JPS63209407A - Automatic train driving device - Google Patents
Automatic train driving deviceInfo
- Publication number
- JPS63209407A JPS63209407A JP3916287A JP3916287A JPS63209407A JP S63209407 A JPS63209407 A JP S63209407A JP 3916287 A JP3916287 A JP 3916287A JP 3916287 A JP3916287 A JP 3916287A JP S63209407 A JPS63209407 A JP S63209407A
- Authority
- JP
- Japan
- Prior art keywords
- train
- weather
- running
- detects
- discriminator
- 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
- 230000000052 comparative effect Effects 0.000 claims description 2
- 238000007493 shaping process Methods 0.000 abstract description 5
- 230000002238 attenuated effect Effects 0.000 abstract 1
- 230000001133 acceleration Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007429 general method Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の目的〕
（産業上の利用分野）
本発明は自動列車運転装置に係わり、特に悪天候での空
転・滑走防止技術に関する。DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to an automatic train operation system, and particularly to a technology for preventing slipping and skidding in bad weather.
（従来技術の説明）
自動列車運転装置（以下ＡＴＯと云う。）は、自動列１
１＊Ｊ御装［（以下ＡＴＣと云う。）信号や地点検知情
報にもとづいた基準速度を設定し、それにより駅間での
定速制御及び定位置停止制御を行なっている。(Description of Prior Art) The automatic train operating system (hereinafter referred to as ATO)
1*J-Oso (hereinafter referred to as ATC) sets a reference speed based on signals and point detection information, and performs constant speed control and fixed position stop control between stations.
第３図に従来のＡＴＯの構成を、そして第４図に列車運
転曲線の例を示す。FIG. 3 shows the configuration of a conventional ATO, and FIG. 4 shows an example of a train operating curve.
ＡＴＯの列車運転パターンは、第４図に示す様に互いに
隣接するＡ駅とＢ駅との間で線路１を区間ごとに分割し
、各境界点ｎ 、 ｎ ＋ １ 、 ｎ ＋ ２ 。As shown in Figure 4, the ATO train operation pattern divides the track 1 into sections between adjacent stations A and B, and divides the track into sections at each boundary point n, n + 1, n + 2.
ｎ＋３・・・（この例の場合はｎ、・・・ｎ＋６）にそ
れぞれに列車が通過したことを検出するための地Ｊニ子
２，３．４・・・（この例の場合は２〜８）を配設する
１列車はこの地点検知情報をもとに、各区間での走行パ
ターンを判別して列車運転を行なう。n+3...(in this example, n,...n+6) to detect that a train has passed, respectively. A train equipped with 8) determines the running pattern in each section based on this point detection information and operates the train.
列車運転面＃Ｉ９は各区間ごとに区分して列車内に備え
られた第３図に示す運転曲線記憶装置ｉ！１１内に記憶
されている０列車が各地上子（２〜８）上を通過するこ
とによって車内に設けられている地点検知器ＩＯがそれ
ぞれの地上子の固有番地を検知して判別する。この判別
された固有番地に従って運転曲線記憶装置１１から所望
の区間の運転曲線を選択して読出し、それをその時の走
行パターンとして比較制御部１２に入力する。比較制御
部１２には列車の実際速度が速度発電機１３から波形整
形回路１４を介して入力され、上記走行パターンと比較
した上で、その結果によりカ行、惰行又はブレーキのい
ずれかの指令を出力する。The train running surface #I9 is divided into each section and is stored in the running curve storage device i! shown in FIG. 3, which is provided in the train. When the 0 train stored in the train 11 passes over each ground element (2 to 8), a point detector IO provided in the train detects and discriminates the unique address of each ground element. A driving curve of a desired section is selected and read out from the driving curve storage device 11 according to the determined unique address, and is inputted to the comparison control section 12 as the current driving pattern. The actual speed of the train is inputted to the comparison control unit 12 from the speed generator 13 via the waveform shaping circuit 14, and after comparing it with the above-mentioned traveling pattern, it issues a command for running, coasting, or braking based on the result. Output.
（発明が解決しようとする問題点）
しかし、上記した従来のＡＴＯ装置では、線路が乾燥し
た状態で車輪との粘着が良い場合のみ運転精度を得るこ
とが出来るが、天候が悪い場合。(Problems to be Solved by the Invention) However, with the above-mentioned conventional ATO device, driving accuracy can only be obtained when the track is dry and has good adhesion to the wheels, but when the weather is bad.
特に雨天や降雪時のような場合には、車軸がスリップし
たり、スキッドしたりして、実列車速度の値に誤差が生
じたり、乗心地の悪化を招く等の問題があった。Particularly in rainy or snowy weather, the axles may slip or skid, causing problems such as errors in the actual train speed and deterioration of riding comfort.
（問題点を解決するための手段及び作用）本発明の自動
列車運転装置では、線路に沿って配設され、区分された
線路の各区間毎に固有の識別符号をもつ地上子と、車上
に設けられ前記地上子上を列車が通過する度に前記識別
符号を判別して列車の絶対位置を検知する地点検知器と
、この地点検知器によって検知した絶対位置信号により
予しめ記憶しである運転曲線の中から前記絶対位置に応
じた区間の走行パターンを選択的に出力する運転曲線記
憶装置と、列車の実速度を検出する速度検出器と、これ
ら実速度を走行パターンの速度に一致させるための制御
指令を出力する比較制御部とを備えた自動列車運転装置
において、列車の外気温度を検出する温度センサーと、
列車の外気湿度を検出する湿度センサーと、これらセン
サーからの出力を入力し温度及び湿度から天候を判別す
る天候判別器と、この天候判別器からの天候状況に応じ
た信号を前記運転曲線記憶装置に入力し、この運転曲線
記憶装置からの天候状況に応じた走行パターンにより比
較制御することにより、例えば天候が悪い場合は低加減
速運転用の走行パターンに合せた実速度で運転すること
により、空転や滑走の発生を防く。(Means and effects for solving the problem) The automatic train operation system of the present invention has a beacon installed along the track and having a unique identification code for each section of the divided track, and a a point detector which is provided at the point detector and detects the absolute position of the train by determining the identification code each time a train passes over the ground element; and an absolute position signal detected by the point detector is stored in advance. A running curve storage device that selectively outputs a running pattern of a section corresponding to the absolute position from the running curve, a speed detector that detects the actual speed of the train, and a speed detector that matches the actual speed with the speed of the running pattern. In an automatic train operation device equipped with a comparison control unit that outputs a control command for
A humidity sensor that detects the outside air humidity of the train, a weather discriminator that inputs the output from these sensors and discriminates the weather from temperature and humidity, and a signal corresponding to the weather condition from the weather discriminator that is stored in the operating curve storage device. By inputting the information into the driving curve and performing comparative control using the driving pattern according to the weather conditions from this driving curve storage device, for example, when the weather is bad, driving at an actual speed that matches the driving pattern for low acceleration/deceleration driving. Prevents spinning and skidding.
（発明の実施例）
以下本発明の実施例について図面を参照しながら説明す
る。(Embodiments of the invention) Examples of the invention will be described below with reference to the drawings.
第１図は本発明のＡＴＯの一実施例を示した構成図で、
２〜８は列車に地点情報を与える地上子、１０は地上子
からの地点情報を検知する地点検知器。FIG. 1 is a configuration diagram showing an embodiment of the ATO of the present invention.
Reference numerals 2 to 8 indicate a beacon that provides point information to the train, and 10 a point detector that detects point information from the beacon.
１５は車外の温度を検出する温度センサー、１６は車外
の湿度を検出する湿度センサー、１７は１５の温度セン
サー、１６の湿度センサーから天候を判別する天候判別
器、ＩＩＡは１０の地点検知器からの地点情報及び１７
の天候判別器からの降雨、降雪等のあるなしの情報をそ
れぞれ入力して所望の区間の運転曲線を出力する運転曲
線記憶装置、１３は列車の実際の速度に比例した速度周
波数を発生する速度発電機、 １４は１３の速度発電機
からの信号を波形整形し決められた電圧の速度パルスに
変換する波形整形回路、１２は１１Ａの運転曲線記憶装
置から区間に応じた走行パターンと、１３の速度発電機
及び１４の波形整形回路を介して与えられる列車の実速
度とをそれぞれ比較して、カ行、惰行及びブレーキのい
ずれかを指令する比較制御部である。15 is a temperature sensor that detects the temperature outside the vehicle, 16 is a humidity sensor that detects the humidity outside the vehicle, 17 is a weather discriminator that determines the weather from the temperature sensor 15 and the humidity sensor 16, and IIA is a sensor that determines the weather from 10 point detectors. Location information and 17
A running curve storage device inputs information on the presence or absence of rain, snow, etc. from the weather discriminator and outputs a running curve for a desired section, and 13 is a speed generator that generates a speed frequency proportional to the actual speed of the train. 14 is a waveform shaping circuit that shapes the signal from the speed generator 13 and converts it into a speed pulse of a predetermined voltage; 12 is a driving pattern corresponding to the section from the running curve storage device 11A; This is a comparison control section that compares the actual speed of the train given through the speed generator and the 14 waveform shaping circuits, and issues a command to run, coast, or brake.
以下第１図に示した実施例の作用について第２図を参照
して説明する。互いに隣接するＡ駅とＢ駅との間で列車
は１の線路上をＢ駅に向って走行するもとする。The operation of the embodiment shown in FIG. 1 will be explained below with reference to FIG. 2. It is assumed that a train runs on one track between stations A and B, which are adjacent to each other, toward station B.
この両駅間では１の線路を区間ごとに分割し。Between these two stations, one track is divided into sections.
各境界点ｎ ＊ ｎ ＋ １１ ｎ ＋ ２ ｇ ｎ
＋ ３・・・にそれぞれに列車が通過したことを検出す
るための地上子２．３，４・・・を配設する０列車は走
行時この地上子を通過するたびにどの区間を通過したか
を１０の地点検知器で判別し、この情報をＩＩＡの運転
曲線記憶部に出力する。一方１５の温度センサーと、１
６の湿度センサーは列車外に複数個設置（図示せず）さ
れており常に外気の温度と外気中の相対湿度（ＲＨ）を
検出する。一方これらの各センサーは検知精度を向上さ
せるため１図示していないが対流空気中とセンサー周囲
を囲んだ非対流空気中との差から判断すると共に、車輪
前後部にも設置し、車輪が巻上げる水滴等も直接検知し
て制御の判別対象とする。Each boundary point n * n + 11 n + 2 g n
＋ 3... are equipped with beacons 2, 3, 4, etc. to detect when a train has passed. 0 Trains can check which section they have passed each time they pass this beacon while traveling. This information is determined by 10 point detectors and output to the running curve storage section of IIA. On the other hand, 15 temperature sensors and 1
A plurality of humidity sensors 6 (not shown) are installed outside the train and constantly detect the temperature of the outside air and the relative humidity (RH) in the outside air. On the other hand, in order to improve detection accuracy, these sensors are installed at the front and rear of the wheels, and are installed at the front and rear of the wheels to determine the difference between the convective air and the non-convective air surrounding the sensor (not shown in the figure). Water droplets that rise are also directly detected and used for control determination.
これらの測定値は１７の天候判別器に送出され、ここで
降雨、降雪の有無及び路面の湿度状態を判断する。These measured values are sent to 17 weather discriminators, which determine the presence or absence of rain or snow and the humidity condition of the road surface.
この判断方法は種々な測定方法があるが、ここでは一般
的な方法として湿り空気線図を判断のパターンとして持
つものとする。There are various measurement methods for this judgment, but here, as a general method, a psychrometric chart is used as a judgment pattern.
これは大気温と大気中の相対湿度から降雨・降雪状態も
しくは非降雨・非降雪状態を判別するもので、具体的に
は気温５℃〜３０℃、相対湿度４０〜７０％ＲＨ以内な
らば路面は乾燥状態と判別する。This method determines whether it is raining, snowing, or not raining or snowing based on the atmospheric temperature and relative humidity in the atmosphere. Specifically, if the temperature is between 5°C and 30°C and the relative humidity is within 40% and 70% RH, the road surface is determined to be dry.
すなわち非降雨、非降雪状態である。次にここでもし温
度は同じ範囲で相対湿度が９０〜１００％ＲＨならば路
面は加湿されている状態すなわち降雨。In other words, it is a non-rainfall, non-snow state. Next, if the temperature is in the same range and the relative humidity is 90 to 100% RH, the road surface is humidified, that is, it is raining.
降雪状態と判別する。It is determined that it is snowing.
一般的な天候とは大気中の気温・相対湿度・気圧等によ
って判断されるが、ここでの制御は特に路面の湿気状態
及び氷結状態の有無が制御の対象となるため気圧の値は
検出せず、気温と相対湿度の両者にて天候を判別してい
る。Weather in general is determined by atmospheric temperature, relative humidity, atmospheric pressure, etc., but the control here specifically targets the humidity of the road surface and the presence or absence of icing, so atmospheric pressure cannot be detected. The weather is determined based on both temperature and relative humidity.
次に、これらの判断結果は航速の１．ＩＡの運転曲線記
憶装置にて第２図に示す様に路面が乾燥状態であれば９
の運転曲線を選択して列車制御がなされ、もし路面が加
湿されている状態であれば運転パターンは１８の雨天時
運転曲線に補正される、この１８の雨天時運転曲線はそ
の作用の一例を示したものである。ここで列車がＡ駅か
らＢ駅に向って走行した時、仮に路面が乾燥している場
合は９の運転曲線通り列車は走行する。しかし列車が境
界点ｎ＋１を通過した時に天候が雨になった場合１７の
天候判別器は１５の温度センサー、１６の湿度センサー
よりの値で雨と判断し、１１Ａの運転曲線記憶装置にそ
の情報を送出する。Next, these judgment results are determined by the 1. If the road surface is dry as shown in Figure 2 in the IA's driving curve storage device, 9.
Train control is performed by selecting the following operating curves, and if the road surface is humidified, the operating pattern is corrected to the 18 rainy weather operating curves.These 18 rainy weather operating curves are an example of this effect. This is what is shown. When the train travels from station A to station B, if the road surface is dry, the train will travel along the operating curve 9. However, if the weather becomes rainy when the train passes boundary point n+1, the weather discriminator 17 determines that it is raining based on the values from the temperature sensor 15 and the humidity sensor 16, and stores this information in the running curve storage device 11A. Send out.
ここでＩＩＡの運転曲線記憶装置の走行パターンは上述
の１８の雨天時運転曲線に補正される。これにより列車
力行後の加速においてトルク力を一定以下に押えること
でスキッドの発生が低減出来る。Here, the driving pattern in the IIA driving curve storage device is corrected to the above-mentioned 18 rainy weather driving curves. As a result, the occurrence of skids can be reduced by keeping the torque force below a certain level during acceleration after the train is powered.
又、停止の場合も同様に雨天時は、前もって加速度を下
げかつ減速度も低い値に補正されることでスリップ又は
スキッドを防止し、乗心地を損うことを防ぐことが可能
となり、運転制御の追従精度を低下させることなく速度
制御を行なうことが可能となる。Similarly, when stopping, in rainy weather, the acceleration is lowered in advance and the deceleration is corrected to a lower value to prevent slips or skids and reduce ride comfort, which improves driving control. It becomes possible to perform speed control without reducing the tracking accuracy.
以上説明した通り本発明の自動列車運転装置によれば、
常に変わる天候条件の中でも常に天候に応じた走行パタ
ーンに従って運転するので、安定した加・減速、惰行、
ブレーキ動作が得られ、特に雨天や降雪時のスリップや
スキッド等が低減することで、加・減速がスムーズにな
り乗心地の向上をすることが出来る。又、スキッド等の
際に発生する車輪踏面部分平坦の発生などの低減にも有
効であること等、優れた効果を有する。As explained above, according to the automatic train operation device of the present invention,
Even in constantly changing weather conditions, the vehicle always drives according to the driving pattern according to the weather, allowing for stable acceleration/deceleration, coasting,
This provides better braking action and reduces slips and skids, especially in rainy or snowy conditions, making acceleration and deceleration smoother and improving riding comfort. It also has excellent effects, such as being effective in reducing flattening of wheel treads that occur during skids and the like.
第１図は本発明の一実施例を示したブロック図、第２図
は第１図に示した実施例の動作を説明するための図、第
３図は従来の自動列車運転装置を示したブロック図、第
４図は第３図の動作を説明するための図である。
１・・・線路 ２〜８・・・地上子９・・・
運転曲線 １０・・・地点検知器１１、 ＩＩＡ
・・・運転曲線記憶装置１２・・・比較制御部 １
３・・・速度発電機１４・・・波形整形回路 １５・
・・温度センサー１６・・・湿度センサー １７・・
・天候判別器１８・・・雨天時運転曲線
代理人 弁理士 則 近 憲 佑
同 三俣弘文Fig. 1 is a block diagram showing an embodiment of the present invention, Fig. 2 is a diagram for explaining the operation of the embodiment shown in Fig. 1, and Fig. 3 shows a conventional automatic train operation device. The block diagram, FIG. 4, is a diagram for explaining the operation of FIG. 3. 1... Track 2-8... Ground coil 9...
Operating curve 10...point detector 11, IIA
... Operating curve storage device 12 ... Comparison control section 1
3... Speed generator 14... Waveform shaping circuit 15.
... Temperature sensor 16 ... Humidity sensor 17 ...
・Weather discriminator 18...Rainy weather driving curve agent Patent attorney Noriyoshi Chika Yudo Hirofumi Mitsumata
Claims (1)
有の識別符号をもつ地上子と、車上に設けられ前記地上
子上を列車が通過する度に前記識別符号を判別して列車
の絶対位置を検知する地点検知器と、この地点検知器に
よって検知した絶対位置信号により予じめ記憶してある
運転曲線の中から前記絶対位置に応じた区間の走行パタ
ーンを選択的に出力する運転曲線記憶装置と、列車の実
速度を検出する速度検出器と、これら実速度を走行パタ
ーンの速度に一致させるための制御指令を出力する比較
制御部とを備えた自動列車運転装置において、列車の外
気温度を検出する温度センサーと、列車の外気湿度を検
出する湿度センサーと、これらセンサーからの出力を入
力し天候を判別する天候判別器と、この天候判別器から
の天候状況に応じた信号を前記運転曲線記憶装置に入力
し、天候状況に応じた走行パターンにより比較制御する
ことを特徴とする自動列車運転装置。A ground element is arranged along the track and has a unique identification code for each section of the divided track, and a ground element is provided on the train and the identification code is determined each time a train passes over the ground element. A point detector detects the absolute position of the train, and the absolute position signal detected by this point detector selectively outputs a running pattern for a section according to the absolute position from among the pre-stored driving curves. In an automatic train operation device, the automatic train operation device includes a running curve storage device that detects the actual speed of the train, a speed detector that detects the actual speed of the train, and a comparison control unit that outputs a control command to match the actual speed with the speed of the traveling pattern. A temperature sensor that detects the outside air temperature of the train, a humidity sensor that detects the outside air humidity of the train, a weather discriminator that inputs the output from these sensors and determines the weather, and a weather discriminator that inputs the output from these sensors and determines the weather condition. An automatic train operating system characterized in that signals are input to the operating curve storage device and comparative control is performed based on a running pattern according to weather conditions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3916287A JPS63209407A (en) | 1987-02-24 | 1987-02-24 | Automatic train driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3916287A JPS63209407A (en) | 1987-02-24 | 1987-02-24 | Automatic train driving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS63209407A true JPS63209407A (en) | 1988-08-31 |
Family
ID=12545427
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3916287A Pending JPS63209407A (en) | 1987-02-24 | 1987-02-24 | Automatic train driving device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63209407A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2386970A (en) * | 2002-03-26 | 2003-10-01 | Mcmurtry Ltd | Environmentally responsive ground maintenance equipment |
| JP2009027784A (en) * | 2007-07-17 | 2009-02-05 | Mitsubishi Electric Corp | Automatic train operating apparatus |
| JP2013115987A (en) * | 2011-11-30 | 2013-06-10 | Railway Technical Research Institute | Creation method for running curve of railway train |
| JP2021035783A (en) * | 2019-08-30 | 2021-03-04 | 東日本旅客鉄道株式会社 | Train automatic operation system |
| CN112572545A (en) * | 2019-09-30 | 2021-03-30 | 比亚迪股份有限公司 | Train parking method and device and computer equipment |
-
1987
- 1987-02-24 JP JP3916287A patent/JPS63209407A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2386970A (en) * | 2002-03-26 | 2003-10-01 | Mcmurtry Ltd | Environmentally responsive ground maintenance equipment |
| JP2009027784A (en) * | 2007-07-17 | 2009-02-05 | Mitsubishi Electric Corp | Automatic train operating apparatus |
| JP2013115987A (en) * | 2011-11-30 | 2013-06-10 | Railway Technical Research Institute | Creation method for running curve of railway train |
| JP2021035783A (en) * | 2019-08-30 | 2021-03-04 | 東日本旅客鉄道株式会社 | Train automatic operation system |
| CN112572545A (en) * | 2019-09-30 | 2021-03-30 | 比亚迪股份有限公司 | Train parking method and device and computer equipment |
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