Control design device, method, and program

Abstract

To accurately identify a parameter of a vehicle body motion model to be used in designing a controller that controls air supply and exhaust to air springs so that an inclination angle of the vehicle body of a railroad vehicle follows a target angle.SOLUTION: A control design device comprises a waveform acquiring unit that acquires, for each of a plurality of air supply / exhaust conditions, a time series waveform representing the motion of a vehicle body when an air supply / exhaust command to supply / exhaust a certain amount of air to / from an air spring on either side is input to an air supply / exhaust device, a model parameter acquiring unit that acquires parameters of a vehicle body motion model that is identified so that the frequency transfer characteristic of the transfer function estimated on the basis of the combination of the acquired time series waveform and the air supply / exhaust command corresponds to the frequency transfer characteristic of the vehicle body motion model that models the body motion of a railroad vehicle, for the worst air supply / exhaust condition among the plurality of air supply / exhaust conditions, and a control design unit that designs a controller by using the vehicle body motion model having the acquired parameters.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a control design device, method, and program, and more particularly to a control design device, method, and program for designing a controller for a railway vehicle. [Background technology]

[0002] Conventionally, methods for grasping frequency characteristics required for designing a controller included in a control system of a vehicle body tilt control device have been known (Patent Documents 1 and 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2006-315519 A [Patent Document 2] JP 2009-40078 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the conventional technology, there is room for improvement in the design of a controller that controls the supply and exhaust of air to the gas spring so as to cause the tilt angle of the railcar body to follow the target angle.

[0005] The present invention has been made in consideration of the above-mentioned circumstances, and has an objective of providing a control design device, method, and program that can accurately identify parameters of a car body motion model used when designing a controller that controls the intake and exhaust of air to an air spring so as to cause the inclination angle of a railway vehicle's car body to follow a target angle. [Means for solving the problem]

[0006] The control design device according to the present invention is a control design device for designing a control device that outputs a control command to make the inclination angle of a carbody of a railway vehicle having left and right air springs that support the carbody on a bogie follow a target angle, and includes a waveform acquisition unit that acquires a time-series waveform that represents the movement of the carbody when an intake and exhaust command to the air springs to perform a certain intake and exhaust under the intake and exhaust condition is input to an intake and exhaust device for each of a plurality of intake and exhaust conditions, the control command being an intake and exhaust command to the air springs, the control command being an intake and exhaust command to perform a certain intake and exhaust under the intake and exhaust condition, The system includes a model parameter acquisition unit that acquires parameters of the car body motion model identified so that the frequency transfer characteristics of a transfer function that takes the air intake and exhaust command as input and outputs the time series waveform, which is estimated based on a combination of the time series waveform acquired by a waveform acquisition unit and the air intake and exhaust command, correspond to the frequency transfer characteristics of a car body motion model that models the motion of the car body of the railway vehicle, and a control design unit that uses the car body motion model having the acquired parameters to design a controller used by the control device when calculating the control command.

[0007] The control design method of the present invention is a control design method in a control design device for designing a control device that outputs a control command to cause the inclination angle of a carbody of a railway vehicle having left and right air springs that support the carbody on a bogie to follow a target angle, and the control command is an intake and exhaust command to the air spring as the control command, the intake and exhaust command causing a constant intake and exhaust to either the left or right air spring under the intake and exhaust condition, and a time series waveform representing the movement of the carbody is obtained for each of a plurality of intake and exhaust conditions, the intake and exhaust command being input to the intake and exhaust device, and for the intake and exhaust condition among the plurality of intake and exhaust conditions which has the worst value related to the inclination or movement of the carbody, parameters of the carbody motion model are obtained such that a frequency transfer characteristic of a transfer function that takes the intake and exhaust command as input and outputs the time series waveform corresponds to the frequency transfer characteristic of a carbody motion model that models the movement of the carbody of the railway vehicle, which is estimated based on a combination of the acquired time series waveform and the intake and exhaust command, and a controller is designed to be used by the control device when calculating the control command using the carbody motion model having the acquired parameters.

[0008] The control design program according to the present invention is a program for designing a control device that outputs a control command for making the inclination angle of a carbody of a railway vehicle having left and right air springs that support the carbody on a bogie follow a target angle, and includes a computer, which includes: a waveform acquisition unit that acquires a time-series waveform representing the movement of the carbody when an intake and exhaust command to the air springs for performing a certain intake and exhaust under the intake and exhaust condition is input to an intake and exhaust device for each of a plurality of intake and exhaust conditions; a waveform acquisition unit that acquires a time-series waveform representing the movement of the carbody when an intake and exhaust command to the air springs for performing a certain intake and exhaust under the intake and exhaust condition is input to an intake and exhaust device for each of the plurality of intake and exhaust conditions; The program functions as a model parameter acquisition unit that acquires parameters of the car body motion model, which are identified so that the frequency transfer characteristics of a transfer function that takes the air intake and exhaust command as input and outputs the time series waveform, estimated based on a combination of the time series waveform acquired by the waveform acquisition unit and the air intake and exhaust command, correspond to the frequency transfer characteristics of a car body motion model that models the motion of the car body of the railway vehicle, and a control design unit that uses the car body motion model having the acquired parameters to design a controller used by the control device when calculating the control command. Effect of the Invention

[0009] According to one aspect of the present invention, a control design device, method, and program can accurately identify parameters of a car body motion model used when designing a controller that controls the intake and exhaust of air springs so as to cause the inclination angle of a railway vehicle's car body to follow a target angle. [Brief description of the drawings]

[0010] [Figure 1] 1 is a schematic diagram showing a schematic configuration of a railway vehicle according to an embodiment of the present invention; [Diagram 2] 1 is a schematic diagram showing a schematic configuration of an intake and exhaust device for a railway vehicle according to an embodiment of the present invention; [Diagram 3] 1 is a schematic diagram showing a schematic configuration of a control device for a railway vehicle according to an embodiment of the present invention; [Figure 4]11A and 11B are diagrams illustrating an example of an intake / exhaust command for left and right air springs and a change in a vehicle body inclination angle. [Diagram 5] 1 is a schematic diagram showing a schematic configuration of a control design device according to a first embodiment of the present invention. [Figure 6] FIG. 13 is a diagram for explaining a method of estimating a transfer function. [Figure 7] FIG. 2 is a diagram for explaining a vehicle body motion model. [Figure 8] FIG. 2 is a diagram for explaining a vehicle body motion model. [Figure 9] FIG. 2 is a diagram for explaining a vehicle body motion model. [Figure 10] FIG. 2 is a diagram for explaining a vehicle body motion model. [Figure 11] FIG. 1 is a schematic block diagram of an example of a computer that functions as a control design device. [Figure 12] 4 is a flowchart of an example of a control design process in the first embodiment of the present invention. [Figure 13] FIG. 4 is a schematic diagram showing a schematic configuration of a control design device according to a second embodiment of the present invention. [Figure 14] 13 is a flowchart of an example of a control design process in the second embodiment of the present invention. [Figure 15] FIG. 13 is a schematic diagram showing a schematic configuration of a control design device according to a third embodiment of the present invention. [Figure 16] 13 is a flowchart of an example of a control design process in a third embodiment of the present invention. [Figure 17] 11A and 11B are diagrams illustrating changes in an intake / exhaust command and a vehicle body inclination angle in the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, a control design device according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0012] <Overview of the embodiment of the present invention> First, the railcar body and the control device will be described.

[0013] The control system for the carbody of a railway vehicle is shown in Fig. 1. The carbody 1 is equipped with a control device 10, a bogie 12, left and right air springs 14A, 14B that support the carbody 1 on the bogie 12, left and right air intake and exhaust devices 16A, 16B, left and right height sensors 18A, 18B, left and right acceleration sensors 30, and a speed sensor 32.

[0014] As shown in FIG. 2, the left and right air supply and exhaust devices 16A, 16B are equipped with a plurality of air supply solenoid valves 34 for controlling the supply of compressed air to the air springs 14A, 14B, and a plurality of exhaust solenoid valves 36 for controlling the exhaust of air from the air springs 14A, 14B.

[0015] As shown in FIG. 3, the control device 10 includes a route data storage unit 20, an information acquisition unit 22, a target tilt angle calculation unit 24, and a controller .

[0016] The route data storage unit 20 stores route information (curvature, inclination, etc.) for each position on the route.

[0017] The information acquiring unit 22 acquires the spring heights of the left and right air springs 14A, 14B from the left and right height sensors 18A, 18B. The information acquiring unit 22 acquires the lateral acceleration of the vehicle body floor surface from the lateral acceleration sensor 30. The information acquiring unit 22 acquires the running speed from the speed sensor 32. The information acquiring unit 22 acquires the running point based on information received from the ground coil 33.

[0018] The target tilt angle calculation unit 24 calculates the target tilt angle from the route information of the current traveling point and the traveling speed, using a predetermined relationship between the route information, the traveling speed, and the target tilt angle.

[0019] The controller 26 calculates intake and exhaust commands for the left and right intake and exhaust devices 16A and 16B based on the target inclination angle, the air spring height, and the lateral acceleration of the vehicle floor surface so that the inclination angle of the vehicle body 1 follows the target angle. The intake and exhaust commands are used to control the opening and closing of each of the multiple solenoid valves 34 and 36.

[0020] Here, steps 1 to 4 of designing a controller using the conventional method will be explained below.

[0021] First, in design procedure 1, a sine wave vibration test is performed, and a sine wave is given to the intake and exhaust system as an intake and exhaust command to vibrate the vehicle body. At that time, the waveform of the inclination angle measured by a sensor installed on the vehicle body and the waveform of the lateral acceleration of the vehicle body floor surface are stored. This conventional method assumes the use of a flow proportional valve system as an intake and exhaust system for air springs. With this flow proportional valve system, the valve opening and intake and exhaust flow rate can be controlled steplessly by controlling the displacement of the spool with a motor.

[0022] In design procedure 2, the intake and exhaust command from design procedure 1 is used as input, and the tilt angle and the lateral acceleration of the vehicle floor are used as outputs to calculate the frequency transfer characteristic from input to output. Specifically, the frequency transfer characteristic related to the gain (amplitude ratio between the input waveform and the output waveform) and the frequency transfer characteristic related to the phase (phase difference between the input waveform and the output waveform) are calculated.

[0023] In design procedure 3, the parameters of the vehicle body motion model are identified. The parameters of the vehicle body motion model are adjusted so that the frequency transfer characteristics calculated from the vehicle body motion model match the frequency transfer characteristics calculated in design procedure 2.

[0024] In design step 4, a controller is designed using the parameters of the vehicle motion model adjusted in design step 3.

[0025] In this embodiment, as described above, solenoid valve type intake and exhaust devices 16A and 16B are used. Since solenoid valves that can only open and close are used in the solenoid valve type, the type and number of valves to be opened are manipulated to control the intake and exhaust flow rate. When a flow proportional valve type is used, this can be realized with conventional controller design procedures, but when a solenoid valve type is used, it is difficult to achieve intake and exhaust with values ​​that change continuously like a sine wave, and the problem is that this cannot be achieved with conventional controller design procedures.

[0026] Therefore, in this embodiment, a method is used that makes it possible to design a controller even for a solenoid valve type.

[0027] Specifically, the method for designing the controller 26 that controls the solenoid valve type air supply and exhaust devices 16A and 16B is composed of the following design steps 1 to 5.

[0028] In design procedure 1, an air intake / exhaust command to supply air to the air spring on one side for a certain period of time is input to the air intake / exhaust device, the car body is vibrated, and the tilt angle and lateral acceleration of the car body floor surface are obtained.

[0029] In design procedure 2, a transfer function is estimated. In this case, a transfer function that reproduces the tilt angle and the lateral acceleration of the vehicle floor surface obtained as a result of design procedure 1 is estimated.

[0030] In design procedure 3, the frequency transfer characteristic is calculated from the transfer function estimated in design procedure 2.

[0031] In design procedure 4, similar to conventional design procedure 3, parameters of the vehicle body motion model are identified.

[0032] In design procedure 5, the controller is designed in the same manner as in conventional design procedure 4.

[0033] In this way, design procedures 4 and 5 are similar to the design procedures of the conventional method, but design procedures 1 to 3 are different from the design procedures of the conventional method.

[0034] Also, Fig. 4 shows an example of the results when an intake / exhaust command to supply air to the air spring on one side for a fixed period of time is input to the intake / exhaust system and the car body is vibrated. Fig. 4 shows the transition of the car body tilt angle when air is supplied to the left air spring for a fixed period of time. Ideally, the overshoot rate calculated from this result using the following formula should be the same regardless of the vibration conditions.

[0035] JPEG2025002577000002.jpg1694

[0036] Here, a steady value is a value that does not vary over time.

[0037] However, as a result of testing, it was found that the overshoot rate varies depending on the intake and exhaust conditions. In this case, if a controller is designed based on the vibration results of conditions other than the worst intake and exhaust conditions and applied to control, there is a risk that the vehicle body tilt angle will vibrate or diverge. If the overshoot rate varies depending on the intake and exhaust conditions, it is desirable to design the controller on the premise of the worst intake and exhaust conditions. Therefore, in this embodiment, after vibration is applied under multiple intake and exhaust conditions, one vibration result is selected and the controller is designed. For example, the intake and exhaust conditions under which the overshoot rate is maximum are selected as the worst intake and exhaust conditions and the vibration result is selected.

[0038] [First embodiment] <Configuration of the control design system> Fig. 5 is a schematic diagram showing a schematic configuration of a control design device according to a first embodiment of the present invention. As shown in Fig. 5, the control design device 100 according to this embodiment is a device for designing a controller 26 of a control device 10 in a railway vehicle, and includes a waveform data storage unit 50, a waveform acquisition unit 52, a selection unit 53, a transfer function estimation unit 54, a frequency transfer characteristic calculation unit 56, a model parameter identification unit 58, and a control design unit 60. The control design device 100 is installed in a different location, not inside the railway vehicle. The selection unit 53, the transfer function estimation unit 54, the frequency transfer characteristic calculation unit 56, and the model parameter identification unit 58 are examples of a model parameter acquisition unit.

[0039] The control design device 100 of this embodiment receives as input a time series waveform including changes in the inclination angle of the vehicle body 1 and changes in the lateral acceleration of the vehicle body floor surface, which are obtained from the left and right height sensors 18A, 18B and the lateral acceleration sensor 30 when an air supply / exhaust command to the air springs 14A, 14B for performing a constant air supply / exhaust to either one of the air springs 14A, 14B is input to the air supply / exhaust devices 16A, 16B. Specifically, an intake / exhaust command to close a certain number of air intake solenoid valves 34 after opening them for a certain time is input to the intake / exhaust devices 16A, 16B for one of the air springs 14A, 14B, and an intake / exhaust command to keep the air intake solenoid valves 34 closed for the other of the air springs 14A, 14B is input to the intake / exhaust devices 16A, 16B. A time series waveform including a change in the inclination angle of the vehicle body 1 and a change in the lateral acceleration of the vehicle body floor surface obtained from the left and right height sensors 18A, 18B and the lateral acceleration sensor 30 is stored in the control device 10, and this time series waveform is input to the control design device 100. An intake / exhaust command to perform a certain amount of intake and exhaust to one of the air springs 14A, 14B at this time is also input to the control design device 100.

[0040] For example, as shown in Fig. 4 above, an air intake and exhaust command to perform a constant air intake and exhaust for one air spring 14A is input to air intake and exhaust device 16A, and an air intake and exhaust command to not perform air intake and exhaust for the other air spring 14B is input to air intake and exhaust device 16B. Fig. 4 shows an example in which, after a constant air intake is performed for the left air spring, an air intake and exhaust command to command not to perform air intake and exhaust is input to the air intake and exhaust device as one cycle, and an air intake and exhaust command to command not to perform air intake and exhaust for the right air spring is input to the air intake and exhaust device.

[0041] In this embodiment, for each of a plurality of intake and exhaust conditions, a time-series waveform including a change in the inclination angle of the vehicle body 1 and a change in the lateral acceleration of the vehicle body floor surface when an intake and exhaust command for performing a constant intake and exhaust to either one of the air springs 14A, 14B under the corresponding intake and exhaust condition is input as a control command to the intake and exhaust devices 16A, 16B is input to the control design device 100. The intake and exhaust condition relates to the type or number of solenoid valves to be opened and closed. For example, intakes A to C and exhausts A to C shown in Table 1 are used as the plurality of intake and exhaust conditions.

[0042] [Table 1]

[0043] In Table 1, "◯" indicates a solenoid valve that is open, and "-" indicates a solenoid valve that is closed. "Intake side solenoid valve 1" is the solenoid valve for intake of air for the left air spring, and "Intake side solenoid valve 2" is the solenoid valve for intake of air for the right air spring. "Exhaust side solenoid valve 1" is the solenoid valve for exhaust of air for the left air spring, and "Exhaust side solenoid valve 2" is the solenoid valve for exhaust of air for the right air spring.

[0044] The waveform data storage unit 50 stores time-series waveforms including changes in the inclination angle of the vehicle body 1 and changes in the lateral acceleration of the vehicle body floor surface, which are input for each of a plurality of intake and exhaust conditions, and intake and exhaust commands.

[0045] The waveform acquisition unit 52 acquires, from the waveform data storage unit 50, a time-series waveform including a change in the inclination angle of the vehicle body 1 and a change in the lateral acceleration of the vehicle body floor surface, and an intake and exhaust command for each of a plurality of intake and exhaust conditions.

[0046] The selection unit 53 selects, from among the multiple intake and exhaust conditions, the intake and exhaust condition having the worst value related to the inclination or movement of the vehicle body, based on the time-series waveform acquired by the waveform acquisition unit 52. Specifically, the selection unit 53 selects, based on the time-series waveform acquired by the waveform acquisition unit 52, the intake and exhaust condition having the maximum overshoot rate.

[0047] The transfer function estimation unit 54 estimates a transfer function that takes the air supply / exhaust command as an input and outputs a time-series waveform for the selected air supply / exhaust condition, based on a combination of the time-series waveform and the air supply / exhaust command acquired by the waveform acquisition unit 52. Specifically, it estimates a transfer function that reproduces a time-series waveform including a change in the inclination angle of the vehicle body 1 and a change in the lateral acceleration of the vehicle body floor surface due to an air supply / exhaust command that performs a constant air supply / exhaust to either one of the air springs 14A, 14B.

[0048] More specifically, as shown in Figure 6, a transfer function that reproduces the change in the inclination angle of the vehicle body 1 due to an air intake and exhaust command that performs a constant air intake and exhaust to either one of the air springs 14A, 14B, and a transfer function that reproduces the change in the lateral acceleration of the vehicle floor surface of the vehicle body 1 due to the air intake and exhaust command are estimated.

[0049] An example of a transfer function used to estimate the tilt angle is shown in Equation (1). In this example, a transfer function with a third order denominator and a first order numerator is used, and the number of adjustment parameters is three.

[0050] JPEG2025002577000004.jpg2258 (1)

[0051] where a is a tuning parameter, c is an intermediate variable, c = 2 w z, d is an intermediate variable, d = w 2 where w and z are adjustment parameters.

[0052] An example of a transfer function used to estimate the vehicle body floor lateral acceleration is shown in Equation (2). In this example, a transfer function with a third order denominator and a second order numerator is used, and the number of adjustment parameters is four.

[0053] JPEG2025002577000005.jpg2061 (2)

[0054] where a and b are tuning parameters, c is an intermediate variable, c = 2 w z, d is an intermediate variable, d = w 2 where w and z are adjustment parameters.

[0055] The frequency transfer characteristic calculation unit 56 calculates the frequency transfer characteristic based on the estimated transfer function. Specifically, based on the estimation result of the transfer function that reproduces the change in the tilt angle of the vehicle body 1, the frequency transfer characteristic is calculated for each frequency with respect to the gain and phase difference, which is the amplitude ratio between the tilt angle of the vehicle body 1 and the intake and exhaust command when an intake and exhaust command of the corresponding frequency is input. Also, based on the estimation result of the transfer function that reproduces the change in the vehicle body floor lateral acceleration of the vehicle body 1, the frequency transfer characteristic is calculated for each frequency with respect to the gain and phase difference, which is the amplitude ratio between the vehicle body floor lateral acceleration of the vehicle body 1 and the intake and exhaust command when an intake and exhaust command of the corresponding frequency is input.

[0056] The model parameter identifying unit 58 identifies parameters of the carbody motion model, which models the motion of the carbody 1 of the railcar, so that the frequency transfer characteristics of the carbody motion model correspond to the calculated frequency transfer characteristics.

[0057] Specifically, the parameters of the vehicle body motion model shown in Figs. 7 to 10 and equations (3) to (11) are identified. Fig. 7 shows the lateral and vertical displacements of the vehicle center of gravity and the vehicle body inclination angle. Fig. 8 shows the lateral and vertical distances between the vehicle center of gravity and the air spring, the distance between the vehicle center of gravity and the floor, and the distance between the vehicle center of gravity and the lateral damper. Fig. 9 shows a model of the left air spring, and Fig. 10 shows a model of the right air spring. The air spring model is expressed using air spring lateral stiffness, air spring main body vertical stiffness 1, air spring pressure receiving area change rate stiffness, air spring main body vertical stiffness 2, air spring damping coefficient, air spring height, air spring internal variable 1, and air spring internal variable 2.

[0058] JPEG2025002577000006.jpg12102 (3) JPEG2025002577000007.jpg18140 (4) JPEG2025002577000008.jpg11153 (5) JPEG2025002577000009.jpg980 (6) JPEG2025002577000010.jpg1184 (7) JPEG2025002577000011.jpg1229 (8) JPEG2025002577000012.jpg1125 (9) JPEG2025002577000013.jpg948 (10) JPEG2025002577000014.jpg1048 (11)

[0059] where M is the vehicle weight (half vehicle) [kg], and I is the vehicle roll moment of inertia (half vehicle) [kg m 2 ], b2 is the lateral distance between the center of gravity of the vehicle and the air spring [m], h3 is the vertical distance between the center of gravity of the vehicle and the air spring [m], h4 is the distance between the center of gravity of the vehicle and the floor surface [m], h5 is the distance between the center of gravity of the vehicle and the lateral damper [m], k1 is the lateral stiffness of the air spring [N / m], k2 is the vertical stiffness of the air spring body 1 [N / m], k3 is the pressure-receiving area change rate stiffness of the air spring [N / m], k4 is the vertical stiffness of the air spring body 2 [N / m], c1 is the damping coefficient of the lateral damper [N·s / m], c2 is the damping coefficient of the air spring [N·s / m], A is the effective pressure-receiving area of ​​the air spring [m 2 ] and ρ is the air density [kg / m 3 ] and γ is a voltage-to-flow conversion coefficient. These are the parameters to be identified.

[0060] In addition, u1 is the intake / exhaust flow command voltage [V] for the left air spring, and u2 is the intake / exhaust flow command voltage [V] for the right air spring. These are input to the vehicle motion model.

[0061] Also, y is the vehicle body vertical displacement [m], x is the vehicle body lateral displacement [m], φ is the vehicle body inclination angle (roll angle) [rad], z1 is the left air spring height [m], z2 is the left air spring internal variable 1 [m], z3 is the left air spring internal variable 2 [m], w1 is the right air spring height [m], w2 is the right air spring internal variable 1 [m], and w3 is the right air spring internal variable 2 [m]. These are variables that are output when input is given to the vehicle body motion model.

[0062] More specifically, for the selected intake and exhaust conditions, from the variables output when the intake and exhaust command acquired by the waveform acquisition unit 52 is input to the vehicle body motion model, a transfer function that reproduces the change in the inclination angle of the vehicle body 1 due to the intake and exhaust command and a transfer function that reproduces the change in the vehicle body floor lateral acceleration of the vehicle body 1 due to the intake and exhaust command are estimated in the same manner as the transfer function estimation unit 54. Then, based on the estimation result of the transfer function that reproduces the change in the inclination angle of the vehicle body 1, the frequency transfer characteristics of the gain and phase difference, which are the amplitude ratio between the inclination angle of the vehicle body 1 and the intake and exhaust command when the intake and exhaust command of the frequency is input, are calculated in the same manner as the frequency transfer characteristics calculation unit 56. Also, based on the estimation result of the transfer function that reproduces the change in the vehicle body floor lateral acceleration of the vehicle body 1, the frequency transfer characteristics of the gain and phase difference, which are the amplitude ratio between the vehicle body floor lateral acceleration of the vehicle body 1 and the intake and exhaust command when the intake and exhaust command of the frequency is input, are calculated.

[0063] The parameters of the vehicle body motion model are identified so that the frequency transfer characteristics obtained here correspond to the frequency transfer characteristics calculated by the frequency transfer characteristic calculation unit 56. Specifically, the parameters of the vehicle body motion model are repeatedly adjusted until these frequency transfer characteristics correspond to each other.

[0064] The control design unit 60 uses the vehicle body motion model having the identified parameters to design the controller 26 used when the control device 10 calculates a control command.

[0065] Specifically, an intake / exhaust command is calculated as an input to the vehicle body motion model so that the inclination angle, which is the output of the vehicle body motion model, becomes the target angle for each combination of the target inclination angle, air spring height, and vehicle body floor lateral acceleration. At this time, the intake / exhaust command may be calculated as an input to the vehicle body motion model so that the oscillation of the inclination angle becomes small. Then, the controller 26 is set using H∞ control theory so that the intake / exhaust command calculated for each combination of the target inclination angle, air spring height, and vehicle body floor lateral acceleration is calculated.

[0066] The control design device 100 is realized, for example, by a computer 64 shown in Fig. 11. The computer 64 includes a CPU 66, a memory 68, a storage unit 70 storing a control design program 76, a display unit 27 including a monitor, and an input unit 28 including a keyboard and a mouse. The CPU 66, the memory 68, the storage unit 70, the display unit 27, and the input unit 28 are connected to each other via a bus 74.

[0067] The storage unit 70 is realized by a HDD, an SSD, a flash memory, etc. A control design program 76 for causing the computer 64 to function as the control design device 100 is stored in the storage unit 70. The CPU 66 reads out the control design program 76 from the storage unit 70, loads it into the memory 68, and executes the control design program 76.

[0068] <Functions of the control design device> Next, the operation of the first embodiment will be described with reference to FIG. 12. First, the operator inputs into the control design device 100 a time series waveform including a change in the inclination angle of the vehicle body 1 and a change in the lateral acceleration of the vehicle body floor surface, which is obtained when an air supply / exhaust command to the air springs 14A, 14B for performing a constant air supply / exhaust to either one of the air springs 14A, 14B is output to the left and right air supply / exhaust devices 16A, 16B for each of a plurality of air supply / exhaust conditions. In addition, the operator inputs into the control design device 100 an air supply / exhaust command to perform a constant air supply / exhaust to either one of the air springs 14A, 14B under the air supply / exhaust condition for each of a plurality of air supply / exhaust conditions. Then, the time series waveform and the air supply / exhaust command input for each of a plurality of air supply / exhaust conditions are stored in the waveform data storage unit 50.

[0069] Also, a control design process that is executed by the control design device 100 upon performing an operation such as an instruction to start the control design process will be described.

[0070] In step S100 of the control design process, the waveform acquisition unit 52 acquires from the waveform data storage unit 50 a time-series waveform including changes in the inclination angle of the vehicle body 1 and changes in the lateral acceleration of the vehicle floor surface, and an intake and exhaust command for each of a plurality of intake and exhaust conditions.

[0071] In step S101, the selection unit 53 selects, from among a plurality of intake and exhaust conditions, the intake and exhaust condition that has the worst value related to the inclination or movement of the vehicle body, based on the time-series waveform acquired by the waveform acquisition unit 52.

[0072] In step S102, the transfer function estimation unit 54 estimates a transfer function that takes the air supply / exhaust command as input and outputs a time-series waveform based on the combination of the air supply / exhaust command and the time-series waveform acquired by the waveform acquisition unit 52 for the selected air supply / exhaust condition.

[0073] In step S104, the frequency transfer characteristic calculation unit 56 calculates the frequency transfer characteristic based on the estimated transfer function.

[0074] In step S106, the model parameter identifying unit 58 identifies the parameters of the vehicle body motion model so that the frequency transfer characteristic of the vehicle body motion model corresponds to the frequency transfer characteristic calculated in step S104 above.

[0075] In step S108, the control design unit 60 designs the controller 26 using the vehicle body motion model having the identified parameters.

[0076] As described above, according to the control design device 100 of the present embodiment, for each of a plurality of intake and exhaust conditions, a time series waveform representing the motion of the car body is acquired when an intake and exhaust command for performing a constant intake and exhaust to either the left or right air spring is input to the intake and exhaust device, and the intake and exhaust condition with the worst value related to the inclination or motion of the car body is selected based on the time series waveform, and for the selected intake and exhaust condition, a transfer function that inputs the intake and exhaust command and outputs a time series waveform is estimated, a frequency transfer characteristic for the transfer function is calculated, and parameters of the car body motion model are identified so that the frequency transfer characteristic of the car body motion model corresponds to the calculated frequency transfer characteristic. This makes it possible to accurately identify parameters of the car body motion model used when designing a controller that controls intake and exhaust to the air springs so that the inclination angle of the railcar body follows a target angle. In addition, a result with the largest overshoot rate is selected as the worst condition from multiple vibration results when vibration is performed with a constant value input under multiple intake and exhaust conditions, and is used for controller design. Vibration and divergence of the car body inclination angle can be prevented by designing a controller based on the vibration result of the worst condition.

[0077] Furthermore, if a time series waveform representing the movement of the vehicle body can be obtained when an air intake and exhaust command is input to the air intake and exhaust device to perform a constant intake and exhaust to either the left or right air spring, the parameters of the vehicle body movement model can be identified and a controller can be designed.

[0078] [Second embodiment] Next, a control design device according to a second embodiment will be described. Note that parts having the same configuration as those in the first embodiment will be given the same reference numerals and descriptions thereof will be omitted.

[0079] The second embodiment differs from the first embodiment in that the frequency transfer characteristic is calculated for each of a plurality of air supply and exhaust conditions, and the worst air supply and exhaust condition is selected based on the frequency transfer characteristic.

[0080] Fig. 13 is a schematic diagram showing a schematic configuration of a control design device according to a second embodiment of the present invention. As shown in Fig. 13, the control design device 200 according to the second embodiment is a device for designing a controller 26 of a control device 10 in a railway vehicle, and includes a waveform data storage unit 50, a waveform acquisition unit 52, a transfer function estimation unit 54, a frequency transfer characteristic calculation unit 56, a selection unit 257, a model parameter identification unit 58, and a control design unit 60. The control design device 200 is installed in a different location, not inside the railway vehicle.

[0081] The transfer function estimation unit 54 estimates a transfer function that takes the air supply and exhaust command as input and outputs a time-series waveform based on the combination of the air supply and exhaust command and the time-series waveform acquired by the waveform acquisition unit 52 for each of a plurality of air supply and exhaust conditions.

[0082] The frequency transfer characteristic calculation unit 56 calculates the frequency transfer characteristic for each of a plurality of intake and exhaust conditions based on the estimated transfer function.

[0083] The selection unit 257 selects, from among the plurality of intake and exhaust conditions, the intake and exhaust condition having the worst value related to the inclination or movement of the vehicle body based on the calculated frequency transfer characteristic. Specifically, the selection unit 257 selects the intake and exhaust condition having the worst value related to the inclination or movement of the vehicle body in the calculated frequency transfer characteristic.

[0084] The model parameter identification unit 58 identifies parameters of the car body motion model, which models the motion of the railway vehicle car body 1, for the selected intake and exhaust conditions, so that the frequency transfer characteristics of the car body motion model correspond to the calculated frequency transfer characteristics.

[0085] <Functions of the control design device> Next, the operation of the second embodiment will be described with reference to Fig. 14. Note that the same processes as those in the first embodiment are denoted by the same reference numerals and detailed description thereof will be omitted.

[0086] The following describes the control design process that is executed by the control design device 200 when an operation such as an instruction to start the control design process is performed. Note that the control design process is an example of a control design method.

[0087] In step S100 of the control design process, the waveform acquisition unit 52 acquires from the waveform data storage unit 50 a time-series waveform including changes in the inclination angle of the vehicle body 1 and changes in the lateral acceleration of the vehicle floor surface, and an intake and exhaust command for each of a plurality of intake and exhaust conditions.

[0088] In step S102, the transfer function estimation unit 54 estimates a transfer function that takes the air supply / exhaust command as input and outputs a time-series waveform, based on the combination of the air supply / exhaust command and the time-series waveform acquired by the waveform acquisition unit 52, for each of a plurality of air supply / exhaust conditions.

[0089] In step S104, the frequency transfer characteristic calculation unit 56 calculates the frequency transfer characteristic for each of a plurality of intake and exhaust conditions based on the estimated transfer function.

[0090] In step S205, the selection unit 257 selects, from among the plurality of intake and exhaust conditions, the intake and exhaust condition having the worst value related to the inclination or movement of the vehicle body, based on the calculated frequency transfer characteristic.

[0091] In step S106, the model parameter identifying unit 58 identifies parameters of the vehicle body motion model for the selected intake and exhaust conditions such that the frequency transfer characteristic of the vehicle body motion model corresponds to the frequency transfer characteristic calculated in step S104 above.

[0092] In step S108, the control design unit 60 designs the controller 26 using the vehicle body motion model having the identified parameters.

[0093] As described above, the control design device 200 according to the second embodiment obtains a time series waveform representing the motion of the car body when an air intake and exhaust command for performing constant air intake and exhaust to either the left or right air spring is input to the air intake and exhaust device for each of a plurality of air intake and exhaust conditions, estimates a transfer function that inputs the air intake and exhaust command and outputs a time series waveform for each of the plurality of air intake and exhaust conditions, calculates a frequency transfer characteristic for the transfer function, selects the air intake and exhaust condition with the worst value related to the inclination or motion of the car body based on the frequency transfer characteristic, and identifies parameters of the car body motion model for the selected air intake and exhaust condition so that the frequency transfer characteristic of the car body motion model corresponds to the calculated frequency transfer characteristic. This makes it possible to accurately identify parameters of the car body motion model used when designing a controller that controls air intake and exhaust to the air springs so as to make the inclination angle of the car body of the railway vehicle follow the target angle. In addition, based on the frequency transfer characteristic calculated from the vibration result when vibration is applied by constant value input under a plurality of air intake and exhaust conditions, selects the air intake and exhaust condition with the worst value related to the inclination or motion of the car body and uses it for controller design. By designing a controller based on the vibration results under the worst-case conditions, it is possible to prevent vibration and divergence of the vehicle body tilt angle.

[0094] [Third embodiment] Next, a control design device according to a third embodiment will be described. Note that parts having the same configuration as those in the first embodiment will be given the same reference numerals and descriptions thereof will be omitted.

[0095] The third embodiment differs from the first embodiment in that the parameters of the vehicle body motion model are identified for each of a plurality of intake and exhaust conditions, and the worst intake and exhaust conditions are selected based on the parameters of the vehicle body motion model.

[0096] Fig. 15 is a schematic diagram showing a schematic configuration of a control design device according to a third embodiment of the present invention. As shown in Fig. 15, the control design device 300 according to the third embodiment is a device for designing a controller 26 of a control device 10 in a railway vehicle, and includes a waveform data storage unit 50, a waveform acquisition unit 52, a transfer function estimation unit 54, a frequency transfer characteristic calculation unit 56, a model parameter identification unit 58, a selection unit 359, and a control design unit 60. The control design device 300 is installed in a different location, not inside the railway vehicle.

[0097] The transfer function estimation unit 54 estimates a transfer function that takes the air supply and exhaust command as input and outputs a time-series waveform based on the combination of the air supply and exhaust command and the time-series waveform acquired by the waveform acquisition unit 52 for each of a plurality of air supply and exhaust conditions.

[0098] The frequency transfer characteristic calculation unit 56 calculates the frequency transfer characteristic for each of a plurality of intake and exhaust conditions based on the estimated transfer function.

[0099] The model parameter identification unit 58 identifies parameters of the car body motion model, which models the motion of the railway vehicle car body 1, for each of a plurality of intake and exhaust conditions, so that the frequency transfer characteristics of the car body motion model correspond to the calculated frequency transfer characteristics.

[0100] The selection unit 359 selects, from among the multiple intake and exhaust conditions, the intake and exhaust condition having the worst value related to the inclination or movement of the vehicle body based on the identified parameters of the vehicle body motion model. Specifically, the selection unit 359 selects the intake and exhaust condition having the worst value related to the inclination or movement of the vehicle body among the identified parameters of the vehicle body motion model.

[0101] The control design unit 60 uses a vehicle body motion model having parameters identified for the selected intake and exhaust conditions to design a controller 26 that is used when the control device 10 calculates a control command.

[0102] <Functions of the control design device> Next, the operation of the third embodiment will be described with reference to Fig. 16. Note that the same processes as those in the first embodiment are denoted by the same reference numerals and detailed description thereof will be omitted.

[0103] The control design process executed by the control design device 300 upon performing an operation such as an instruction to start the control design process will be described.

[0104] In step S100 of the control design process, the waveform acquisition unit 52 acquires from the waveform data storage unit 50 a time-series waveform including changes in the inclination angle of the vehicle body 1 and changes in the lateral acceleration of the vehicle floor surface, and an intake and exhaust command for each of a plurality of intake and exhaust conditions.

[0105] In step S102, the transfer function estimation unit 54 estimates a transfer function that takes the air supply / exhaust command as input and outputs a time-series waveform, based on the combination of the air supply / exhaust command and the time-series waveform acquired by the waveform acquisition unit 52, for each of a plurality of air supply / exhaust conditions.

[0106] In step S104, the frequency transfer characteristic calculation unit 56 calculates the frequency transfer characteristic for each of a plurality of intake and exhaust conditions based on the estimated transfer function.

[0107] In step S106, the model parameter identifying unit 58 identifies parameters of the vehicle body motion model for each of a plurality of intake and exhaust conditions such that the frequency transfer characteristic of the vehicle body motion model corresponds to the frequency transfer characteristic calculated in step S104 above.

[0108] In step S307, the selection unit 359 selects, from the plurality of intake and exhaust conditions, the intake and exhaust condition having the worst value related to the inclination or movement of the vehicle body, based on the parameters of the identified vehicle body movement model.

[0109] In step S108, the control design unit 60 designs the controller 26 using a vehicle body motion model having parameters identified for the selected intake and exhaust conditions.

[0110] As described above, according to the control design device 300 of the third embodiment, for each of a plurality of intake and exhaust conditions, a time series waveform representing the motion of the car body is acquired when an intake and exhaust command for performing a constant intake and exhaust to either the left or right air spring is input to the intake and exhaust device, a transfer function for each of the plurality of intake and exhaust conditions is input, an intake and exhaust command is input, a transfer function for outputting a time series waveform is estimated, a frequency transfer characteristic for the transfer function is calculated, and parameters of the car body motion model are identified so that the frequency transfer characteristic of the car body motion model corresponds to the calculated frequency transfer characteristic for each of the plurality of intake and exhaust conditions. Then, based on the identified parameters of the car body motion model, an intake and exhaust condition with the worst value related to the inclination or motion of the car body is selected. This makes it possible to accurately identify parameters of the car body motion model used when designing a controller that controls intake and exhaust to the air springs so that the inclination angle of the car body of the railway vehicle follows the target angle. Also, based on the parameters of the car body motion model identified from the vibration results when vibration is applied under a plurality of intake and exhaust conditions by constant value input, an intake and exhaust condition with the worst value related to the inclination or motion of the car body is selected and used for controller design. By designing a controller based on the vibration results under the worst-case conditions, it is possible to prevent vibration and divergence of the vehicle body tilt angle.

[0111] <Example> Next, an example of the control design device 100 according to the first embodiment will be described. In a test device simulating a railway vehicle, excitation with a constant value input was performed under multiple intake and exhaust conditions (intake air A to C, exhaust air A to C) (FIG. 17). FIG. 17 shows an example of the intake and exhaust command for one of the air springs and the change in the car body tilt angle under multiple intake and exhaust conditions. The overshoot rate was calculated from the change in the car body tilt angle for multiple intake and exhaust conditions (Table 2). In this case, the excitation result under the condition of intake air B, which had the highest overshoot rate, was selected as the worst condition and used for the controller design.

[0112] [Table 2]

[0113] In the above, the control design devices 100, 200, and 300 are set in a location separate from the railway vehicle, but the present invention is not limited to this. The control design devices 100, 200, and 300 may be installed inside the railway vehicle.

[0114] In addition, although the above description has been given with reference to an example in which the overshoot rate is calculated from the change in the vehicle body inclination angle for a plurality of intake and exhaust conditions, the present invention is not limited to this example, and the overshoot rate may be calculated from the change in the lateral acceleration of the vehicle body.

[0115] The following supplementary notes are further disclosed regarding the above embodiment.

[0116] [Appendix 1] 1. A control design device for designing a control device that outputs a control command for making an inclination angle of a carbody of a railway vehicle having left and right air springs that support the carbody on a bogie follow a target angle, comprising: a waveform acquiring unit that acquires a time-series waveform that represents the motion of the vehicle body when an intake / exhaust command to the air spring as the control command for each of a plurality of intake / exhaust conditions is input to the intake / exhaust device, the intake / exhaust command being for performing a certain intake / exhaust under the intake / exhaust condition to either the left or right air spring; a model parameter acquisition unit that acquires parameters of the carbody motion model that are identified so that a frequency transfer characteristic of a transfer function that receives the intake and exhaust command and outputs the time-series waveform, the frequency transfer characteristic being estimated based on a combination of the time-series waveform acquired by the waveform acquisition unit and the intake and exhaust command, for the intake and exhaust condition having the worst value related to the inclination or movement of the carbody among the plurality of intake and exhaust conditions, corresponds to a frequency transfer characteristic of a carbody motion model that models the movement of the carbody of the railway vehicle; a control design unit that uses the vehicle body motion model having the acquired parameters to design a controller used by the control device when calculating the control command; and A control design device comprising:

[0117] [Appendix 2] The model parameter acquisition unit a selection unit that selects, from the plurality of intake and exhaust conditions, an intake and exhaust condition that has the worst value related to the inclination or movement of the vehicle body, based on the time-series waveform acquired by the waveform acquisition unit; a transfer function estimating unit that estimates the transfer function based on a combination of the time-series waveform acquired by the waveform acquiring unit and the intake and exhaust command for the selected intake and exhaust condition; a frequency transfer characteristic calculation unit that calculates a frequency transfer characteristic for the estimated transfer function for the selected intake and exhaust condition; a model parameter identification unit that identifies parameters of a carbody motion model that models the motion of the carbody of the railcar, such that the frequency transfer characteristic of the carbody motion model corresponds to the calculated frequency transfer characteristic for the selected intake and exhaust condition; 2. The control design device of claim 1,

[0118] [Appendix 3] The model parameter acquisition unit a transfer function estimating unit that estimates the transfer function based on a combination of the time-series waveform acquired by the waveform acquiring unit and the air supply / exhaust command for each of the plurality of air supply / exhaust conditions; a frequency transfer characteristic calculation unit that calculates a frequency transfer characteristic of the estimated transfer function for each of the plurality of intake and exhaust conditions; a selection unit that selects, from the plurality of intake and exhaust conditions, an intake and exhaust condition having the worst value related to the inclination or movement of the vehicle body based on the calculated frequency transfer characteristic; a model parameter identification unit that identifies parameters of a carbody motion model that models the motion of the carbody of the railcar, such that the frequency transfer characteristic of the carbody motion model corresponds to the calculated frequency transfer characteristic for the selected intake and exhaust condition; 2. The control design device of claim 1,

[0119] [Appendix 4] The model parameter acquisition unit a transfer function estimating unit that estimates the transfer function based on a combination of the time-series waveform acquired by the waveform acquiring unit and the air supply / exhaust command for each of the plurality of air supply / exhaust conditions; a frequency transfer characteristic calculation unit that calculates a frequency transfer characteristic of the estimated transfer function for each of the plurality of intake and exhaust conditions; a model parameter identification unit that identifies parameters of a carbody motion model that models the motion of the carbody of the railcar, such that the frequency transfer characteristic of the carbody motion model corresponds to the calculated frequency transfer characteristic for each of the plurality of intake and exhaust conditions; a selection unit that selects, from the plurality of intake and exhaust conditions, an intake and exhaust condition that has the worst value related to the inclination or motion of the vehicle body, based on the identified parameters of the vehicle body motion model; 2. The control design device of claim 1,

[0120] [Appendix 5] 3. The control design device according to claim 2, wherein the selection unit selects the intake and exhaust conditions that maximize the overshoot rate based on the time-series waveform acquired by the waveform acquisition unit.

[0121] [Appendix 6] The railway vehicle has a plurality of solenoid valves for controlling the supply of air to the air springs, and a plurality of solenoid valves for controlling the exhaust of air from the air springs, the air intake / exhaust command is for controlling opening and closing of each of the plurality of solenoid valves, 6. The control design device according to any one of claims 1 to 5, wherein the supply and exhaust conditions relate to the type or number of solenoid valves to be opened and closed.

[0122] [Appendix 7] the time-series waveform represents a change in the inclination angle of the vehicle body and a change in the lateral acceleration of the vehicle body; When estimating the transfer function, a transfer function that receives the intake / exhaust command as an input and outputs a change in the inclination angle of the vehicle body, and a transfer function that receives the intake / exhaust command as an input and outputs a change in the lateral acceleration of the vehicle body are estimated; A control design device as described in any one of Appendix 1 to Appendix 5, wherein, when calculating the frequency transfer characteristics, a frequency transfer characteristic for a transfer function that outputs a change in the inclination angle of the vehicle body, and a frequency transfer characteristic for a transfer function that outputs a change in the lateral acceleration of the vehicle body are calculated.

[0123] [Appendix 8] 1. A control design method for a control design device for designing a control device that outputs a control command for making a tilt angle of a carbody of a railway vehicle having left and right air springs that support the carbody on a bogie follow a target angle, comprising: a time-series waveform representing the motion of the vehicle body is acquired for each of a plurality of intake and exhaust conditions, when an intake and exhaust command to the air spring as the control command, the intake and exhaust command for performing a certain intake and exhaust under the intake and exhaust condition to either the left or right air spring, is input to an intake and exhaust device; for the intake and exhaust condition among the plurality of intake and exhaust conditions that has the worst value related to the inclination or movement of the carbody, parameters of the carbody motion model are acquired, the parameters being identified so that a frequency transfer characteristic of a transfer function that receives the intake and exhaust command as an input and outputs the time-series waveform, the frequency transfer characteristic being estimated based on a combination of the acquired time-series waveform and the intake and exhaust command, corresponds to a frequency transfer characteristic of a carbody motion model that models the movement of the carbody of the railway vehicle; Using the vehicle body motion model having the acquired parameters, a controller is designed to be used by the control device when calculating the control command. Control design methods.

[0124] [Appendix 9] A program for designing a control device that outputs a control command for making an inclination angle of a carbody of a railway vehicle having left and right air springs that support the carbody on a bogie follow a target angle, Computer, a waveform acquiring unit that acquires a time-series waveform that represents the motion of the vehicle body when an intake / exhaust command to the air spring as the control command for each of a plurality of intake / exhaust conditions is input to the intake / exhaust device, the intake / exhaust command being for performing a certain intake / exhaust under the intake / exhaust condition to either the left or right air spring; a model parameter acquisition unit that acquires parameters of the carbody motion model, the parameters being identified so that a frequency transfer characteristic of a transfer function that receives the air intake and exhaust command as an input and outputs the time-series waveform, the frequency transfer characteristic being estimated based on a combination of the time-series waveform acquired by the waveform acquisition unit and the air intake and exhaust command, for the air intake and exhaust condition having the worst value related to the inclination or motion of the carbody among the plurality of air intake and exhaust conditions, corresponds to a frequency transfer characteristic of a carbody motion model that models the motion of the carbody of the railcar; a control design unit that uses the vehicle body motion model having the acquired parameters to design a controller used by the control device when calculating the control command; A control design program to make it function as a [Explanation of symbols]

[0125] 1. Vehicle body 10 Control device 12 Carts 16A, 16B Air supply and exhaust system 18A, 18B Height Sensor 20 Route data storage unit 22 Information Acquisition Department 24 Target tilt angle calculation section 26 Controller 30 Left and right acceleration sensor 34, 36 Solenoid valve 50 Waveform data storage section 52 Waveform acquisition section 53, 257, 359 Selection section 54 Transfer function estimation section 56 Frequency transfer characteristic calculation section 58 Model parameter identification section 60 Control Design Department 64 Computers 76 Control Design Program 100, 200, 300 Control Design Device

Claims

1. 1. A control design device for designing a control device that outputs a control command for making an inclination angle of a carbody of a railway vehicle having left and right air springs that support the carbody on a bogie follow a target angle, comprising: a waveform acquiring unit that acquires a time-series waveform that represents the motion of the vehicle body when an intake / exhaust command to the air spring as the control command for each of a plurality of intake / exhaust conditions is input to the intake / exhaust device, the intake / exhaust command being for performing a certain intake / exhaust under the intake / exhaust condition to either the left or right air spring; a model parameter acquisition unit that acquires parameters of the carbody motion model that are identified so that a frequency transfer characteristic of a transfer function that receives the intake and exhaust command and outputs the time-series waveform, the frequency transfer characteristic being estimated based on a combination of the time-series waveform acquired by the waveform acquisition unit and the intake and exhaust command, for the intake and exhaust condition having the worst value related to the inclination or movement of the carbody among the plurality of intake and exhaust conditions, corresponds to a frequency transfer characteristic of a carbody motion model that models the movement of the carbody of the railway vehicle; a control design unit that uses the vehicle body motion model having the acquired parameters to design a controller used by the control device when calculating the control command; and A control design device comprising:

2. The model parameter acquisition unit a selection unit that selects, from the plurality of intake and exhaust conditions, an intake and exhaust condition that has the worst value related to the inclination or movement of the vehicle body, based on the time-series waveform acquired by the waveform acquisition unit; a transfer function estimating unit that estimates the transfer function based on a combination of the time-series waveform acquired by the waveform acquiring unit and the intake and exhaust command for the selected intake and exhaust condition; a frequency transfer characteristic calculation unit that calculates a frequency transfer characteristic for the estimated transfer function for the selected intake and exhaust condition; a model parameter identification unit that identifies parameters of a carbody motion model that models the motion of the carbody of the railcar, such that the frequency transfer characteristic of the carbody motion model corresponds to the calculated frequency transfer characteristic for the selected intake and exhaust condition; The control design device of claim 1 .

3. The model parameter acquisition unit a transfer function estimating unit that estimates the transfer function based on a combination of the time-series waveform acquired by the waveform acquiring unit and the air supply / exhaust command for each of the plurality of air supply / exhaust conditions; a frequency transfer characteristic calculation unit that calculates a frequency transfer characteristic of the estimated transfer function for each of the plurality of intake and exhaust conditions; a selection unit that selects, from the plurality of intake and exhaust conditions, an intake and exhaust condition having the worst value related to the inclination or movement of the vehicle body based on the calculated frequency transfer characteristic; a model parameter identification unit that identifies parameters of a carbody motion model that models the motion of the carbody of the railcar, such that the frequency transfer characteristic of the carbody motion model corresponds to the calculated frequency transfer characteristic for the selected intake and exhaust condition; The control design device of claim 1 .

4. The model parameter acquisition unit a transfer function estimating unit that estimates the transfer function based on a combination of the time-series waveform acquired by the waveform acquiring unit and the air supply / exhaust command for each of the plurality of air supply / exhaust conditions; a frequency transfer characteristic calculation unit that calculates a frequency transfer characteristic of the estimated transfer function for each of the plurality of intake and exhaust conditions; a model parameter identification unit that identifies parameters of a carbody motion model that models the motion of the carbody of the railcar, such that the frequency transfer characteristic of the carbody motion model corresponds to the calculated frequency transfer characteristic for each of the plurality of intake and exhaust conditions; a selection unit that selects, from the plurality of intake and exhaust conditions, an intake and exhaust condition that has the worst value related to the inclination or motion of the vehicle body, based on the identified parameters of the vehicle body motion model; The control design device of claim 1 .

5. The control design device according to claim 2 , wherein the selection unit selects the intake and exhaust conditions that maximize the overshoot rate based on the time-series waveform acquired by the waveform acquisition unit.

6. The railway vehicle has a plurality of solenoid valves for controlling the supply of air to the air springs, and a plurality of solenoid valves for controlling the exhaust of air from the air springs, the air intake / exhaust command is for controlling opening and closing of each of the plurality of solenoid valves, 6. The control design device according to claim 1, wherein the supply and exhaust conditions relate to the type or number of solenoid valves to be opened and closed.

7. the time-series waveform represents a change in the inclination angle of the vehicle body and a change in the lateral acceleration of the vehicle body; When estimating the transfer function, a transfer function that receives the intake / exhaust command as an input and outputs a change in the inclination angle of the vehicle body, and a transfer function that receives the intake / exhaust command as an input and outputs a change in the lateral acceleration of the vehicle body are estimated; A control design device as described in any one of claims 1 to 5, wherein when calculating the frequency transfer characteristics, a frequency transfer characteristic for a transfer function that outputs a change in the inclination angle of the vehicle body, and a frequency transfer characteristic for a transfer function that outputs a change in the lateral acceleration of the vehicle body are calculated.

8. 1. A control design method for a control design device for designing a control device that outputs a control command for making a tilt angle of a carbody of a railway vehicle having left and right air springs that support the carbody on a bogie follow a target angle, comprising: a time-series waveform representing the motion of the vehicle body is acquired for each of a plurality of intake and exhaust conditions, when an intake and exhaust command to the air spring as the control command, the intake and exhaust command for performing a certain intake and exhaust under the intake and exhaust condition to either the left or right air spring, is input to an intake and exhaust device; for the intake and exhaust condition among the plurality of intake and exhaust conditions that has the worst value related to the inclination or movement of the carbody, parameters of the carbody motion model are acquired, the parameters being identified so that a frequency transfer characteristic of a transfer function that receives the intake and exhaust command as an input and outputs the time-series waveform, the frequency transfer characteristic being estimated based on a combination of the acquired time-series waveform and the intake and exhaust command, corresponds to a frequency transfer characteristic of a carbody motion model that models the movement of the carbody of the railway vehicle; Using the vehicle body motion model having the acquired parameters, a controller is designed to be used by the control device when calculating the control command. Control design methods.

9. A program for designing a control device that outputs a control command for making an inclination angle of a carbody of a railway vehicle having left and right air springs that support the carbody on a bogie follow a target angle, Computer, a waveform acquiring unit that acquires a time-series waveform that represents the motion of the vehicle body when an intake / exhaust command to the air spring as the control command for each of a plurality of intake / exhaust conditions is input to the intake / exhaust device, the intake / exhaust command being for performing a certain intake / exhaust under the intake / exhaust condition to either the left or right air spring; a model parameter acquisition unit that acquires parameters of the carbody motion model, the parameters being identified so that a frequency transfer characteristic of a transfer function that receives the air intake and exhaust command as an input and outputs the time-series waveform, the frequency transfer characteristic being estimated based on a combination of the time-series waveform acquired by the waveform acquisition unit and the air intake and exhaust command, for the air intake and exhaust condition having the worst value related to the inclination or motion of the carbody among the plurality of air intake and exhaust conditions, corresponds to a frequency transfer characteristic of a carbody motion model that models the motion of the carbody of the railcar; a control design unit that uses the vehicle body motion model having the acquired parameters to design a controller used by the control device when calculating the control command; A control design program to make it function as a

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