TAX AGENCY AND ABORMALITY DETERMINATION PROCEDURES

Abstract

A control unit (20) for controlling power conversion devices comprises a first arithmetic processing unit (21) and a second arithmetic processing unit (22) connected to each other via a transmission line (L1, L2). The first arithmetic processing unit (21) has a first calculator (31) that determines a basic torque command value, which is a common torque command value for motors arranged in a vehicle. The second arithmetic processing unit (22) has a second calculator (41) that adjusts the basic torque command value based on a parameter and thereby determines a shaft torque command value for each of the power conversion devices. This shaft torque command value is a torque command value for one or more motors that are to receive electrical power supplied by the power conversion device.The first arithmetic processing unit (21) includes an abnormality determiner (32) which determines the presence or absence of an abnormality in at least one of the transmission line (L1, L2) or the second computer (41) based on the base torque command value and the shaft torque command values.

Description

Technical field

[0001] The present disclosure relates to a control device and an abnormality determination method. Background Art

[0002] A railway vehicle is equipped with a power conversion device that converts electric power supplied from a power source into electric power supplied to a motor and supplies the resulting electric power to the motor, and a control device that controls a plurality of switching elements included in the power conversion device, thereby causing the power conversion device to perform power conversion. Some types of such control devices have a function for determining the presence or absence of an abnormality in the components. An example of such a control device is disclosed in Patent Literature 1. Citation listPatent literature

[0003] Patent Literature 1: Unexamined Japanese Patent Application Kokai Publication No. H09-107602 Brief description of the inventionTechnical problem

[0004] The control device disclosed in Patent Literature 1 includes an arithmetic central processing unit (CPU) and a monitoring CPU. The arithmetic CPU controls the power conversion device by generating pulse width modulation (PWM) signals according to an input torque command and sending the PWM signals to the power conversion device. The monitoring CPU determines the presence or absence of an abnormality in the arithmetic CPU by comparing the torque command with a motor torque estimated from a measured value of the current flowing from the power conversion device to the motor.

[0005] The motor torque estimated from the measured value of the current flowing from the power conversion device to the motor is affected by disturbance. Therefore, in an environment with large disturbances, the control device disclosed in Patent Literature 1 cannot accurately determine the presence or absence of an abnormality in the arithmetic CPU. This problem may occur in a control device that includes not only a CPU but also each arithmetic processing unit that performs arithmetic calculations.

[0006] The present disclosure has been made in view of the above circumstances, and an object of the present disclosure is to provide a control device and an abnormality determination method that make it possible to accurately determine the presence or absence of an abnormality. Solution to the problem

[0007] To achieve the above-mentioned object, a control device according to the present disclosure is a control device for controlling power conversion devices that can be installed in a railway vehicle and have switching elements. Each of the power conversion devices converts electric power supplied thereto into electric power supplied to one or more motors and supplies the electric power resulting from the conversion to the motor(s). The control device includes a first arithmetic processing unit and a second arithmetic processing unit that are connected to each other via a transmission line. The control device includes a first calculator, a second calculator, a controller, and an abnormality determiner.The first calculator is provided in the first arithmetic processing unit and determines, for each vehicle of the rail vehicle, a base torque command value, which is a common torque command value for the motors arranged in the vehicle, based on a target acceleration of the rail vehicle and a weight of the vehicle. The second calculator is provided in the second arithmetic processing unit and adjusts the base torque command value based on a parameter indicating at least one of the operating state of a device installed in the rail vehicle or the wheel diameters of wheels rotatable with torques transmitted from the motors, and thereby determines, for each of the power conversion devices, a shaft torque command value, which is a torque command value for the motor(s) to receive the electric power provided by the power conversion device.The controller is included in the second arithmetic processing unit, generates control signals each intended to achieve a torque indicated by a corresponding one of the plurality of shaft torque command values, and each directed to the switching elements included in the corresponding one of the power conversion devices, and outputs the control signals. The abnormality determiner is included in the first arithmetic processing unit and determines the presence or absence of an abnormality in at least one of the transmission line and the second calculator based on the base torque command value and the plurality of shaft torque command values. Advantageous effects of the invention

[0008] The control device according to the present disclosure includes the first arithmetic processing unit and the second arithmetic processing unit connected to each other via the transmission line. The abnormality determiner included in the control device determines the presence or absence of an abnormality in at least one of the transmission line and the second calculator based on the base torque command value determined by the first calculator of the first arithmetic processing unit and the shaft torque command values ​​determined by the second arithmetic processing unit of the second arithmetic processing unit. Due to this configuration, the control device can accurately determine the presence or absence of an abnormality. Short description of drawings Fig. 1 is a block diagram illustrating the power conversion devices and a control device according to Embodiment 1; Fig. 2 is a block diagram illustrating the control device according to Embodiment 1; Fig. 3 is a block diagram illustrating the hardware configuration of the control device according to Embodiment 1; Fig. 4 is a flowchart of the abnormality determination processing executed by the control device according to Embodiment 1; Fig. 5 is a block diagram illustrating the power conversion devices and a control device according to Embodiment 2; Fig. 6 is a block diagram illustrating the control device according to Embodiment 2; Fig. 7 is a block diagram illustrating the hardware configuration of the control device according to Embodiment 2; Fig. 8 is a flowchart of the abnormality determination processing executed by the control device according to Embodiment 2; Fig. 9 is a block diagram illustrating the power conversion devices and a control device according to Embodiment 3; Fig. 10 is a block diagram illustrating the control device according to Embodiment 3; Fig. 11 is a block diagram illustrating the hardware configuration of the control device according to Embodiment 3; Fig. 12 is a flowchart of the abnormality determination processing executed by the control device according to Embodiment 3; Fig. 13 is a block diagram illustrating the power conversion devices and a control device according to Embodiment 4; Fig. 14 is a block diagram illustrating the control device according to Embodiment 4; Fig. 15 is a block diagram illustrating the hardware configuration of the control device according to Embodiment 4; Fig. 16 is a flowchart of the abnormality determination processing executed by the control device according to Embodiment 4; Fig. 17 is a block diagram illustrating the power conversion devices and a control device according to Embodiment 5; Fig. 18 is a block diagram illustrating the control device according to Embodiment 5; Fig. 19 is a block diagram illustrating the hardware configuration of the control device according to Embodiment 5; and Fig. 20 is a flowchart of the abnormality determination processing executed by the control device according to Embodiment 5. Description of embodiments

[0009] A control device and an abnormality determination method according to embodiments of the present disclosure will be described in detail below with reference to the drawings. In the drawings, components that are the same or equivalent are denoted by the same reference numerals. Embodiment 1

[0010] As an example of a power conversion device, a DC-to-three-phase converter is installed in a railway vehicle to convert electric power supplied from a power source into three-phase AC power and supply this three-phase AC power to a motor. A power conversion device and a control device for controlling the power conversion device according to Embodiment 1 will be described using a DC-to-three-phase converter that can be installed in a railway vehicle as an example.

[0011] The body of each vehicle of the railway vehicle is typically supported by two bogies. Among the vehicles included in the railway vehicle, a power car is equipped with power conversion devices 11 and 12, respectively connected to the bogies, and a control device 20, which is located in Fig. 1. The power conversion devices 11 and 12 are DC-to-three-phase conversion devices, and the control device 20 controls the power conversion devices 11 and 12. Motors IM1 and IM2, which receive electrical power from the power conversion devices 11 and 12, are mounted on the bogies. The motors IM1 and IM2 have the same configuration. Driven by the supply of three-phase AC power, the motors IM1 and IM2 transmit torques to axles connected to the shafts of the motors IM1 and IM2 via gears. This operation results in the generation of motive power of the rail vehicle. A typical example of the motors IM1 and IM2 is a three-phase induction motor.

[0012] One primary terminal of the power conversion device 11 is electrically connected to a terminal 1a to be connected to the power source, and the other primary terminal of the power conversion device 11 is electrically connected to a terminal 1b to be grounded. The secondary terminals of the power conversion device 11 are electrically connected to the motor IM1. In one example, when the power conversion device 11 is installed in a railway vehicle with a DC power supply network, the power conversion device 11 includes a capacitor connected between the terminals 1a and 1b and charged with the DC power supplied from the power source, and an inverter that converts the DC power supplied via the capacitor into three-phase AC power.

[0013] Similarly, one primary terminal of the power conversion device 12 is electrically connected to the terminal 1a to be connected to the power source, and the other primary terminal of the power conversion device 12 is electrically connected to the terminal 1b to be grounded. The secondary terminals of the power conversion device 12 are electrically connected to the motor IM2. In one example, when the power conversion device 12 is installed in a railway vehicle with a DC power supply network, the power conversion device 12 includes a capacitor connected between the terminals 1a and 1b and charged with the DC power supplied from the power source, and an inverter that converts the DC power supplied via the capacitor into three-phase AC power.

[0014] The inverter included in each of the power conversion devices 11 and 12 includes a plurality of switching elements, such as insulated gate bipolar transistors (IGBTs), gate turn-off thyristors (GTOs), or metal oxide semiconductor field-effect transistors (MOSFETs). The inverter performs power conversion through switching operations of the plurality of switching elements.

[0015] Terminal 1a is preferably electrically connected to the power source, more specifically, to a current collector that receives electrical power from a substation via a power supply line, via a contactor (not shown) with a reactor (not shown) or the like. Examples of the current collector include a pantograph for receiving electrical power via an overhead line, as an example of the power supply line, and a current collector shoe for receiving electrical power via a third rail, as an example of the power supply line. Terminal 1b is connected to a ground, for example, to a grounding ring (not shown), a grounding brush (not shown), wheels (not shown), or the like.

[0016] The main control processor 91 is arranged, for example, in a control station and outputs an operation command S1 to the controller 20 according to the operation of an operator. The operation command S1 includes one of the following commands: a power run command that instructs the rail vehicle to accelerate, a brake command that instructs the rail vehicle to decelerate, or an idle command that instructs the rail vehicle to idle. Both the power run command and the brake command specify a target acceleration of the rail vehicle. The target acceleration indicated by the power run command is positive, and the target acceleration indicated by the brake command is negative. The idle command is interpreted as a state in which neither the power run command nor the brake command is included.

[0017] The load detector 92 is arranged for each of the vehicles, determines the weight of the vehicle, and transmits the determined weight of the vehicle to the control device 20. Specifically, the load detector 92 measures the weight of the vehicle based on a measured value of the pressure in an air chamber of the air spring arranged on each bogie and outputs the measured weight of the vehicle to the control device 20.

[0018] As in Fig. 2, the control device 20 includes a first arithmetic processing unit 21 and a second arithmetic processing unit 22, which are connected to each other via the transmission lines L1 and L2. The first arithmetic processing unit 21 includes a first calculator 31 that determines, for each of the vehicles, a basic torque command value that is a common torque command value for the motors arranged in the vehicle based on the operation command S1 and the weight of the vehicle, and an abnormality determiner 32 that determines the presence or absence of an abnormality in at least one of the transmission lines L1, the transmission line L2, or the second calculator 41 included in the second arithmetic processing unit 22.

[0019] The second arithmetic processing unit 22 includes the second calculator 41, which adjusts the base torque command value obtained via the transmission line L1 based on a parameter, thereby determining, for each of the power conversion devices, a shaft torque command value, which is a torque command value for the motor that receives electric power from the power conversion device. The parameter indicates at least one of the operating states of a device installed in the railway vehicle or the wheel diameters of wheels rotatable with torques transmitted from the motors IM1 and IM2. Specifically, the operating state of a device installed in the railway vehicle indicates the operating state of the power conversion devices 11 and 12, the operating state of a device electrically connected to the power conversion devices 11 and 12, the state of the wheels of the railway vehicle, and the like.The devices electrically connected to the power conversion devices 11 and 12 include electronic components, vehicle devices, and the like electrically connected to the power conversion devices 11 and 12.

[0020] In detail, the operating state of a device installed in the railway vehicle includes at least one of the following: temperatures of the motors IM1 and IM2, temperatures of the power conversion devices 11 and 12, the presence or absence of slippage or skidding of the wheels attached to the axles of the railway vehicle, or a temperature of a braking resistor that consumes electric power output by the motors IM1 and IM2 operating as power generators during deceleration of the railway vehicle and is converted by the power conversion devices 11 and 12 to generate electric braking force. In Embodiment 1, the temperatures of the motors IM1 and IM2 are used as the operating state.The second arithmetic processing unit 22 further includes a controller 42 that generates control signals S2 and S3 directed to the power conversion devices 11 and 12 to achieve a torque indicated by the shaft torque command value.

[0021] The first calculator 31 determines the base torque command value, which is a common torque command value for the motors in the same vehicle, including motors IM1 and IM2. The first calculator 31 maintains, as a reference value, a torque for each of the vehicles in a state where the lever of the main control processor 91 is at the maximum and the vehicles are empty. The first calculator 31 calculates the base torque command value by multiplying, for example, the reference value by a ratio of the target acceleration obtained by the operation command S1 and the acceleration corresponding to the maximum lever position, and a ratio of the weight of the vehicle detected by the load detector 92 to a weight of the vehicle in the empty state.

[0022] In the case where the operation command S1 indicates the power running command, the basic torque command value corresponds to a target value of a power torque required for the rail vehicle to accelerate at the target acceleration indicated by the operation command S1. In the case where the operation command S1 indicates the braking command, the basic torque command value corresponds to a target value of an electric braking torque required for the rail vehicle to decelerate at the target deceleration indicated by the operation command S1. In the case where neither the power running command nor the braking command is indicated by the operation command S1, that is, the operation command S1 indicates an instruction for idle operation, the first calculator 31 sets the basic torque command value to a value that can be regarded as 0.

[0023] The second calculator 41 determines, for each of the power conversion devices 11 and 12, the shaft torque command value, which is the torque command value for the corresponding one of the motors IM1 and IM2 that receive electric power from the power conversion devices 11 and 12. The second calculator 41 calculates the shaft torque command value for each of the motors IM1 and IM2 by multiplying the base torque command value by a parameter indicating the wheel diameter of the wheels receiving torque from one of the motors IM1 and IM2. The second calculator 41 maintains information about the parameter in advance.

[0024] In one example, the second calculator 41 calculates a shaft torque command value Tr1 by multiplying a base torque command value Tr0 by a parameter R1 indicating the wheel diameter of the wheels corresponding to the motor IM1. The shaft torque command value Tr1 is expressed as Tr1 = Tr0 × R1. The second calculator 41 calculates a shaft torque command value Tr2 by multiplying the base torque command value Tr0 by a parameter R2 indicating the wheel diameter of the wheels corresponding to the motor IM2. The shaft torque command value Tr2 is expressed as Tr2 = Tr0 × R2. The parameters R1 and R2 are each a parameter that is positively correlated with the size of the wheel diameter and has a value of 1 when the wheel diameter is equal to the reference value. If there is no difference in the wheel diameter and R1 = R2 = 1, then Tr0 = Tr1 = Tr2.The second calculator 41 transmits the shaft torque command values ​​Tr1 and Tr2 determined as above to the abnormality determiner 32 via the transmission line L2.

[0025] The controller 42 generates the control signals S2 and S3 to achieve torques indicated by the shaft torque command values ​​Tr1 and Tr2 for the motors IM1 and IM2 determined by the second calculator 41. Each of the control signals S2 and S3 is, for example, a pulse width modulation (PWM) signal. The controller 42 sends the PWM signal to each of the switching elements of a converter and the inverter included in the power conversion devices 11 and 12, thereby controlling each of the switching elements.

[0026] During power operation of the railway vehicle, the switching elements of the power conversion devices 11 and 12 perform the switching operation after receiving the PWM signals from the controller 42. The power conversion devices 11 and 12 convert the electric power supplied from the power source into three-phase AC power and supply it to the motors IM1 and IM2. As a result, the railway vehicle accelerates according to the target acceleration indicated by the operation command S1.

[0027] During the braking operation of the rail vehicle, the switching elements of the power conversion devices 11 and 12 perform the switching operation after receiving the PWM signals from the controller 42. The power conversion devices 11 and 12 convert the three-phase AC power supplied by the motors IM1 and IM2 operating as power generators into electrical power that can be supplied to other nearby rail vehicles via an overhead line. Providing the electrical power resulting from the conversion of the power conversion devices 11 and 12 to the other nearby rail vehicles operating in power mode results in the electrical power generated by the motors IM1 and IM2 operating as power generators being consumed. This results in the generation of an electrical braking force.As a result, the rail vehicle decelerates according to the target acceleration indicated by the operating command S1.

[0028] The abnormality determiner 32 determines the presence or absence of an abnormality in at least one of the transmission lines L1, the transmission line L2, or the second calculator 41 based on the basic torque command value acquired by the first calculator 31 and the shaft torque command values ​​acquired by the second calculator 41. As described above, when there is no difference in wheel diameter between the wheels receiving torques from the motors IM1 and IM2, "Tr0 = Tr1 = Tr2" is satisfied, provided no abnormality occurs in any of the transmission lines L1, the transmission line L2, or the second calculator 41. Therefore, the abnormality determiner 32 determines whether the basic torque command value Tr0 and each of the shaft torque command values ​​Tr1 and Tr2 match.The term "match" here does not mean an exact match between the base torque command value Tr0 and each of the shaft torque command values ​​Tr1 and Tr2, but rather means that the deviations of the shaft torque command values ​​Tr1 and Tr2 from the base torque command value Tr0 are within a tolerance range. Specifically, the abnormality determiner 32 determines the presence or absence of an abnormality in at least one of the transmission line L1, the transmission line L2, or the second calculator 41 based on the differences between the base torque command value Tr0 and the shaft torque command values ​​Tr1 and Tr2.

[0029] For example, the abnormality determiner 32 determines, for each of the shaft torque command values ​​Tr1, whether an absolute value ΔTd1 = |Tr1 - Tr0|, which represents the absolute value of the difference between the base torque command value Tr0 and the shaft torque command value Tr1, is greater than a command threshold. If the absolute value of the difference ΔTd1 is greater than the command threshold, it can be considered that an abnormality occurs in at least one of the transmission lines L1, the transmission line L2, or the second calculator 41. If the absolute value of the difference ΔTd1 is equal to or less than the command threshold, it can be considered that no abnormality occurs in any of the transmission lines L1, the transmission line L2, or the second calculator 41.

[0030] The command threshold is defined by simulations, test drives, or the like, based on the possible values of the differences between the base torque command value and each of the shaft torque command values. For example, the abnormality determiner 32 uses as the command threshold a value that is significantly greater than the possible values of the absolute value of the differences between the base torque command value and each of the shaft torque command values, more precisely a value in the range of 100 N m or more and 500 N m or less.

[0031] Fig. 3 illustrates the hardware configuration of the control device 20 having the above-described configuration. The first arithmetic processing unit 21 includes a first processor 71 including a central processing unit (CPU), a microprocessing unit (MPU), or the like, a first memory 72 storing an instruction for making the first processor 71 operate as the first calculator 31 and the abnormality determiner 32, and a first interface 73 communicating with the second arithmetic processing unit 22 via the transmission lines L1 and L2. The first processor 71, the first memory 72, and the first interface 73 are connected to each other via a bus 70.

[0032] The functions of the first arithmetic processing unit 21, specifically the functions of the first calculator 31 and the abnormality determiner 32, are implemented through software, firmware, or a combination of software and firmware. The software and firmware are described as programs and are stored in the first memory 72. The first processor 71 reads and executes the programs stored in the first memory 72 to implement the functions of the above-mentioned components. This means that the first memory 72 stores programs for executing processing by the first arithmetic processing unit 21.

[0033] The first memory 72 includes, for example, a non-volatile or volatile semiconductor memory such as a random access memory (RAM), a read-only memory (ROM), a flash memory, an erasable programmable read-only memory (EPROM) or an electrically erasable and programmable read-only memory (EEPROM), a magnetic disk, a floppy disk, an optical disc, a compact disc, a minidisk, or a digital versatile disc (DVD).

[0034] The first arithmetic processing unit 21 is connected to the main control processor 91 and the load detector 92 via the first interface 73. The first interface 73 includes an interface module compatible with one or more standards, depending on the connection targets.

[0035] The second arithmetic processing unit 22 includes a second processor 81 including a CPU, an MPU, or the like, a second memory 82 storing an instruction for making the second processor 81 operate as the second calculator 41 and the controller 42, and a second interface 83 communicating with the first arithmetic processing unit 21 via transmission lines L1 and L2. The second processor 81, the second memory 82, and the second interface 83 are connected to each other via a bus 80.

[0036] The functions of the second arithmetic processing unit 22, more specifically, the functions of the second calculator 41 and the controller 42, are achieved through software, firmware, or a combination of software and firmware. The software and firmware are described as programs and are stored in the second memory 82. The second processor 81 reads and executes the programs stored in the second memory 82 to achieve the functions of the above-mentioned components. This means that the second memory 82 stores programs for executing processing by the second arithmetic processing unit 22. The second processor 81 includes a CPU, an MPU, or the like.

[0037] The second memory 82 includes, for example, a non-volatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, or an EEPROM, a magnetic disk, a floppy disk, an optical disc, a compact disc, a minidisk, a DVD, or the like.

[0038] The second arithmetic processing unit 22 is connected to the power conversion devices 11 and 12 via the second interface 83. The second interface 83 includes an interface module that is compatible with one or more standards, depending on the connection targets.

[0039] The first interface 73 and the second interface 83 are connected to each other via the transmission lines L1 and L2. The transmission lines L1 and L2 are, for example, pattern wirings of a circuit board on which the first arithmetic processing unit 21 and the second arithmetic processing unit 22 are mounted.

[0040] The abnormality determination processing executed by the control device 20 having the configuration described above will be described with reference to Fig. 4. The control device 20 starts the Fig. 4, when the operation command S1 is acquired from the main control processor 91, the abnormality determiner 32 acquires the base torque command value from the first calculator 31 (step S11). The abnormality determiner 32 acquires the shaft torque command values ​​from the second calculator 41 via the transmission line L2 (step S12).

[0041] The abnormality determiner 32 calculates the differences between the base torque command value obtained from the first calculator 31 in step S11 and each of the shaft torque command values ​​obtained from the second calculator 41 in step S12 via the transmission line L2 (step S13). The abnormality determiner 32 obtains the base torque command value from the first calculator 31, which is obtained by the first processor 71 that implements the abnormality determiner 32. Thus, the base torque command value obtained by the abnormality determiner 32 is not affected even if an abnormality occurs in one of the transmission lines L1 and L2.

[0042] The abnormality determiner 32 obtains, via the transmission line L2, the shaft torque command values ​​determined by the second calculator 41 through arithmetic processing of the basic torque command value transmitted via the transmission line L1. Thus, abnormalities occurring in at least one of the transmission line L1, the transmission line L2, or the second calculator 41 result in significant changes in the shaft torque command values ​​compared to the values ​​occurring at a time when no abnormality occurs in any of the transmission line L1, the transmission line L2, and the second calculator 41. In other words, when an abnormality occurs in at least one of the transmission line L1, the transmission line L2, or the second calculator 41, a discrepancy arises between the basic torque command value and the shaft torque command values.

[0043] The abnormality determiner 32 determines whether the absolute values ​​of the differences calculated in step S13 are greater than the command threshold (step S14). If at least one of the absolute values ​​of the differences calculated in step S13 is greater than the command threshold (YES in step S14), the abnormality determiner 32 outputs a determination result indicating the occurrence of an abnormality (step S15). For example, the abnormality determiner 32 outputs a determination result indicating the occurrence of an abnormality in an external device, such as a display device in the operator's cab.

[0044] If the absolute values ​​of the differences calculated in step S14 are equal to or less than the command threshold (NO in step S14), the abnormality determiner 32 outputs a determination result indicating the absence of an abnormality (step S16). For example, the abnormality determiner 32 outputs a determination result indicating the absence of an abnormality on the display device in the operator's cab. After completing the processing in step S15 or step S16, the controller 20 repeats the above-described processing from step S11.

[0045] As described above, the control device 20 according to Embodiment 1 includes the first arithmetic processing unit 21 and the second arithmetic processing unit 22, which are connected to each other via the transmission lines L1 and L2. The abnormality determiner 32 included in the first arithmetic processing unit 21 determines the presence or absence of an abnormality in at least one of the transmission line L1, the transmission line L2, or the second calculator 41 based on the basic torque command value obtained by the first calculator 31 included in the first arithmetic processing unit 21 and the shaft torque command values ​​obtained by the second calculator 41 included in the second arithmetic processing unit 22.Since a value measured by a sensor is not used to determine the presence or absence of an abnormality, the controller 20 is not affected by a disturbance and can thus accurately determine the presence or absence of an abnormality. Embodiment 2

[0046] The method for determining the shaft torque command value and the abnormality determination method are not limited to the above examples. In Embodiment 2, a control device 20 is described that determines the shaft torque command value and determines the presence or absence of an abnormality using methods different from those of Embodiment 1. The focus is on the differences from Embodiment 1.

[0047] As in Fig. As shown in Figure 5, the controller 20 according to Embodiment 2 obtains the temperatures of the motors IM1 and IM2 from the temperature detectors 93 and 94, which determine the temperatures of the motors IM1 and IM2. The temperature detectors 93 and 94 determine the temperatures of the motors IM1 and IM2 based on measured values ​​of thermocouples arranged at positions adjacent to the stator windings of the motors IM1 and IM2, respectively.

[0048] As in Fig. As shown in Fig. 6, the configuration of the control device 20 of Embodiment 2 is similar to that of Embodiment 1. Each of the abnormality determiners 32 and the second calculator 41 obtains the temperatures of the motors IM1 and IM2 from the temperature detectors 93 and 94.

[0049] The second calculator 41 adjusts the base torque command value based on parameters indicating the temperatures of the motors IM1 and IM2, thereby determining the shaft torque command value for each of the motors IM1 and IM2. Specifically, the second calculator 41 calculates the shaft torque command value for each of the motors IM1 and IM2 by multiplying the base torque command value by the parameter indicating the wheel diameter of the wheels rotating with a torque of a corresponding one of the motors IM1 and IM2 and by a parameter indicating the corresponding temperature of the motors IM1 and IM2.

[0050] In one example, the second calculator 41 calculates a shaft torque command value Tr1 by multiplying a base torque command value Tr0 by a parameter R1 indicating the wheel diameter of the wheels corresponding to the motor IM1 and by a parameter Th1 indicating the temperature of the motor IM1. The shaft torque command value Tr1 is expressed as Tr1 = Tr0 × R1 × Th1. The second calculator 41 calculates a shaft torque command value Tr2 by multiplying the base torque command value Tr0 by a parameter R2 indicating the wheel diameter of the wheels corresponding to the motor IM2 and by a parameter Th2 indicating the temperature of the motor IM2. The shaft torque command value Tr2 is expressed as Tr2 = Tr0 × R2 × Th2.

[0051] Each of the parameters Th1, which indicates the temperature of the motor IM1, and Th2, which indicates the temperature of the motor IM2, is a value greater than or equal to 0 and less than or equal to 1, and is a parameter negatively correlated with the temperature of the corresponding motors IM1 and IM2 in the high-temperature range. Specifically, when the temperatures of the motors IM1 and IM2 are within a first target temperature range, the parameters Th1 and Th2 are 1, and when the temperatures of the motors IM1 and IM2 are higher than the first target temperature range, the parameters Th1 and Th2 are less than 1. When the temperatures of the motors IM1 and IM2 exceed the upper limit of the first target temperature range, the values ​​of the parameters Th1 and Th2 approach 0.The first target temperature range is set to be below the allowable temperature of motors IM1 and IM2, in other words, a temperature that motors IM1 and IM2 can withstand. The second calculator 41 maintains information about the parameters and the first target temperature range in advance.

[0052] When the temperatures of motors IM1 and IM2 are higher than the first target temperature range, since the parameters Th1 and Th2 have a value less than 1, the shaft torque command values ​​Tr1 and Tr2 become smaller compared to the case where the temperatures of motors IM1 and IM2 are within the first target temperature range. A decrease in the shaft torque command values ​​Tr1 and Tr2 results in a decrease in the currents flowing into motors IM1 and IM2 from the power conversion devices 11 and 12 controlled by the control signals S2 and S3 to achieve the torques indicated by the shaft torque command values ​​Tr1 and Tr2, resulting in suppression of the increase in the temperatures of motors IM1 and IM2.

[0053] The second calculator 41 transmits the shaft torque command values ​​Tr1 and Tr2 determined as above to the abnormality determiner 32 via the transmission line L2.

[0054] The abnormality determiner 32 determines, when the operating state satisfies a determination condition, the presence or absence of an abnormality in at least one of the transmission line L1, the transmission line L2, or the second calculator 41 based on the base torque command value acquired by the first calculator 31 and the shaft torque command values ​​acquired by the second calculator 41. In detail, when both temperatures of the motors IM1 and IM2 are within the first target temperature range, the abnormality determiner 32 determines whether the base torque command value Tr0 and each of the shaft torque command values ​​Tr1 and Tr2 agree.For example, when both temperatures of the motors IM1 and IM2 are within the first target temperature range, the abnormality determiner 32 determines the presence or absence of an abnormality in at least one of the transmission line L1, the transmission line L2, or the second calculator 41 based on the differences between the base torque command value Tr0 and each of the shaft torque command values ​​Tr1 and Tr2. The abnormality determiner 32 holds information about the first target temperature range in advance.

[0055] If at least one of the temperatures of motors IM1 and IM2 is not within the first target temperature range, the abnormality determiner 32 does not make a decision on the presence or absence of an abnormality based on the differences between the base torque command value Tr0 and each of the shaft torque command values Tr1 and Tr2. This suppresses the false determination that an abnormality occurs in at least one of the transmission line L1, the transmission line L2, or the second calculator 41 when the shaft torque command values Tr1 and Tr2 are set low due to the temperatures of motors IM1 and IM2 that are not within the first target temperature range.

[0056] The control device 20 can not only determine the presence or absence of an abnormality in at least one of the transmission line L1, the transmission line L2, or the second calculator 41, but also perform a protective operation in response to the occurrence of an abnormality. Specifically, the abnormality determiner 32 transmits the result of the determination of the presence or absence of an abnormality to the first calculator 31. If the determination result obtained by the abnormality determiner 32 indicates the occurrence of an abnormality, the first calculator 31 sets the base torque command value to a value for stopping the power conversion devices 11, 12, specifically, to 0. If the base torque command value is set to 0, the shaft torque command value determined by the second calculator 41 also becomes 0.Thereby, the controller 42 outputs the switching control signals S2 and S3 to turn off the switching elements of the power conversion devices 11 and 12.

[0057] Fig. 7 illustrates the hardware configuration of the control device 20 having the above-described configuration. The control device 20 has the same hardware configuration as that in Embodiment 1.

[0058] The first arithmetic processing unit 21 is connected to the main control processor 91, the load detector 92, and the temperature detectors 93 and 94 via the first interface 73. The first interface 73 includes an interface module compatible with one or more standards, depending on the connection targets.

[0059] The second arithmetic processing unit 22 is connected to the temperature detectors 93 and 94 and the power conversion devices 11 and 12 via the second interface 83. The second interface 83 includes an interface module compatible with one or more standards, depending on the connection targets.

[0060] The abnormality determination processing executed by the control device 20 having the configuration described above will be described with reference to Fig. 8. The control device 20 starts the Fig. 8 when the operation command S1 is obtained from the main control processor 91. The processing in steps S11 and S12 is similar to the processing in steps S11 and S12 shown in Fig. 4 and is executed by the control device 20 according to Embodiment 1.

[0061] The abnormality determiner 32 obtains the temperatures of the motors IM1 and IM2 from the temperature detectors 93 and 94 (step S21). The abnormality determiner 32 determines whether the temperatures of the motors IM1 and IM2 are within the first target temperature range (step S22).

[0062] If the temperatures of the motors IM1 and IM2 are within the first target temperature range (YES in step S22), the abnormality determiner 32 executes the processing in steps S13 to S15 similarly to Embodiment 1. In step S15, the abnormality determiner 32 outputs the determination result to the first calculator 31 and the external device. If at least one of the temperatures of the motors IM1 and IM2 is not within the first target temperature range (NO in step S22), the abnormality determiner 32 outputs the determination result indicating the non-occurrence of an abnormality to the first calculator 31 and the external device (step S16). After completion of the processing in step S15 or step S16, the controller 20 repeats the above-described processing from step S11.

[0063] As described above, the second calculator 41 included in the control device 20 according to Embodiment 2 adjusts the base torque command value based on the parameters indicating the temperatures of the motors IM1 and IM2, thereby determining the shaft torque command values. As described above, the shaft torque command values ​​for the temperatures of the motors IM1 and IM2 that are above the target temperature range are made smaller than the shaft torque command values ​​for the temperatures of the motors IM1 and IM2 that are within the target temperature range, resulting in suppression of the increase in the temperatures of the motors IM1 and IM2.

[0064] When the temperatures of the motors IM1 and IM2 are not within the first target temperature range, the abnormality determiner 32 does not make a decision on the presence or absence of an abnormality in the transmission lines L1 and L2 and the second calculator 41, and outputs the determination result indicating the non-occurrence of an abnormality in the transmission lines L1 and L2 and the second calculator 41. This suppresses the erroneous determination that an abnormality occurs in at least one of the transmission line L1, the transmission line L2, or the second calculator 41 when the shaft torque command values ​​Tr1 and Tr2 are set low due to the temperatures of the motors IM1 and IM2 not being within the first target temperature range. Embodiment 3

[0065] The method for determining the shaft torque command values ​​and the abnormality determination method are not limited to the above examples. In Embodiment 3, a control device 23 is described that determines the shaft torque command values ​​and determines the presence or absence of an abnormality using methods different from those of Embodiments 1 and 2. The focus is on the differences from Embodiments 1 and 2.

[0066] The Fig. The control device 23 shown in Figure 9 is arranged in each railcar. The control device 23 sends control signals S2 and S3 to the power conversion devices 11 and 12 to control them. The power conversion device 11, controlled by the control device 23, supplies electrical power to the motors IM1 and IM2 mounted on one bogie of the railcar. The power conversion device 12, controlled by the control device 23, supplies electrical power to the motors IM3 and IM4 mounted on the other bogie of the railcar. The motors IM1, IM2, IM3, and IM4 have the same configuration.

[0067] The control device 23 obtains the temperatures of the power conversion devices 11 and 12 from the temperature detectors 95 and 96, which determine the temperatures of the power conversion devices 11 and 12. The temperature detectors 95 and 96 determine the temperatures of the power conversion devices 11 and 12 based on measured values ​​from temperature sensors arranged at positions adjacent to the switching elements of the power conversion devices 11 and 12.

[0068] As in Fig. As shown in Figure 10, the control device 23 includes a first arithmetic processing unit 21 and a second arithmetic processing unit 24, which are connected to each other via the transmission lines L1 and L2. The second arithmetic processing unit 24 includes a second calculator 41 that determines the shaft torque command value for the motors IM1 and IM2 based on the base torque command value obtained via the transmission line L1 and the temperature of the power conversion device 11, and a controller 42 that generates control signals S2 directed to the power conversion devices 11 and 12 to achieve a torque indicated by the shaft torque command value determined by the second calculator 41.The second arithmetic processing unit 24 further includes a second calculator 43 that determines the shaft torque command value for the motors IM3 and IM4 based on the base torque command value obtained via the transmission line L1 and the temperature of the power conversion device 12, and a controller 44 that generates control signals S3 directed to the power conversion device 12 to achieve a torque indicated by the shaft torque command values ​​determined by the second calculator 43.

[0069] The second calculator 41 calculates the shaft torque command value common to motors IM1 and IM2 by multiplying the base torque command value by a parameter indicating the wheel diameters of the wheels each rotating with a torque from a corresponding one of motors IM1 and IM2, and by a parameter indicating the temperature of the power conversion device 11. The second calculator 43 calculates the shaft torque command value common to motors IM3 and IM4 by multiplying the base torque command value by a parameter indicating the wheel diameters of the wheels each rotating with a torque from a corresponding one of motors IM3 and IM4, and by a parameter indicating the temperature of the power conversion device 12.

[0070] In one example, the second calculator 41 calculates a shaft torque command value Tr1 by multiplying the base torque command value Tr0 by a parameter R'1 indicating the average wheel diameter of the wheels corresponding to the motor IM1 and the motor IM2, and by a parameter Th'1 indicating the temperature of the power conversion device 11. The shaft torque command value Tr1 is expressed as Tr1 = Tr0 × R'1 × Th'1. The second calculator 43 calculates a shaft torque command value Tr2 by multiplying the base torque command value Tr0 by a parameter R'2 indicating the average wheel diameter of the wheels corresponding to the motor IM3 and the motor IM4, and by a parameter Th'2 indicating the temperature of the power conversion device 12. The shaft torque command value Tr2 is expressed as Tr2 = Tr0 × R'2 × Th'2.

[0071] Each of the parameter Th'1, which indicates the temperature of the power conversion device 11, and the parameter Th'2, which indicates the temperature of the power conversion device 12, is a value that is greater than or equal to 0 and less than or equal to 1, and is a parameter that is negatively correlated with the temperature of the corresponding power conversion devices 11 and 12 in the high temperature range. Specifically, when the temperatures of the power conversion devices 11 and 12 are within a second target temperature range, the parameters Th'1 and Th'2 are equal to 1, and when the temperatures of the power conversion devices 11 and 12 are higher than the second target temperature range, the parameters Th'1 and Th'2 are less than 1. When the temperatures of the power conversion devices 11 and 12 exceed the upper limit of the second target temperature range, the values of the parameters Th'1 and Th'2 approach the value 0.The second target temperature range is set to be below the allowable temperature of the switching elements of the power conversion devices 11 and 12, in other words, a temperature that the power conversion devices 11 and 12 can withstand. The second calculators 41 and 43 maintain information about the parameters and the second target temperature range in advance.

[0072] The controller 42 generates the control signals S2 to achieve a torque indicated by the shaft torque command value Tr1 common to the motors IM1 and IM2 and determined by the second calculator 41. The controller 42 sends the PWM signal to each of the switching elements of the inverter included in the power conversion device 11, thus controlling each of the switching elements. The controller 44 generates the control signals S3 to achieve a torque indicated by the shaft torque command value common to the motors IM3 and IM4 and determined by the second calculator 43. The controller 44 sends the PWM signal to each of the switching elements of the inverter included in the power conversion device 12, thus controlling each of the switching elements.

[0073] When the temperatures of the power conversion devices 11 and 12 are higher than the second target temperature range, the parameters Th'1 and Th'2 having a value less than 1 will cause the shaft torque command values ​​Tr1 and Tr2 to become smaller compared to the case where the temperatures of the power conversion devices 11 and 12 are within the second target temperature range. A decrease in the shaft torque command values ​​Tr1 and Tr2 will result in a decrease in the outputs of the power conversion devices 11 and 12 controlled by the control signals S2 and S3 to achieve the torques indicated by the shaft torque command values ​​Tr1 and Tr2, resulting in suppression of the increase in the temperatures of the power conversion devices 11 and 12.

[0074] The second calculators 41 and 43 transmit the shaft torque command values ​​Tr1 and Tr2 determined as above to the abnormality determiner 32 via the transmission line L2.

[0075] The abnormality determiner 32 determines, when the operating state satisfies a determination condition, the presence or absence of an abnormality in at least one of the transmission line L1, the transmission line L2, the second calculator 41, or the second calculator 43 based on the basic torque command value acquired by the first calculator 31 and the shaft torque command values ​​acquired by the second calculators 41 and 43. In detail, when both temperatures of the power conversion devices 11 and 12 are within the second target temperature range, the abnormality determiner 32 determines whether the basic torque command value Tr0 and each of the shaft torque command values ​​Tr1 and Tr2 agree.For example, when both temperatures of the power conversion devices 11 and 12 are within the second target temperature range, the abnormality determiner 32 determines the presence or absence of an abnormality in at least one of the transmission line L1, the transmission line L2, or the second calculator 41 based on the differences between the base torque command value Tr0 and each of the shaft torque command values ​​Tr1 and Tr2. The abnormality determiner 32 holds information about the second target temperature range in advance.

[0076] When at least one of the temperatures of the power conversion devices 11 and 12 is not within the second target temperature range, the abnormality determiner 32 does not make a decision on the presence or absence of an abnormality based on the differences between the base torque command value Tr0 and each of the shaft torque command values ​​Tr1 and Tr2. This suppresses the erroneous determination that an abnormality occurs in at least one of the transmission line L1, the transmission line L2, or the second calculator 41 when the shaft torque command values ​​Tr1 and Tr2 are set low due to the temperatures of the power conversion devices 11 and 12 not being within the second target temperature range.

[0077] Fig. 11 illustrates the controller 23 having the configuration described above. The configuration of the first arithmetic processing unit 21 is similar to that of Embodiment 1. The second arithmetic processing unit 24 includes the second processors 81 and 84, a second memory 82, and a second interface 83. The second processors 81 and 84, the second memory 82, and the second interface 83 are connected to each other via a bus 80.

[0078] The functions of the second arithmetic processing unit 24, more specifically, the functions of the second calculators 41 and 43 and the controllers 42 and 44, are realized by software, firmware, or a combination of software and firmware. The software and firmware are described as programs and are stored in the second memory 82. The second processor 81 reads and executes the programs stored in the second memory 82 to realize the functions of the second calculator 41 and the controller 42. The second processor 84 reads and executes the programs stored in the second memory 82 to realize the functions of the second calculator 43 and the controller 44. That is, the second memory 82 stores programs for executing processing by the second arithmetic processing unit 24. The second processors 81 and 84 include a CPU, an MPU, or the like.

[0079] The second memory 82 comprises, for example, a non-volatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM or an EEPROM, a magnetic disk, a flexible floppy disk, an optical disc, a compact disc, a minidisc, a DVD, or the like.

[0080] The first arithmetic processing unit 21 is connected to the main control processor 91, the load detector 92, and the temperature detectors 95 and 96 via the first interface 73. The first interface 73 includes an interface module compatible with one or more standards, depending on the connection targets.

[0081] The second arithmetic processing unit 24 is connected to the temperature detectors 95 and 96 and the power conversion devices 11 and 12 via the second interface 83. The second interface 83 includes an interface module compatible with one or more standards, depending on the connection targets.

[0082] The abnormality determination processing executed by the control device 23 having the configuration described above will be described with reference to Fig. 12. The control device 23 starts the Fig. 12 when the operation command S1 is acquired from the main control processor 91. The processing in steps S11 and S12 is similar to the processing executed in steps S11 and S12 by the control device 20 according to Embodiment 1 shown in Fig. 4 is shown.

[0083] The abnormality determiner 32 obtains the temperatures of the power conversion devices 11 and 12 from the temperature detectors 95 and 96 (step S31). The abnormality determiner 32 determines whether the temperatures of the power conversion devices 11 and 12 are within the second target temperature range (step S32).

[0084] If the temperatures of the power conversion devices 11 and 12 are within the second target temperature range (YES in step S32), the abnormality determiner 32 executes the processing in steps S13 to S15 similarly to Embodiment 1. If at least one of the temperatures of the power conversion devices 11 and 12 is not within the second target temperature range (NO in step S32), the abnormality determiner 32 outputs the determination result indicating the absence of an abnormality to the external device (step S16). After completing the processing in step S15 or step S16, the controller 23 repeats the above-described processing from step S11.

[0085] As described above, the second calculators 41 and 43 included in the controller 23 according to Embodiment 3 adjust the base torque command value based on the parameters indicating the temperatures of the power conversion devices 11 and 12, thereby determining the shaft torque command values. As described above, the shaft torque command values ​​for the temperatures of the power conversion devices 11 and 12 that are above the target temperature range are made smaller than the shaft torque command values ​​for the temperatures of the power conversion devices 11 and 12 that are within the target temperature range, resulting in suppression of the increase in the temperatures of the power conversion devices 11 and 12.

[0086] When the temperatures of the power conversion devices 11 and 12 are not within the second target temperature range, the abnormality determiner 32 does not make a decision on the presence or absence of an abnormality in the transmission lines L1 and L2 and the second calculator 41, and outputs the determination result indicating the non-occurrence of an abnormality in the transmission lines L1 and L2 and the second calculator 41. This suppresses the erroneous determination that an abnormality occurs in at least one of the transmission line L1, the transmission line L2, or the second calculator 41 when the shaft torque command values ​​Tr1 and Tr2 are set low due to the temperatures of the power conversion devices 11 and 12 not being within the second target temperature range. Embodiment 4

[0087] The method for determining the shaft torque command values ​​and the abnormality determination method are not limited to the above examples. In Embodiment 4, a control device 25 that determines the shaft torque command values ​​and determines the presence or absence of an abnormality in methods different from the methods of Embodiments 1-3 is described. The focus is on the distinguishing features from Embodiments 1-3.

[0088] The control device 25, which in Fig. 13 is arranged in each railcar. The control device 25 sends control signals S2, S3, S4, and S5 to the power conversion devices 11, 12, 13, and 14 to control the power conversion devices 11, 12, 13, and 14. The power conversion devices 11 and 12, controlled by the control device 25, supply electrical power to the motors IM1 and IM2 mounted on one bogie of the railcar. The power conversion devices 13 and 14, controlled by the control device 25, supply electrical power to the motors IM3 and IM4 mounted on another bogie of the railcar. The power conversion devices 11, 12, 13, and 14 have the same configuration. The motors IM1, IM2, IM3, and IM4 have the same configuration.

[0089] The controller 25 obtains the speeds of the motors IM1, IM2, IM3, and IM4 from the speed sensors 97, 98, 99, and 100, which determine the speeds of the motors IM1, IM2, IM3, and IM4. The speed sensors 97, 98, 99, and 100 determine the speeds of the motors IM1, IM2, IM3, and IM4 based on the signals output by the pulse generators (PG) mounted on the shafts of the motors IM1, IM2, IM3, and IM4.

[0090] As in Fig. 14, the control device 25 includes a first arithmetic processing unit 21 and a second arithmetic processing unit 26, which are connected to each other via the transmission lines L1 and L2. The second arithmetic processing unit 26 includes, in addition to the elements of the second arithmetic processing unit 22 included in the control device 20 according to Embodiment 1, an axle speed detector 45 that determines the axle speed for a corresponding axle of the vehicle based on the rotational speeds of the motors IM1, IM2, IM3, and IM4, a reference axle speed determiner 46 that determines a reference axle speed based on each of the axle speeds, and a slip and slide determiner 47 that determines the presence or absence of slip or slide based on each of the axle speeds and the reference axle speed.

[0091] The axle speeds change depending on the rotational speeds of the wheels attached to the axles, each of which receives torque via a gear from a corresponding shaft of motors IM1, IM2, IM3, and IM4. The axle speed detector 45 calculates the peripheral speed of the wheels attached to the axle for each axle from the rotational speeds of motors IM1, IM2, IM3, and IM4. The axle speed detector 45 sends the calculated peripheral speeds of the wheels for the respective axle to the reference axle speed determiner 46 and the slip and skid determiner 47.

[0092] The reference axle speed determiner 46 obtains the axle speed determined for each axle from the axle speed detector 45 and obtains the operation command S1 from the main control processor 91. The reference axle speed determiner 46 determines the reference axle speed in the vehicle based on the axle speeds applicable to each axle of the vehicle. Specifically, in the case of a power running command, the reference axle speed determiner 46 determines the minimum value of the axle speeds applicable to each axle of the vehicle as the reference axle speed. In the case of a braking command, the reference axle speed determiner 46 determines the maximum value of the axle speeds applicable to each axle of the vehicle as the reference axle speed. The reference axle speed determiner 46 sends the above-determined reference axle speed to the slip and slide determiner 47.

[0093] The slip and slide determiner 47 determines, for each of the axles, the degree of slip or slide of the wheels attached to the axle based on a comparison between the corresponding axle speed and the reference axle speed. In Embodiment 4, the slip and slide determiner 47 determines whether the absolute value of a difference between the corresponding axle speed and the reference axle speed is greater than or equal to a speed difference threshold. The speed difference threshold is defined by simulation or test runs of the rail vehicle based on the possible values ​​of a difference between the axle speed and the reference axle speed during the occurrence of slip or slide.If an axle has an absolute value of the difference between the axle speed and the reference axle speed that is greater than or equal to the speed difference threshold, it can be assumed that the wheel of that axle is slipping or skidding. The slip and skid determiner 47 sends a determination result for each axle to the second calculator 41. The slip and skid determiner 47 sends the determination result to the abnormality determiner 32 via the transmission line L2.

[0094] The second calculator 41 adjusts the base torque command value based on the parameters indicating the determination results of the slip and slip determiner 47, and thereby determines the shaft torque command value for each of the motors IM1, IM2, IM3, and IM4. In detail, the second calculator 41 calculates the shaft torque command value for each of the motors IM1, IM2, IM3, and IM4 by multiplying the base torque command value by a parameter indicating the wheel diameter of the wheels each rotating with a torque of a corresponding one of the motors IM1, IM2, IM3, and IM4, and by a parameter indicating the corresponding determination result of the slip and slip determiner 47.

[0095] In one example, the second calculator 41 calculates the shaft torque command value Tr1 for the motor IM1 by multiplying a base torque command value Tr0 by a parameter R1 indicating the wheel diameter of the wheels corresponding to the motor IM1 and by a parameter D1 indicating the determination result of the slip and slide determiner 47 for the axle corresponding to the motor IM1. The shaft torque command value Tr1 is expressed as Tr1 = Tr0 × R1 × D1.

[0096] Similarly, the second calculator 41 calculates the shaft torque command value Tr2 for the motor IM2 by multiplying the base torque command value Tr0 by a parameter R2 indicating the wheel diameter of the wheels corresponding to the motor IM2 and by a parameter D2 indicating the determination result of the slip and slip determiner 47 for the axle corresponding to the motor IM2. The shaft torque command value Tr2 is expressed as Tr2 = Tr0 × R2 × D2.

[0097] Similarly, the second calculator 41 calculates the shaft torque command value Tr3 for the motor IM3 by multiplying the base torque command value Tr0 by a parameter R3 indicating the wheel diameter of the wheels corresponding to the motor IM3 and by a parameter D3 indicating the determination result of the slip and slip determiner 47 for the axle corresponding to the motor IM3. The shaft torque command value Tr3 is expressed as Tr3 = Tr0 × R3 × D3.

[0098] Similarly, the second calculator 41 calculates the shaft torque command value Tr4 for the motor IM4 by multiplying the base torque command value Tr0 by a parameter R4 indicating the wheel diameter of the wheels corresponding to the motor IM4 and by a parameter D4 indicating the determination result of the slip and slip determiner 47 for the axle corresponding to the motor IM4. The shaft torque command value Tr4 is expressed as Tr4 = Tr0 × R4 × D4.

[0099] The parameters D1, D2, D3, and D4, each indicating the determination result of the slip and slide determiner 47, indicate 1 when the slip and slide determiner 47 determines that neither slip nor slide occurs, and indicate a value greater than or equal to 0 and less than 1 when the slip and slide determiner 47 determines that slip or slide occurs. For example, the second calculator 41 may periodically retrieve the determination results and gradually decrease the parameters D1, D2, D3, and D4 from 1 to 0 when the determination results indicate that slip or slide occurs. The second calculator 41 maintains information of the parameters in advance.

[0100] When slipping or skidding occurs, since parameters D1, D2, D3, and D4 have a value less than 1, the shaft torque command values ​​Tr1, Tr2, Tr3, and Tr4 will decrease compared to the case where neither slipping nor skidding occurs. This will cause the actual torques of motors IM1, IM2, IM3, and IM4 to decrease, resulting in wheel re-adhesion.

[0101] The second calculator 41 transmits the above-determined shaft torque command values ​​Tr1, Tr2, Tr3, and Tr4 to the abnormality determiner 32 via the transmission line L2.

[0102] The second calculator 41 sends the determination results obtained by the slip and slide determiner 47 and the above-determined shaft torque command values ​​Tr1, Tr2, Tr3, and Tr4 to the abnormality determiner 32 via the transmission line L2.

[0103] The abnormality determiner 32 determines, when the operating state satisfies a determination condition, the presence or absence of an abnormality in at least one of the transmission line L1, the transmission line L2, or the second calculator 41 based on the basic torque command value acquired by the first calculator 31 and the shaft torque command values ​​acquired by the second calculator 41. In detail, when neither slip nor slip occurs, the abnormality determiner 32 determines whether the basic torque command value Tr0 and each of the shaft torque command values ​​Tr1, Tr2, Tr3, and Tr4 agree. For example, the abnormality determiner 32 determines the presence or absence of an abnormality in at least one of the transmission line L1, the transmission line L2, or the second calculator 41 based on the differences between the base torque command value Tr0 and each of the shaft torque command values ​​Tr1, Tr2, Tr3, and Tr4.

[0104] When slippage or skidding occurs in at least one wheel, the abnormality determiner 32 does not make a decision about the presence or absence of an abnormality based on the differences between the base torque command value Tr0 and each of the shaft torque command values ​​Tr1, Tr2, Tr3, and Tr4. This suppresses the possibility of erroneously determining an abnormality in at least one of the transmission line L1, the transmission line L2, or the second calculator 41 when at least one of the shaft torque command values ​​Tr1, Tr2, Tr3, and Tr4 is set low due to the occurrence of slippage or skidding.

[0105] Fig. Figure 15 shows the hardware configuration of the control device 25 having the above-described configuration. The control device 25 has the same hardware configuration as in Embodiment 1.

[0106] The second processor 81 reads and executes the programs stored in the second memory 82 to realize the functions of the second arithmetic processing unit 26, specifically, the functions of the second calculator 41, the controller 42, the axle speed detector 45, the reference axle speed determiner 46, and the slip and skid determiner 47. That is, the second memory 82 stores programs for executing processing by the controller 25.

[0107] The second arithmetic processing unit 26 is connected to the speed sensors 97, 98, 99, and 100 and the power conversion devices 11, 12, 13, and 14 via the second interface 83. The second interface 83 includes an interface module compatible with one or more standards, depending on the connection targets.

[0108] The abnormality determination processing executed by the control device 25 having the configuration described above will be described with reference to Fig. 16. The control device 25 starts the operation described in Fig. 16 when the operation command S1 is acquired from the main control processor 91. The processing in steps S11 and S12 is similar to the processing executed in steps S11 and S12 by the control device 20 according to Embodiment 1 shown in Fig. 4 is shown.

[0109] The abnormality determiner 32 acquires the determination results of the slip and slide determiner 47 via the transmission line L2 (step S41). If neither slip nor slide occurs (NO in step S42), the abnormality determiner 32 executes the processing in steps S13 to S15 as in Embodiment 1. If at least one of slip or slide occurs (YES in step S42), the abnormality determiner 32 outputs the determination result indicating the absence of an abnormality to the external device (step S16). After completing the processing in step S15 or step S16, the controller 25 repeats the above-described processing from step S11.

[0110] As described above, the second calculator 41 included in the controller 25 according to Embodiment 4 adjusts the base torque command value based on the parameters each indicating the determination result of the slip and slip determiner 47, thereby determining the shaft torque command values. As described, the shaft torque command values ​​in the case where slip or slip occurs become smaller than the shaft torque command values ​​in the case where neither slip nor slip occurs, enabling re-adhesion.

[0111] When slippage or sliding occurs, the abnormality determiner 32 does not make a decision about the presence or absence of an abnormality in the transmission lines L1 and L2 and the second calculator 41, and outputs the determination result indicating the absence of an abnormality in the transmission lines L1 and L2 and the second calculator 41. This suppresses the erroneous determination of an abnormality in at least one of the transmission line L1, the transmission line L2, or the second calculator 41 when the shaft torque command values ​​Tr1 and Tr2 are set low due to the occurrence of slippage or sliding. Embodiment 5

[0112] The method for determining the shaft torque command values ​​and the abnormality determination method are not limited to the above examples. In Embodiment 5, a control device 20 that determines the shaft torque command values ​​and determines the presence or absence of an abnormality in methods different from the methods of Embodiments 1-4 is described. The focus is on the distinguishing features from Embodiments 1-4.

[0113] In embodiment 5, the railway vehicle obtains braking force not by regenerative braking but by dynamic braking using a braking resistor BR1 which is Fig. 17. In detail, a switch SW1 and the braking resistor BR1, connected in series, are arranged closer to the power source than the power conversion devices 11 and 12 between the terminals 1a and 1b. The switch SW1 is closed and opened by a switch controller (not shown).

[0114] When switch SW1 is closed for braking the rail vehicle, power converters 11 and 12 are electrically connected to braking resistor BR1. The electrical energy supplied by motors IM1 and IM2, which function as power generators, is thus consumed by braking resistor BR1, generating electrical braking force. When electrical energy is consumed by braking resistor BR1, braking resistor BR1 generates heat. While the rail vehicle is in power running or idle mode, braking resistor BR1 does not generate heat because switch SW1 is kept open.

[0115] The control device 20 obtains the temperature of the braking resistor BR1 from a temperature sensor 101, which determines the temperature of the braking resistor BR1. For example, the temperature sensor 101 estimates the temperature of the braking resistor BR1 based on a measured value from a current sensor that measures the current flowing into the braking resistor BR1.

[0116] As in Fig. 18, the configuration of the control device 20 is similar to that of Embodiment 1. Each of the abnormality determiner 32 and the second calculator 41 obtains the temperature of the braking resistor BR1 from the temperature sensor 101.

[0117] The second calculator 41 adjusts the base torque command value based on a parameter indicating the temperature of the braking resistor BR1, thereby determining the shaft torque command value for each of the motors IM1 and IM2. Specifically, the second calculator 41 calculates the shaft torque command value for each of the motors IM1 and IM2 by multiplying the base torque command value by a parameter indicating the wheel diameter of the wheels rotating with a torque of a corresponding one of the motors IM1 and IM2 and by a parameter indicating the temperature of the braking resistor BR1.

[0118] In one example, the second calculator 41 calculates the shaft torque command value Tr1 by multiplying the base torque command value Tr0 by a parameter R1 indicating the wheel diameter of the wheels corresponding to the motor IM1 and by a parameter ThB indicating the temperature of the braking resistor BR1. The shaft torque command value Tr1 is expressed as Tr1 = Tr0 × R1 × ThB. The second calculator 41 calculates the shaft torque command value Tr2 by multiplying the base torque command value Tr0 by a parameter R2 indicating the wheel diameter of the wheels corresponding to the motor IM2 and by the parameter ThB indicating the temperature of the braking resistor BR1. The shaft torque command value Tr2 is expressed as Tr2 = Tr0 × R2 × ThB.

[0119] The ThB parameter, which indicates the temperature of the braking resistor BR1, is a value greater than or equal to 0 and less than or equal to 1, and is negatively correlated with the temperature of the braking resistor BR1 in the high-temperature range. In detail, when the temperature of the braking resistor BR1 is within a third target temperature range, the ThB parameter is 1, and when the temperature of the braking resistor BR1 is higher than the third target temperature range, the ThB parameter is less than 1. When the temperature of the braking resistor BR1 rises above the upper limit of the third target temperature range, the value of the ThB parameter approaches 0. The third target temperature range is set lower than the allowable temperature of the braking resistor BR1, which is a temperature that the braking resistor BR1 can withstand. The second calculator 41 stores information about the parameters and the third target temperature range in advance.

[0120] When the temperature of the braking resistor BR1 is higher than the third target temperature range, the parameter ThB becomes less than 1, causing the shaft torque command values ​​Tr1 and Tr2 to become smaller compared to the case where the temperature of the braking resistor BR1 is within the target temperature range. A decrease in the shaft torque command values ​​Tr1 and Tr2 results in a decrease in the currents flowing into the braking resistor BR1 from the power conversion devices 11 and 12 controlled by the control signals S2 and S3 to achieve torques specified by the shaft torque command values ​​Tr1 and Tr2, resulting in a decrease in the temperature rise of the braking resistor BR1.

[0121] The second calculator 41 transmits the thus determined shaft torque command values ​​Tr1 and Tr2 to the abnormality determiner 32 via the transmission line L2.

[0122] The abnormality determiner 32 determines, when the operating state satisfies a determination condition, the presence or absence of an abnormality in at least one of the transmission line L1, the transmission line L2, or the second calculator 41 based on the basic torque command value acquired by the first calculator 31 and the shaft torque command values ​​acquired by the second calculator 41. In detail, when the temperature of the braking resistor BR1 is within the third target temperature range, the abnormality determiner 32 determines whether the basic torque command value Tr0 and each of the shaft torque command values ​​Tr1 and Tr2 agree.For example, when the temperature of the braking resistor BR1 is within the third target temperature range, the abnormality determiner 32 determines the presence or absence of an abnormality in at least one of the transmission line L1, the transmission line L2, or the second calculator 41 based on the differences between the base torque command value Tr0 and each of the shaft torque command values ​​Tr1 and Tr2. The abnormality determiner 32 stores information of the third target temperature range in advance.

[0123] When the temperature of the braking resistor BR1 is not within the third target temperature range, the abnormality determiner 32 does not make a determination of the presence or absence of an abnormality based on the differences between the base torque command value Tr0 and each of the shaft torque command values ​​Tr1 and Tr2. This suppresses the erroneous determination of an abnormality in at least one of the transmission line L1, the transmission line L2, or the second calculator 41 when the shaft torque command values ​​Tr1 and Tr2 are set low due to the fact that the temperature of the braking resistor BR1 is not within the third target temperature range.

[0124] Fig. Figure 19 shows the hardware configuration of the control device 20 having the above-described configuration. The control device 20 has the same hardware configuration as in Embodiment 1.

[0125] The first computing unit 21 is connected to the master controller 91, the load detector 92, and the temperature sensor 101 via the first interface 73. The first interface 73 includes an interface module compatible with one or more standards for connecting target devices.

[0126] The second computing unit 22 is connected to the temperature sensor 101 and the power conversion devices 11 and 12 via a second interface 83. The second interface 83 includes an interface module compatible with one or more standards for connecting target devices.

[0127] The abnormality determination processing executed by the control device 20 having the configuration described above will be described with reference to Fig. 20. The control device 20 begins with the Fig. 20, as soon as the operating signal S1 is obtained from the master controller 91. The processing in steps S11 and S12 corresponds to the processing in steps S11 and S12 of the control device 20 according to embodiment 1 shown in Fig. 4 is shown.

[0128] The abnormality determiner 32 obtains the temperature of the braking resistor BR1 from the temperature sensor 101 (step S51). The abnormality determiner 32 determines whether the temperature of the braking resistor BR1 is within the third target temperature range (step S52).

[0129] If the temperature of the braking resistor BR1 is within the third target temperature range (YES in step S52), the abnormality determiner 32 executes the processing in steps S13 to S15 in the same way as in Embodiment 1. If the temperature of the braking resistor BR1 is not within the target temperature range (NO in step S52), the abnormality determiner 32 outputs a determination result indicating the absence of an abnormality to the external device (step S16). After completing the processing in step S15 or step S16, the controller 20 repeats the above-described processing from step S11.

[0130] As described above, in the control device 20 according to Embodiment 5, the second calculator 41 adjusts the base torque command value based on the parameter indicating the temperature of the braking resistor BR1, thus determining the shaft torque command values. As described, the shaft torque command value for the temperature of the braking resistor BR1 that is higher than the third target temperature range becomes smaller than the shaft torque command values ​​for the temperature of the braking resistor BR1 that is within the third target temperature range, resulting in suppression of the temperature rise of the braking resistor BR1.

[0131] When the temperature of the braking resistor BR1 is not within the third target temperature range, the abnormality determiner 32 does not make a determination of the presence or absence of an abnormality in the transmission lines L1 and L2 and the second calculator 41, and outputs the determination result indicating the absence of an abnormality in the transmission lines L1 and L2 and the second calculator 41. This suppresses the erroneous determination of an abnormality in at least one of the transmission line L1, the transmission line L2, or the second calculator 41 when the shaft torque command values ​​Tr1 and Tr2 are set low due to the fact that the temperature of the braking resistor BR1 is not within the third target temperature range.

[0132] The present disclosure is not limited to the above-described embodiments. Any of the above-described embodiments can be freely combined. The abnormality determiner 32 in the control device 20 can obtain the temperatures of the motors IM1 and IM2 and the temperatures of the power conversion devices 11 and 12 from the temperature detectors 93, 94, 95, and 96. When at least one of the temperatures of the motors IM1 and IM2 is not within the first target temperature range or at least one of the temperatures of the power conversion devices 11 and 12 is not within the second target temperature range, the abnormality determiner 32 can output a determination result indicating the absence of an abnormality in the transmission lines L1 and L2 and the second calculator 41.

[0133] In another example, the abnormality determiner 32 may output the determination result indicating the absence of an abnormality in the transmission lines L1 and L2 and the second calculator 41 when at least one of the temperatures of the motors IM1 and IM2 is not within the first target temperature range, at least one of the temperatures of the power conversion devices 11 and 12 is not within the second target temperature range, or slip or sliding occurs.

[0134] The abnormality determiner 32 according to Embodiments 3 to 5 may send the determination result to the first calculator 31, similarly to Embodiment 2.

[0135] The circuits and flowcharts described above are only examples. In one example, the processing in step S11 and the processing in step S12 may be Fig. 4 are executed in parallel. The processing in step S21 of Fig. 8, in which the abnormality determiner 32 obtains the temperatures of the motors IM1 and IM2 from the temperature detectors 93 and 94, can be executed in parallel with steps S11 and S12. Likewise, the processing in step S31 of Fig. 12, the processing in step S41 of Fig. 16 and the processing in step S51 of Fig. 20 are carried out in parallel with steps S11 and S12.

[0136] In another example, the abnormality determiner 32 according to Embodiment 2 may perform the calculation of the differences in step S13 each time the processing is executed. In this example, the abnormality determiner 32 may output the determination result indicating the absence of an abnormality without comparing the difference with the command threshold if at least one of the temperatures of the motors IM1 and IM2 is not within the first target temperature range. The same applies to Embodiments 3 to 5.

[0137] The abnormality determiner 32 can determine the presence or absence of an abnormality in at least one of the transmission line L1, the transmission line L2, or the second calculator 41 based on the ratios of the differences between the base torque command value and each of the shaft torque command values ​​to the base torque command value. In this case, the abnormality determiner 32 can determine whether the above ratios are within an acceptable error range, such as between -0.1 and 0.1.

[0138] The abnormality determiner 32 can determine the presence or absence of an abnormality in at least one of the transmission line L1, the transmission line L2, or the second calculator 41 based on the ratios of the individual shaft torque command values ​​to the base torque command value. In this case, the abnormality determiner 32 can determine whether the above ratios are within an acceptable error range, such as between -0.9 and 1.1.

[0139] The temperature detectors 93 and 94 can determine the temperatures of the motors IM1 and IM2 from the measured values ​​of the currents flowing in the stator windings of the motors IM1 and IM2.

[0140] The speed sensors 97, 98, 99 and 100 can estimate the speeds of the motors IM1, IM2, IM3 and IM4 from the measured values ​​of the currents flowing in the motors IM1, IM2, IM3 and IM4 and the voltage commands directed to the power conversion devices 11, 12, 13 and 14.

[0141] The temperature sensor 101 can detect the temperature of the braking resistor BR1 based on a measured value of a temperature sensor arranged at a position near the braking resistor BR1.

[0142] The first arithmetic unit 21 and the second arithmetic unit 22 can transmit and receive data via the transmission line L1. Specifically, the first calculator 31 of the first arithmetic unit 21 can transmit the base torque command value to the second calculator 41 of the second arithmetic unit 22 via the transmission line L1, and the second calculator 41 can transmit the shaft torque command values ​​to the abnormality determiner 32 via the transmission line L1.

[0143] The power conversion devices 11 and 12 can be installed in a railway vehicle using an alternating current supply system. In this case, the alternating current obtained by the pantograph can be stepped down by a transformer and supplied to the power conversion devices 11 and 12. Any device that can be used as the power conversion devices 11 and 12 includes a converter that converts alternating current to direct current, a capacitor that is charged with the direct current supplied by the converter, and an inverter that converts the direct current supplied via the capacitor into three-phase alternating current.

[0144] The IM1, IM2, IM3 and IM4 motors are not limited to a three-phase induction motor and can be any motor model that can be controlled with vector control.

[0145] The embodiments described above are some examples for explanation. Although the foregoing discussion has presented specific embodiments, it will be apparent to those skilled in the art that changes may be made in form and detail without departing from the broader spirit and scope of the invention. Accordingly, the specification and drawings are to be considered as illustrative and not restrictive. This detailed description, therefore, is not to be taken in a limiting sense, and the scope of the invention will be defined only by the claims appended hereto and the full range of equivalents to which such claims are entitled. List of reference symbols 1a, 1b connection 11, 12, 13, 14 Power conversion device 20, 23, 25 Control device 21 First arithmetic processing unit 22, 24, 26 Second arithmetic processing unit 31 First Calculator 32 abnormality determiners 41, 43 Second calculator 42, 44 Control 45 axle speed sensors 46 Reference axis speed determiner 47 slip and slide determiners 70, 80 buses 71 First processor 72 First storage 73 First interface 81, 84 Second processor 82 Second storage 83 Second interface 91 Main control unit 92 Load detector 93, 94, 95, 96, 101 Temperature detector 97, 98, 99, 100 speed sensor BR1 braking resistor IM1, IM2, IM3, IM4 engine L1, L2 transmission line S1 operating command S2, S3, S4, S5 control signal SW1 switch QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 09-107602

[0003]

Claims

[1] A control device for controlling power conversion devices which can be installed in a rail vehicle and have switching elements, each of the power conversion devices converting electrical power supplied to it into electrical power to be supplied to one or more motors and supplying the electrical power generated by the conversion to the motor or motors, the control device comprising: a first arithmetic processing unit and a second arithmetic processing unit connected to each other via a transmission line, wherein the first arithmetic processing unit comprises a first calculator for determining, for each vehicle of the rail vehicle, a base torque command value, which is a torque command value common to the motors arranged in the vehicle, based on a target acceleration of the rail vehicle and a weight of the vehicle, the second arithmetic processing unit comprises a second calculator for adjusting the base torque command value obtained from the first calculator via the transmission line based on a parameter indicating at least one of an operating state of a device installed in the rail vehicle or wheel diameters of wheels rotatable with torques transmitted from the motors, and thereby determining for each of the power conversion devices a shaft torque command value which is a torque command value for the one or more motors to receive the electric power provided by the power conversion device, the second arithmetic processing unit comprises a controller for generating control signals each intended to achieve a torque indicated by a corresponding one of the plurality of shaft torque command values ​​and each directed to the switching elements included in a corresponding one of the power conversion devices, and outputting the control signals, and the first arithmetic processing unit has an abnormality determiner for determining the presence or absence of an abnormality in at least one of the transmission line or the second calculator based on the base torque command value and the plurality of shaft torque command values. [2] The control device according to claim 1, wherein the abnormality determiner determines whether the base torque command value and each of the plurality of shaft torque command values ​​agree when the operating state satisfies a determination condition. [3] A control device according to claim 1 or 2, wherein the operating condition includes at least one of temperatures of the motors, temperatures of the power conversion devices, presence or absence of slippage or skidding of wheels attached to axles of the railway vehicle, or a temperature of a braking resistor configured to consume electric power output by the motors operating as power generators during deceleration of the railway vehicle and converted by the power conversion devices to generate an electric braking force. [4] Control device according to claim 3, wherein the parameter has a variety of parameters that indicate the temperatures of engines, and the second calculator adjusts the base torque command value based on the plurality of parameters indicating the temperatures of the motors and thereby determines the plurality of shaft torque command values. [5] The control device according to claim 4, wherein the abnormality determiner detects the temperatures of the motors as the operating condition and, when the temperatures of the motors are within a first target temperature range defined based on an allowable temperature of the motors, determines the presence or absence of an abnormality in at least one of the transmission line or the second calculator based on the base torque command value and the plurality of shaft torque command values. [6] Control device according to one of claims 3 to 5, wherein the parameter comprises a plurality of parameters indicating the temperatures of the power conversion devices, and the second calculator adjusts the base torque command value based on the plurality of parameters indicative of the temperatures of the power conversion devices, thereby determining the plurality of shaft torque command values. [7] The control device according to claim 6, wherein the abnormality determiner detects the temperatures of the power conversion devices as an operating condition, and, when the temperatures of the power conversion devices are within a second target temperature range defined based on an allowable temperature of the power conversion devices, determines the presence or absence of an abnormality in at least one of the transmission line or the second calculator based on the base torque command value and the plurality of shaft torque command values. [8] Control device according to one of claims 3 to 7, wherein the parameter specifies the temperature of the braking resistor, and the second calculator adjusts the base torque command value based on the parameter indicating the temperature of the braking resistor, thereby determining the plurality of shaft torque command values. [9] The control device according to claim 8, wherein the abnormality determiner detects the temperature of the braking resistor as an operating condition, and when the temperature of the braking resistor is within a third target temperature range defined based on an allowable temperature of the braking resistor, determines the presence or absence of an abnormality in at least one of the transmission line or the second calculator based on the base torque command value and the plurality of shaft torque command values. [10] Control device according to one of claims 3 to 9, wherein the first arithmetic processing unit further comprises an axle speed sensor to record an axle speed for each of the vehicle's axles, which varies depending on the rotational speed of the wheels attached to the axle, a reference axle speed determiner for determining, as the reference axle speed of the vehicle, a minimum value or a maximum value of a plurality of axle speeds each associated with a corresponding one of the axles of the vehicle, and a slip and slide determiner for determining, for each of the axles, a degree of slip or slide of the wheels attached to the axle based on a comparison between a corresponding axle speed and the reference axle speed, the parameter indicates the determination result of the slip and slide determiner, and the second calculator adjusts the basic torque command value based on the parameter indicating the determination result of the slip and slip determiner, and thereby determines the plurality of shaft torque command values. [11] The control device according to claim 10, wherein the abnormality determiner detects the determination result of the slip and skid determiner as the operating condition, and when the determination result of the slip and skid determiner indicates that neither slip nor skid occurs, determines the presence or absence of an abnormality in at least one of the transmission line or the second calculator based on the base torque command value and the plurality of shaft torque command values. [12] The control device according to any one of claims 1 to 11, wherein when the abnormality determiner determines that an abnormality occurs in at least one of the transmission line or the second calculator, the first calculator sets the basic torque command value to a value to stop the power conversion devices. [13] Control device according to one of claims 1 to 12, wherein the transmission line has a first transmission line for transmitting the base torque command value from the first calculator to the second calculator, and a second transmission line for transmitting the plurality of shaft torque command values ​​from the second calculator to the abnormality determiner, wherein the first transmission line and the second transmission line are arranged separately. [14] Control device according to one of claims 1 to 13, wherein the first arithmetic processing unit one or more first processors, one or more first memories storing an instruction to make the one or more first processors act as the first calculator and the abnormality determiner, and a first interface for communicating with the second arithmetic processing unit via the transmission line. [15] Control device according to one of claims 1 to 14, wherein the second arithmetic processing unit comprises one or more second processors, one or more second memories storing an instruction to allow the one or more second processors to act as the second calculator and controller, and a second interface to communicate with the first arithmetic processing unit via the transmission line. [16] An abnormality determination method performed by a control device for controlling power conversion devices which can be installed in a railway vehicle and have switching elements, each of the power conversion devices converting electric power supplied thereto into electric power to be supplied to one or more motors and supplying the electric power generated by the conversion to the motor or motors, the control device comprising a first arithmetic processing unit and a second arithmetic processing unit which are connected to each other via a transmission line, the abnormality determination method comprising: Determining the presence or absence of an abnormality in at least one of the transmission line or the second arithmetic processing unit based on a basic torque command value and shaft torque command values, wherein the basic torque command value is determined in the first arithmetic processing unit for each vehicle of the rail vehicle based on a target acceleration of the rail vehicle and a weight of the vehicle and is a common torque command value for the motors arranged in the vehicle, wherein the shaft torque command values ​​are determined in the second arithmetic processing unit by adjusting the basic torque command value based on a parameter indicating at least one of an operating state of a device installed in the rail vehicle or the wheel diameters of wheels rotatable with torques transmitted from the motors,wherein each of the shaft torque command values ​​is a torque command value for the corresponding one of the one or more motors to receive the electrical power provided by the power conversion device.,

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