JPS63259B2 - - Google Patents
Info
- Publication number
- JPS63259B2 JPS63259B2 JP8875379A JP8875379A JPS63259B2 JP S63259 B2 JPS63259 B2 JP S63259B2 JP 8875379 A JP8875379 A JP 8875379A JP 8875379 A JP8875379 A JP 8875379A JP S63259 B2 JPS63259 B2 JP S63259B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- speed
- reference point
- stopping
- brake
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000001514 detection method Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000004913 activation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Description
【発明の詳細な説明】
本発明は軌道車両を自動的に所定の位置に停止
させる軌道車両の定位置停止装置に関するもので
ある。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a fixed position stopping device for a track vehicle that automatically stops the track vehicle at a predetermined position.
車両を定位置停止させる場合は定位置に極めて
高精度に停止させることが要求され、また停止過
程で乗心地を損じないことも望まれる。 When stopping a vehicle in a fixed position, it is required to stop the vehicle in a fixed position with extremely high precision, and it is also desirable that the ride comfort is not impaired during the stopping process.
これらの条件を満足するためには、たとえば停
止位置手前に車両への地点情報発生装置群を設置
し、また車両のブレーキ段数を多数設けるなどし
て、地点毎に予め設定した速度に応じてブレーキ
を選択する方法がとられている。 In order to satisfy these conditions, for example, a group of point information generating devices for the vehicle should be installed before the stopping position, and a large number of brake stages should be provided for the vehicle, so that the brakes can be braked according to a preset speed for each point. A method of selecting is used.
しかしこのような方法では高精度のブレーキ減
速度が要求され、車上装置や地上装置が複雑にな
る。 However, such a method requires highly accurate brake deceleration, which complicates onboard equipment and ground equipment.
従来、このような点より地上計算機方式により
地上子信号を基にして車両速度を計算しブレーキ
制御を行なつている。 Conventionally, from this point of view, brake control has been performed by calculating the vehicle speed based on the ground signal using a ground computer system.
すなわち、第１図ａ，ｂに示すように、目標停
止点Ｂより所定距離手前の区間A1〜A2に車両が
達すると車両を一定範囲の速度で惰行させ、A2
そしてA3を通過すると地上子C1，C2の検出信号
の時間差及び地上子間設置距離とにより車両速度
Vsを計算し、基準点A3通過よりブレーキ作動遅
れ時間T0を差し引いた算定時間Tx経過後に一定
ブレーキ圧力Ｐの動作指令を発して車両を目標停
止点Ｂに停止させる。この時間Txは
Tx＝S0／Vs−（T0＋Vs／2β）
ここでVs：車両速度
S0：（A3）−(B)間の距離
T0：ブレーキ遅れ時間
β：ブレーキ圧力Ｐに相当する減速度
により求められる。 That is, as shown in FIGS. 1a and 1b, when the vehicle reaches the section A 1 to A 2 a predetermined distance before the target stopping point B, the vehicle is coasted at a speed within a certain range, and A 2
When passing A 3 , the vehicle speed changes due to the time difference between the detection signals of ground elements C 1 and C 2 and the installation distance between the ground elements.
V s is calculated, and after a calculated time T x , which is calculated by subtracting the brake activation delay time T 0 from passing the reference point A 3 , has elapsed, an operation command for a constant brake pressure P is issued to stop the vehicle at the target stopping point B. This time T x is T x = S 0 /V s − (T 0 + V s /2β) where V s : Vehicle speed S 0 : Distance between (A 3 ) and (B) T 0 : Brake delay time β : Obtained from the deceleration corresponding to the brake pressure P.
しかしながら、この方式では基準点A3通過後
の惰行速度が一定の場合には良いが、軌道勾配や
路面状態等の影響により必ずしも一定とはならな
い。 However, although this method is good if the coasting speed after passing the reference point A3 is constant, it is not necessarily constant due to the influence of the track slope, road surface condition, etc.
また更に、計算機の処理時間、そして車両との
間の通信伝送時間のバラツキも停止精度を低下さ
せる一因となる。 Furthermore, variations in computer processing time and communication transmission time with the vehicle also contribute to lowering the stopping accuracy.
本発明の目的は上述の点を考慮してなされたも
ので、目標停止点より所定距離手前の基準点に一
定範囲の速度で走行している車両が達すると、車
上に搭載してある演算制御装置により車速を加味
してブレーキ指令を出すタイミングの猶予時間を
逐次計算し、その猶予時間が所定時間以下となつ
た時、一定圧力でのブレーキを作用させることに
より、目標停止点に高い精度で停止させることの
出来るようにした軌道車両の定位置停止装置を得
ることにある。 The purpose of the present invention has been made in consideration of the above-mentioned points.When a vehicle traveling at a speed within a certain range reaches a reference point a predetermined distance before a target stopping point, a The control device sequentially calculates the grace period for when to issue a brake command, taking into account the vehicle speed, and when the grace period becomes less than a predetermined time, the brakes are applied at a constant pressure, achieving high accuracy at the target stopping point. To provide a fixed position stopping device for a track vehicle that can be stopped at a fixed position.
以下図面を参照して本発明の一実施例を説明す
る。 An embodiment of the present invention will be described below with reference to the drawings.
第２図ａは車両速度と軌道地点の関係を示して
おり、Ｂは目標停止点、A′3は目標停止点から一
定距離にある基準点、V0は設定速度である。基
準点A′3には車両通過の際、車上で検出可能な地
上子C′2が軌道上に設置されている。 FIG. 2a shows the relationship between the vehicle speed and the trajectory point, where B is the target stopping point, A' 3 is a reference point at a constant distance from the target stopping point, and V 0 is the set speed. At the reference point A'3 , a ground element C'2 is installed on the track, which can be detected on the vehicle when the vehicle passes by.
第３図は軌道上を走行する車両１の停止制御装
置を示しており、こ停止制御装置は、車両１の実
車速度を検出するための車速検知器２、基準点
A′3通過の際地上子C′2を検出する通過検知器３、
上記車速検出器２よりの速度信号および通過検知
器３よりの割込信号の入力により目標停止点まで
実車速度に応じたブレーキ指令までの時間を計算
し所定時間経過後ブレーキ指令を出力する演算制
御装置４、そして目標停止点Ｂに停めるためブレ
ーキ圧力Ｐを作用する制動装置５から構成されて
いる。 FIG. 3 shows a stop control device for a vehicle 1 running on a track. This stop control device includes a vehicle speed detector 2 for detecting the actual speed of the vehicle 1, a reference point
A passing detector 3 that detects ground element C′ 2 when passing A′ 3;
Arithmetic control that calculates the time until the brake command according to the actual vehicle speed until the target stopping point is reached by inputting the speed signal from the vehicle speed detector 2 and the interrupt signal from the passing detector 3, and outputs the brake command after a predetermined time elapses. It consists of a device 4 and a braking device 5 which applies a brake pressure P to stop the vehicle at the target stopping point B.
次に前記構成における本発明の動作について説
明する。 Next, the operation of the present invention in the above configuration will be explained.
いま設定速度V0を受けて、基準点A′3より手前
の地点で減速を完了するよう速度制御された車両
が進入してきたとする。減速を完了し、一定範囲
の速度で走行している車両が地上子C′2に達する
と、通過検知器３により検出が行なわれ、検出信
号が演算制御装置４に割込み入力される。 Assume that a vehicle enters the vehicle, which has received a set speed V 0 and whose speed is controlled so that it completes deceleration at a point before the reference point A′ 3 . When the vehicle, which has completed its deceleration and is traveling at a speed within a certain range, reaches the beacon C'2 , the passage detector 3 performs detection, and a detection signal is input to the arithmetic and control unit 4 in an interrupt manner.
この時、演算制御装置４は第１ステツプとし
て、車速検知器２からの速度信号によりブレーキ
動作遅れを考慮して、ブレーキ圧力Ｐで目標地点
Ｂに停めるためのブレーキ指令猶予時間T1計算
する。この時間T1は
T1＝S0／V1−（T0＋V1／2β）
ここでV1：基準点A′3通過時の車両速度
S0：（A′3）−(B)間の距離
T0：ブレーキ遅れ時間
β：ブレーキ圧力Ｐに相当する減速度
により求められる。次に第２ステツプとして、予
め設定してある時間ΔTを比較する。この結果
ΔTT1の場合には計算を終了し、次の処理を行
なう。ΔT＜T1の場合にΔTToの条件を満たす
までｎ回（ｎ＝２，３……）、ΔT（ｎ−１）経過
毎にブレーキ指令猶予時間Toの計算を第１ステ
ツプ，第２ステツプの要領でくり返す。この時間
Toは、
To＝S0−ΣVo-1ΔT(o-1)／Vo−（T0＋Vo／2β）
（ｎ＝２，３…）
ここでVo：基準点（A′3）通過からΔT(o-1)経過後
の車両速度
ΔT：演算制御装置に設定してあるある一
定時間であり、例えば、このΔTは車
両速度V0に応じて50msec〜500msec
程度である、
S0，T0，βは前式と同じ内容
で求められる。 At this time, as a first step, the arithmetic and control unit 4 calculates a brake command grace period T1 for stopping the vehicle at the target point B with the brake pressure P, taking into account the delay in brake operation based on the speed signal from the vehicle speed detector 2 . This time T 1 is T 1 = S 0 /V 1 - (T 0 + V 1 /2β) where V 1 : Vehicle speed when passing reference point A' 3 S 0 : Between (A' 3 ) and (B) Distance T 0 : Brake delay time β : Determined from deceleration corresponding to brake pressure P. Next, as a second step, a preset time ΔT is compared. If the result is ΔTT 1 , the calculation is ended and the next process is performed. In the case of ΔT<T 1 , the brake command grace period T o is calculated n times (n=2, 3...) until the condition of ΔTT o is satisfied, every time ΔT (n-1) elapses in the first step and the second step. Repeat according to the steps. this time
T o is: T o =S 0 −ΣV o-1 ΔT (o-1) /V o −(T 0 +V o /2β) (n=2, 3…) Here, V o : Reference point (A′ 3 ) Vehicle speed after passing ΔT (o-1) ΔT: A certain fixed time set in the arithmetic and control device. For example, this ΔT is 50 msec to 500 msec depending on the vehicle speed V0 .
The degrees S 0 , T 0 , and β are obtained using the same content as in the previous equation.
演算制御装置は、ブレーキ猶予時間がΔT以下
となつたとき、すなわち、前記計算により得られ
た時間Tx＝T1＋T2……＋To＝ΔT(o-1)＋Toの経
過後、第４図ａ，ｂに拡大図示すように、制動装
置５にブレーキ圧力Ｐでブレーキを作用するよう
ブレーキ指令を発する。このブレーキ作用時、車
両は車速検知器で読み取つた直後の速度となつて
いるから、車両は予め定められた距離を減速走行
し目標停止点であるＢ点に停止する。 The arithmetic and control unit calculates the brake delay time when the brake delay time becomes less than or equal to ΔT , that is, after the time T As shown in enlarged views in FIGS. 4a and 4b, a brake command is issued to the braking device 5 to apply a brake with a brake pressure P. When this brake is applied, the vehicle is at the speed immediately after being read by the vehicle speed detector, so the vehicle decelerates a predetermined distance and stops at point B, which is the target stopping point.
斯して、本発明によれば、進入車両の速度を目
標停止点より所定距離手前の基準点で一定範囲と
なるように減速制御し、次いでブレーキ指令まで
の猶予時間を車両の実車速度に応じて補正を加え
て逐次求め、この猶予時間が所定値以下となつた
とき、所定圧力のブレーキを加えるように指令し
て停止させるようにしたため、外乱に対して極め
て高精度の定位置停止を行なうことができ、しか
も乗心地も害されない。 Thus, according to the present invention, the speed of the approaching vehicle is controlled to decelerate within a certain range at a reference point a predetermined distance before the target stopping point, and then the grace period until the brake command is controlled according to the actual speed of the vehicle. When this grace period becomes less than a predetermined value, a command is given to apply the brake at a predetermined pressure to stop the motor, making it possible to stop at a fixed position with extremely high precision against external disturbances. It is possible to do this without compromising riding comfort.
第１図ａ，ｂは地上計算機方式による従来の定
位置停止装置の停止特性を示す説明図、第２図
ａ，ｂおよび第４図ａ，ｂは本発明の定位置停止
方式による停止特性を示す説明図、第３図は本発
明の一実施例を示す車載の停止装置の構成図であ
る。
A1，A2，A3，A′3…基準点、Ｂ…目標停止点、
C1，C2，C′2…地上子、Ｐ…ブレーキ圧力、Tx…
ブレーキ指令猶予時間、T0…ブレーキ遅れ時間、
V0…設定速度、１…車両、２…車速検知器、３
…通過検知器、４…演算制御装置、５…制動装
置。
Figures 1a and b are explanatory diagrams showing the stopping characteristics of the conventional fixed position stopping device using the ground computer system, and Figures 2a and b and 4 a and b show the stopping characteristics of the fixed position stopping system of the present invention. The explanatory diagram shown in FIG. 3 is a configuration diagram of a vehicle-mounted stopping device showing an embodiment of the present invention. A 1 , A 2 , A 3 , A' 3 ...Reference point, B...Target stopping point,
C 1 , C 2 , C' 2 ... Ground element, P ... Brake pressure, T x ...
Brake command grace time, T 0 ...Brake delay time,
V 0 ...Set speed, 1...Vehicle, 2...Vehicle speed detector, 3
...Passage detector, 4... Arithmetic control device, 5... Braking device.
Claims (1)
前に設けた基準点へ、所定範囲の速度に制御して
進入させるとともに該車両が前記基準点に到達し
た後、所定タイミングで一定圧力によるブレーキ
指令を与えて停止させるようにした軌道車両の定
位置停止装置において、前記車両に設けられ前記
車両の速度を検知する速度検知手段と、前記車両
に設けられ前記基準点到達を検知する基準点到達
検知手段と、前記車両に設けられ前記基準点到達
検知の後に前記速度検知手段より得られる車速情
報をもとにその車速に応じた前記目標停止点停止
に必要なブレーキ操作開始猶予時間を逐次求める
とともに該ブレーキ操作開始猶予時間が所定時間
以下となつた時、前記一定圧力でのブレーキ指令
を発生する演算制御手段とを具備したことを特徴
とする軌道車両の定位置停止装置。1. A vehicle is controlled to approach a reference point set a predetermined stopping distance before a target stopping point on the track at a speed within a predetermined range, and after the vehicle reaches the reference point, the brakes are applied with a constant pressure at a predetermined timing. A fixed position stopping device for a tracked vehicle configured to stop by giving a command, comprising a speed detection means provided on the vehicle to detect the speed of the vehicle, and a reference point arrival means provided in the vehicle to detect arrival at the reference point. a detecting means, and based on vehicle speed information obtained from the speed detecting means provided on the vehicle and after detecting arrival at the reference point, successively determining grace period for starting brake operation necessary for stopping at the target stopping point according to the vehicle speed. A fixed-position stopping device for a track vehicle, characterized in that it also comprises arithmetic control means for generating a brake command at the constant pressure when the brake operation start delay time becomes less than a predetermined time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8875379A JPS5615101A (en) | 1979-07-13 | 1979-07-13 | Device for stopping track vehicle in fixed position |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8875379A JPS5615101A (en) | 1979-07-13 | 1979-07-13 | Device for stopping track vehicle in fixed position |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5615101A JPS5615101A (en) | 1981-02-13 |
| JPS63259B2 true JPS63259B2 (en) | 1988-01-06 |
Family
ID=13951649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8875379A Granted JPS5615101A (en) | 1979-07-13 | 1979-07-13 | Device for stopping track vehicle in fixed position |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5615101A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020157827A1 (en) * | 2019-01-29 | 2020-08-06 | 三菱電機株式会社 | Aboveground device, on-board device, and train control system |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06103961B2 (en) * | 1982-07-09 | 1994-12-14 | 株式会社日立製作所 | Fixed position stop control method |
| US4760797A (en) * | 1985-02-20 | 1988-08-02 | Southern Railway Company | Method and apparatus for automated tie detection and tamping |
| JPH0785158B2 (en) * | 1986-06-06 | 1995-09-13 | キヤノン株式会社 | Camera with mirror drive |
| JP4929211B2 (en) * | 2008-03-17 | 2012-05-09 | 株式会社東芝 | Train control device |
| JP5325716B2 (en) * | 2009-09-10 | 2013-10-23 | 株式会社東芝 | Vehicle fixed position stop control device and fixed position stop support device |
-
1979
- 1979-07-13 JP JP8875379A patent/JPS5615101A/en active Granted
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020157827A1 (en) * | 2019-01-29 | 2020-08-06 | 三菱電機株式会社 | Aboveground device, on-board device, and train control system |
| JPWO2020157827A1 (en) * | 2019-01-29 | 2021-09-27 | 三菱電機株式会社 | Ground equipment, on-board equipment and train control systems |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5615101A (en) | 1981-02-13 |
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