WO2019107337A1 - 車両振動制御装置 - Google Patents

車両振動制御装置 Download PDF

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Publication number
WO2019107337A1
WO2019107337A1 PCT/JP2018/043513 JP2018043513W WO2019107337A1 WO 2019107337 A1 WO2019107337 A1 WO 2019107337A1 JP 2018043513 W JP2018043513 W JP 2018043513W WO 2019107337 A1 WO2019107337 A1 WO 2019107337A1
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WO
WIPO (PCT)
Prior art keywords
actuators
sensor
output
temperature sensors
temperature
Prior art date
Application number
PCT/JP2018/043513
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
直樹 香田
友行 李
Original Assignee
日立オートモティブシステムズ株式会社
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 日立オートモティブシステムズ株式会社 filed Critical 日立オートモティブシステムズ株式会社
Priority to JP2019557227A priority Critical patent/JP6876149B2/ja
Priority to CN201880076716.6A priority patent/CN111433059B/zh
Publication of WO2019107337A1 publication Critical patent/WO2019107337A1/ja

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
    • B60G17/0185—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method for failure detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G99/00—Subject matter not provided for in other groups of this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
    • B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
    • B61F5/26—Mounting or securing axle-boxes in vehicle or bogie underframes
    • B61F5/30—Axle-boxes mounted for movement under spring control in vehicle or bogie underframes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/03—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using magnetic or electromagnetic means
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/25—Devices for sensing temperature, or actuated thereby
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors

Definitions

  • the present invention relates to a vehicle vibration control device suitably used to reduce, for example, vibration of a railway vehicle.
  • a temperature sensor in order to detect coil temperature of a linear actuator, a temperature sensor is provided in u phase coil group and w phase coil group, respectively.
  • no abnormality diagnosis of the temperature sensor is performed, and it is difficult to cope with the abnormality of the sensor.
  • all temperature sensors are determined to be abnormal although the other temperature sensors operate normally, so it is necessary to limit the current and output of the actuator. Become. For this reason, it is difficult to secure the ride comfort of the vehicle to be originally expected.
  • An object of the present invention is to provide a vehicle vibration control apparatus capable of identifying a temperature sensor that has become abnormal by comparing output values when any of a plurality of temperature sensors is abnormal. .
  • the first and second actuators each of which is provided on one of the two bogies of one rail car and generates a force
  • the other of the two bogies are provided on the other.
  • the present invention is applied to a vehicle vibration control device provided with other first and second actuators that generate a force, and a control device that controls the first and second actuators.
  • each first actuator and each second actuator comprises a three-phase linear motor provided with a temperature sensor in at least one phase coil.
  • the control device compares the output value of each of the in-phase temperature sensors provided in each first actuator between one carriage and the other carriage, and the in-phase temperature sensor provided in each second actuator Compare the output values of the sensor value comparison and determination unit between the two bogies that compare the output values of each and the in-phase temperature sensors provided in the first and second actuators in one bogie, and compare the other bogies
  • the sensor value comparison and determination unit with the same carriage that compares the output values of the in-phase temperature sensors provided in the first and second actuators, the sensor value comparison and determination unit between two carriages, and the same carriage And a sensor abnormality determination unit that specifies an abnormal temperature sensor among the temperature sensors based on the determination result of the sensor value comparison and determination unit.
  • the in-phase temperature sensor is a temperature sensor provided in each of the coils through which the in-phase current of the at least one phase coil flows.
  • an abnormal sensor can be properly identified by mutual comparison of output values, regardless of which temperature sensor becomes abnormal. it can.
  • FIG. 1 It is a front view which shows the rail vehicle with which the vehicle vibration control apparatus by embodiment of this invention was applied. It is the top view which looked at the inside of the railway vehicle from the upper side in order to demonstrate the positional relationship of the inverter in FIG. 1, an actuator, an acceleration sensor, etc.
  • FIG. It is a control block diagram which shows the control apparatus in FIG. It is a longitudinal cross-sectional view which shows the specific structure of a linear actuator. It is a characteristic line figure showing the 1st pattern in performing failure determination of a temperature sensor. It is a characteristic diagram showing the 2nd pattern in performing failure determination of a temperature sensor. It is a characteristic diagram showing the 3rd pattern in performing failure determination of a temperature sensor.
  • FIGS. 1 to 11 show the first embodiment.
  • a railway vehicle 1 includes a vehicle body 2 on which, for example, passengers, passengers and the like get on, and front and rear bogies 3 provided below the vehicle body 2. These two bogies 3 are disposed apart from each other on the front side and the rear side of the vehicle body 2, and each bogie 3 is provided with four wheels 4.
  • the railcar 1 is driven to travel along the rail 5 in the direction of arrow A, for example, when it is advanced, as the wheels 4 roll (rotate) on the left and right rails 5 (only one is shown).
  • a linear actuator 7 (hereinafter referred to as an actuator 7) is provided.
  • These actuators 7 consist of a three-phase linear motor provided between the vehicle body 2 and the wheel 4 (carriage 3), and constitute, for example, an electromagnetic suspension that buffers up and down vibrations.
  • Two actuators 7 provided separately in the left and right directions for each carriage 3 constitute first and second actuators 7A to 7D that generate adjustable forces in the upper and lower directions.
  • the actuator 7 as an electromagnetic suspension is disposed in two axes with respect to one carriage 3 and is disposed in four axes with respect to one vehicle (two carriages 3). As shown in FIG. 2, these actuators 7 are provided on the front carriage 3 located on the front side of the vehicle body 2 and are disposed on the first actuators 7A, FR on the FL side spaced apart in the left and right directions. And a second actuator 7C on the RL side and a second actuator 7D on the RR side, which are provided on the rear carriage 3 located on the rear side and are spaced apart in the left and right directions. ing.
  • the actuators 7 are attached to the railcar 1 in the upper and lower directions, and the first actuators 7A, 7C and the second actuators 7B, 7D are connected to the left of each truck 3 with respect to the traveling direction of the railcar 1, It is provided separately in the right direction.
  • actuators 7 individually buffer and reduce the vibrations of the vehicle body 2 with respect to the front and rear bogies 3 in the left and right directions, respectively.
  • the damping force is variably controlled in accordance with a command signal individually output from the control device 10 described later.
  • the actuator 7 may be configured to adjust the damping force characteristics continuously between hard characteristics and soft characteristics, or may be adjustable in two or more steps.
  • the first inverters 8A and 8C and the second inverters 8B and 8D are power supply circuits for the actuators 7 (the first actuators 7A and 7C and the second actuators 7B and 7D). .
  • the power line side of the inverter 8 is connected to the power supply (not shown) of the vehicle, and the power line side is connected to the actuators 7 (first actuators 7A, 7C and second actuators 7B, 7D).
  • the inverter 8 includes a plurality of switching elements such as transistors, field effect transistors (FETs), insulated gate bipolar transistors (IGBTs), etc., and each switching element has its open and closed (ON-OFF) states. Control is performed based on a command signal from the control device 10.
  • the inverter 8 drives the actuator 7 disposed in each wheel based on the command signal from the control device 10 and the power from the power supply.
  • the actuator 7 electromagnétique actuator
  • power is supplied to the actuator 7 from the power supply via the inverter 8.
  • the inverter 8 generates three-phase (u-phase, v-phase, w-phase) AC power from the power supplied from the power supply via the power line, and the coils of each actuator 7 via the power line Power is supplied to 25A, 25B and 25C.
  • the vehicle body 2 detects accelerations in the upper and lower directions of the vehicle body 2 as sprung accelerations at respective positions on four corner sides separated in the front and back directions and left and right directions.
  • a total of four acceleration sensors 9 are provided.
  • the acceleration sensors 9 are respectively mounted on a plurality of different places of the railcar 1 to constitute a plurality of sensors (behavior sensors) for detecting the behavior of the railcar 1.
  • the acceleration sensor 9 for example, an analog acceleration sensor of a piezoelectric type, a piezoresistive type or the like is used, and in particular, an acceleration sensor excellent in water resistance and heat resistance is preferably used.
  • the first acceleration sensor 9 is disposed at a position near the first actuator 7A on the front left side (FL) of the vehicle body 2, and the second acceleration sensor 9 is It is arrange
  • the third acceleration sensor 9 is disposed at the rear left side (RL) of the vehicle body 2 and at a position close to the other first actuator 7C.
  • the fourth acceleration sensor 9 is disposed at the rear right side (RR) of the vehicle body 2 2) It is disposed at a position close to the actuator 7D.
  • Each acceleration sensor 9 outputs a detection signal of acceleration detected at each position to the control device 10 described later as different signals (detection signals of vehicle behavior).
  • the acceleration sensor 9 is not limited to the front left side, the front right side, the rear left side, and the rear right side of the vehicle body 2.
  • the acceleration sensor 9 may be disposed at the front center of the vehicle body 2, the center left side, the center right side, the rear center,
  • the sensor arrangement on the vehicle body 2 may take any form.
  • the number of acceleration sensors 9 is not limited to four, and may be freely selected according to the purpose of measurement and control. However, it is desirable to arrange at least two.
  • the control device 10 that variably controls the generated damping force of each actuator 7 will be described.
  • the control device 10 is installed at a predetermined position of the railcar 1 (for example, a position substantially at the center of the vehicle body 2 as shown in FIG. 2).
  • the control device 10 is constituted by, for example, a microcomputer, and the inverter 8, the acceleration sensor 9, and temperature sensors 32 and 33 described later are connected to the input side thereof.
  • the actuator 7 is connected to the output side of the control device 10 via an inverter 8.
  • control device 10 is connected to, for example, a control device (not shown) of another vehicle body connected (connected) to the vehicle body 2 shown in FIG.
  • Vehicle information (for example, traveling position of the vehicle, traveling speed, etc.) is input / output via the communication line 11.
  • One control device 10 is disposed on one vehicle body 2, performs communication internally with the upper part of the vehicle via the communication line 11, and performs calculation internally based on a sensor signal, and each actuator 7 (specifically, The inverter 8) is supplied with a current based on the damping force command, and, for example, failure diagnosis, abnormality detection, and the like of each actuator 7 are performed.
  • the control device 10 has a memory 12 as a storage unit including, for example, a ROM, a RAM, a non-volatile memory, etc.
  • a memory 12 for example, temperature sensors 32, 33 shown in FIGS.
  • the control device 10 diagnoses failure of the control controller 13 that variably controls the generated damping force of the actuator 7 via the inverter 8 and the plurality of temperature sensors 32 and 33 respectively provided to the actuator 7.
  • a sensor value comparison and determination unit 14 between two bogies for performing (abnormality determination), a sensor value comparison and determination unit 15 for the same bogie, a sensor malfunction determination unit 16, and the memory 12 are configured.
  • the controller 13 is configured to include a command signal calculation unit 13A and a controllable temperature change unit 13B.
  • the command signal calculation unit 13A of the controller 13 detects a detection signal or the like from the acceleration sensor 9 every sampling time in order to reduce vibrations such as roll (rolling) and pitch (swinging in the forward and backward directions) of the vehicle body 2. While reading, for example, a command signal (a current value of a control command) is obtained by calculation according to the skyhook theory (skyhook control law). Then, the command signal operation unit 13A individually outputs the command signal to the inverter 8 (the first inverters 8A, 8C and the second inverters 8B, 8D in FIG. 2), and the actuator 7 (the second in FIG. 2). Damping force characteristics of each of the actuators 7A and 7C and the second actuators 7B and 7D are variably controlled.
  • the control law of the actuator 7 is not limited to the skyhook control law. For example, an LQG control law or an H ⁇ control law may be used.
  • the controllable temperature changing unit 13B of the controller 13 sets the controllable temperature threshold to the threshold value. It has a function of changing to a second temperature upper limit value T ⁇ smaller than the temperature upper limit value T ⁇ of 1. Then, after the change of the controllable temperature threshold value, the drive control of the actuator 7 is continued based on the detection signal (output value) of a normal temperature sensor among the plurality of temperature sensors 32 and 33 in which no abnormality is detected. Be done.
  • the sensor value comparison / determination unit 14 between two carriages is a first actuator 7A, 7C, a second actuator 7B, provided on one carriage (the carriage 3 on the front side) and another carriage (the carriage 3 on the rear side).
  • the output values of the respective in-phase temperature sensors 32 and 7 of 7D are shown in FIG. Compare and determine according to the procedure.
  • the sensor value comparison / determination unit 15 in the same carriage has output values T1u of the temperature sensors 32 and 33 in phase with the first actuators 7A and 7C and the second actuators 7B and 7D provided on the same carriage 3, respectively.
  • T1w, T2u, T2w, T3u, T3w, T4u, and T4w are compared and determined according to the processing procedure shown in FIG. 9 as described later.
  • the sensor abnormality determination unit 16 of the control device 10 calculates an abnormal temperature sensor (a malfunctioning temperature sensor) among the temperature sensors 32 and 33 based on the determination results of the comparison and determination units 14 and 15, which will be described later. As shown in FIG. 10, the process is specified according to the procedure shown in FIG.
  • the actuator 7 has, for example, a stator 21 disposed on the side of the vehicle body 2 and a mover 26 disposed on the side of the carriage 3 (wheels 4).
  • the coil member 25 of the armature 23 provided on the stator 21 A three-phase linear motor (three-phase linear synchronization) motor is configured by the permanent magnets 31 provided on the mover 26.
  • the actuator 7 is interposed between the vehicle body 2 (spring upper member) and the carriage 3 (spring lower member) on the wheel 4 side, and the relatively displaceable coaxial inner cylinder (displacement member) and outer cylinder
  • a coil member 25 (coils 25A, 25B, 25C) comprising a coil group of a plurality of phases provided on the rod 22 corresponding to the inner cylinder of the (displacement member) via the core 24 and a tube corresponding to the outer cylinder
  • It is configured as a cylindrical linear electromagnetic actuator including a permanent magnet 31 as a magnetic member provided on the (yoke) 27 and facing the coil member 25.
  • the stator 21 and the mover 26 of the actuator 7 are linearly displaceable relative to each other as a first member and a second member interposed between the vehicle body 2 and the carriage 3.
  • first and second members the case where the first member is the stator 21 and the second member is the mover 26 is illustrated.
  • the first member may be a mover
  • the second member may be a stator.
  • the stator 21 corresponding to the first member is roughly configured by the rod 22 and the armature 23.
  • the rod 22 is formed, for example, in a bottomed cylindrical shape and extends in the axial direction (that is, in the direction of relative displacement in FIG. 4 which is the direction of relative displacement) in the stroke direction.
  • a bottom 22B closing the side (the upper end in FIG. 4) and a radial inner side of the rod cylindrical portion 22A are concentrically formed with the rod cylindrical portion 22A, and one end (the upper end in FIG. 4) is the bottom 22B.
  • an inner cylindrical portion 22C axially extended to the position and closed by the bottom 22B.
  • the other end side (lower end side in FIG. 4) of the inner cylindrical portion 22C of the rod 22 axially extends on the inner peripheral side of the armature 23 (core 24), and the core 24 is formed by using, for example, fitting, press fitting or the like. It is fixed inside.
  • a mounting eye 22D attached to a spring (for example, the vehicle body 2) of the railway vehicle 1 is provided at the bottom 22B of the rod 22.
  • the mounting eye 22D is a mounting member for mounting the bottom 22B (projecting end) of the rod 22 to the sprung member (vehicle body 2 side) of the vehicle.
  • an armature 23 is provided on the open end side (lower end side in FIG. 4) of the rod cylindrical portion 22A so as to be integrated (fixed).
  • the armature 23 includes, for example, a substantially cylindrical core 24 made of a magnetic material, and a plurality of coils 25A, 25B, 25C provided on the core 24 and constituting the coil member 25 (that is, u-phase coil 25A, v-phase coil 25B , W-phase coil 25C).
  • the number of coil members 25 is not limited to three, and may be appropriately changed according to design specifications and the like, for example, six, nine, and twelve.
  • the mover 26 is a tube 27 as a yoke (outer cylinder) disposed on the outer peripheral side of the armature 23 (the core 24 and the coils 25A, 25B, 25C) and extends inside the tube 27 in the stroke direction. It comprises a guide rod 28 and a plurality of permanent magnets 31 as magnetic members provided in the tube 27 and facing the coils 25A, 25B, 25C with a gap in the radial direction.
  • the tube 27 is formed in a cylindrical shape with a bottom using, for example, a magnetic material that forms a magnetic path when placed in a magnetic field, such as carbon steel pipe for machine structure (STKM 12A), and extends in the axial direction that is the stroke direction. ing. That is, the tube 27 forms a magnetic circuit of the actuator 7 by using a magnetic material, and also has a function as a cover for preventing leakage of the magnetic flux of the permanent magnet 31 described later to the outside.
  • a magnetic material that forms a magnetic path when placed in a magnetic field
  • STKM 12A carbon steel pipe for machine structure
  • the tube 27 is positioned at a cylindrical portion 27A extending in the axial direction, a bottom portion 27B closing the other end side (lower end side in FIG. 4) of the cylindrical portion 27A, and an opening side (one end side) of the cylindrical portion 27A.
  • the annular bearing mounting portion 27C extends inward in the radial direction toward the rod 22 side of the stator 21.
  • a plurality of permanent magnets 31 are arranged in line in the axial direction inside the cylindrical portion 27A.
  • the bottom 27B is provided with a guide rod 28 located inside the cylinder 27A and extending in the axial direction from the bottom 27B to the inside of the armature 23 (the inside of the inner cylinder 22C of the rod 22).
  • the guide rod 28 slides relative to the inside of the inner cylindrical portion 22C of the rod 22 in the axial direction via the first and second bearings 29A and 29B.
  • the first bearing 29A is provided, for example, on the inner peripheral side of the rod 22 (inner cylindrical portion 22C)
  • the second bearing 29B is provided, for example, on the inner peripheral side of the core 24.
  • the guide rod 28 adopts a configuration in which the guide rod 28 is formed integrally with the bottom of the tube 27 with the tube 27 or a configuration in which the guide rod 28 separate from the tube 27 is fixed to the bottom 27B using screws or bolts. can do.
  • a mounting eye 27D is provided on the bottom 27B of the tube 27 so as to be opposite to the guide rod 28 in the axial direction.
  • the mounting eye 27D is a mounting member for mounting the tube 27 on the unsprung member (the carriage 3 side) of the vehicle.
  • a third bearing 30 formed of a sliding member such as a bearing, a sleeve, and the like slidingly contacting the outer peripheral surface of the rod 22 is provided on the inner peripheral surface of the bearing mounting portion 27C.
  • the bearing mounting portion 27C and the third bearing 30 constitute a rod guide that slidably supports the rod 22 in the axial direction.
  • the permanent magnets 31 axially adjacent to each other have, for example, opposite polarities.
  • the even-numbered permanent magnet 31 counted from the one end is The inner circumferential surface side is an S pole and the outer circumferential surface side is an N pole.
  • each permanent magnet 31 may be, for example, a ring magnet formed integrally in a cylindrical shape, or a segmented segment magnet formed in an annular shape by arranging a plurality of arc-shaped magnet elements in the circumferential direction. Can.
  • the number of permanent magnets 31 is not limited to the illustrated example.
  • the tube 27 constituting the yoke is preferably a magnetic body from the viewpoint of magnetic circuit and magnetic leakage, but at least one of the third bearing 30 and the bearing mounting portion 27C is preferably a nonmagnetic body.
  • the temperature sensors 32 and 33 are sensors that detect the heat generation temperature of the armature 23 (coil member 25).
  • the u-phase temperature sensor 32 is disposed in the vicinity of the coil 25A (that is, the u-phase coil 25A) which easily rises in temperature with operation in the normal stroke region, and the w-phase temperature sensor 33 is heated. It is arrange
  • These temperature sensors 32, 33 are respectively disposed on the armature 23 (near the coil member 25) of the actuator 7 (the first actuators 7A, 7C and the second actuators 7B, 7D).
  • the temperature sensor 32 (FL) shown in FIG. 3 detects the temperature in the vicinity of the u-phase coil 25A as an output value T1u
  • the temperature sensor 33 (FL) detects the temperature in the vicinity of the w-phase coil 25C as, for example, an output value T1w.
  • the temperature sensor 32 (FR) detects the temperature near the u-phase coil 25A as, for example, the output value T2u
  • the temperature sensor 33 (FR ) Detects the temperature near the w-phase coil 25C as an output value T2w, for example.
  • the temperature sensor 32 (RL) shown in FIG. 3 detects the temperature near the u-phase coil 25A as the output value T3u, for example, The sensor 33 (RL) detects the temperature in the vicinity of the w-phase coil 25C as, for example, an output value T3w.
  • the temperature sensor 32 (RR) detects the temperature near the u-phase coil 25A as, for example, the output value T4u, and the temperature sensor 33 (RR ) Detects the temperature near the w-phase coil 25C as, for example, an output value T4w.
  • the v-phase coil 25B located midway between the u-phase coil 25A and the w-phase coil 25C tends to have the highest temperature. Therefore, the detection temperature of the u-phase coil 25A and the w-phase coil 25C on both sides (output values T1u and T1w of the temperature sensors 32 and 33) is the upper limit temperature for maintaining the durability and life of the v-phase coil 25B.
  • the first upper temperature limit T ⁇ is determined as derived from the above in consideration of the thermal resistance.
  • the controller 13 of the control device 10 performs the first actuator Control is performed to limit the temperature rise by limiting the output of 7A. This point is the same for the other actuators 7 B to 7 D, so the description will be omitted.
  • the second temperature upper limit value T ⁇ is, for example, the durability of the u-phase coil 25A, the temperature which is the upper limit for maintaining the life, the detection temperature of the w-phase coil 25C on the opposite side (output value of the temperature sensor 33 T1w) can be derived in consideration of thermal resistance, or the durability of w-phase coil 25C, the upper limit temperature for maintaining the life is the detected temperature of u-phase coil 25A on the opposite side (output value of temperature sensor 32 It is a temperature upper limit value set so as to be derived in consideration of the thermal resistance from T1 u). As described above, since the first temperature upper limit value T ⁇ and the second temperature upper limit value T ⁇ are different in thermal resistance to be considered, the first temperature upper limit value T ⁇ is the second temperature upper limit value T ⁇ . The temperature is higher than that (T ⁇ > T ⁇ ).
  • the first pattern for performing abnormality determination (failure determination) of the temperature sensors 32 and 33 is the temperature at the start of detection with the characteristic line 35 indicated by a dotted line, as opposed to the characteristic line 34 at the normal time indicated by a solid line in FIG. Is a failure pattern in which the temperature is lower than the lower limit threshold. Further, another characteristic line 36 indicated by a dotted line is a failure pattern in which the detected temperature is higher than the upper limit threshold.
  • the output value (detected temperature) of the temperature sensors 32 and 33 is provided with an upper threshold and a lower threshold. When it becomes, it becomes possible to detect failure of temperature sensors 32 and 33 appropriately by judging as sensor abnormalities.
  • the characteristic line 37 shown by the dotted line shifts at almost the same temperature although the temperature after the start of detection is slightly higher than the lower limit threshold, compared to the normal characteristic line 34 shown by the solid line. It is a failure pattern.
  • the other characteristic line 38 indicated by the dotted line has a failure pattern in which the temperature after the start of detection is slightly lower than the upper threshold but changes at substantially the same temperature.
  • the temperature sensor 32 or 33 is peeled off from the object to be measured (for example, the coil 25A or 25C), or the output value is fixed at a constant value due to a failure of the temperature sensor body or the measuring circuit. That's the case.
  • the failure detection method changes depending on the value at which the output values of the temperature sensors 32, 33 are fixed. For example, in the case of sticking above the upper threshold or below the lower threshold, it is a simple output abnormality and can be detected as a sensor failure. However, when sticking within the normal range (more than the lower limit threshold and less than the upper limit threshold), for example, the temperature which becomes an abnormality candidate depending on whether the deviation is large compared with the output value of the temperature sensor provided in the other actuator 7 Although the sensor can be detected, it is not possible to specify an abnormal axis (which actuator 7 has a failure of the temperature sensor). The reason is that when a plurality of temperature sensors are in the normal range, it is necessary to determine which sensor output value is considered to be normal, and it is difficult to identify an abnormal axis.
  • the third pattern shown in FIG. 7 is the characteristic line 34 shown by the dotted line, while the characteristic line 34 shown by the dotted line has a gradually lower temperature than the characteristic line 34 shown by the solid line.
  • the third pattern of such a failure is when the temperature sensor 32 or 33 peels off only a part of the object to be measured, and the change in output value becomes gentler than that in the normal state.
  • the time constant of the output value of the temperature sensors 32 and 33 is large because a gap is formed between the temperature sensor 32 or 33 and the object to be measured.
  • the output difference between the normal state and the abnormal state is small, it is difficult to detect an abnormality due to the difference (output difference) between the output values of the plurality of temperature sensors. That is, in an environment where there is a temperature imbalance, it is difficult to determine whether the output value of the temperature sensor is higher or lower than that in the normal state. For example, by calculating the output difference (deviation) with another temperature sensor, it is possible to judge that the temperature sensor has a failure when the deviation exceeds a certain threshold, but in this case, the temperature sensor has a failure. It can not be determined whether it is a temperature difference due to the above or a temperature difference due to temperature imbalance, and there is a possibility that it may be erroneously detected as a failure of the temperature sensor.
  • the control device 10 includes two sensor value comparison and determination units (a sensor value comparison and determination unit 14 between two carriages, and a sensor value comparison and determination unit 15 for the same carriage) And a sensor abnormality determination unit 16.
  • a sensor value comparison and determination unit 14 between two carriages, and a sensor value comparison and determination unit 15 for the same carriage
  • a sensor abnormality determination unit 16 As a result, even if any one of the plurality of temperature sensors 32, 33 attached to the actuator 7 (the first actuators 7A, 7C and the second actuators 7B, 7D in FIG. 2) becomes abnormal, the output is It is made possible to identify a failed temperature sensor by mutual comparison of values.
  • the sensor value comparison / determination unit 14 between two bogies follows one processing procedure shown in FIG. 8 described later (for example, the bogie 3 on the front side) and the other bogie (for example, the bogie 3 on the rear side) While comparing the output values T1u and T3u of the in-phase temperature sensors 32 provided in the first actuators 7A and 7C with each other, and comparing the output values T1w and T3w of the other in-phase temperature sensors 33 The output values T2u and T4u of the in-phase temperature sensors 32 provided in the second actuators 7B and 7D are compared, and a comparison operation is performed to compare the output values T2w and T4w of the other in-phase temperature sensors 33.
  • the sensor value comparison and determination unit 14 between the two bogies is the difference between the output values T1u and T3u of the temperature sensors 32 provided in the first actuators 7A and 7C (more specifically, the absolute value of the difference between the two). It is determined whether or not
  • the sensor value comparison and determination unit 14 between the two bogies is the difference between the output values T2u and T4u of the temperature sensors 32 provided in the second actuators 7B and 7D (more specifically, the absolute value of the difference between the two). It is determined whether or not
  • the sensor value comparison / determination unit 14 between the two bogies is, for example, the output value T1u of the temperature sensor 32 that detects the temperature near the u-phase coil 25A in the first actuator 7A of the bogie 3 on the front side, In the same manner as the output value T3u of the temperature sensor 32 which similarly detects the temperature near the u-phase coil 25A in one actuator 7C, left and right in the traveling direction (for example, arrow A direction) between different bogies 3 of the same vehicle.
  • Temperature sensors attached to the same phase of the first and second actuators 7A and 7C (or to the right and left of the second actuators 7B and 7D) mounted on the same side (left side) of the direction The respective output values are mutually compared among 32 (or each temperature sensor 33).
  • the rail 5 on the left side of the railway vehicle 1 and the right side The effect of the difference of the track 5 of the rail 5 (track deviation) or the difference of the input condition accompanying the track curve can be suppressed small, and the influence of the input from the track to the truck 3 and the car 2 is almost equal before and after can do.
  • the front and rear first actuators 7A and 7C (or the front and rear second actuators 7B and 7D) mounted on the same side in the left and right directions of the vehicle also have conditions for the cooling air received by each. It becomes almost equal.
  • the front and rear first actuators 7A and 7C (or the front and rear second actuators 7B and 7D) mounted on the same side in the left and right directions of the vehicle are respectively generated Since the effects of the thrust and the heat generated by the thrust and the cooling air are almost equal, the output values of the temperature sensor 32 for detecting the temperature in the vicinity of the u-phase coil 25A become equal, and the temperature in the vicinity of the w-phase coil 25C is detected. It can be said that the output values of the temperature sensor 33 are almost equal.
  • the sensor value comparison / determination unit 14 between the two bogies compares the difference between the output values of the temperature sensors, which are substantially equal, as in steps 2, 4, 6 and 8 shown in FIG. If it is above the threshold Ta, it is determined that one of the two temperature sensors above the threshold Ta is abnormal as in steps 3, 5, 7, and 9.
  • of the difference between them is
  • 70K
  • is, for example, equal to or greater than the determination threshold Ta of 40K, and one of the temperature sensor 32 of the output value T1u and the temperature sensor 32 of the output value T3u is determined to be abnormal. Then, “error determination candidate 1” is stored in the memory 12 in step 11 described later.
  • abnormality determination candidate 1 in this case is one of the two temperature sensors, and it is not possible to identify the faulty temperature sensor that has become abnormal by this. In other words, whether the temperature sensor 32 with the output value T1u or the output value T3u is peeled off from the object to be measured and an appropriate temperature can not be obtained, or for the temperature sensor 32 or the temperature sensor of either the output value T1u or the output value T3u It can not be determined whether the circuit of (4) has broken down and stuck at a fixed value or there is another cause other than that.
  • the sensor value comparison and determination unit 15 in the same carriage compares and determines from another viewpoint and records (stores) the abnormality determination candidate 2 of the temperature sensor, and the sensor abnormality determination unit 16 thereafter determines two abnormalities. From the candidates 1 and 2, the temperature sensor satisfying the AND condition is regarded as abnormal, and the failure of the temperature sensor is determined.
  • the sensor value comparison and determination unit 15 for the same carriage is provided to the first and second actuators 7A and 7B in one carriage (for example, the carriage 3 on the front side) in accordance with the processing procedure shown in FIG. 9 described later.
  • the output values T1u and T2u of the in-phase temperature sensors 32 are compared, the output values T1w and T2w of the other in-phase temperature sensors 33 are compared, and the other carriage (for example, the carriage 3 on the rear side) 1, compare the output values T3u and T4u of the in-phase temperature sensors 32 provided in the second actuators 7C and 7D, and compare the output values T3w and T4w of the other in-phase temperature sensors 33 .
  • the sensor value comparison / determination unit 15 compares the output values T1u and T2u of the in-phase temperature sensors 32 provided on the first and second actuators 7A and 7B in the front carriage 3 (absolute value of both The difference between the output values T1w and T2w of the other temperature sensors 33 (the absolute value of the two
  • T12w) is calculated.
  • the output difference between the output values T3u and T4u of the in-phase temperature sensors 32 provided to the first and second actuators 7C and 7D (the absolute value of the both
  • T34u
  • the difference between the output values T3w and T4w of the other temperature sensors 33 (absolute value
  • T34w of the two).
  • the sensor value comparison and determination unit 15 calculates the average value Tave of the output differences (ie, the absolute values of the output differences T12u, T12w, T34u, and T34w) calculated for each identical carriage 3 by the following numbers:
  • the difference ⁇ T12u, ⁇ T12w, ⁇ T34u, ⁇ T34w, which is the difference between each output difference (absolute values T12u, T12w, T34u, T34w) and the average value Tave, is calculated as the following equation 2 .
  • a comparison operation is performed to determine whether these differences .DELTA.T12u, .DELTA.T12w, .DELTA.T34u, .DELTA.T34w are larger than a predetermined determination threshold Tb, for example, whether they are larger than the determination threshold Tb or more. .
  • the sensor value comparison / determination unit 15 in the same carriage obtains the difference between the temperature sensor values of two in-phase two of the temperature sensors 32, 33 attached to one vehicle as the output differences T12u, T12w, T34u, T34w (See step 22 in FIG. 9).
  • the first and second actuators 7A, 7B (7C) mounted separately on the left and right of the same carriage 3 are separated. , 7D) and the same phase temperature sensor output difference.
  • the input conditions associated with the curve are different, and the influence of the cooling air is also different from each other. Therefore, it is considered that there is a temperature difference with a certain width between the first and second actuators 7A and 7B (or between the first and second actuators 7C and 7BD).
  • the temperature differences are output differences T12u, T12w, T34u, T34w obtained in step 22 described later.
  • the average value Tave of these output differences T12u, T12w, T34u, T34w is calculated by the above equation (1). That is, an average value Tave obtained by averaging the temperature difference is calculated.
  • the deviation between the average value Tave calculated in step 23 and the temperature difference (output differences T12u, T12w, T34u, T34w) calculated in step 22 is calculated as differences ⁇ T12u, ⁇ T12w, ⁇ T34u, ⁇ T34w.
  • the largest difference (maximum value ⁇ Tmax1) among the differences ⁇ T12u, ⁇ T12w, ⁇ T34u, and ⁇ T34w is calculated as the largest difference from the average value Tave.
  • the maximum value ⁇ Tmax1 is compared with the determination threshold Tb, and if the maximum value ⁇ Tmax1 is greater than or equal to the determination threshold Tb, either one of the two temperature sensors for which the maximum value ⁇ Tmax1 is obtained is considered abnormal. 27 is stored as "abnormality judgment candidate 2".
  • the sensor abnormality determination unit 16 of the control device 10 determines which of the temperature sensors 32, 33 is based on the determination result of the comparison determination unit 14, 15. It is specified whether or not it is an abnormal temperature sensor.
  • the determination table 40 shown in FIG. 11 determines from the determination results (abnormality determination candidates 1 and 2) of the two comparison determination units 14 and 15 that a temperature sensor that satisfies the AND condition is redundant with both candidates, and the temperature of the failure determination.
  • the case where the sensor is specified as output value T1u, T1w, T4u, T4w, T3u, T3w, T2u, T2w in order from the top is shown.
  • the sensor abnormality determination unit 16 determines the absolute value of the output difference (
  • the vehicle vibration control device of the railway vehicle 1 according to the first embodiment has the above-described configuration, and its operation will be described next.
  • the acceleration sensor 9 on the first actuator 7A side detects the vibration of the front left side (FL) of the vehicle body 2
  • the acceleration sensor 9 on the second actuator 7B side vibrates the front right side (FR) of the vehicle body 2.
  • the acceleration sensor 9 on the first actuator 7C side detects the vibration of the rear left side (RL) of the vehicle body 2
  • the acceleration sensor 9 on the second actuator 7D side detects the vibration of the rear right side (RR) of the vehicle body 2.
  • the controller 13 of the control device 10 determines, for example, FL, FR, and RL to suppress the vibration of the railway vehicle 1 while discriminating the signals detected by the respective acceleration sensors 9 as detection signals of the individual vehicle behavior (acceleration).
  • the target damping forces to be generated by the actuators 7 (the first actuators 7A and 7C and the second actuators 7B and 7D) on the RR side are calculated.
  • the first actuators 7A, 7C and the second actuators 7B, 7D are variably controlled so that the generated damping forces have characteristics in accordance with the target damping forces, according to the command signals individually output from the controller 13. Be done.
  • the conventional vehicle vibration control apparatus that is, a vehicle vibration control apparatus of a railway vehicle using an actuator in which two temperature sensors are arranged
  • failure patterns of the temperature sensors for example, the first shown in FIGS.
  • one temperature sensor fails, in the prior art, there is a possibility that all temperature sensors may be judged as abnormal although the remaining temperature sensors operate normally.
  • the control device 10 shown in FIG. 3 includes the sensor value comparison and determination unit 14 between two carriages, the sensor value comparison and determination unit 15 for the same carriage, and the sensor malfunction determination unit 16
  • the control process shown in FIGS. 8 to 10 it is possible to reliably specify an abnormal temperature sensor even if any of the total eight temperature sensors 32 and 33 become abnormal. I am able to do it.
  • the sensor value comparison / determination unit 14 between the two carts detects the temperature detection signals (output values T1u, T1w, T2u) output from a total of eight temperature sensors 32, 33 in step 1. , T2w, T3u, T3w, T4u, T4w). That is, in the first actuator 7A on the front left side (FL) provided on the front carriage 3, the temperature sensor 32 (FL) detects the temperature near the u-phase coil 25A as the output value T1u, and the temperature sensor 33 (FL ) Detects the temperature near the w-phase coil 25C as an output value T1w.
  • the temperature sensor 32 (FR) detects the temperature near the u-phase coil 25A as an output value T2u
  • the temperature sensor 33 (FR ) Detects the temperature near the w-phase coil 25C as an output value T2w.
  • the temperature sensor 32 (RL) detects the temperature near the u-phase coil 25A as an output value T3u
  • the temperature sensor 33 (RL) The temperature near the w-phase coil 25C is detected as an output value T3w.
  • the temperature sensor 32 (RR) detects the temperature near the u-phase coil 25A as an output value T4u
  • the temperature sensor 33 (RR ) Detects the temperature near the w-phase coil 25C as an output value T4w.
  • an output value T1u of the temperature sensor 32 (FL) provided in the front first actuator 7A and an output value T3u of the temperature sensor 32 (RL) provided in the rear first actuator 7C Is calculated as an absolute value (
  • step 2 When “YES” is determined in step 2, the absolute value (
  • the output value T1w of the temperature sensor 33 (FL) provided in the front first actuator 7A and the output value T3w of the temperature sensor 33 (RL) provided in the rear first actuator 7C Is calculated as an absolute value (
  • ) of the difference between the output values T1w and T3w is larger than the threshold Ta for determination of abnormality, so the output value in the next step 5
  • One of the temperature sensors 33 of T1w and T3w can be determined to be abnormal.
  • the temperature sensors 33 of the output values T1w and T3w can determine that neither is abnormal.
  • the output value T2u of the temperature sensor 32 (FR) provided in the front second actuator 7B and the output value T4u of the temperature sensor 32 (RR) provided in the rear second actuator 7D Is calculated as an absolute value (
  • step 6 When it is determined “YES” in step 6, the absolute value (
  • the output value T2w of the temperature sensor 33 (FR) provided in the front second actuator 7B and the output value T4w of the temperature sensor 33 (RR) provided in the rear second actuator 7D Is calculated as an absolute value (
  • ) of the difference between the output values T2w and T4w is larger than the threshold value Ta for determination of abnormality, so the output value in the next step 9
  • One of the temperature sensors 33 of T2w and T4w can be determined to be abnormal. Further, when it is determined “NO” in step 8, the temperature sensors 33 of the output values T2w and T4w can determine that neither is abnormal.
  • step 10 it is determined whether or not any abnormality occurs in any of the temperature sensors 32, 33, and when “NO” is determined, an abnormality occurs in any of the temperature sensors 32, 33. Since the process has not been performed, the process returns to step 1 to continue the subsequent processes. However, when the determination in step 10 is “YES”, the temperature sensor 32 or 33 is determined to be abnormal in any one of the steps 3, 5, 7 or 9.
  • the temperature sensor 32 or 33 judged to be abnormal ie, the temperature sensor 32 with the output value T1u or T3u, the temperature sensor 33 with the output value T1w or T3w, the temperature sensor with the output value T2u or T4u
  • the memory 12 stores the output value T2w or the temperature sensor 33 having the output value T2w or T4w in the memory 12 as the "abnormality determination candidate 1". Then, at step 12, the process returns to the main flow (not shown).
  • the sensor value comparison / determination unit 15 in the same carriage detects the temperature output from the total of eight temperature sensors 32 and 33 in the same manner as step 1 in step 21. Output values T1u, T1w, T2u, T2w, T3u, T3w, T4u, T4w) as signals are read. In the next step 22, the output values T1u and T2u of the in-phase temperature sensors 32 provided on the first and second actuators 7A and 7B are compared with each other in the front carriage 3, and the other in-phase temperature sensors 33 are compared.
  • the output values T1w and T2w are compared with each other, and the output values T3u and T4u of the in-phase temperature sensor 32 provided in the first and second actuators 7C and 7D in the rear carriage 3 are compared with each other.
  • a comparison operation is performed to compare the output values T3w and T4w of the in-phase temperature sensor 33 with each other.
  • the sensor value comparison and determination unit 15 outputs the difference between the output values T1u and T2u of the in-phase temperature sensors 32 provided on the first and second actuators 7A and 7B of the front carriage 3 (absolute value of both The value
  • T12u) and the output difference between the output values T1w and T2w of the other temperature sensors 33 (the absolute value of the two
  • T12w) is calculated.
  • the output difference between the output values T3u and T4u of the in-phase temperature sensors 32 provided to the first and second actuators 7C and 7D (absolute value
  • T34u of both)
  • the difference between the output values T3w and T4w of the other temperature sensors 33 (absolute value
  • T34u of the two) is calculated.
  • the average value Tave of the output differences T12u, T12w, T34u, T34w is calculated by the equation (1).
  • differences ⁇ T12u, ⁇ T12w, ⁇ T34u, ⁇ T34w, which are deviations between the output differences (absolute values T12u, T12w, T34u, T34w) and the average value Tave are calculated according to the equation (2).
  • the largest difference among the differences ⁇ T12u, ⁇ T12w, ⁇ T34u, and ⁇ T34w according to Equation 2 is calculated as the maximum value ⁇ Tmax1.
  • next step 26 it is determined whether the maximum value ⁇ Tmax1 is larger than a predetermined threshold Tb for determination of abnormality, for example, whether it is larger than the threshold Tb for determination.
  • the maximum value ⁇ Tmax1 is smaller than the determination threshold Tb, and in this case, all differences ⁇ T12u, ⁇ T12w, ⁇ T34u, and ⁇ T34w are smaller than the determination threshold Tb.
  • the output differences T12u, T12w, T34u, and T34w are values close to the average value Tave, and it can be determined that the deviation from the average value Tave is small enough to be ignored.
  • the temperature sensors 32 for the output values T1u, T2u, T3u, and T4u and the temperature sensors 33 for the output values T1w, T2w, T3w, and T4w are not abnormal but are operating normally. Can. Therefore, when it is determined as "NO" in step 26, all the temperature sensors 32, 33 determine that they are normal, return to the step 21, and continue the subsequent processing.
  • the maximum value ⁇ Tmax1 is equal to or greater than the threshold Tb for determining abnormality, and the largest difference (maximum value ⁇ Tmax1) among the differences ⁇ T12u, ⁇ T12w, ⁇ T34u, ⁇ T34w is abnormal.
  • the threshold value Tb is greater than or equal to the determination threshold Tb.
  • the temperature sensor 32 with the output value T1u or T2u, the temperature sensor 33 with the output value T1w or T2w, the temperature sensor 32 with the output value T3u or T4u, or the temperature sensor 33 with the output value T3w or T4w are stored in the memory 12 as “abnormality judgment candidate 2” as shown in FIG. 11, for example. Then, at step 28, the process returns to the main flow (not shown).
  • the sensor malfunction determination unit 16 of the control device 10 reads “fault decision candidate 1” in step 31 (see FIG. 8). Further, at step 32, "abnormality determination candidate 2" at step 27 (see FIG. 9) is read.
  • step 33 it is determined whether or not there are overlapping temperature sensors 32 or 33 between the aforementioned "abnormality judgment candidate 1" and "abnormality judgment candidate 2".
  • the process returns to step 31 to continue the subsequent processing.
  • “YES” is determined in step 33, there is a temperature sensor that satisfies the AND condition that is duplicated in the two abnormality determination candidates 1 and 2 as in the determination table 40 shown in FIG. 11, for example. And determine that the corresponding temperature sensor is at fault.
  • the sensor abnormality determination unit 16 of the control device 10 outputs the temperature sensors satisfying the AND condition overlapping in the two abnormality determination candidates 1 and 2 as the temperature sensor for determining the failure in order from the top according to the determination table 40 shown in FIG.
  • the temperature sensor 33 of the output value T2w is
  • the output values T1u, T1w, T3u, T3w of the in-phase temperature sensors 32, 33 provided on the first actuators 7A, 7C between the two carriages 3 are compared
  • the sensor value comparison and determination unit 14 between the two bogies for comparing the output values T2u, T2w, T4u, and T4w of the in-phase temperature sensors 32, 33 provided in the second actuators 7B and 7D;
  • the output values T1u, T1w, T2u, T2w of the in-phase temperature sensors 32, 33 provided in the first and second actuators 7A, 7B in the carriage 3 are compared, and in the rear carriage 3, the first, second 2)
  • the sensor value comparison and determination unit 15 with the same carriage that compares the output values T3u, T3w, T4u, and T4w of the in-phase temperature sensors 32, 33 provided in the actuators 7C and 7D, and the comparison and determination unit 14 Based on the 15 of the determination result (abnormality judgment candidates 1, 2) and
  • the abnormality judgment candidate 1 judged to be abnormal by the sensor value comparison judgment unit 14 between the two bogies and the sensor value comparison judgment unit 15 with the same bogie are judged as abnormalities.
  • the sensor abnormality determination unit 16 determines whether or not there is a temperature sensor 32 or 33 overlapping in the abnormality determination candidates 1 and 2.
  • the controllable temperature changing portion 13B of the controller 13 controls the first controllable temperature threshold value. It is changed to a second temperature upper limit value T ⁇ which is smaller than the temperature upper limit value T ⁇ . Then, after the change of the controllable temperature threshold value, drive control of the actuator 7 is continued based on a detection signal (output value) of a normal temperature sensor among the plurality of temperature sensors 32 and 33 in which no abnormality is detected. Can be done. This makes it possible to secure the ride comfort of the vehicle that is originally expected.
  • any one of the temperature sensors 32 and 33 mounted in the vicinity of the coils 25A and 25C of the first actuators 7A and 7C and the second actuators 7B and 7D is considered to be abnormal. Even in this case, an abnormal sensor (failed temperature sensor) can be properly identified.
  • the abnormality of the temperature sensor the temperature sensor in which the abnormality is occurring
  • the risk of the failure mode of firing and smoking of the first actuators 7A and 7C and the second actuators 7B and 7D is reduced. Can be enhanced.
  • the present invention is not limited to this, and for example, it is determined whether or not any of the differences ⁇ T12u, ⁇ T12w, ⁇ T34u, ⁇ T34w is greater than or equal to the threshold Tb in comparison with the determination threshold Tb. It may be configured to detect (determine) the abnormality judgment candidate 2 ".
  • FIGS. 12 and 13 show a second embodiment.
  • the same components as those in the first embodiment described above are denoted by the same reference numerals, and the description thereof will be omitted.
  • the feature of the second embodiment is that the difference between the output value of each temperature sensor is calculated from the difference in output change per fixed time for each temperature sensor, and the temperature based on the temperature change within the fixed time A gradient is used to identify an abnormal temperature sensor.
  • the detection signals of the temperature sensors 32 and 33 use the respective instantaneous values as output values T1u, T1w, T2u, T2w, T3u, T3w, T4u, T4w, and these output values are used.
  • the calculation of the failure determination of the sensor is performed from the difference of Therefore, when noise is included in the detection signals of the temperature sensors 32, 33, there is a possibility that the failure of the temperature sensors 32, 33 may be erroneously detected. Therefore, control processing according to the second embodiment in which such a defect is improved will be described with reference to FIGS. 12 and 13.
  • the processing procedure shown in FIG. 12 shows a specific example of the comparison determination processing by the sensor value comparison / determination unit 14 between two carriages, and the sensor value in the carriage having the same processing procedure shown in FIG.
  • the specific example of the comparison determination process by the comparison determination part 15 is shown.
  • the sensor value comparison / determination unit 14 between the two bogies detects the temperature detection signals (output values T1u, T1w, T2u) output from a total of eight temperature sensors 32, 33 in step 41.
  • T2w, T3u, T3w, T4u, T4w) are calculated as differences ⁇ T1u, ⁇ T1w, ⁇ T2u, ⁇ T2w, ⁇ T3u, ⁇ T3w, ⁇ T4u, ⁇ T4w between the output changes per fixed time for each of the temperature sensors 32 and 33.
  • the difference ⁇ T1u (corresponding to the output value T1u) of the change in output per unit time of the temperature sensor 32 (FL) provided in the front first actuator 7A and the first actuator 7C on the rear side are provided.
  • the deviation from the difference ⁇ T1u (corresponding to the output value T3u) of the change in output per fixed time of the detected temperature sensor 32 (RL) is calculated as an absolute value (
  • step 42 When it is determined “YES” in step 42, the absolute value (
  • the difference .DELTA.T1w (corresponding to the output value T1w) of the change in output per unit time of the temperature sensor 33 (FL) provided in the first actuator 7A on the front side and the first actuator 7C on the rear side are provided.
  • the deviation from the difference ⁇ T3w (corresponding to the output value T3w) of the change in output per fixed time of the detected temperature sensor 33 (RL) is calculated as an absolute value (
  • step 44 When it is determined “YES” in step 44, the absolute value (
  • One of the temperature sensors 33 having the output values T1w and T3w can be determined to be abnormal. Further, when the determination in step 44 is “NO”, the temperature sensors 33 of the output values T1w and T3w can be determined to be normal, not abnormal.
  • the difference ⁇ T2u (corresponding to the output value T2u) of the change in output per unit time of the temperature sensor 32 (FR) provided in the second actuator 7B on the front side and the second actuator 7D on the rear side The deviation from the difference ⁇ T4u (corresponding to the output value T4u) of the change in output per fixed time of the detected temperature sensor 32 (RR) is calculated as an absolute value (
  • step 46 When it is determined “YES” in step 46, the absolute value (
  • the difference ⁇ T2w (corresponding to the output value T2w) of the change in output per unit time of the temperature sensor 33 (FR) provided in the second actuator 7B on the front side and the second actuator 7D on the rear side The deviation from the difference ⁇ T4w (corresponding to the output value T4w) of the change in output per fixed time of the detected temperature sensor 33 (RR) is calculated as an absolute value (
  • step 48 When it is determined “YES” in step 48, the absolute value (
  • step 50 it is determined whether or not an abnormality has occurred in any of the temperature sensors 32, 33.
  • the determination is "NO"
  • an abnormality occurs in any of the temperature sensors 32, 33. Since the process has not been performed, the process returns to step 41 to continue the subsequent processes.
  • the determination in step 50 is "YES"
  • the temperature sensor 32 or 33 is determined to be abnormal in any of the steps 43, 45, 47 or 49.
  • the temperature sensor 32 or 33 judged to be abnormal ie, the temperature sensor 32 with the output value T1u or T3u, the temperature sensor 33 with the output value T1w or T3w, the temperature sensor with the output value T2u or T4u
  • the memory 12 stores the output value T2w or the temperature sensor 33 having the output value T2w or T4w in the memory 12 as the "abnormality determination candidate 1".
  • the process returns to the main flow (not shown).
  • the sensor value comparison / determination unit 15 in the same carriage detects the temperature output from the total of eight temperature sensors 32 and 33 in the same manner as step 41 in step 61.
  • the signals (output values T1u, T1w, T2u, T2w, T3u, T3w, T4u, T4w) are output difference differences ⁇ T1u, ⁇ T1w, ⁇ T2u, ⁇ T2w, ⁇ T3u, ⁇ T3w, ⁇ T3w, ⁇ T3w, ⁇ T3w, ⁇ T3w, ⁇ T3w, ⁇ T3w Calculated as ⁇ T4u and ⁇ T4w.
  • the differences ⁇ T1u and ⁇ T2u in the output change per fixed time of the in-phase temperature sensors 32 provided in the first and second actuators 7A and 7B in the front carriage 3 are compared with each other
  • the differences ⁇ T1w, ⁇ T2w of the output change per fixed time of the in-phase temperature sensor 33 are compared, and the in-phase temperature sensors 32 provided on the first and second actuators 7C and 7D in the rear carriage 3 respectively
  • a comparison operation is performed to compare the differences .DELTA.T3u and .DELTA.T4u in the output change per fixed time, and to compare the differences .DELTA.T3w and .DELTA.T4w in the output change per fixed time of the other in-phase temperature sensor 33.
  • the sensor value comparison and determination unit 15 determines the difference .DELTA.T1u (the output value T1u) of the output change per unit time of the temperature sensor 32 provided in the first and second actuators 7A and 7B of the front carriage 3.
  • the difference ⁇ T3u (corresponding to the output value T3u) of the change in output of the temperature sensor 32 provided in the first and second actuators 7C and 7D per unit time and the difference ⁇ T4u (the output change)
  • ⁇ T34u), the difference ⁇ T3w (corresponding to the output value T3w) of the change in the output of the other temperature sensor 33 per fixed time, and the change in the output
  • ⁇ T34w) of the difference ⁇ T4w (corresponding to the output value T4w) is calculated.
  • the average value Tave of the output differences (absolute values ⁇ T12u, ⁇ T12w, ⁇ T34u, ⁇ T34w) is calculated by the following equation (3).
  • differences d.DELTA.T12u, d.DELTA.T12w, d.DELTA.T34u, d.DELTA.T34w, which are deviations between the respective output differences (absolute values .DELTA.T12u, .DELTA.T12w, .DELTA.T34u, .DELTA.T34w) and the average value Tave are calculated according to the following equation (4).
  • the largest difference among the differences d.DELTA.T12u, d.DELTA.T12w, d.DELTA.T34u, d.DELTA.T34w according to equation 4 is calculated as the maximum value .DELTA.Tmax2.
  • step 66 it is determined whether the maximum value ⁇ Tmax2 is larger than a predetermined threshold Tb for determination of abnormality, for example, whether it is larger than the threshold Tb for determination.
  • the maximum value ⁇ Tmax2 is smaller than the determination threshold Tb, and in this case, all differences d ⁇ T12u, d ⁇ T12w, d ⁇ T34u, d ⁇ T34w are smaller than the determination threshold Tb.
  • the output difference absolute values ⁇ T12u, ⁇ T12w, ⁇ T34u, ⁇ T34w
  • the output difference is a value close to the average value Tave, and the deviation from the average value Tave is small enough to be ignored.
  • step 66 when it is determined that the temperature sensors 32 for the output values T1u, T2u, T3u, and T4u and the temperature sensors 33 for the output values T1w, T2w, T3w, and T4w are not abnormal but are operating normally. Can. Therefore, when it is determined as "NO" in step 66, all the temperature sensors 32, 33 determine that they are normal, return to the step 61, and continue the processing thereafter.
  • the maximum value ⁇ Tmax2 is equal to or greater than the threshold Tb for determining abnormality, and the largest difference (maximum value d ⁇ Tmax2) among the differences d ⁇ T12u, d ⁇ T12w, d ⁇ T34u, d ⁇ T34w is an abnormality.
  • the threshold value Tb is greater than or equal to the determination threshold Tb.
  • the temperature sensor 32 with the output value T1u or T2u, the temperature sensor 33 with the output value T1w or T2w, the temperature sensor 32 with the output value T3u or T4u, or the temperature sensor 33 with the output value T3w or T4w are stored in the memory 12 as “abnormality judgment candidate 2” as shown in FIG. 11, for example. Then, at step 68, the process returns to the main flow (not shown).
  • the sensor malfunction determination unit 16 of the control device 10 converts the “fault determination candidate 1” and the “fault determination candidate 2” described above. It is determined whether or not there are overlapping temperature sensors 32 or 33. For example, as in the determination table 40 shown in FIG. , Determine the corresponding temperature sensor as failure.
  • the difference between the output values of the temperature sensors 32, 33 can be expressed as the difference ⁇ T1u, ⁇ T1w, ⁇ T2u, the change in output per fixed time for each temperature sensor.
  • the abnormal temperature sensor 32 or 33 is specified using a temperature gradient calculated from ⁇ T2w, ⁇ T3u, ⁇ T3w, ⁇ T4u, ⁇ T4w and based on a temperature change in a fixed time.
  • the sensor value comparison / determination unit 14 between the two bogies adopted in the second embodiment is left between the front and rear bogies 3 of the same vehicle with respect to the traveling direction (the direction of arrow A), While comparing the in-phase temperature gradient between the first actuators 7A and 7C mounted on the same side (left side) to the right and comparing the in-phase temperature gradient between the second actuators 7B and 7D mounted on the same right side, From the comparison result, the “abnormality judgment candidate 1” of the temperature sensor 32 or 33 is determined.
  • the sensor value comparison / determination unit 15 in the same carriage adopted in the second embodiment is between the first and second actuators 7A and 7B separately mounted in the left and right directions of the same carriage 3
  • the temperature gradients of the common-mode temperature sensors between the first and second actuators 7C and 7D separately mounted in the left and right directions of the other carriages 3 are compared.
  • an average value Tave of these output differences absolute values ⁇ T12u, ⁇ T12w, ⁇ T34u, ⁇ T34w
  • differences d ⁇ T12u, d ⁇ T12w, d ⁇ T34u, d ⁇ T34w with the average value Tave are larger than the determination threshold Tb or not.
  • the "abnormality judgment candidate 2" of the plurality of temperature sensors 32 or 33 is determined.
  • the sensor abnormality determination unit 16 determines that a common abnormality candidate among the two abnormality determination candidates 1 and 2 is a temperature sensor for a failure that has become abnormal. Identify as For this reason, the output values of the temperature sensors 32 and 33 are not instantaneous values as in the first embodiment, but differences from output change per fixed time ⁇ T1u, ⁇ T1w, ⁇ T2u, ⁇ T2w, ⁇ T3u, ⁇ T3w, ⁇ T4u, ⁇ T4w
  • the temperature sensor 32 or 33 that has become abnormal can be identified using a temperature gradient based on a temperature change.
  • the second embodiment even when noise is included in the detection signals (ie, output values) of the temperature sensors 32 and 33, for example, the influence of the noise can be suppressed.
  • identification of a failed temperature sensor can be stably performed.
  • the present invention is not limited to this, and for example, it is determined whether any of the differences d ⁇ T12u, d ⁇ T12w, d ⁇ T34u, d ⁇ T34w is greater than or equal to the threshold Tb in comparison with the determination threshold Tb. It may be configured to detect (determine) the abnormality judgment candidate 2 ".
  • the u-phase temperature sensor 32 is disposed in the vicinity of the u-phase coil 25A among the plurality of coil members 25 provided in the armature 23 of the actuator 7, and w is disposed in the vicinity of the w-phase coil 25C.
  • the case where the phase temperature sensor 33 is disposed is described as an example.
  • the present invention is not limited to this, and for example, three or more temperature sensors are provided in one actuator, and if at least one of the temperature sensors is normal, an actuator based on the temperature sensor in which no abnormality is detected. The control of the above may be performed as continuously as possible.
  • the vehicle vibration control device includes first and second actuators provided on one of the two bogies of one of the rail cars to generate force, and the two bogies.
  • the other carriage is provided with other first and second actuators that generate a force, and a control device that controls the first actuators and the second actuators.
  • Each of the first and second actuators includes a three-phase linear motor having a temperature sensor in at least one phase coil.
  • the control device compares output values of the in-phase temperature sensors provided to the first actuators between the one carriage and the other carriage, and is provided to the second actuators.
  • a sensor value comparison and determination unit between two bogies for comparing the output values of the respective in-phase temperature sensors, and the respective in-phase temperature sensors provided in the first and second actuators in the one bogie A sensor value comparison and determination unit for the same truck that compares output values and compares output values of the in-phase temperature sensors provided in the first and second actuators in the other truck, and An abnormal temperature sensor among the temperature sensors based on the determination results of the sensor value comparison and determination unit between two bogies and the sensor value comparison and determination unit of the same bogie And a, and the sensor abnormality determination unit that identifies.
  • the in-phase temperature sensors are temperature sensors respectively provided in coils through which the in-phase current of the at least one-phase coils flows. Thereby, an abnormal temperature sensor can be identified.
  • the sensor value comparison and determination unit between the two bogies is a difference between output values of the respective temperature sensors provided in the respective first actuators. Is determined by comparison with a predetermined determination threshold, and it is determined whether the difference between the output values of the respective temperature sensors provided to the respective second actuators is larger than the determination threshold It is determined whether or not the sensor value comparison and determination unit in the same carriage calculates the difference between the output values of the temperature sensors provided in the first and second actuators for each of the same carriages. The average value of the differences between the output values is determined, and the differences between the differences between the output values and the average value are calculated, respectively, and any one of these differences is compared with another predetermined threshold value for determination.
  • the sensor abnormality determination unit compares each of the temperature sensors with the determination threshold value by the sensor value comparison determination unit between the two carriages and the sensor value comparison determination unit with the same carriage among the temperature sensors.
  • the temperature sensor determined to be large is identified as an abnormal temperature sensor. Thereby, even if any temperature sensor becomes abnormal, an abnormal temperature sensor can be specified certainly.
  • the sensor value comparison and determination unit between the two bogies is configured such that the difference between the output values of the respective temperature sensors provided in the respective first actuators is Calculated from the difference in output change per fixed time, and it is determined whether or not this calculated value is larger than a predetermined determination threshold, and each temperature sensor provided to each The difference between the output values of the sensors is calculated from the difference in the output change per fixed time for each temperature sensor, and it is determined whether the calculated value is larger than the threshold value for determination and the sensor with the same truck
  • the value comparison / determination unit calculates the output difference of each of the temperature sensors in each of the bogies from the difference in output change per fixed time for each of the temperature sensors to obtain an average value of the output differences, and Each output difference The difference between the two is calculated, and it is determined whether or not any of these differences is larger than other predetermined determination threshold values, and the sensor abnormality determination unit determines that the sensor abnormality determination unit A temperature sensor that is determined to be larger than each of the determination threshold values by the sensor value comparison
  • the three-phase linear motor of each of the first and second actuators includes the temperature sensor in at least a two-phase coil.
  • each of the first actuators and each of the second actuators is attached between a car body of the railway vehicle and each of the bogies.
  • each of the first actuators and each of the second actuators is attached to the railcar in the upper and lower directions, and each of the first actuators The actuator and the second actuators are spaced apart in the left and right directions of the bogies with respect to the traveling direction of the railway vehicle.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Vehicle Body Suspensions (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
PCT/JP2018/043513 2017-11-28 2018-11-27 車両振動制御装置 WO2019107337A1 (ja)

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