JPS5929454B2 - Speed control device with balance notch calculation circuit - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a speed control device having a constant speed control device that maintains constant speed operation at each speed or speed of each stage.

This type of speed control device is installed, for example, in push-up locomotives used at hump operations.

When operating this push-up locomotive, when the freight train is scattered around the hump yard for each destination line as shown in Figure 1, the command speed is changed every moment as shown in Figure 2 depending on the length of the disassembled train, the timing of point switching, etc. 5 changes. In addition, in Figure 1,
1 is a pushing locomotive, 2 is a freight car, 3 is a separated freight car running freely, and 4 is the top of a hump. Further, 6 indicates the actual vehicle speed.
In order to quickly follow the command speed 5 in terms of dispersion efficiency, when accelerating to the target speed, it accelerates at the highest possible notch (maximum output), and when decelerating, it accelerates at the lowest notch (minimum output).
In a control method that raises and lowers the notch in a fixed time period to decelerate, that is, in a control method that increases the notch during acceleration and down the notch during deceleration, when the target speed is reached, the vehicle speed overshoots and A constant speed running balance notch determined from the train weight, push-up torque, running resistance due to gradient, etc., command speed, etc. is calculated to prevent the train from untanging, and the advance control is forcibly returned to that notch.

By the way, the constant speed control range of hump yards is usually 1 to 5.
Km/ This is control in the ultra-low speed range, and the push-up load is 0 to 1.
In the entire range up to over 1,000 tons, ±O, 2Km/
Generally, speed tracking accuracy of this level is required.
At this time, it is generally considered that as a method of calculating the balance notch, the acceleration/deceleration of the vehicle speed is detected and the balance notch is calculated based on the detected acceleration/deceleration. It is expressed by the following equation. Tensile force F=W·α+ RW: Train weight α: Acceleration (deceleration) speed R: Running resistance In this case, a block diagram of one method for detecting acceleration/deceleration of vehicle speed is shown in FIG.

A pulse frequency proportional to the vehicle speed is outputted from a speed generator □ attached to a speed reduction device at the end of the vehicle, and is applied to the distribution circuit 8. This distribution circuit 8 alternately outputs the pulse frequency from the speed generator T to the (g) or (g) input terminal of the reversible counter 9 at certain fixed time intervals T. When input to the reversible counter 90 (-F) input terminal, the reversible counter 9 performs an addition count, and when input to the (G) input terminal, the value is input for a certain period of time T seconds from the previously added value. subtract the number of pulses. The value remaining in the reversible counter 9 when the subtraction is completed is converted into deceleration by the pulse frequency (Δf) that changed over T seconds, and the value divided by the fixed time limit T is used as the acceleration/deceleration α and β at that time. α, β: Acceleration/Deceleration K: Conversion Constant Δf: Pulse Frequency Deviation T: Pulse Frequency Count Time A certain amount of time (generally 1 to 10 seconds) is required to obtain the acceleration/deceleration rates α and β as above.

For this reason, even when entering the constant speed range, if the balance notch calculation circuit is activated to perform a forced advance/return, the wave period of the speed is not long compared to the calculation time of acceleration/deceleration (acceleration time t>2
(requires a time of T to 3T), true acceleration/deceleration cannot be obtained, which may even cause malfunctions and impair speed tracking. Therefore, the balance notch calculation circuit normally freezes once it enters the constant speed range at point A as shown in FIG. Note that the A point is determined based on the follow-up delay of the motive power (motor, engine, etc.) and the allowable follow-up speed, and does not necessarily match the command speed. However, in a speed control device that detects acceleration/deceleration as described above, calculates the balance notch only when the speed changes or approaches the target speed, and freezes the balance notch calculation circuit when the speed enters the constant speed range. As shown in Figure 5, when the vehicle speed momentarily rises above the actual speed due to wheels spinning during acceleration and enters the constant speed range, this is judged as entering the constant speed range. The balance notch calculation circuit may be frozen. In conventional speed control devices, where the notch is raised and lowered only within a certain period of time, the balance notch calculation circuit is frozen even after the time when the vehicle should have entered the constant speed range, causing the vehicle speed to drop. The actual speed may remain the same as when idling, and the amount of overshoot during acceleration and undershoot during deceleration tends to increase, so until the target speed is reached and stabilized around it. It takes a very long time (to reach the balance notch), which is a big problem in systems where the target speed changes frequently, such as in bump driving, and it has the drawback of not being fully functional. The present invention has been made with the aim of improving such conventional drawbacks.

In the present invention, even if the apparent speed temporarily increases due to idling, reaches a constant speed range, and the balance notch calculation circuit is frozen, idling is detected by comparing the measured actual speed with the commanded speed. This detection automatically unfreezes the balance notch calculation circuit. In this way, since the slipping is temporary, the balance notch calculation circuit starts the steady calculation when the slipping stops and completes the required operation.

FIG. 6 is a block diagram showing one embodiment of the present invention.

In the figure, 12 is a command speed pattern generation circuit, 7 is a speed generator that detects the vehicle speed, and 13 is a command speed p (5 in Figure 4).
) and the vehicle speed Va (6 in FIG. 4), the speed deviation ΔV of the actual speed 6 with respect to the commanded speed 5 is calculated. 1
4 is a comparison circuit that compares the speed deviation ΔV between the target speed Vp and the vehicle speed Va shown in FIG. Set and reset commands are output to the constant speed range entry signal generation circuit 15.

In other words, p-Va>ΔV1 sets the set command to Vp-Va<
This circuit outputs a set command to the constant speed region entry signal generation circuit 15 at ΔV2.

Reference numeral 16 denotes a balance notch calculation circuit that calculates a balance notch based on the acceleration/deceleration calculated by the acceleration/deceleration calculation circuit 17 when approaching the target speed, that is, when the speed changes. When a constant speed region entry signal is received, the calculated value at that time is frozen, and when a reset signal is received, the above-mentioned freezing is released.

Based on this calculation result 16, balance notches (
A command is sent to the fuel control circuit and brake circuit to determine whether there is a balance torque (balance torque). With the above configuration, the comparison circuit detects when the constant speed control region entry point shown in FIG. 4 or FIG. 14, a set signal (triker signal) is sent to the constant speed range entry signal generation circuit 15 to calculate the balance notch, but as shown in Fig. 5, the point A is momentarily exceeded due to slipping or malfunction. The comparator circuit 14 similarly determines whether or not it is the same. In other words, if the motor returns to the region of Vp-Va>ΔV1, it is determined that it is idling or a temporary malfunction, and a reset signal is sent from the comparator circuit 14 to reset the freeze circuit of the constant speed region entry signal generation circuit 15. generate. As a result, when the constant speed range is truly reached, balance notch calculation is performed to quickly converge without overshooting to the target speed. Also, if a low command speed is input during constant speed operation, the brakes will be applied as necessary to decelerate, but at that time, it is assumed that the vehicle suddenly enters the constant speed range due to skidding or temporary malfunction. Similarly to the above acceleration,
By setting/resetting the freezing circuit using the circuit shown in Figure 6, balance notch control is performed when the target speed range is truly reached, and the target speed is reached in a short time without significant undershoot. It converges. As described above, according to the device of the present invention, the speed deviation △V between the speed at the time of measurement and the command speed is detected, and this detected value is compared with each preset deviation value △Vl, △V2, By freezing and unfreezing the balance notch calculation circuit based on this comparison value, it is possible to detect slippage instantly and continuously, and the dispersion efficiency in bump art can also be improved. It is not affected by skids or temporary malfunctions, and the constant speed tracking accuracy can be controlled to the same degree as in the steady state even when the command speed changes, which greatly improves the accuracy. This allows the system to be simplified.

[Brief explanation of the drawing]

FIG. 1 is a schematic explanatory diagram showing a bump art pushing locomotive and freight cars scattered by it, and FIG. 2 is a graph showing the speed control characteristics of the pushing locomotive. FIG. 3 is a block diagram showing the configuration of a conventional acceleration/deceleration measuring device. FIGS. 4 and 5 are graphs showing the acceleration characteristics of the pushing locomotive to a predetermined speed. FIG. 6 is a block diagram showing the configuration of the apparatus of the present invention. Note that the same reference numerals in the figures indicate the same or equivalent members. 1...Pushing locomotive, 2,3...Freight car, 4...Bump top, 5...Command speed, 6...Actual Speed, 7... Speed generator, 8... Distribution circuit, 9... Reversible counter, 10... Decoder, 12... Command Speed pattern generation circuit, 1
3... Adder, 14... Comparison circuit, 1
5... Constant speed region entry signal generation circuit, 16...
...Balance notch calculation circuit, 17... Acceleration/deceleration calculation circuit.

Claims (1)

[Claims] 1. A speed detector that detects the vehicle speed, an acceleration/deceleration calculation circuit that calculates acceleration/deceleration based on the detection output of this speed detector, and a speed deviation △V between the command speed Vp and the detected speed Va of the detector. The adder compares the speed deviation △V with the constant speed range reaching set value △V_2 and the maximum speed deviation △V_1 in the constant speed range, and when the speed deviation ΔV is within the above constant speed range reaching set value △V_2. A comparison circuit that outputs a set signal and outputs a reset signal when the speed deviation is △V_1 or more, and a balance notch calculation circuit that generates a constant speed region entry signal upon receiving the set signal and freezes the balance notch calculation circuit to the calculated value at that point. A speed control device having a balance notch calculation circuit, further comprising a constant speed region entry signal generation circuit that receives the reset signal and unfreezes the balance notch calculation circuit.