CONTROL DEVICE, CONTROL SYSTEM, RAILWAY VEHICLE AND ASSOCIATED CONTROL METHOD

Description

[0001] The present invention relates to a control device for at least two traction motors of a railway vehicle. The present invention also relates to a control system comprising such a control device, a railway vehicle and an associated control method.

[0002] The invention relates to the field of controlling traction motors of railway vehicles. In particular, the present invention relates to railway vehicles comprising a plurality of combustion engines, such as engines operating on diesel fuel.

[0003] Document WO 2013 / 028375 A1 discloses a control device for at least two traction motors of a railway vehicle, the control device comprising: an estimation module configured to estimate a traction power requirement of the railway vehicle as a function of at least one position signal of the railway vehicle; a determination module configured to determine a required operating state of each motor as a function of the power requirement; an adaptation module configured to determine, from the required operating state of each motor, an adapted operating state of said motor as a function of at least one specific parameter relating to the operation of the railway vehicle;a transmission module configured to transmit a control signal to each motor, the control signal comprising an order of the adapted operating state of each motor received from the adaptation module, the order of the adapted operating state being configured to control the operation of each motor in the adapted operating state of said motor.;

[0004] Document DE 20 2017 105323 U1 presents a control device for at least two traction motors of a boat.

[0005] Control devices are known which are configured to modify the rotational speed of traction motors, also called engine rpm, depending on a traction power requirement for the railway vehicle.

[0006] For example, when the railway vehicle climbs in altitude, the rotation speed of the motors is increased, and when the railway vehicle descends, the rotation speed is reduced.

[0007] However, in known control devices, engines are often operated in non-optimal rotational speed zones in terms of mechanical wear and fuel consumption.

[0008] There is thus a need for a control device making it possible to obtain control of the traction motors of the railway vehicle so as to extend the life of the motors and / or reduce fuel consumption.

[0009] To this end, the present invention relates to a control device, a control system, a railway vehicle and a control method according to the appended claims.

[0010] These characteristics and advantages of the invention will appear on reading the description which follows, given solely as a non-limiting example, and made with reference to the appended drawings, in which: there Figure 1 is a schematic representation of a part of a railway vehicle including a control device, and [the Figure 2 is a schematic representation of a traction power provided by a plurality of motors of the railway vehicle according to the figure 1 .

[0011] In reference to the figure 1 , a part of a railway vehicle 1 comprises a plurality of motors 2 and a control system 4 of the plurality of motors 2.

[0012] The railway vehicle 1 comprises at least two motors 2, preferably three or more motors. According to the example of the figure 1 , the railway vehicle 1 comprises four motors 2.

[0013] The motors 2 are traction motors of the railway vehicle 1, in particular combustion engines, such as diesel engines. The motors 2 are configured to generate traction force for the railway vehicle 1.

[0014] According to the example of the figure 1 , the control system 4 comprises at least one position sensor 10, at least one state sensor 12, at least one memory 14 and a control device 16.

[0015] The position sensor 10 is configured to measure an instantaneous position of the railway vehicle 1 and to emit a position signal of the railway vehicle 1, representative of this instantaneous position.

[0016] The position sensor 10 is for example a position sensor integrated into a satellite positioning system, such as a GPS (Global Positioning System) sensor. According to another example, the position sensor 10 is a sensor configured to detect the position of the railway vehicle 1 by reading beacons arranged in the railway track on which the railway vehicle 1 is intended to travel. According to another example, the position sensor 10 is an odometer.

[0017] The status sensor 12 is configured to measure at least one specific parameter relating to the operation of the railway vehicle 1.

[0018] The specific parameter comprises, for example, an acceleration or deceleration command for the railway vehicle 1. The acceleration or deceleration command is configured to be generated in particular in response to an actuation of a control by a driver of the railway vehicle 1.

[0019] According to one example, the specific parameter comprises a speed measurement of the railway vehicle 1 and / or an acceleration measurement of the railway vehicle 1.

[0020] In particular, the state sensor 12 is configured to measure an instantaneous value of the specific parameter relating to the operation.

[0021] According to one embodiment, the state sensor 12 comprises an angle sensor 18 configured to measure the angle of a gear lever (not shown) configured to be actuated by the driver, relative to a predefined “neutral” angle of the gear lever, in which neither acceleration nor deceleration of the railway vehicle 1 is required. For example, when the gear lever is moved in a first direction relative to the “neutral” angle, acceleration is required by the driver of the railway vehicle 1, and when the gear lever is moved in a second direction, opposite to the first direction, relative to the “neutral” angle, deceleration or braking is required.

[0022] According to one embodiment, the state sensor 12 comprises a speed sensor 20 of the railway vehicle 1 and / or acceleration of the railway vehicle 1. In this case, the specific parameter comprises the acceleration or the speed of the railway vehicle 1. This parameter is a parameter specific to the operation of the railway vehicle: for example when the railway vehicle 1 is heavily loaded with passengers or goods, or the axle boxes have high friction, the railway vehicle 1 is likely to accelerate, following a traction power supplied, according to an acceleration lower than that which would have been obtained in a situation in which the railway vehicle 1 is less loaded or the axle boxes have lower friction.

[0023] As shown in the example of the figure 1 , the state sensor 12 comprises several state sensors of different types. For example, the state sensor 12 comprises the angle sensor 18 and the speed or acceleration sensor 20 of the railway vehicle 1. According to another example, the state sensor 12 comprises a single sensor or several sensors of the same type. According to yet another example, the railway vehicle 1 comprises several state sensors 12.

[0024] The memory 14 of the control system 4 comprises a database 22 in which data are recorded concerning one or more routes on which the railway vehicle 1 is likely to travel. For example, the database 22 comprises a digital map of the route comprising geographical positions of the route, and timetables for the route of the railway vehicle 1. In particular, the database 22 comprises, at each of a plurality of successive crossing points along the planned route, a time at which the railway vehicle is expected at this point.

[0025] The memory 14, and more particularly the database 22, further comprises, for example, statistical data of a power requirement as a function of the position of the railway vehicle 1. The statistical data are, for example, previously recorded data and are, for example, derived from simulations, tests or journeys previously carried out.

[0026] The control device 16 is integrated for example in a computer (not shown). In this case, the control device 16 is at least partially in the form of software executable by a processor and stored in a memory of the computer.

[0027] Alternatively or additionally, the control device 16 is integrated, at least partially, in a physical device, such as for example a programmable logic circuit, such as an FPGA (from the English “Field Programmable Gate Array”), or even in the form of a dedicated integrated circuit, such as an ASIC (from the English “Application Specific Integrated Circuit”).

[0028] The control device 16 comprises an estimation module 24, a determination module 26, an adaptation module 30 and a transmission module 32. In the example illustrated, the control device 16 further comprises a restriction module 28.

[0029] The estimation module 24 is configured to estimate a traction power requirement of the railway vehicle 1 based on at least one position signal of the railway vehicle 1.

[0030] For example, the estimation module 24 is configured to receive from the position sensor 10 a position signal comprising the current geographical position of the railway vehicle 1. The estimation module 24 is thus configured to use the current geographical position of the railway vehicle 1 to estimate a traction power requirement of the railway vehicle 1.

[0031] For example, the estimation module 24 is configured to receive statistical data of a power requirement as a function of the position of the railway vehicle 1 from the database 22. The estimation module 24 is configured to search for the geographical position of the railway vehicle 1 received from the position sensor 10 in the statistical data and thus estimate a current power requirement of the railway vehicle 1, as a function of the statistical data relating to the geographical position of the railway vehicle 1.

[0032] The determination module 26 is configured to determine a required operating state of each motor 2 of the railway vehicle 1 based on the traction power requirement as estimated by the estimation module 24.

[0033] An operating state of an engine 2 comprises a binary state of the relevant engine 2, namely whether the relevant engine 2 is on or off. According to one example, the operating state further comprises a rotational speed of the engine 2, also referred to as the number of revolutions of the engine 2.

[0034] A required operating state is the operating state of the relevant engine 2 that is required at a given time.

[0035] In particular, the determination module 26 is configured to receive the power requirement and to output the required operating state of each engine 2.

[0036] The restriction module 28 is configured to define a minimum duration of stopping and / or operating time for each engine 2 and to transmit the minimum duration of stopping and / or operating time for each engine 2 to the adaptation module 30.

[0037] The minimum duration is the period of time during which the engine 2 concerned is forced to remain on or off, i.e. in particular to remain in the same operating state.

[0038] The restriction module 28 is in particular configured to define the minimum shutdown / operation duration based on data relating to previous shutdowns or ignitions of the engine 2 concerned. For example, the restriction module 28 is configured to receive as input each change in the operating state of each engine 2, and configured to store each change in the operating state for a predefined storage period, for example for ten minutes. When the engine 2 concerned has for example been switched on or stopped a number of times greater than or equal to a defined threshold, for example twice, during the storage period, the restriction module 28 is configured to force the engine 2 to remain in its current operating state.The restriction module 28 is further configured to lift such a constraint from a relevant engine 2, for example from the moment in which the operating state of the engine has been modified a number of times less than the defined threshold, during the storage period considered from this moment.

[0039] The restriction module 28 is in particular configured to prevent the same engine 2 from being stopped and started repeatedly.

[0040] According to a particular example, the restriction module 28 is configured to define that an engine 2 must, after ignition, remain in operation for at least one minute, and / or when it is stopped, that it must remain stopped for at least one minute.

[0041] The determination by the restriction module 28 of a maximum number of engines 2 that can be stopped for a predefined time period allows it to prevent too high a number of engines 2 from being stopped and not being able to be switched on in the event of a need for traction power, due to the minimum stopping time defined for these engines 2.

[0042] According to one example, the restriction module 28 is configured to determine a maximum number of engines 2 that are stopped during a predefined time period and to transmit the maximum number to the adaptation module 30.

[0043] Restriction module 28 is an optional module.

[0044] The adaptation module 30 is configured to determine, from the required operating state of each engine 2, an adapted operating state of said engine 2 as a function of the specific parameter relating to the operation of the railway vehicle 1.

[0045] The adapted operating state is the operating state modified to take into account the specific parameter.

[0046] In particular, the adaptation module 30 is configured to receive as input the required operating state and the specific parameter, for example from the state sensor(s) 12. The adaptation module 30 is for example configured to receive the acceleration or deceleration command generated in response to an actuation of a control by the driver of the railway vehicle 1.

[0047] According to one example, the specific parameter at the input of the adaptation module 30 comprises an acceleration / deceleration command and also an acceleration / deceleration measurement of the railway vehicle 1. According to another example, the specific parameter comprises only one of the acceleration / deceleration command and the acceleration / deceleration measurement.

[0048] According to one example, the adaptation module 30 is configured to determine the adapted operating state further based on the minimum shutdown and / or operating duration of each engine 2 received from the restriction module 28.

[0049] According to a particular example, the adaptation module 30 is configured to determine the adapted operating state further based on the maximum number received from the restriction module 28.

[0050] The transmission module 32 is for example configured to receive the adapted operating state of each engine 2 from the adaptation module 30.

[0051] The transmission module 32 is configured to transmit a control signal to each motor 2. The control signal comprises an order of the adapted operating state of each motor 2 received from the adaptation module 32. The order of the adapted operating state is configured to control the operation of each motor 2 in the adapted operating state of said motor 2. For example, the order of the adapted operating state is an order to start or stop at least one of the motors 2 and / or an order to modify a rotation speed of at least one of the motors 2.

[0052] In other words, the transmission module 32 is configured to transmit commands to turn on or off motors 2 individually, and / or to change the rotation frequency of each of the motors 2 individually.

[0053] A method for controlling the motors 2 of the railway vehicle 1 will now be described. The control method is implemented by the control system 4, and in particular by the control device 16.

[0054] The control method comprises an estimation step, a determination step, an adaptation step, a restriction step and a transmission step.

[0055] During the estimation step, the estimation module 24 estimates the traction power requirement of the railway vehicle 1 based on at least one position signal of the railway vehicle 1.

[0056] For example, the estimation module 24 receives from the position sensor 10 a position signal comprising the current geographical position of the railway vehicle 1. The estimation module 24 uses the geographical position of the railway vehicle 1 to estimate a traction power requirement of the railway vehicle 1.

[0057] For example, the estimation module 24 further receives statistical data of the power requirement as a function of the position of the railway vehicle 1 from the database 22. The estimation module 24 searches for the geographical position of the railway vehicle 1 received from the position sensor 10 in the statistical data and thus estimates a current power requirement of the railway vehicle 1, further as a function of the statistical data.

[0058] There figure 2 represents an example of a power requirement B over time t. The power requirement B is estimated by the estimation module 24. The power requirement B is for example of the order of several kilowatts (kW).

[0059] For the purposes of this example, it is assumed that the railway vehicle 1 comprises four motors 2 of equal power. A nominal traction power P of the four motors 2 together is defined as a power of 100%, each motor 2 being thus configured to provide 25% of the nominal traction power.

[0060] On the example of the figure 2 , from time t0, the estimated power requirement B increases to about 60%. For example, between time t0 and time t1, the railway vehicle 1 is accelerated or is positioned on an upward slope, and the statistical data thus indicate a high power requirement on this slope.

[0061] Between times t1 and t2, the power requirement decreases from about 50% to about 40%, for example in response to a downward gradient of the railway track. Between times t3 and t4, the power requirement increases to about 87% at its maximum value and then decreases between t4 and t5, and then between t5 and t6 to a value of about 30%. Then, the power requirement B increases again to about 70%, for example following an upward gradient of the route of the railway vehicle 1.

[0062] During the determination step, the determination module 26 determines a required operating state of each engine 2 based on the power requirement.

[0063] In particular, the determination module 26 receives the power requirement and outputs the required operating state of each motor 2.

[0064] For example, the determination module 26 determines the required operating state as follows.

[0065] In reference to the figure 2 , when the received power requirement B has a maximum value of approximately 60% (period between t0 and t1) of the nominal power, the determination module 26 is configured to determine the required operating state “on” of three motors 2, and the required operating state “off” of the fourth motor 2. The power supplied is thus 75% of the nominal power.

[0066] When the received power requirement is 50% maximum of the nominal power, the determination module 26 determines the required operating state “on” of two engines 2, and the required operating state “off” of the other two engines 2 (period between t1 and t2). Other examples are possible.

[0067] In addition, the determination module 26 determines the rotation speed of each motor 2 switched on. For example, when the received power requirement is 87% of the nominal power (period between t3 and t4), the determination module determines the nominal rotation speed for three motors 2 and half the nominal speed for a fourth motor 2 (corresponding to 12.5% of the nominal power), to arrive at a traction power of 87.5%. Other combinations are possible.

[0068] During the restriction step, the restriction module 28 defines a minimum duration of stopping and / or operating time for each engine 2 and transmits the minimum duration of stopping and / or operating time for each engine 2 to the adaptation module 30.

[0069] According to one example, the restriction module 28 determines a maximum number of engines 2 which are stopped during a predefined time period and transmits the maximum number to the adaptation module 30.

[0070] The restriction module 28 defines, for example, the minimum shutdown / operation duration based on data relating to previous shutdowns or ignitions of the engine 2 concerned. For example, the restriction module 28 receives as input each change in the operating state of each engine 2, and stores each change in the operating state for a predefined storage period, for example for ten minutes. When the engine 2 concerned has, for example, been switched on or stopped a number of times greater than or equal to a defined threshold, for example twice, during the storage period, the restriction module 28 forces the engine 2 to remain in its current operating state.The restriction module 28 lifts such a constraint from a concerned engine 2, for example from the moment in which the operating state of the engine has been modified a number of times less than the defined threshold, during the storage period considered from this moment.

[0071] The restriction module 28 in particular prevents the same engine 2 from being stopped and started repeatedly. For example, the restriction module 28 defines that an engine 2 must, after ignition, remain in operation for at least one minute, and / or when stopped, that it must remain stopped for at least one minute.

[0072] Furthermore, the determination by the restriction module 28 of a maximum number of engines 2 that can be stopped for a predefined time period, allows it to prevent too high a number of engines 2 from being stopped and not being able to be switched on in the event of a need for traction power, due to the minimum stopping time defined for these engines 2.

[0073] During the adaptation step, the adaptation module 30 determines, from the required operating state of each engine 2, the adapted operating state of said engine 2 as a function of the specific parameter(s) relating to the operation of the railway vehicle 1.

[0074] In particular, the adaptation module 30 receives as input the required operating state and the specific parameter, for example from the state sensor(s) 12. The adaptation module 30 receives for example the acceleration or deceleration command generated in response to an actuation of a control by the driver of the railway vehicle 1.

[0075] For example, when the specific parameter comprises an acceleration or deceleration command of the railway vehicle 1, the adaptation module 30 modifies the required operating state according to the acceleration command. For example, when the railway vehicle 1 is late compared to the planned schedules of a journey and the driver wishes to proceed more quickly, he gives an acceleration command, which thus results in an increase in the power requirement B. Accordingly, for example, the adaptation module 30 is configured to modify the "off" operating state of at least one engine 2 into the "on" operating state, called the adapted operating state.

[0076] According to one example, the adaptation module 30 determines the adapted operating state furthermore as a function of the minimum stopping and / or operating duration of each engine 2 received from the restriction module 28.

[0077] According to a particular example, the adaptation module 30 determines the adapted operating state further based on the maximum number received from the restriction module 28.

[0078] During the transmission step, the transmission module 32 transmits the control signal to each motor 2, the control signal comprising an order of the adapted operating state of each motor 2 received during the adaptation step. The order of the adapted operating state controls the operation of each motor 2 in the adapted operating state of said motor 2.

[0079] It is understood that the control device 16 makes it possible to obtain control of the traction motors 2 of the railway vehicle 1 so as to extend the service life of the motors 2 and / or reduce fuel consumption. Indeed, the operating time of the motors 2 is reduced, as visible in the example of the figure 2: in the period extending from t0 to t7, all 2 engines are only switched on in the period between t3 and t4.

[0080] Furthermore, because the control device 16 makes it possible to stop certain engines 2 when the power requirement is low, the engine(s) 2 switched on are configured to operate at an optimal rotation speed in terms of fuel consumption. In particular, the control device 16 makes it possible to prevent the engines from running at a low rotation speed, such a low speed leading to high consumption and / or high wear of the engines 2.

[0081] At the same time, the control device 16 makes it possible to anticipate the power requirement, in particular thanks to the estimation module 24.

[0082] Furthermore, the driver of the railway vehicle 1 remains in control of the railway vehicle 1, since the adaptation module 30 makes it possible to adapt the operating state of the engines 2 according to the specific parameter relating to the operation comprising for example the acceleration or deceleration command generated in response to an actuation of the gear lever by a driver of the railway vehicle 1. The actuation of the gear lever is for example measured by the angle sensor 18. The control device 16 thus makes it possible to monitor the driver's requirements (acceleration and deceleration), and to reduce fuel consumption and / or to extend the service life of the engines.

Claims

1. A monitoring device (16) for at least two traction motors (2) of a rail vehicle (1), the monitoring device (16) comprising: - an estimation module (24) configured to estimate a traction power requirement of the rail vehicle (1) depending on at least one position signal of the rail vehicle (1); - a determination module (26) configured to determine a required operating state of each motor (2) according to the power requirement; - an adaptation module (30) configured to determine, from the required operating state of each motor (2), an adapted operating state of said motor (2) depending on at least one specific parameter relating to the operation of the rail vehicle (1), the specific parameter comprising an acceleration or deceleration command of the rail vehicle (1), a speed measurement of the rail vehicle (1), and / or an acceleration measurement of the rail vehicle (1); - a transmission module (32) configured to output a control signal to each motor (2), the control signal comprising an order of the adapted operating state of each motor (2) received from the adaptation module (30), the order of the adapted operating state being a start or stop order of at least one of the motors (2) and / or an order to change a rotational speed of at least one of the motors (2), the order of the adapted operating state being configured to control the operation of each motor (2) in the adapted operating state of said motor (2), wherein the estimation module (24) is configured to receive statistical data of the power requirement depending on the position of the rail vehicle (1) and configured to further estimate the power requirement depending on the statistical data, characterised in that the monitoring device (16) further comprises a restriction module (28) configured to define a minimum stopping and / or running time of each motor (2) and transmit the minimum stopping and / or operation time of each motor (2) to the adaptation module, the adaptation module (30) being configured to further determine the adapted operating state depending on the minimum stopping and / or operation time of each motor (2) received from the restriction module (28), the restriction module being configured to receive as input each change in the operating state of each motor (2), to store each change in the operating state during a predefined storage period, and, when the concerned motor (2) has been switched on or off a number of times which is greater than or equal to a threshold defined during the storage period, to force the concerned motor (2) to remain in its current operating state, and to eliminate the stress on the concerned motor (2) when the operating state of the concerned motor has been changed a number of times which is less than the threshold defined during the storage period.

2. The monitoring device (16) according to claim 1, wherein the restriction module (28) is further configured to determine a maximum number of motors (2) that can be stopped for a predefined time period and to transmit the maximum number to the adaptation module (30), the adaptation module (30) being configured to further determine the adapted operating state depending on the maximum number received from the restriction module (28).

3. The monitoring system (4) comprising the monitoring device (16) according to claim 1 or claim 2, the control system (4) further comprising at least one sensor (10) of a position of the rail vehicle (1), configured to generate the position signal of the rail vehicle (1), and preferably further comprising at least one state sensor (12) configured to measure the specific parameter.

4. A rail vehicle (1) comprising the monitoring system (4) according to claim 3 and at least two traction motors (2).

5. A monitoring method for at least two traction motors (2) of a rail vehicle (1), the method comprising: - a step of estimating a traction power requirement of the rail vehicle (1) depending on at least one position signal of the rail vehicle (1) using an estimation module (24) configured to receive statistical data of the power requirement depending on the position of the rail vehicle (1) and configured to further estimate the power requirement depending on the statistical data; - a step of determining a required operating state of each motor (2) according to the power requirement; - an adaptation step, in which, starting from the required operating state of each motor (2), an adapted operating state of said motor (2) depending on at least one specific parameter relating to the operation of the rail vehicle (1) is determined, the specific parameter comprising a command of acceleration or deceleration of the rail vehicle (1), a measurement of the speed of the rail vehicle (1), and / or a measurement of the acceleration of the rail vehicle (1); - a step of emitting a control signal to each motor (2), the control signal comprising an order of the adapted operating state of each motor (2) received during the adaptation step, the order of the adapted operating state being an order to start or stop at least one of the motors (2) and / or an order to change a rotational speed of at least one of the motors (2), the order of the adapted operating state being configured to control the operation of each motor (2) in the adapted operating state of said motor (2), characterised in that the method further comprises a restriction step consisting in defining a minimum stopping and / or operation time of each motor (2) and transmitting the minimum stopping and / or operation time of each motor (2) for consideration in the adaptation step, the adaptation step determining the adapted operating state further depending on the received minimum stopping and / or operation time of each motor (2), the restriction step receiving as input each change in the operating state of each motor (2), storing each change in the operating state over a predefined storage period, and, when the considered motor (2) has been switched on or off a number of times greater than or equal to a threshold defined during the storage period, forcing the considered motor (2) to remain in its current operating state, and eliminating the stress on the considered motor (2) when the operating state of the considered motor has been changed a number of times less than the threshold defined during the storage period.

6. The method according to claim 5, wherein the restriction step consists in determining a maximum number of motors (2) that are stopped for a predefined time period and transmitting the maximum number for consideration in the adaptation step, the adaptation step further determining the adapted operating state according to the received maximum number.