200800670 九、發明說明： 【發明所屬之技術領域】 本發明係有關一種集電弓之主動式抑振控制器，其兼具集 電弓主體之供電品質更穩定、主動致動器之減振效果更好，以 及集電弓頭之壽命更長等優點。 【先前技術】 習用執道車輛之集電弓系統及其減振設計產生以下缺點： [1] 供電品質不佳。傳統集電弓懸吊系統為機械式，長期 使用後會造成懸吊機械結構磨損，使集電弓接觸滑板部分與電 車線間產生脫離(稱之為離線），當離線過大時會產生電弧光， 使供電品質不穩。 [2] 被動式懸吊系統減振效果差。傳統用於軌道車輛之集 電弓係設計以被動懸吊系統為主，因其所佔空間小，且設計簡 易，維修方便，但於尚速行駛下產生摩擦噪音及接觸追隨性， 例如：動態接觸力和離線率；容易造成振動而發生結構體疲勞 破壞，進而造成供電效率降低，嚴重時將影響車體之安全性； 此外車廂本體與電車線間所產生的大量摩擦噪音嚴重影響乘 坐品質與過往之噪音污染。 [3] 集電弓頭壽命短。傳統集電弓係機械式懸吊系統，長 期使用後易磨損，尤其當離線過大時易造成懸吊系統上的接觸 滑板磨耗，最後甚至熔斷；壽命短。 因此’有必要研發出供電更穩定之集電弓結構。 200800670 % 【發明内容】 韦發明之主要目的，在於提供一種集電弓之主動式抑振控 制器，其使集電弓主體之供電品質更穩定。 本發明之次要目的，在於提供一種集電弓之主動式抑振控 制器，其為電磁式主動致動器使減振效果更好。 本發明之又一目的，在於提供一種集電弓之主動式抑振控 制器，其使集電弓頭之壽命更長。 I 本發_提供-種集電$之絲式抑振控制器，其包括一 木龟弓主體主動致動态、一追隨虛擬彈簧及一天勾虛擬阻 尼；其中： f 該集電弓主體，係至少設有一集電弓頭、一上框架、一下 框架及一下框架本體；該集電弓頭設於該集電弓主體頂部；其 設一第一懸吊系統連結該上框架；該集電弓頭係用以供該集電 弓主體與至少一架空電纜接觸而導電；該上框架設一第二懸吊 1 _賴該下_;該下_設_第三㈣魏賴該下框架 本體’該下框架本體係用以供該集電弓主體將電力傳導至〆車 廂本體； 该主動致動器，係設於該集電弓頭與該上框架之間；其產 生致動力抵消該第—懸吊系統因被動接觸不平之架空電瘦 產生的振動；使該集電弓主體之放電效應提高； 該追隨虛擬彈簧，餘於該集電弓頭與該下框架本體之 間；其用以自動量測並有效監控該集電弓主體之各鮮系統之 200800670 變形量;且彻所制之變形4將細峨_斷後回饋至該 天勾虛擬阻尼； 該天勾虛擬阻尼，係突設於該集電弓頭上；其配合該追隨 虛擬彈黃侧該車财體之行進狀態，以_結果產生主動控 制增ϋ值，進而抑制該集電弓頭接觸該架空電纜產生之振動。 本發明之上述目的與優點，不難從下述所選用實施例之詳 細說明與附圖中，獲得深入瞭解。 炫以下列實施例並配合圖式詳細說明本發明於後·· 【實施方式】 參閱第-、第二及第三圖’本發明係為—種集電弓之主動 式抑振控制器，其包括-集電弓主體1G、—主動致動器2〇、 追隨虛擬彈簧30及一天勾虛擬阻尼4〇。 該集電弓主體10，係至少設有一集電弓頭u、一上框架 12、-下框架13及一下框架本體14 ;該集電弓頭u設於該 集％弓主體10頂部；其設一第一懸吊系統UA連結該上桓架 12 ;且該集電弓頭11係用以供該集電弓主體10與至少一架空 電雙81接觸而導電；該上框架12設—第二懸吊系統12A連二 =下框木13 ’該下框帛13設-第三懸吊系統13A連結該下框 架本體14，其係用以供該集電弓主體1〇將電力傳導至一車庙 本體82 〇 該主動致動器20，係設於該集電弓頭n與該上框架12 之間；其產生-致動力抵消該第一懸吊系統nA因被動接觸不 200800670 平之架空電纜81產生的振動; 速度，並提高其放電效應。 降低該集電弓主體10之振動加200800670 IX. Description of the Invention: [Technical Field] The present invention relates to an active vibration suppression controller for a pantograph, which has a more stable power supply quality of the pantograph main body and a vibration damping effect of the active actuator Better, and the longer life of the pantograph head. [Prior Art] The pantograph system of the conventional vehicle and its vibration-damping design have the following disadvantages: [1] The power supply quality is not good. The traditional pantograph suspension system is mechanical. After long-term use, it will cause the suspension mechanical structure to wear, causing the collector bow to contact the skateboard part and the trolley line to be separated (called offline). When the line is too large, arcing will occur. , making the power supply quality unstable. [2] Passive suspension systems have poor damping effects. The conventional pantograph system for rail vehicles is mainly based on passive suspension system. Because of its small space, simple design and convenient maintenance, it produces friction noise and contact follow-up under constant speed, for example: dynamic Contact force and off-line rate; it is easy to cause vibration and structural fatigue damage, which in turn causes the power supply efficiency to decrease. In severe cases, it will affect the safety of the vehicle body. In addition, the large amount of friction noise generated between the car body and the tram line seriously affects the ride quality. Noise pollution in the past. [3] The life of the pantograph head is short. The traditional pantograph mechanical suspension system is easy to wear after long-term use, especially when the offline is too large, it is easy to cause contact skate wear on the suspension system, and finally even blown; the life is short. Therefore, it is necessary to develop a pantograph structure with a more stable power supply. 200800670 % [Summary of the Invention] The main purpose of the invention is to provide an active vibration suppression controller for a pantograph, which makes the power supply quality of the pantograph main body more stable. A secondary object of the present invention is to provide an active vibration suppression controller for a pantograph, which is an electromagnetic active actuator that provides better vibration damping. It is still another object of the present invention to provide an active vibration suppression controller for a pantograph that provides a longer life of the pantograph head. I The present invention provides a wire-type vibration suppression controller comprising a wood turtle bow body active dynamics, a following virtual spring and a one-day hook virtual damping; wherein: f the pantograph body, At least one episode head, an upper frame, a lower frame and a lower frame body; the pantograph head is disposed on the top of the pantograph main body; and a first suspension system is coupled to the upper frame; the pantograph The head system is configured to be electrically conductive when the pantograph main body is in contact with the at least one empty cable; the upper frame is provided with a second suspension 1 _ _ the lower _; the lower _ set _ third (four) Wei Lai the lower frame body ' The lower frame system is configured to transmit power to the body of the pantograph body; the active actuator is disposed between the pantograph head and the upper frame; and the generating of the actuation force cancels the first The vibration of the suspension system due to the passive contact with the overhead power; the discharge effect of the main body of the pantograph is increased; the following virtual spring is between the collector head and the lower frame body; Measuring and effectively monitoring the 20080 of each of the main systems of the pantograph main body 0670 deformation amount; and the deformation 4 made by the 将 将 断 断 断 回 回 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟 虚拟The traveling state of the financial body generates an active control increase in value by the result, thereby suppressing the vibration generated by the pantograph head contacting the overhead cable. The above objects and advantages of the present invention will be readily understood from the following detailed description of the preferred embodiments illustrated herein. The present invention will be described in detail in the following embodiments with reference to the drawings. [Embodiment] Referring to the first, second and third figures, the present invention is an active vibration suppression controller for a pantograph. Including - pantograph main body 1G, - active actuator 2 〇, follow virtual spring 30 and one day hook virtual damping 4 〇. The pantograph main body 10 is provided with at least one pantograph head u, an upper frame 12, a lower frame 13 and a lower frame body 14; the pantograph head u is disposed on the top of the set of the bow main body 10; A first suspension system UA is coupled to the upper truss 12; and the pantograph head 11 is configured to electrically conduct the pantograph main body 10 in contact with at least one of the air-electric doubles 81; the upper frame 12 is provided with a second The suspension system 12A is connected to the second frame = the lower frame wood 13'. The lower frame 13 is provided - the third suspension system 13A is coupled to the lower frame body 14 for transmitting the power to the first pantograph body 1 The temple body 82 is disposed between the pantograph head n and the upper frame 12; the generated force-actuating force cancels the first suspension system nA due to passive contact not 200800670 flat overhead cable 81 produces vibration; speed and increases its discharge effect. Reducing the vibration of the pantograph main body 10
體Μ 30，係設於轉電怖1與該下框架本 體之間，其用以自動量測並有效監控該集電弓主體10之各 懸吊糸統，没再利用所量测之變形量將感測訊號經判斷 後回饋至該天勾虛擬阻尼4〇。 該天勾虛擬阻尼40,係突設於該集電弓頭u上；其配合 該追隨虛擬彈簧3G _該車穌體82之行進狀態，以偵測結 果產生主動控制力，以抑制集電弓頭11與架空電㈣接觸產 生之振動。 如此為本發明之集電弓之主動式抑振控制器。 茶閱第二及第三圖，實務上，該第一懸吊系統UA係包括 -第-阻尼器111及-第一彈簧112;該第一懸吊系統11A係 用以辅助降健集電㈣u _不平整之雜電纜81產生之 隨機振動。 該第一懸吊系統12A係、包括_第二阻尼器121及一第二彈 更122，該第二懸吊系、统12A係用以支撐該第—與第三懸吊系 統11A與13A，並提供二次減振效果。 忒第二懸吊系統13A係包括一第三阻尼器Mi及一第三彈 簧132，同樣具有避振功效。 該主動致動器20係由一伺服驅動器（Serv〇—Driver)供應 8 200800670 電流而推動一線型振動致動器（Linear Oscillatory Actuator，簡稱LOA)，該線型振動致動器之加速規 (Accelerometer)係電磁式，並設一紅外線距離感測器配合相 關週邊電路，以量測該第一懸吊系統1U之作用力以斤^，)及 9(丸-九)；相較於油壓或氣麗式致動器動辄需要數十個連桿、 閥門、壓力槽、泵浦元件之組合，該主動致動器2〇為極精簡 之結構。 此外’當車廂本體82高速行駛，該主動致動器2〇自動控 制各懸吊系統降低，可降低風阻，亦使該集電弓主體1〇之供 電狀態更加穩定，減少車廂本體82因供電不均勻造成較差的 乘坐品質。遇到路況差的路面、各種環境(例如：隧道、橋樑、 山坡地···等等）或因天氣轉變造成架空電纜81不平整，該 電磁式線型振動致動器自動將該集電弓頭η提高，使供電環 境更為安全及順暢。 該追隨虛擬彈簧(rail following Spring)30，係包括一 可變線性差動變壓器（Linear Variable Dif ferentialThe body 30 is disposed between the power transmission unit 1 and the lower frame body, and is used for automatically measuring and effectively monitoring the suspension systems of the current collecting body 10 without using the measured deformation amount. After the sensing signal is judged, it is fed back to the virtual hook of the day. The virtual hook 40 is attached to the pantograph head u; it cooperates with the traveling state of the following virtual spring 3G_the car body 82 to generate an active control force to detect the pantograph The vibration generated by the contact of the head 11 with the overhead power (four). Thus, the active vibration suppression controller of the pantograph of the present invention. In the second and third figures, in practice, the first suspension system UA includes a -th damper 111 and a first spring 112; the first suspension system 11A is used to assist the lowering power collection (four) u _ Random vibration generated by the uneven cable 81. The first suspension system 12A includes a second damper 121 and a second spring 122. The second suspension system 12A supports the first and third suspension systems 11A and 13A. And provide secondary damping effect. The second suspension system 13A includes a third damper Mi and a third spring 132, which also have an anti-vibration effect. The active actuator 20 is supplied with a current of 200800670 by a servo driver (Serv ) Driver) to drive a Linear Oscillatory Actuator (LOA), an Accelerometer of the linear vibration actuator. Electromagnetic type, and an infrared distance sensor is provided with relevant peripheral circuits to measure the force of the first suspension system 1U to Φ^, and 9 (pill-nine); compared with oil pressure or gas The Lie actuator requires a combination of dozens of connecting rods, valves, pressure slots, and pumping elements. The active actuator 2 is a very compact structure. In addition, when the car body 82 is driven at a high speed, the active actuator 2 automatically controls the suspension systems to lower, which can reduce the wind resistance, and also makes the power supply state of the pantograph main body 1 更加 more stable, reducing the power of the car body 82 due to power supply. Uniformity results in poor ride quality. In the case of poor road conditions, various environments (such as tunnels, bridges, hillsides, etc.) or the overhead cable 81 is uneven due to weather changes, the electromagnetic linear vibration actuator automatically turns the pantograph head The η is increased to make the power supply environment safer and smoother. The following following spring 30 includes a variable linear differential transformer (Linear Variable Dif ferential)
Transformer ’簡稱LVDT)，其可自動量測並有效監控該集電 弓主體10各懸吊系統之變形量；並將一個物件的直線運動機 械艾化1轉換成相對應之電子信號，該可變線性差動變壓器輸 入電壓10 Vrms，測量之位移量±20英吋，靈敏度〇. 2mV。也 可別畺4百萬分之-英#至幾英af之位移量。該可變線性差動 9 200800670 變壓器係由使用於精確軸承之彈簧負載轉軸組成，結構精巧、 體積小，高精密度，使用壽命長，藉由該可變線性差動變壓器 進步考慮其集電弓頭11至車廂本體82間之彈簧總變形量 (包δ靜悲變形里及動態變形量）’利用所量測之變形量將感測 Λ波經判斷後再回饋至天勾虛擬阻尼中，提供最佳之天勾 虛擬阻尼主動控制力進行減振設計。 該天勾虛擬阻尼（skyhook damper)40，係配合該追隨虛擬 彈η 3G、-減速度感測n、—車身偏擺角速度感測器以及一 加速規自動偵測，並回傳信號給電腦，利用最佳化方法，準確 產生所需之主動控制增益值，有效抑制該集電弓頭U與該架 空電纜81間產生之振動。 更詳細的講，當車廂本體82設定較高速行駛，則⑺、 6(0和巧⑺是行進方向的空氣阻力，ρ(〇是荦空電纜幻與集電 弓頭11接觸的作用力，·架空電纜81垂直方向執跡模型自集電 弓主體1G侧面’畫出-條與集電弓主體1G相接觸的接觸線， 接觸線為確保輸送車廂本體82所需電流，必須為數條電線或 數條絞線的良好導體所構成。此外，架空電纜81對於執道中 心’會以2G公分偏差左右交叉偏離，此設計旨在避免列車集 龟弓上摺動板的同一處與接觸線過度摩擦。 該主動致動器20可產生-作用力仏，係用來抵消該第一 懸吊系統11A產生之彈簧力（彈簧係料）及阻尼力(阻尼係數 200800670 緩和該集電弓頭11各方向之振動或擺動；親追隨虛擬 彈簧U)3G係產生-主動控制力& ;且該天勾虛擬阻尼 “）40係產生一主動控制力為故該集電弓主體ι〇於該第 -懸吊系統11A加人之主動控制力為’其表示如下述之 ⑴： 6 A，i2)+灿督你分々⑴Transformer 'abbreviated as LVDT), which can automatically measure and effectively monitor the deformation amount of each suspension system of the pantograph main body 10; and convert the linear motion mechanical of one object into a corresponding electronic signal, the variable Linear differential transformer input voltage 10 Vrms, measured displacement ± 20 inches, sensitivity 〇 2mV. Also, don't miss the displacement of 4 parts per million - English # to a few af. The variable linear differential 9 200800670 transformer consists of a spring-loaded rotating shaft for precision bearings. It is compact in structure, small in size, high in precision and long in service life. The variable linear differential transformer is considered for its pantograph. The total spring deformation between the head 11 and the car body 82 (including the δ static deformation and the dynamic deformation amount) 'uses the measured deformation amount to sense the chopping wave and then feed back to the sky hook virtual damping, providing The best day hook virtual damping active control force for vibration reduction design. The skyhook damper 40 is matched with the following virtual bomb η 3G, the deceleration sensing n, the body yaw rate sensor and an acceleration gauge automatic detection, and returns a signal to the computer. By using the optimization method, the required active control gain value is accurately generated, and the vibration generated between the pantograph head U and the overhead cable 81 is effectively suppressed. In more detail, when the car body 82 is set to travel at a relatively high speed, (7), 6 (0 and Q(7) are air resistances in the traveling direction, and ρ (〇 is the force of the hollow cable illusion and the contact of the pantograph head 11 , The overhead cable 81 vertical direction model is drawn from the side of the main body of the collector bow 1G. The contact line is in contact with the main body 1G of the pantograph. The contact line is required to ensure the current required to transport the body 82, and must be several wires or numbers. In addition, the overhead cable 81 is crossed by the 2D centimeter deviation from the center of the road. This design is designed to avoid excessive friction between the same portion of the folding plate on the train and the contact line. The active actuator 20 can generate a force force 抵消 for canceling the spring force (spring material) generated by the first suspension system 11A and the damping force (damping coefficient 200800670 to alleviate the direction of the pantograph head 11) Vibrating or oscillating; pro-following the virtual spring U) 3G system generates - active control force & and the day hook virtual damping ") 40 system generates an active control force so that the pantograph main body 〇 is in the first suspension System 11A plus active control As' which represents as follows ⑴ of: 6 A, i2) + Can you points 々 ⑴ Doc
前述之虛擬主動控制力’其中為兩個主動控制增 益值，並_主動致動器2〇及各式感測賴成之回饋系統來 達成減振的效果。 本發明同時s搭配所建立之目標函數及機械結構拘束條 件作為集電3主體ig m制性能判斷。由於集電弓主 體ι〇触空81此力妓__，_免過量的暫態 造成損失’因此與作用在集電弓頭u頂端之加速度有關。 本發明並定義下列集電弓主體1G之各鮮系統加速度與 三項拘束關條件，來限制錢吊系統之總變形量有關的目標 函數，其如下列之公式（2): j】[对州+宄(六)+究(介)]， 、 4=漂]^(介)—八(介)|，The aforementioned virtual active control force' is two active control gain values, and the active actuator 2 and various types of sensing feedback systems are used to achieve the effect of damping. The invention simultaneously combines the established objective function and the mechanical structure restraining condition as the performance judgment of the collector 3 main body ig m system. Since the main body of the pantograph is emptied by 81, this force __, _ avoids excessive transient causing loss' and thus is related to the acceleration acting on the tip of the pantograph head u. The present invention also defines the following objective functions related to the total system acceleration of the pantograph main body 1G and the three constraint conditions to limit the total deformation of the money hoisting system, as shown in the following formula (2): j] +宄(六)+研究(介)], , 4=漂]^(介)—八(介)|,
Ja = (2) 入=思咖六)丨 其中，4為集電弓頭U、上框架質量伽及下框架質量勘 二個位置的加速度之目標函數。N為測點在時域之總輸出次數， 200800670 4舰在時域之細職。其中同時最佳化方法找出前 述最佳主動控制増益值w代入目標函數中；當目標函數德 J將使各木％弓主體1〇之各懸吊系統的整體加速度越小， 即代表會有越小的振紐應，提供更敎供電效應。此目標函 $碰可以考、縣，又可反映難概量；此外，集 电弓主體10之各懸吊系統拘束限制條件从乂亦被滿足，藉 龜 此可找出最佳控制力增益值，反應於該集電弓主體10的各懸 攀 巾系統中。 本發明之優點及功效如下所述： [1]集電弓主體之供電品質㈣定。本發明於集電弓主體 上設-電磁式主動致動器、一追隨虛擬彈簣及天勾虛擬阻尼， 使集電弓主體隨不同狀態（因車廂本體行經不同的地勢環境可 能有高低不平遍_整，電磁絲置不磨損，爾時與架空 冑缓間保持最佳接觸狀態（保持不離線），故供電品質相當穩 零定。 〜 ， [2]主動致動益之減振效果更好。本發明於集電弓主體上 。又置-主動致動’其配合追隨虛擬彈簧及天勾虛擬阻尼，隨 時偵測行車狀態以及集電弓頭與架空電_的接觸狀態，自動 進行調整，將集電弓頭接觸架空電纔產生的振動情況減到最 低。 [3]集電弓頭之哥命更長。本發明控制集電弓頭與架空電 12 200800670 ^保持取佳之接轉電狀態，賴電轉承受的雜力鱼振 動力減少’壽命更長。 ” _以上奴如錄加耕姆縣㈣，該實施例 所做的任何簡單修改與變化’皆不脫離本發明之精神與範圍。 ^均細朗，可使胁本微藝者崎本判的確可Ja = (2) 入 =思咖六) 丨 where 4 is the objective function of the acceleration of the pantograph head U, the upper frame mass and the lower frame mass. N is the total number of output points of the measuring point in the time domain. 200800670 4 The ship is in the time domain. At the same time, the optimization method finds that the optimal active control benefit value w is substituted into the objective function; when the target function de J will make the overall acceleration of each suspension system of each wood% bow body smaller, the representative will have The smaller the vibration should be, the more power-supply effect is provided. This target letter can touch the county, and can reflect the difficult amount; in addition, the constraints of the suspension system of the main body of the pantograph 10 are also satisfied from the 乂, and the turtle can find the optimal control gain value. Reacting in each of the overhanging towel systems of the pantograph body 10. The advantages and effects of the present invention are as follows: [1] The power quality of the main body of the pantograph (4). The invention is provided with an electromagnetic active actuator, a virtual virtual magazine and a virtual hook of the sky hook on the main body of the pantograph, so that the main body of the pantograph is in different states (because the body of the car passes through different terrain environments, there may be unevenness). _ whole, the electromagnetic wire is not worn, and the best contact state is maintained between the time and the overhead relief (maintained not offline), so the power supply quality is quite stable and fixed. ~ , [2] Actively actuate the benefits of vibration reduction better The invention is on the main body of the pantograph. The set-active-actuating 'follows the virtual spring and the virtual hook of the sky hook to detect the driving state and the contact state of the pantograph head and the overhead electric power at any time, and automatically adjusts. The vibration caused by the current of the pantograph head is reduced to a minimum. [3] The life of the pantograph head is longer. The invention controls the pantograph head and the overhead power 12 200800670 ^ Maintaining a good turn-on state The vibrational force of the hybrid fish that is subjected to the electric power transmission is reduced to a longer life. _ The above slaves are recorded in the cultivating county (four), and any simple modifications and changes made in the embodiment are not departing from the spirit and scope of the invention. ^ are fine This threat can micro Geisha Kawasaki This sentence may indeed
【圖:：:Γ符合專利法之規定，爰提―^ 第一圖係本發明之較佳實施例之示意圖 第二圖係本發明之基本架構之示意圖一 第二圖係本發明之基本架構之示意圖二 【主要元件符號說明】 1〇集電弓主體 11Α第一懸吊系統 112第一彈簧 12Α第二懸吊系統 122第二彈簧 13Α第三懸吊系統 132第三彈簣 20主動致動器 40天勾虛擬阻尼 82車廂本體 11集電弓頭 111第一阻尼器 12上框架 121第二阻尼器 13下框架 131第三阻尼器 14下框架本體 30追隨虛擬彈簧 81架空電纜BRIEF DESCRIPTION OF THE DRAWINGS FIG. 2 is a schematic view of a preferred embodiment of the present invention. FIG. 2 is a schematic diagram of a basic structure of the present invention. Schematic diagram 2 [Main component symbol description] 1 〇 collector bow body 11 Α first suspension system 112 first spring 12 Α second suspension system 122 second spring 13 Α third suspension system 132 third magazine 20 active actuation 40-day hook virtual damping 82 car body 11 collecting bow head 111 first damper 12 upper frame 121 second damper 13 lower frame 131 third damper 14 lower frame body 30 following virtual spring 81 overhead cable