。Embodiment 1 An embodiment corresponding to claim 1 will be described with reference to FIGS. 1 (A), 1 (B) and 2. Air springs 9 provided on the left and right sides of the carriage 2
The inclined beam 3 is supported thereon, and the body 1 and the inclined beam 3 are supported between the inclined beam 3 and the vehicle body 1 by a pair of left and right elastic supports 4 made of laminated rubber so as to be capable of yawing displacement. The two ends of a torsion bar 6 pivotally supported by brackets 8 provided on the left and right beams of the bogie 1 are flexibly joined via a link 7 to an actuator 5 suspended at both ends of the bogie 1. 10a, 10b and 10c are trolley 2 and inclined beam 3
It is installed at three places on the left and right sides and at the center between the air source 13 and the left and right air springs 9 and the left and right height adjustment valves 10a and 10a.
b and the left and right air springs 9
Are connected by a pipe 12, and the center of the pipe and the air source are connected by a pipe 12a with a center height adjustment valve 10c interposed therebetween, and each height adjustment valve 10a, 10b, 10c is connected to a left and right air spring. Opening / closing control valves 14a and 14b are provided in the middle of the pipe between the valve 9 and the opening and closing operation of the opening / closing control valves 14a and 14b to perform vehicle body tilt control.
【００２１】前記装置は、トーションバー６を台車１の
左右側梁間に横設した場合であるが、図３（Ａ）（Ｂ）
に示すように、トーションバー６を傾斜梁３の前後側面
に設けたブラケット８に軸支し、トーションバー６の両
端にリンク７を介してアクチュエータ５を吊支し、その
下端を台車２の側梁の側面に設けたブラケット１５に軸
支することができる。この場合は、トーションバー６の
取付けが図１（Ａ）（Ｂ）の場合とは逆となるだけで、
両者は機構的に同じある。In the above-described apparatus, the torsion bar 6 is provided between the left and right beams of the carriage 1 as shown in FIGS. 3 (A) and 3 (B).
As shown in the figure, the torsion bar 6 is pivotally supported by brackets 8 provided on the front and rear side surfaces of the inclined beam 3, and the actuator 5 is suspended from both ends of the torsion bar 6 via links 7, and the lower end thereof is located on the side of the bogie 2. It can be supported by a bracket 15 provided on the side surface of the beam. In this case, the mounting of the torsion bar 6 is only the reverse of the case of FIGS.
Both are mechanically the same.
【００２２】前記アクチュエータ５は、空気圧式や油圧
式のほか電動式のいずれをも使用できる。また傾斜梁と
車体との間に設ける弾性支持体４は積層ゴムのほか空気
ばねを使用することができ、弾性体の代わりに車体との
間を摺動可能とする側受けを用いることもできる。The actuator 5 may be of a pneumatic type, a hydraulic type or an electric type. The elastic support 4 provided between the inclined beam and the vehicle body can use an air spring in addition to the laminated rubber, and can use a side support that can slide between the vehicle body and the body instead of the elastic body. .
【００２３】車体傾斜制御時は、左右の高さ調整弁１０
ａ、１０ｂと左右の空気ばね９との間の開閉制御弁１４
ａを閉じ、中央の高さ調整弁１０ｃと左右の空気ばね９
との間の開閉制御弁１４ｂを開いて、左右の空気ばね９
への圧縮空気の供給を中央の高さ調整弁１０ｃを通して
行なうようにしておく。そのため、左右の空気ばね９は
傾斜変位に対し反力を生じることなく、左右の空気ばね
９は配管１２により連通した状態にあるから、左右空気
ばねの内圧は等しくなり、左右ばねの高さを一定に保持
することができる。At the time of vehicle body tilt control, the left and right height adjustment valves 10
a, an open / close control valve 14 between the left and right air springs 9
a, the center height adjustment valve 10c and the left and right air springs 9
The opening / closing control valve 14b between the left and right air springs 9 is opened.
Compressed air is supplied to the air through the central height adjustment valve 10c. Therefore, the left and right air springs 9 do not generate a reaction force against the tilt displacement, and the left and right air springs 9 are in communication with each other through the pipe 12, so that the internal pressures of the left and right air springs are equal, and the height of the left and right springs is reduced. It can be kept constant.
【００２４】左右の空気ばねの高さが一定に保持された
状態で、曲線路を高速で通過する際、その曲線路データ
や走行速度の検出信号を制御器に入力して予め設定され
ている曲線路データと比較演算して得られた制御信号を
左右のアクチュエータに出力して長さを伸縮し、車体を
走行速度に見合った傾斜角をもって傾斜させる。When the vehicle travels on a curved road at a high speed while the heights of the left and right air springs are kept constant, the data of the curved road and the detection signal of the traveling speed are input to a controller and preset. A control signal obtained by performing a comparison operation with the curved road data is output to the left and right actuators to expand and contract the length, and to tilt the vehicle body at an inclination angle corresponding to the traveling speed.
【００２５】前記のごとく、高速で通過する曲線路デー
タと走行速度に基づいて制御器で演算された時々刻々変
化する制御信号により、乗客に超過遠心力が作用しない
ように車体傾斜制御が行われるため、円曲線路ばかりで
なく、ねじれた曲線からなる緩和曲線においても乗客の
乗り心地を向上できる。As described above, the vehicle body inclination control is performed by the control signal calculated every moment by the controller based on the curved road data passing at a high speed and the running speed so that the excessive centrifugal force does not act on the passenger. Therefore, the ride comfort of the passenger can be improved not only on a circular curved road but also on a relaxation curve formed of a twisted curve.
【００２６】実施例２ 請求項１に対応する実施例を図４（Ａ）（Ｂ）、図５に
基づいて説明する。台車の左右側に設けた前後動大変位
可能な空気ばね１６により車体１を支持し、車体の底面
両側端に設けたブラケット１７にアクチュエータ５を吊
支し、台車２の左右側梁に設けたブラケット８に軸支し
たトーションバー６の両端をリンク７を介してアクチュ
エータ５の下端に屈曲自在に接合し、前記空気ばね１６
用の高さ調整弁１０ａ、１０ｂ、１０ｃを車体１と台車
２の間の左右側及び中央の３か所に設置し、空気源１３
と前記各高さ調整弁１０ａ、１０ｂ、１０ｃとの間を配
管１１で接続し、左右の高さ調整弁１０ａ、１０ｂと左
右の空気ばね９との間をそれぞれ配管１２ａで接続し、
左右の空気ばねの間を配管１２ｂで接続し、配管中央部
と中央の高さ調整弁１０ｃとの間を配管１２ｃで接続
し、各高さ調整弁１０ａ、１０ｂ、１０ｃと左右空気ば
ね９との間の配管途中に開閉制御弁１４ａ、１４ｂを設
け、各開閉制御弁を開閉操作して車体傾斜制御を行なう
よう構成する。Embodiment 2 An embodiment corresponding to claim 1 will be described with reference to FIGS. 4 (A), 4 (B) and 5. The body 1 is supported by an air spring 16 capable of large displacement in the longitudinal direction provided on the left and right sides of the bogie, and the actuator 5 is suspended from brackets 17 provided on both side edges of the bottom surface of the bogie, and provided on the left and right beams of the bogie 2. Both ends of the torsion bar 6 pivotally supported by the bracket 8 are flexibly joined to the lower end of the actuator 5 via the link 7,
Height adjustment valves 10a, 10b, and 10c are installed at three locations on the left, right, and center between the vehicle body 1 and the bogie 2, and the air source 13
And the height adjustment valves 10a, 10b, and 10c are connected by a pipe 11, and the left and right height adjustment valves 10a, 10b and the left and right air springs 9 are connected by a pipe 12a, respectively.
The left and right air springs are connected by a pipe 12b, the center of the pipe and the center height adjustment valve 10c are connected by a pipe 12c, and the height adjustment valves 10a, 10b, 10c and the left and right air springs 9 are connected. Opening / closing control valves 14a and 14b are provided in the middle of the pipe between the two, and each of the opening / closing control valves is opened and closed to perform vehicle body tilt control.
【００２７】前記装置は、トーションバー６を台車２の
左右側梁間に横設した場合であるが、図６（Ａ）（Ｂ）
に示すように、トーションバー６を車体１の底面に設け
たブラケット８に軸支し、トーションバー６の両端にリ
ンク７を介してアクチュエータ５を吊支し、その下端を
台車２の側梁の側面に設けたブラケット１５に軸支する
ことができる。この場合は、トーションバー６の取付け
が図４（Ａ）（Ｂ）の場合とは逆となるだけで、両者は
機構的に同じある。In the above-described apparatus, the torsion bar 6 is provided between the left and right beams of the carriage 2 as shown in FIGS. 6 (A) and 6 (B).
As shown in FIG. 1, the torsion bar 6 is pivotally supported by a bracket 8 provided on the bottom surface of the vehicle body 1, and the actuator 5 is suspended and supported at both ends of the torsion bar 6 via links 7. It can be pivotally supported on a bracket 15 provided on the side surface. In this case, the attachment of the torsion bar 6 is only the reverse of the case of FIGS. 4A and 4B, and both are mechanically the same.
【００２８】車体傾斜制御時は、左右の高さ調整弁１０
ａ、１０ｂと左右の空気ばね９との間の開閉制御弁１４
ａを閉じ、中央の高さ調整弁１０ｃと左右の空気ばね９
との間の開閉制御弁１４ｂを開いて、左右の空気ばね９
への圧縮空気の供給を中央の高さ調整弁１０ｃを通して
行なうようにしておく。そのため、左右の空気ばね９は
傾斜変位に対し反力を生じることなく、左右の空気ばね
９は配管１２ｂにより連通した状態にあるから、左右空
気ばねの内圧は等しくなり、左右ばねの高さを一定に保
持することができる。During the vehicle body tilt control, the left and right height adjustment valves 10
a, an open / close control valve 14 between the left and right air springs 9
a, the center height adjustment valve 10c and the left and right air springs 9
The opening / closing control valve 14b between the left and right air springs 9 is opened.
Compressed air is supplied to the air through the central height adjustment valve 10c. Therefore, the left and right air springs 9 do not generate a reaction force against the tilt displacement, and the left and right air springs 9 are in communication with each other via the pipe 12b. It can be kept constant.
【００２９】左右の空気ばねの高さが一定に保持された
状態で、曲線路を高速で通過する際、その曲線路データ
や走行速度の検出信号を制御器に入力して予め設定され
ている曲線路データと比較演算して得られた制御信号を
左右のアクチュエータに出力して長さを伸縮し、車体を
走行速度に見合った傾斜角をもって傾斜させる。When the vehicle travels on a curved road at a high speed while the heights of the left and right air springs are kept constant, the data of the curved road and the detection signal of the traveling speed are input to a controller and preset. A control signal obtained by performing a comparison operation with the curved road data is output to the left and right actuators to expand and contract the length, and to tilt the vehicle body at an inclination angle corresponding to the traveling speed.
【００３０】[0030]
【発明の効果】本発明によれば、左右の空気ばねの内圧
を等しくして左右ばねの高さを一定に保持した状態で、
制御器からの制御信号により左右のアクチュエータの長
さを伸縮し車体傾斜させるから、曲線路に見合った車体
傾斜が正確に行われ、乗客に超過遠心力が作用しないの
での乗り心地を向上できる。According to the present invention, the inner pressures of the left and right air springs are made equal and the height of the left and right springs is kept constant.
Since the length of the left and right actuators is expanded and contracted by the control signal from the controller to tilt the vehicle body, the vehicle body can be tilted accurately in accordance with the curved road, and the ride comfort can be improved because excess centrifugal force does not act on the passenger.
【図１】請求項１に対応した実施例を示す説明図で、
（Ａ）は正面図、（Ｂ）は側面図である。FIG. 1 is an explanatory view showing an embodiment corresponding to claim 1;
(A) is a front view, (B) is a side view.
【図２】図１に示す実施例の空気圧系の詳細を示す説明
図である。FIG. 2 is an explanatory diagram showing details of a pneumatic system of the embodiment shown in FIG.
【図３】請求項１に対応した他の実施例を示す説明図
で、（Ａ）は正面図、（Ｂ）は側面図である。3A and 3B are explanatory views showing another embodiment corresponding to claim 1, wherein FIG. 3A is a front view and FIG. 3B is a side view.
【図４】請求項２に対応した実施例を示す説明図で、
（Ａ）は正面図、（Ｂ）は側面図である。FIG. 4 is an explanatory view showing an embodiment corresponding to claim 2;
(A) is a front view, (B) is a side view.
【図５】図４に示す実施例の空気圧系の詳細を示す説明
図である。FIG. 5 is an explanatory diagram showing details of a pneumatic system of the embodiment shown in FIG. 4;
【図６】請求項２に対応した他の実施例を示す説明図
で、（Ａ）は正面図、（Ｂ）は側面図である。FIGS. 6A and 6B are explanatory views showing another embodiment corresponding to claim 2, wherein FIG. 6A is a front view and FIG. 6B is a side view.
【図７】従来のトーションバーとアクチュエータを使っ
た車体傾斜制御装置の一例を示す説明図である。FIG. 7 is an explanatory view showing an example of a conventional vehicle body tilt control device using a torsion bar and an actuator.
【図８】従来のトーションバーとアクチュエータを使っ
た車体傾斜制御装置の他例を示す説明図で、（Ａ）は正
面図、（Ｂ）はトーションバーとアクチュエータの組み
合せ部分を示す平面図である。8A and 8B are explanatory views showing another example of a conventional vehicle body inclination control device using a torsion bar and an actuator, wherein FIG. 8A is a front view, and FIG. 8B is a plan view showing a combination portion of the torsion bar and the actuator. .
【図９】本発明の車体傾斜制御方法を実施する差異の制
動動作のフローチャートである。FIG. 9 is a flowchart of a difference braking operation for implementing the vehicle body tilt control method of the present invention.
１ 車体 ２ 台車 ３ 傾斜梁 ４ 弾性支持体 ５ アクチュエータ ６ トーションバー ７ リンク ８、１５、１７ ブラケット ９、１６ 空気ばね １０ａ、１０ｂ、１０ｃ 高さ調整弁 １１、１２ 配管 １２ａ、１２ｂ、１２ｃ 配管 １３ 空気源 １４ａ、１４ｂ 開閉制御弁 １８ 台車 １９、２４ 車体 ２０ アンチロールバー ２１、２９、３０ アクチュエータ ２２ 台車 ２３ リンク ２５ ロッド ２６ 第１トーションバー ２７、２８ 第２トーションバー DESCRIPTION OF SYMBOLS 1 Vehicle body 2 bogie 3 Inclined beam 4 Elastic support 5 Actuator 6 Torsion bar 7 Link 8, 15, 17 Bracket 9, 16 Air spring 10a, 10b, 10c Height adjustment valve 11, 12 Piping 12a, 12b, 12c Piping 13 Air Sources 14a, 14b Opening / closing control valve 18 Bogie 19, 24 Body 20 Anti-roll bar 21, 29, 30 Actuator 22 Bogie 23 Link 25 Rod 26 First torsion bar 27, 28 Second torsion bar
Claims (3)
梁を支持し、傾斜梁と車体との間を弾性体または側受け
によりヨーイング変位可能に支持し、台車の側梁間また
は傾斜梁に支持したアクチュエータに、台車の側梁間ま
たは車体底面に横設したトーションバーの両端をリンク
を介して屈曲自在に接合した車体傾斜制御装置を備えた
車両において、空気ばねの高さ調整弁を台車と傾斜梁間
の左右側及び中央の３か所に設置し、空気源と左右の空
気ばねとの間を左右の高さ調整弁を介在して配管で接続
し、かつ左右の空気ばね間を配管で接続し、配管中央部
と空気源との間を中央の高さ調整弁を介在して配管で接
続し、各高さ調整弁と左右空気ばねとの間の配管途中に
開閉制御弁を設け、各開閉制御弁を開閉操作して車体傾
斜制御を行なうことを特徴とする鉄道車両用車体傾斜制
御装置。1. An inclined beam is supported on air springs provided on the left and right sides of a bogie, and a yaw displacement is supported between an inclined beam and a vehicle body by an elastic body or a side support. In a vehicle equipped with a vehicle body inclination control device in which both ends of a torsion bar laterally provided between the side beams of the bogie or the vehicle body bottom surface are flexibly joined via links to the actuator supported by the bogie, the height adjustment valve of the air spring is mounted on the bogie. It is installed at three places on the left and right and the center between the beam and the inclined beam, and the air source and the left and right air springs are connected by piping via the left and right height adjustment valves, and the pipe between the left and right air springs , And the center of the pipe and the air source are connected by a pipe via the center height adjustment valve, and an open / close control valve is provided in the middle of the pipe between each height adjustment valve and the left and right air springs. Opening and closing each open / close control valve to perform vehicle body tilt control A vehicle body tilt control device for a railway vehicle.
な空気ばねにより車体を支持し、車体の底面両側端また
は台車の両側端に支持したアクチュエータに、台車の側
梁間または車体底面に横設したトーションバーの両端を
リンクを介して屈曲自在に接合した車体傾斜制御装置を
備えた車両において、空気ばね用の高さ調整弁を車体と
台車間の左右側及び中央の３か所に設置し、空気源と前
記各高さ調整弁との間を配管で接続し、左右の高さ調整
弁と左右の空気ばねとの間及び左右の空気ばねの間をそ
れぞれ配管で接続し、左右の空気ばね間を接続する配管
中央部と中央の高さ調整弁との間を配管で接続し、各高
さ調整弁と左右空気ばねとの間の配管途中に開閉制御弁
を設け、各開閉制御弁を開閉操作して車体傾斜制御を行
なうことを特徴とする鉄道車両用車体傾斜制御装置。2. The vehicle body is supported by air springs provided on the left and right sides of the bogie and capable of large displacement in the longitudinal direction. The actuators are supported on both sides of the bottom surface of the vehicle body or on both sides of the bogie. In a vehicle equipped with a vehicle body inclination control device in which both ends of a laterally mounted torsion bar are flexibly joined via a link, height adjustment valves for an air spring are provided at three locations on the left, right, and center between the vehicle and the bogie. Installed, connected between the air source and each of the height adjustment valves by piping, connected between the left and right height adjustment valves and the left and right air springs and between the left and right air springs by piping, respectively, left and right The center of the pipe connecting the air springs and the height adjustment valve at the center are connected by piping, and an opening / closing control valve is provided in the middle of the pipe between each height adjustment valve and the left and right air springs, and each opening / closing Car body tilt control is performed by opening and closing a control valve. Body inclination control device for railway vehicles.
用車体傾斜制御装置を備えた鉄道車両において、車体傾
斜制御を行なう場合には、中央の高さ調整弁と左右の空
気ばねを接続する配管途中に設けた開閉制御弁を開き、
左右の高さ調整弁と左右の空気ばねを接続する配管途中
に設けた開閉制御弁を閉じて、左右の空気ばねの平均高
さを、中央の高さ調整弁の作用により一定に保ち、左右
個々の空気ばね高さを、傾斜梁または車体の底面両側端
に支持したアクチュエータの長さを調整して、台車と傾
斜梁との間または台車と車体との間の傾斜角を目的とす
る角度に調整することを特徴とする鉄道車両の車体傾斜
制御方法。3. A railcar equipped with the vehicle body tilt control device according to claim 1 or 2, wherein when performing vehicle body tilt control, a center height adjustment valve is connected to left and right air springs. Open the on-off control valve provided in the middle of the piping
Close the open / close control valve provided in the piping connecting the left and right height adjustment valves and the left and right air springs, and keep the average height of the left and right air springs constant by the action of the center height adjustment valve. Adjust the height of each air spring by adjusting the length of the inclined beam or the actuator supported on both sides of the bottom of the vehicle body, and adjust the angle between the bogie and the inclined beam or the angle of inclination between the bogie and the vehicle body. A vehicle body inclination control method for a railway vehicle, characterized in that the vehicle body inclination control method comprises:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11644297A JPH10287241A (en) | 1997-04-17 | 1997-04-17 | Car body tilt control device for rolling stock and its car body tilt control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11644297A JPH10287241A (en) | 1997-04-17 | 1997-04-17 | Car body tilt control device for rolling stock and its car body tilt control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH10287241A true JPH10287241A (en) | 1998-10-27 |
Family
ID=14687219
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11644297A Pending JPH10287241A (en) | 1997-04-17 | 1997-04-17 | Car body tilt control device for rolling stock and its car body tilt control method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH10287241A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007076480A (en) * | 2005-09-14 | 2007-03-29 | Nippon Sharyo Seizo Kaisha Ltd | Railway vehicle |
| JP2007269076A (en) * | 2006-03-30 | 2007-10-18 | Sumitomo Metal Ind Ltd | Height adjusting device of air spring for rolling stock |
| JP2008254577A (en) * | 2007-04-04 | 2008-10-23 | Sumitomo Metal Ind Ltd | Method and apparatus for vehicle body tilt control |
| JP2008290671A (en) * | 2007-05-28 | 2008-12-04 | Sumitomo Metal Ind Ltd | Control device for vehicle body inclination |
| JP2009184629A (en) * | 2008-02-08 | 2009-08-20 | Sumitomo Metal Ind Ltd | Fail safe method and device of vehicle body inclination control device for railway rolling stock |
| KR101031555B1 (en) | 2009-07-27 | 2011-04-27 | 현대로템 주식회사 | Anti-roll bar device for railway vehicle |
| JP2013504483A (en) * | 2009-09-15 | 2013-02-07 | ボンバルディアー トランスポーテーション ゲゼルシャフト ミット ベシュレンクテル ハフツング | Railway vehicle with flexible lateral connection to the vehicle |
| CN103502079A (en) * | 2011-04-28 | 2014-01-08 | 日本车辆制造株式会社 | Railway vehicle body tilting system |
| WO2014203971A1 (en) * | 2013-06-19 | 2014-12-24 | 新日鐵住金株式会社 | Railroad vehicle carriage |
| JP2014240274A (en) * | 2012-07-13 | 2014-12-25 | 川崎重工業株式会社 | Vehicle body support device and railroad vehicle |
| CN106184268A (en) * | 2016-07-26 | 2016-12-07 | 西南交通大学 | The torsion bar mechanism for preventing side rolling of train carriage of a kind of track traffic and actively control anti-side roll method |
| EP3617030A4 (en) * | 2017-04-25 | 2020-10-21 | Hitachi, Ltd. | Railway vehicle |
| CN114771595A (en) * | 2022-04-29 | 2022-07-22 | 株洲时代新材料科技股份有限公司 | Rapid small-amplitude tilting adjustment system for railway vehicle and control method thereof |
| CN114771594A (en) * | 2022-04-29 | 2022-07-22 | 株洲时代新材料科技股份有限公司 | Small-amplitude tilting and swinging adjusting system for railway vehicle and control method thereof |
| CN114802332A (en) * | 2022-04-29 | 2022-07-29 | 株洲时代新材料科技股份有限公司 | Method for improving curve running speed of railway vehicle and small-amplitude tilting system |
-
1997
- 1997-04-17 JP JP11644297A patent/JPH10287241A/en active Pending
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007076480A (en) * | 2005-09-14 | 2007-03-29 | Nippon Sharyo Seizo Kaisha Ltd | Railway vehicle |
| JP2007269076A (en) * | 2006-03-30 | 2007-10-18 | Sumitomo Metal Ind Ltd | Height adjusting device of air spring for rolling stock |
| JP2008254577A (en) * | 2007-04-04 | 2008-10-23 | Sumitomo Metal Ind Ltd | Method and apparatus for vehicle body tilt control |
| JP2008290671A (en) * | 2007-05-28 | 2008-12-04 | Sumitomo Metal Ind Ltd | Control device for vehicle body inclination |
| JP2009184629A (en) * | 2008-02-08 | 2009-08-20 | Sumitomo Metal Ind Ltd | Fail safe method and device of vehicle body inclination control device for railway rolling stock |
| KR101031555B1 (en) | 2009-07-27 | 2011-04-27 | 현대로템 주식회사 | Anti-roll bar device for railway vehicle |
| JP2013504483A (en) * | 2009-09-15 | 2013-02-07 | ボンバルディアー トランスポーテーション ゲゼルシャフト ミット ベシュレンクテル ハフツング | Railway vehicle with flexible lateral connection to the vehicle |
| US8910579B2 (en) | 2009-09-15 | 2014-12-16 | Bombardier Transportation Gmbh | Rail vehicle with laterally soft connection of the wagon body to the running gear |
| US9090267B2 (en) | 2011-04-28 | 2015-07-28 | Nippon Sharyo, Ltd. | Railway vehicle body tilting system |
| CN103502079A (en) * | 2011-04-28 | 2014-01-08 | 日本车辆制造株式会社 | Railway vehicle body tilting system |
| CN103502079B (en) * | 2011-04-28 | 2016-03-23 | 日本车辆制造株式会社 | The body inclination system of railway vehicle |
| EP2703247A4 (en) * | 2011-04-28 | 2015-05-06 | Nippon Sharyo Ltd | Railway vehicle body tilting system |
| JP2014240274A (en) * | 2012-07-13 | 2014-12-25 | 川崎重工業株式会社 | Vehicle body support device and railroad vehicle |
| WO2014203971A1 (en) * | 2013-06-19 | 2014-12-24 | 新日鐵住金株式会社 | Railroad vehicle carriage |
| JP6079881B2 (en) * | 2013-06-19 | 2017-02-15 | 新日鐵住金株式会社 | Railcar bogie |
| CN106184268A (en) * | 2016-07-26 | 2016-12-07 | 西南交通大学 | The torsion bar mechanism for preventing side rolling of train carriage of a kind of track traffic and actively control anti-side roll method |
| EP3617030A4 (en) * | 2017-04-25 | 2020-10-21 | Hitachi, Ltd. | Railway vehicle |
| CN114771595A (en) * | 2022-04-29 | 2022-07-22 | 株洲时代新材料科技股份有限公司 | Rapid small-amplitude tilting adjustment system for railway vehicle and control method thereof |
| CN114771594A (en) * | 2022-04-29 | 2022-07-22 | 株洲时代新材料科技股份有限公司 | Small-amplitude tilting and swinging adjusting system for railway vehicle and control method thereof |
| CN114802332A (en) * | 2022-04-29 | 2022-07-29 | 株洲时代新材料科技股份有限公司 | Method for improving curve running speed of railway vehicle and small-amplitude tilting system |
| CN114771595B (en) * | 2022-04-29 | 2024-03-12 | 株洲时代新材料科技股份有限公司 | Rapid small-amplitude tilting and swinging adjusting system for railway vehicle and control method thereof |
| CN114771594B (en) * | 2022-04-29 | 2024-03-12 | 株洲时代新材料科技股份有限公司 | Small-amplitude tilting adjustment system for railway vehicle and control method thereof |
| CN114802332B (en) * | 2022-04-29 | 2024-05-07 | 株洲时代新材料科技股份有限公司 | Method for improving curve running speed of railway vehicle and small-amplitude tilting system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JPH10287241A (en) | Car body tilt control device for rolling stock and its car body tilt control method | |
| WO2014128889A1 (en) | Track-guided vehicle, and vehicle body tilt control method therefor | |
| JP2653317B2 (en) | Body inclination control method for railway vehicle with air spring | |
| JP2002104183A (en) | Rolling stock | |
| JPH0911726A (en) | Height adjusting device for automobile | |
| US3704670A (en) | Stabilizing high speed railway trucks | |
| JP3193469B2 (en) | Body tilt device for railway vehicles | |
| US3974779A (en) | Vehicle bogie | |
| EP0736438B1 (en) | A railway vehicle with variable trim body | |
| JPH0356939B2 (en) | ||
| JPS5940667B2 (en) | rocking suspension system | |
| KR880001162B1 (en) | Device to increase roll stability of rail vehicles with air suspension | |
| JP4292973B2 (en) | Railway vehicle body tilt control method and apparatus | |
| JP4799039B2 (en) | Railway vehicle body tilting device | |
| JPH06270805A (en) | Fail-safe method of vehicle body inclination control of rolling stock | |
| JP3329025B2 (en) | Railcar body tilting device | |
| JPH07125633A (en) | Method for restoring position of body in abnormal condition of rolling stock body inclination control mechanism | |
| JP2002154432A (en) | Pendulum bogie for rail car | |
| JP2003137091A (en) | Car body tilting device of rolling stock | |
| CN114771594B (en) | Small-amplitude tilting adjustment system for railway vehicle and control method thereof | |
| CN114771595B (en) | Rapid small-amplitude tilting and swinging adjusting system for railway vehicle and control method thereof | |
| JP2019107934A (en) | Railway vehicle body support device | |
| JPS6234579B2 (en) | ||
| JPH06316265A (en) | Body inclining controller of rolling stock | |
| JP2003252202A (en) | Body inclination device for rolling stock |