Control device and control method

Abstract

To provide a technology that can suppress noise upon locking / unlocking a railway vehicle door.SOLUTION: A door control device 80 according to one embodiment controls the operation of a locking device 30 having a lock pin 31 on the vehicle body side that is inserted with a specified biasing force into a lock hole 32A provided on the side of a door 10 of a railway vehicle 1 to lock the door 10, and a solenoid 34 that electrically generates a thrust force that moves the lock pin 31 in a direction away from the lock hole 32A against the specified biasing force, thereby unlocking the door 10. The door control device 80 then controls the solenoid 34 to weaken the thrust force when unlocking the door 10.SELECTED DRAWING: Figure 13

Description

[Technical Field]

[0001] The present disclosure relates to a control device and the like. [Background technology]

[0002] BACKGROUND ART Conventionally, there is known a technique for reducing noise generated when locking or unlocking doors of a railway vehicle (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-142880 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in Patent Document 1, noise is reduced by using a buffer material to absorb the impact caused by collisions between parts that occur when unlocking. Therefore, although some effect can be expected, the impact caused by contact between parts itself cannot be suppressed, and the effect is limited.

[0005] In view of the above problem, an object of the present invention is to provide a technology that can suppress noise when locking and unlocking doors of a railway vehicle. [Means for solving the problem]

[0006] In order to achieve the above object, in one embodiment of the present disclosure, A first member; a second member that, when moved toward the first member, establishes a predetermined positional relationship with the first member, thereby locking the door of the railway vehicle; and a first force generating unit that generates a first force that moves the second member toward the first member when the door is locked; and a second force generating unit that generates a second force against the first force when the door is unlocked, and moves the second member away from the first member to realize an unlocked state of the door. A control device for controlling the operation of a locking device, When the door is unlocked, the second force generation unit is controlled to weaken the second force. A control device is provided.

[0007] In another embodiment of the present disclosure, A first member; a second member that, in response to movement toward the first member, establishes a predetermined positional relationship with the first member, thereby realizing a locked state of the railway vehicle door; a first force generating unit that generates a first force that moves the second member toward the first member when the door is locked; and a second force generating unit that generates a second force against the first force when the door is unlocked, and moves the second member away from the first member to realize an unlocked state of the door. A control device for controlling the operation of a locking device, When the door is locked, the second force generating unit is controlled to generate the second force so as to weaken the action of the first force generating unit on the second member. A control device is provided.

[0008] In still another embodiment of the present disclosure, A first member; a second member that, when moved toward the first member, establishes a predetermined positional relationship with the first member, thereby locking the door of the railway vehicle; and a first force generating unit that generates a first force that moves the second member toward the first member when the door is locked; and a second force generating unit that generates a second force against the first force when the door is unlocked, and moves the second member away from the first member to realize an unlocked state of the door. A control method for controlling the operation of a locking device, comprising: When the door is unlocked, the second force generation unit is controlled to weaken the second force. A control method is provided.

[0009] In still another embodiment of the present disclosure, A first member; a second member that, in response to movement toward the first member, establishes a predetermined positional relationship with the first member, thereby realizing a locked state of the railway vehicle door; a first force generating unit that generates a first force that moves the second member toward the first member when the door is locked; and a second force generating unit that generates a second force against the first force when the door is unlocked, and moves the second member away from the first member to realize an unlocked state of the door. A control method for controlling the operation of a locking device, comprising: When the door is locked, the second force generating unit is controlled to generate the second force so as to weaken the action of the first force generating unit on the second member. A control method is provided. [Effects of the Invention]

[0010] According to the above-described embodiment, noise generated when locking or unlocking the doors of a railway vehicle can be suppressed. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 2 is a block diagram showing an example of a configuration related to door control of a railway vehicle. [Figure 2] FIG. 2 is a diagram illustrating an example of a door locking device. [Figure 3] FIG. 2 is a diagram illustrating an example of a door locking device. [Figure 4] FIG. 2 is a diagram illustrating an example of a drive circuit for a locking device. [Figure 5] 10A and 10B are diagrams illustrating a comparative example of a control method for a locking device when unlocking a door. [Figure 6] 10A and 10B are diagrams illustrating specific examples of control results according to a comparative example of a control method for a locking device when unlocking a door. [Figure 7] 3A to 3C are diagrams illustrating a first example of a method for controlling a locking device when a door is unlocked by a door control device according to an embodiment. [Figure 8] 5A and 5B are diagrams showing a specific example of a control result according to a first example of a control method for a locking device when unlocking a door. [Figure 9] 10A and 10B are diagrams illustrating a second example of a method for controlling a locking device when unlocking a door by the door control device according to the embodiment. [Figure 10] 10A and 10B are diagrams showing a specific example of a control result according to the second example of the control method for the locking device when unlocking the door. [Figure 11] 10A and 10B are diagrams illustrating a third example of a method for controlling a locking device when unlocking a door by the door control device according to the embodiment. [Figure 12] 10A and 10B are diagrams illustrating the operation of the locking device corresponding to a third example of the control method for the locking device when unlocking the door. [Figure 13] 10A and 10B are diagrams illustrating the operation of the locking device corresponding to a third example of the control method for the locking device when unlocking the door. [Figure 14] 10A and 10B are diagrams illustrating a comparative example of the operation of the locking device when the door is locked. [Figure 15] 10A and 10B are diagrams illustrating a comparative example of the operation of the locking device when the door is locked. [Figure 16] 3A and 3B are diagrams illustrating an example of a control method of a locking device when a door is locked by the door control device according to the embodiment. [Figure 17] 10A and 10B are diagrams illustrating the operation of the locking device corresponding to an example of a control method for the locking device when the door is locked. [Figure 18] 10A and 10B are diagrams illustrating the operation of the locking device corresponding to an example of a control method for the locking device when the door is locked. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, an embodiment will be described with reference to the drawings.

[0013] [Configuration for controlling railway vehicle doors] With reference to FIG. 1, a configuration relating to control of a door 10 of a railway vehicle 1 according to this embodiment will be described.

[0014] FIG. 1 is a block diagram showing an example of a configuration related to control of a door 10 of a railway vehicle 1. As shown in FIG.

[0015] As shown in FIG. 1, the railway vehicle 1 includes a door 10, a door drive device 20, a locking device 30, an encoder 40, a lock detection switch 50, a full-close detection switch 60, a current sensor 70, and a door control device 80.

[0016] The railway vehicle 1 may be a single-car formation consisting of one vehicle, or may be a multi-car formation consisting of a plurality of vehicles connected in a chain.

[0017] The door 10 is provided in an opening (hereinafter referred to as "door opening" for convenience) on the side of the body of the railway vehicle 1. The door 10 is, for example, a double-swing sliding door.

[0018] The door drive device 20 mechanically drives the door 10 in the opening and closing directions. The door drive device 20 is provided, for example, above the interior side of the door opening in the car body of the railway vehicle 1. The door drive device 20 includes, for example, an electric motor, and drives the door 10 in the opening and closing directions using the electric motor as a power source. The electric motor may be a rotary motor or a linear motor. In the following, the present embodiment will be described mainly with reference to the case of a linear motor.

[0019] The door drive device 20 operates under the control of the door control device 80. For example, the door drive device 20 is electrically driven by power supplied from the door control device 80.

[0020] The locking device 30 locks and unlocks the door 10. Like the door driving device 20, the locking device 30 is provided above the interior of the vehicle body of the railway vehicle 1 on the passenger compartment side of the door opening, for example.

[0021] The locking device 30 operates under the control of the door control device 80. For example, the locking device 30 is electrically driven by power supplied from the door control device 80.

[0022] The encoder 40 outputs detection information related to the position of the door 10. For example, the encoder 40 detects the rotation position and rotation speed of the rotary motor included in the door drive device 20 and the displacement position of the mover of the linear motor, and outputs the detection information. The detection information of the encoder 40 is input into the door control device 80.

[0023] The lock detection switch 50 is a momentary switch for detecting the locking state of the door 10 by the locking device 30. When the door 10 is locked by the locking device 30, the lock detection switch 50 is turned on by mechanically pressing an actuator unit by a predetermined member of the locking device 30. On the other hand, when the door 10 is not locked by the locking device 30, i.e., when the door 10 is unlocked, the actuator unit is no longer pressed by the member, and the lock detection switch 50 is turned off. A detection signal (i.e., an on signal or an off signal) indicating the on / off state of the lock detection switch 50 is input to the door control device 80. As a result, the door control device 80 can determine that the door 10 is locked by the locking device 30 when the detection signal of the lock detection switch 50 is an on signal, and that the door 10 is unlocked when the detection signal of the lock detection switch 50 is an off signal.

[0024] The fully closed detection switch 60 is a momentary switch for detecting the fully closed state of the door 10. When the door 10 is in the fully closed state, the fully closed detection switch 60 is in the ON state because an actuator unit is mechanically pressed by a member interlocked with the door 10. On the other hand, when the door 10 is not in the fully closed state, the actuator unit is no longer pressed by that member and the fully closed detection switch 60 is in the OFF state. A detection signal (i.e., an ON signal or an OFF signal) indicating the ON / OFF state of the fully closed detection switch 60 is input to the door control device 80. As a result, the door control device 80 can determine that the door 10 is in the fully closed state when the detection signal of the fully closed detection switch 60 is an ON signal, and that the door 10 is not in the fully closed state when the detection signal of the fully closed detection switch 60 is an OFF signal.

[0025] The current sensor 70 detects the current in the locking device 30, specifically the current in a coil 34C of a solenoid 34 (described later). A detection signal from the current sensor 70 is input to the door control device 80.

[0026] The door control device 80 controls the operation of the door 10 .

[0027] Specifically, the door control device 80 controls the operation of the door 10 by electrically driving the door drive device 20 in accordance with the sequence of the opening or closing operation of the door 10. For example, the door control device 80 has a built-in power conversion device that converts direct current supplied from a predetermined power source of the railway vehicle 1 into three-phase alternating current of a predetermined voltage and a predetermined frequency, and controls the power conversion device to supply drive power to the door drive device 20. The power conversion device may also be located outside the door control device 80.

[0028] The door control device 80 also electrically drives the locking device 30 in accordance with the sequence of the opening or closing operation of the door 10, thereby controlling the switching between unlocking and locking of the door 10.

[0029] [Locking device configuration] Next, the configuration of the locking device 30 according to this embodiment will be described with reference to FIGS.

[0030] 2 and 3 are diagrams showing an example of the locking device 30 of the door 10. Specifically, Fig. 2 is a diagram showing an example of the locking device 30 when the door 10 is in a fully closed position and is locked by the locking device 30. Fig. 3 is a diagram showing an example of the locking device 30 when the door 10 is in a fully closed position and is unlocked by the locking device 30. Fig. 4 is a diagram showing an example of a drive circuit for the locking device 30.

[0031] 2 and 3, the door 10 disposed below the locking device 30 is not shown. In addition, in FIGS. 2 and 3, the left direction represents the opening direction of the door 10, and the right direction represents the closing direction of the door 10.

[0032] As shown in FIGS. 2 and 3, in this example, the locking device 30 includes a lock pin 31, an opening / closing interlocking member 32, a biasing spring 33, a solenoid , a vertical slider 35, and a horizontal slider .

[0033] The lock pin 31 is supported so as to be movable in the vertical direction within a predetermined range.

[0034] The opening / closing interlocking member 32 is directly or indirectly connected to the door 10, and moves in the opening or closing direction in conjunction with the opening or closing operation of the door 10. In this example, the opening / closing interlocking member 32 is connected to the mover 21 of the linear motor included in the door drive device 20, and is interlocked with the movement of the mover 21 in the opening or closing direction. The opening / closing interlocking member 32 is positioned below the lock pin 31 in the vertical direction, and has a lock hole 32A.

[0035] The lock hole 32A is a recess provided on the upper surface of the opening / closing interlocking member 32, and is positioned so that the lock pin 31 can be inserted from above when the door 10 is in the fully closed position. Furthermore, the lock pin 31 is positioned so that its lower end is above and below the opening of the lock hole 32A at the upper and lower stroke ends of its vertical movable range. Thus, when the door 10 is in the fully closed position, the lock pin 31 can be inserted into the lock hole 32A from above to restrict the opening and closing movement of the door 10 and lock the door 10. For example, as shown in FIGS. 2 and 3 , the lock hole 32A may penetrate the opening / closing interlocking member 32 from top to bottom, or it may be open only upward and not penetrate downward. Furthermore, the lock hole 32A may be a recess that restricts the opening and closing movement of the door 10 as shown in FIGS. 2 and 3 , or it may have a structure that restricts movement of the door 10 only in the opening direction.

[0036] The biasing spring 33 is arranged to bias the lock pin 31 downward when the lock pin 31 is located above at least the lower stroke end of its vertical movable range. This allows the biasing spring 33 to bias the lock pin 31 so that it is inserted into the lock hole 32A when the door 10 is in the fully closed position. Therefore, the locking device 30 can lock the door 10 by the biasing force of the biasing spring 33.

[0037] The solenoid 34 is an actuator that moves the lock pin 31 upward via a vertical slider 35. The solenoid 34 includes a housing 34A, and a plunger 34B and a coil 34C that are housed in the housing 34A.

[0038] When no current flows through the coil 34C of the solenoid 34, the upper end of the plunger 34B is housed within the housing 34A. On the other hand, when current flows through the coil 34C of the solenoid 34, the plunger 34B is attracted to the fixed iron core magnetized by the coil 34C, causing the upper end of the plunger 34B to protrude upward from the housing 34A.

[0039] For example, as shown in FIG. 4 , door control device 80 includes power supply 81, switch 82 provided in a closed circuit that applies voltage VL to coil 34C from power supply 81, and control circuit 83 that controls the opening and closing of switch 82. When switch 82 is open, voltage VL from power supply 81 is not applied to coil 34C, and current IL does not flow. On the other hand, when switch 82 is closed, voltage VL is applied to coil 34C, and current IL flows, magnetizing the fixed core. As a result, plunger 34B is attracted to the fixed core, causing its upper end to protrude upward from the housing. For example, control circuit 83 can control the current in coil 34C by turning switch 82 on and off using a PWM (Pulse Width Modulation) signal in accordance with current command Ic.

[0040] The vertical slider 35 is disposed so as to cover the lock pin 31 and the solenoid 34 from above, and can move up and down. The vertical slider 35 is connected to the lock pin 31 directly or indirectly via another member, and its lower surface abuts against the solenoid 34. As a result, the plunger 34B of the solenoid 34 protrudes upward from the housing 34A, moving the vertical slider 35 upward, and as a result, moving the lock pin 31 upward. Therefore, when the door 10 is in the fully closed position, the solenoid 34 releases the state in which the lower end of the lock pin 31 is inserted into the lock hole 32A, and can transition the door 10 from a locked state to an unlocked state.

[0041] The horizontal slider 36 can move in the opening and closing direction of the door 10 in conjunction with the opening and closing operation of the door 10. In this example, the horizontal slider 36 moves in the opening and closing direction of the door 10 in conjunction with the operation of the movable element 21. The horizontal slider 36 also abuts against the abutting portion 35A of the vertical slider 35, and can support the vertical slider 35 from below. The horizontal slider 36 includes support surfaces 36A to 36C.

[0042] The support surface 36A is located below the abutment portion 35A of the vertical slider 35 when the horizontal slider 36 is in a position corresponding to the fully closed state of the door 10. The support surface 36A is positioned so as to be able to abut against the abutment portion 35A of the vertical slider 35 when the lock pin 31 is inserted into the lock hole 32A.

[0043] The support surface 36B is located below the contact portion 35A of the vertical slider 35 when the horizontal slider 36 has moved to a certain extent in the opening direction of the door 10, with the position corresponding to the fully closed state of the door 10 as a reference. The support surface 36B is located above the support surface 36A in the vertical direction, and is positioned so as to be able to contact the contact portion 35A of the vertical slider 35 when the plunger 34B of the solenoid 34 protrudes upward from the housing by the maximum amount.

[0044] The support surface 36C is formed as a slope that connects the support surface 36A and the support surface 36B in the opening and closing direction of the door 10.

[0045] When the door 10 starts to open, the locking device 30 transitions the door 10 from a locked state to an unlocked state, causing the plunger 34B to protrude from the housing 34A. Therefore, with the abutment portion 35A of the vertical slider 35 above the support surface 36A of the horizontal slider 36, specifically at the same height as the support surface 36B, the horizontal slider 36 starts to move in the opening direction of the door 10 in conjunction with the opening operation of the door 10. Then, when the door 10 moves a certain distance in the opening direction from the fully closed state, the support surface 36B of the horizontal slider 36 is positioned below the abutment portion 35A of the vertical slider 35. Therefore, even when the coil 34C of the solenoid 34 is de-energized and the state in which the upper end of the plunger 34B protrudes from the housing 34A is released, the abutment portion 35A of the vertical slider 35 is supported by the support surface 36B, so the vertical position of the vertical slider 35 is maintained.

[0046] On the other hand, during the closing operation of the door 10, as the door 10 moves from the fully open position to the fully closed position, the location of the horizontal slider 36 with which the abutment portion 35A of the vertical slider 35 can abut changes in the order of support surface 36B, support surface 36C, and support surface 36A. Therefore, when the lock hole 32A reaches directly below the lock pin 31 as the door 10 closes, the lock pin 31 is automatically inserted into the lock hole 32A by the action of the biasing force of the biasing spring 33 and the weight of the lock pin 31, and the door 10 can be locked.

[0047] For example, the lock detection switch 50 is disposed adjacent to the side surface 35B of the vertical slider 35. The lock detection switch 50 includes a main body portion 51 and an actuator portion 52.

[0048] The lock detection switch 50 is a momentary switch, and a biasing force acts on the actuator part 52 so that the actuator part 52 is kept separated from the main body part 51, that is, kept in an OFF state.

[0049] 2, when the lock pin 31 is inserted into the lock hole 32A and the door 10 is locked, the tip of the actuator part 52 abuts against the side surface 35B of the vertical slider 35 and is pressed against the main body part 51. As a result, the lock detection switch 50 is turned on in accordance with the locked state of the door 10.

[0050] 3, when the lock pin 31 is not inserted into the lock hole 32A and the door 10 is unlocked, the tip of the actuator part 52 and the side surface 35B of the vertical slider 35 are not adjacent to each other in the opening and closing direction of the door 10. Therefore, the state in which the tip of the actuator part 52 abuts against the side surface 35B of the vertical slider 35 is released, and as a result, the lock detection switch 50 is turned off in accordance with the unlocked state of the door 10.

[0051] A lower end surface 35C adjacent to the lower end of the side surface 35B of the vertical slider 35 is inclined downward in a direction away from the lock detection switch 50. Therefore, when the locking device 30 unlocks the door 10, the tip of the actuator unit 52 of the lock detection switch 50 continues to abut against the lower end surface 35C of the vertical slider 35 after being released from abutment against the side surface 35B. As a result, the lock detection switch 50 switches from ON to OFF while the tip of the actuator unit 52 abuts against the lower end surface 35C of the vertical slider 35 in response to the upward movement of the vertical slider 35. Furthermore, when the locking device 30 locks the door 10, the tip of the actuator unit 52 of the lock detection switch 50 abuts against the lower end surface 35C of the vertical slider 35 in response to the downward movement of the vertical slider 35 after the lock pin 31 starts to be inserted into the lock hole 32A. Then, in response to the descent of the vertical slider 35, the tip of the actuator portion 52 of the lock detection switch 50 approaches the side surface 35B while abutting against the lower end surface 35C of the vertical slider 35, and transitions to a state in which it abuts against the side surface 35B. As a result, in response to the descent of the vertical slider 35, the lock detection switch 50 switches from OFF to ON while abutting against the lower end surface 35C of the vertical slider 35.

[0052] [Comparative example of a method for controlling a locking device when unlocking a door] Next, a comparative example of a control method for the locking device 30 when the door 10 is unlocked will be described with reference to FIGS.

[0053] In the comparative example below, for convenience, the entity that implements the method of controlling the locking device 30 when the door 10 is unlocked will be described as a "door control device" without a reference numeral.

[0054] Fig. 5 is a diagram illustrating a comparative example of a control method for the locking device 30 when unlocking the door 10. Fig. 6 is a diagram illustrating a specific example of a control result by the comparative example of a control method for the locking device 30 when unlocking the door 10.

[0055] Specifically, Fig. 5 is a time chart showing a comparative example of the current command Ic of the coil 34C of the solenoid 34 when the door 10 is unlocked. Fig. 6 is a time chart showing the control results of a comparative example of the control method of the locking device 30 when the door 10 is unlocked, and includes Figs. 6A to 6D. Fig. 6A shows a time chart of the noise level, Fig. 6B shows a time chart of the current (actual value) of the coil 34C, Fig. 6C shows a time chart of the unlock command signal, and Fig. 6D shows a time chart of the detection signal (lock detection signal) of the lock detection switch 50.

[0056] 5, in the comparative example, the current command Ic of the coil 34C rises in a stepwise manner from zero to a predetermined value Ic0 in response to the rise of the unlock command signal for the door 10 from OFF to ON. The current command Ic then maintains the predetermined value Ic0 for a certain time T0, and then falls in a stepwise manner from the predetermined value Ic0 to zero. The time T0 is set in advance from the rise of the current command Ic from zero so as to be sufficiently longer than the minimum time required for the locking device 30 to complete the unlocking operation, i.e., for the lock pin 31 to complete moving from the lower end position to the upper end position.

[0057] When an unlock command signal (specifically, an ON signal) for the door 10 is output, the door control device controls the current in the coil 34C in accordance with the current command Ic in Fig. 5. The door control device can control the current in the coil 34C by turning on and off the switch 82 with a PWM signal, for example, in the same way as in the case of the control circuit 83 of the door control device 80.

[0058] As shown in Fig. 6C, at time t01, an unlock command signal for the door 10 is output, and the unlock command signal rises from OFF (i.e., low level) to ON (i.e., high level). As a result, as shown in Fig. 5, the current command Ic rises in a stepwise manner in response to the output of the unlock command signal for the door 10.

[0059] As shown in FIG. 6B, in response to the step-like rise of the current command Ic, at time t02, the current (actual value) of the coil 34C starts to rise from zero at a relatively steep slope.

[0060] Thereafter, as shown in FIGS. 6B and 6D, at time t03, the lock detection signal falls from ON (high level) to OFF (low level) as the vertical slider 35 moves upward in response to the plunger 34B popping out.

[0061] Thereafter, as shown in FIG. 6B, at time t04, the current in the coil 34C reaches a predetermined value Ic0, and thereafter, this state is maintained in accordance with the current command Ic.

[0062] In the comparative example, the current in the coil 34C rises at a relatively steep slope and remains at a relatively high current value (predetermined value Ic0) after reaching that value. Therefore, the thrust of the plunger 34B becomes relatively large immediately after the plunger 34B starts moving upward and remains at that state. As a result, noise due to the impact of the plunger 34B starting to move, the impact of the plunger 34B contacting the vertical slider 35, and the impact of the plunger 34B reaching the stroke end become very large. Therefore, as shown in FIG. 6A, the noise level increases rapidly after the current in the coil 34C rises and reaches a very large maximum value NL0 at time t05, which is after time t04.

[0063] As described above, in the comparative example, the overall thrust of plunger 34B when unlocking door 10 is relatively large, and therefore there is a possibility that very loud noise will be generated due to the impact caused by the movement of plunger 34B itself or the impact caused by contact between plunger 34B and other components.

[0064] [First example of how to control the locking device when unlocking the door] Next, a first example of a method for controlling the locking device 30 when the door 10 is unlocked will be described with reference to FIGS.

[0065] FIG. 7 is a diagram for explaining a first example of a control method of the locking device 30 when unlocking the door 10 according to an embodiment. FIG. 8 is a diagram showing a specific example of a control result according to the first example of the control method of the locking device 30 when unlocking the door 10.

[0066] Specifically, FIG. 7 is a time chart showing a first example of a current command Ic of the coil 34C of the solenoid 34 when unlocking the door 10. FIG. 8 is a time chart of the control result according to the first example of the control method of the locking device 30 when unlocking the door 10, and includes FIGS. 8A to 8D. FIG. 8A represents a time chart of the noise level, FIG. 8B represents a time chart of the current (actual value) of the coil 34C, FIG. 8C represents a time chart of the unlocking command signal, and FIG. 8D represents a time chart of the detection signal (locking detection signal) of the locking detection switch 50.

[0067] As shown in FIG. 7, in this example, the current command Ic of the coil 34C rises from zero to a predetermined value Ic11 with a relatively steep constant slope in response to the rising of the unlocking command signal of the door 10 from off to on. When the current command Ic reaches the predetermined value Ic11, it falls from the predetermined value Ic11 to a predetermined value Ic12 (<Ic11) with a relatively steep constant slope. Then, when the current command Ic reaches the predetermined value Ic^{12}, it maintains the state of the predetermined value Ic12 for a certain time T1, and then steps down from the predetermined value Ic12 to zero.

[0068] Note that the time T1 is set in advance to be sufficiently longer than the minimum time required for the completion of the unlocking operation by the locking device 30, starting from the rising of the current command Ic from zero, for example.

[0069] When an unlock command signal (specifically, an ON signal) for the door 10 is output, the door control device 80 controls the current of the coil 34C in accordance with the current command Ic in FIG. 7. The door control device 80 performs feedback control of the current of the coil 34C, for example, based on the current command Ic and a current measurement value Id based on the detection signal of the current sensor 70. The door control device 80 may also perform open-loop control of the current of the coil 34C based on the current command Ic without using the detection signal of the current sensor 70. The same may be applied to second and third examples of the control method described below.

[0070] As shown in Fig. 8C, at time t11, an unlock command signal for the door 10 is output, and the unlock command signal rises from OFF to ON. As a result, as shown in Fig. 7, the current command Ic rises at a relatively steep slope in response to the output of the unlock command signal.

[0071] 8B, in response to the current command Ic rising at a relatively steep, constant rate, at time t12, the current (actual value) of coil 34C begins to rise from zero at a relatively steep rate. Then, at time t13, the current of coil 34C reaches a predetermined value Ic11 and begins to fall at a relatively steep rate in response to the current command Ic. Then, at time t14, the current of coil 34C reaches a predetermined value Ic12 and is maintained at that value in response to the current command.

[0072] After time t14, as shown in FIG. 8D, at time t15, the lock detection signal falls from ON to OFF as the vertical slider 35 moves upward in response to the plunger 34B jumping out.

[0073] In this example, after the current in the coil 34C rises to a predetermined value Ic11 with a relatively steep slope, it drops to a predetermined value Ic12 before the locking detection signal shifts to OFF, and this state is maintained. As a result, the door control device 80 can reduce the thrust when the plunger 34B reaches the stroke end compared to the comparative example while suppressing an increase in the time required for the door 10 to shift from the locked state to the unlocked state by the locking device 30. Therefore, although the noise due to the impact at the start of movement of the plunger 34B and the noise due to the impact when the plunger 34B abuts against the vertical slider 35 become relatively large, the noise due to the impact when the plunger 34B reaches the stroke end is suppressed. As a result, as shown in FIG. 8A, although the noise volume rapidly increases after the rise of the current in the coil 34C and shows a maximum value NL1 (<NL0), it then decreases. Thus, the door control device 80 can reduce the noise compared to the comparative example.

[0074] [Second Example of Control Method of Locking Device at Door Unlocking] Next, referring to FIGS. 9 and 10, a second example of the control method of the locking device 30 when the door 10 is unlocked will be described.

[0075] FIG. 9 is a diagram for explaining a second example of the control method of the locking device 30 when the door 10 is unlocked by the door control device 80 according to the embodiment. FIG. 10 is a diagram showing a specific example of the control result by the second example of the control method of the locking device 30 when the door 10 is unlocked.

[0076] Specifically, FIG. 9 is a time chart showing a second example of the time change of the current command Ic of the coil 34C of the solenoid 34 when the door 10 is unlocked. FIG. 10 is a time chart of the control result by the second example of the control method of the locking device 30 when the door 10 is unlocked, and includes FIGS. 10A to 10D. FIG. 10A represents a time chart of the noise volume, FIG. 10B represents a time chart of the current (actual value) of the coil 34C, FIG. 10C represents a time chart of the unlocking command signal, and FIG. 10D represents a time chart of the detection signal (locking detection signal) of the locking detection switch 50.

[0077] As shown in FIG. 9, in this example, the current command Ic of the coil 34C rises from zero to a predetermined value Ic21 with a relatively gentle constant slope in response to the rising of the unlocking command signal of the door 10 from off to on. When the current command Ic reaches the predetermined value Ic21, it maintains the state of the predetermined value Ic21 for a certain time T21, and then falls from the predetermined value Ic21 to a predetermined value Ic22 (<Ic21) with a relatively gentle constant slope. When the current command Ic reaches the predetermined value Ic22, it rises from the predetermined value Ic22 to a predetermined value Ic23 (Ic22 < Ic23 < Ic21) with a relatively gentle constant slope. Then, when the current command Ic reaches the predetermined value Ic23, it maintains the state of the predetermined value Ic23 for a certain time T22, and then steps down from the predetermined value Ic23 to zero.

[0078] Incidentally, the time T22 is preset to be sufficiently longer than the minimum time required for the completion of the unlocking operation by the locking device 30 starting from the rising of the current command Ic from zero, for example.

[0079] As shown in FIG. 10C, at time t21, the unlocking command signal of the door 10 is output, and the unlocking command signal rises from off to on. As a result, as shown in FIG. 9, the current command Ic rises with a relatively large slope in response to the output of the unlocking command signal.

[0080] As shown in FIG. 10B, in response to the current command Ic rising with a relatively gentle constant slope, at time t22, the current (actual value) of the coil 34C starts to rise from zero with a relatively steep slope. Then, at time t​​​Thereafter, as shown in FIG. 10D, at the time t25 when the current in the coil 34C is falling from the predetermined value Ic21 toward the predetermined value Ic22, as the vertical slider 35 moves upward in response to the protrusion of the plunger 34B, the locking detection signal is falling from on to off.

[0082] Then, thereafter, as shown in FIG. 10B, the current in the coil 34C reaches the predetermined value Ic22 and starts to rise relatively gently in accordance with the current command Ic.

[0083] In this example, after the current in the coil 34C rises to the predetermined value Ic21 with a relatively gentle slope, before the locking detection signal shifts to off, it starts to fall from the predetermined value Ic21 toward the predetermined value Ic22. Thereby, the door control device 80 can reduce the thrust immediately after the plunger 34B starts to move and the thrust at the time of reaching the stroke end compared to the comparative example, while suppressing an increase in the time required for the locking device 30 to shift from the locked state to the unlocked state of the door 10. Therefore, noise due to the impact when the plunger 34B starts to move, noise due to the impact when the plunger 34B abuts against the vertical slider 35, and noise due to the impact when the plunger 34B reaches the stroke end are suppressed. As a result, as shown in FIG. 10B, the noise volume is suppressed from the maximum value due to the rapid increase after the rise of the current in the coil 34C and the maximum value NL2 (<NL0) due to the subsequent reaching of the stroke end of the plunger 34B. Thus, the door control device 80 can further reduce the noise compared to the comparative example.

[0084] [Third Example of Control Method of Locking Device at Door Unlocking] Next, referring to FIGS. 11 to 13, a third example of the control method of the locking device 30 when unlocking the door 10 according to the embodiment will be described.

[0085] Fig. 11 is a diagram illustrating a third example of a method for controlling the locking device 30 when the door 10 is unlocked by the door control device 80 according to this embodiment. Fig. 12 and Fig. 13 are diagrams illustrating the operation of the locking device 30 corresponding to the third example of the method for controlling the locking device 30 when the door 10 is unlocked.

[0086] Specifically, Fig. 11 includes Figs. 11A to 11F. Figs. 11A and 11B are time charts illustrating a third example of a control method for the locking device 30 when unlocking the door 10 according to this embodiment, and Figs. 11C to 11F are time charts schematically illustrating control results obtained by the control method corresponding to Figs. 11A and 11B. Fig. 11A is a time chart illustrating a third example of a change over time in the current command Ic of the coil 34C of the solenoid 34 when unlocking the door 10. Fig. 11B is a time chart schematically illustrating a change over time in the setting of the feedback gain. Fig. 11C is a time chart schematically illustrating a change over time in the current (actual value) of the coil 34C of the solenoid 34. Fig. 11D is a time chart schematically illustrating a change over time in the amount of protrusion (plunger protrusion amount) of the upper end of the plunger 34B of the solenoid 34 from the housing 34A. Fig. 11E is a time chart schematically illustrating a change over time in the lock detection signal. Fig. 11F is a time chart showing a schematic change in noise level over time. Fig. 12 includes Figs. 12A to 12C showing the operating states of locking device 30 corresponding to times t1 to t3 in Fig. 11, respectively, and Fig. 13 includes Figs. 13A to 13C showing the operating states of locking device 30 corresponding to times t4 to t6 in Fig. 11, respectively.

[0087] The feedback gain is, for example, a proportional gain or an integral gain in PI (Proportional Integral) control. The same may be applied to a control method of the locking device 30 when the door 10 is unlocked, which will be described later.

[0088] 11A, in this example, at time t1, the current command Ic of the coil 34C rises from zero to a predetermined value Ic31 at a relatively gentle, constant slope in response to the rise of the unlock command signal for the door 10 from OFF to ON. Then, as shown in FIG. 11C, the door control device 80 performs feedback control to cause the current of the coil 34C to follow the rise of the current command Ic from zero to the predetermined value Ic31. This makes it possible to suppress the thrust immediately after the plunger 34B starts moving more than in the comparative example.

[0089] 12A, at time t1, the lock pin 31 is inserted into the lock hole 32A from above, and the actuator part 52 of the lock detection switch 50 is pressed against the side surface 35B of the vertical slider 35. Therefore, as shown in FIG. 11E, at time t1, the lock detection signal is an ON signal.

[0090] As shown in FIGS. 11A and 11C, at time t2, the current command Ic reaches a predetermined value Ic31, and accordingly, the current of the coil 34C reaches the predetermined value Ic31.

[0091] 11B, between times t1 and t2, the door control device 80 sets the feedback gain to a relatively strong state (i.e., a relatively large value), which allows the door control device 80 to maintain a relatively high level of compliance of the current in the coil 34C with the current command Ic.

[0092] As shown in FIG. 11D, between times t1 and t2, the plunger protrusion amount increases rapidly in response to the rise of the current in the coil 34C. After increasing to a certain level, the increase then becomes very gradual. This is because the biasing force (i.e., elastic force) of the biasing spring 33 increases as the lock pin 31 moves upward, resulting in a very small difference between the biasing force of the biasing spring 33 and the thrust of the plunger 34B. Therefore, as shown in FIG. 12B, at time t2, the plunger protrusion amount is approximately halfway through its full stroke. The lower end of the lock pin 31, which is linked to the vertical slider 35, is inserted into the lock hole 32A, and the actuator 52 of the lock detection switch 50 remains pressed against the side surface 35B of the vertical slider 35. Therefore, as shown in FIG. 11E, at time t2, the lock detection signal remains an ON signal.

[0093] 11A, when the current command Ic reaches a predetermined value Ic31, it transitions to a state where it is maintained at the predetermined value Ic31 (time t2). As shown in FIG. 11B, at time t2, the door control device 80 changes the setting of the feedback gain from a relatively strong state to a relatively weak state (i.e., a relatively small value). Then, after time t2, the door control device 80 performs feedback control so as to maintain the current of the coil 34C at the predetermined value Ic31.

[0094] As shown in Figure 11E, after time t2, the plunger protrusion amount increases gradually, albeit very slowly, and the lock detection signal switches from an ON signal to an OFF signal. As a result, the tip of the actuator part 52 of the lock detection switch 50 moves from a state in which it abuts against the side surface 35B of the vertical slider 35 to a state in which it abuts against the bottom end surface 35C. As a result, the biasing force acting on the actuator part 52 shifts to a state in which it acts as a thrust that lifts the vertical slider 35 upward. This generates a counter electromotive force in the coil 34C of the solenoid 34.

[0095] After time t2, the feedback gain is changed to a relatively weak state, which reduces the ability of the current in coil 34C to follow the current command Ic. As a result, as shown in Fig. 11C, a decrease in current occurs due to the back electromotive force acting on coil 34C when lock detection switch 50 transitions from on to off (see the outline arrow in the figure).

[0096] As shown in FIG. 11C , the door control device 80 determines that the load state on the plunger 34B has changed when the decrease in the current of the coil 34C becomes relatively large (time t3). A relatively large decrease in the current of the coil 34C means, for example, that the current of the coil 34C becomes small relative to a threshold value Th1 that is set as a value slightly smaller than the predetermined value Ic31. The state of being small relative to the threshold value Th1 may be equal to or smaller than the threshold value Th1. Furthermore, a relatively large decrease in the current of the coil 34C may mean that the decrease in the current of the coil 34C relative to the predetermined value Ic31 is large relative to a threshold value ΔTh1 (>0). The state of being large relative to the threshold value ΔTh1 may be equal to or larger than the threshold value ΔTh1.

[0097] 12C, at time t3, the plunger protrusion amount approaches the full stroke state from the state at time t2, and as described above, the tip end of the actuator portion 52 of the lock detection switch 50 abuts against the lower end surface 35C of the vertical slider 35. At time t3, as described above, the lock detection signal is an OFF signal, but the lower end of the lock pin 31 is slightly inserted into the lock hole 32A. From the viewpoint of safety while the railway vehicle 1 is traveling, this is to prevent a state in which the lock pin 31 is not sufficiently inserted into the lock hole 32A from being determined as a locked state.

[0098] As shown in FIG. 11B, at time t3, the door control device 80 makes a setting change to return the feedback gain from a relatively weak state to a relatively strong state. Thereby, the door control device 80 can return to a state where it can maintain relatively high followability of the current of the coil 34C with respect to the current command Ic after time t3.

[0099] As shown in FIG. 11A, starting from the timing (time t3) when it is determined that the load state on the plunger 34B has changed, the current command Ic drops from a predetermined value Ic31 to a predetermined value Ic32 (<Ic31) with a relatively steep constant slope. Then, as shown in FIG. 11C, the door control device 80 performs feedback control on the current of the coil 34C so as to follow the drop of the current command Ic toward the predetermined value Ic32.

[0100] As shown in FIG. 11D, the plunger protrusion amount increases with a relatively steep slope starting from the switching of the locking detection signal from the on signal to the off signal, and reaches the maximum amount (i.e., full stroke) near the timing when the current command Ic reaches the predetermined value Ic32. Thereby, the thrust when the plunger 34B reaches the full stroke can be suppressed more than in the case of the comparative example.

[0101] As shown in FIG. 11A, when the current command Ic reaches the predetermined value Ic32, it maintains the state of the predetermined value Ic32 for a certain period of time T31. Then, as shown in FIG. 11C, the door control device 80 performs feedback control to maintain the current of the coil 34C at the predetermined value Ic32 for a certain period of time T31.

[0102] As shown in FIG. 11A, when a certain period of time T31 during which the current command Ic maintains the state of the predetermined value Ic32 elapses, the current command Ic rises from the predetermined value Ic32 to a predetermined value Ic33 (Ic32 < Ic33 < Ic31) with a relatively gentle constant slope. Then, as shown in FIG. 11C, the door control device 80 performs feedback control on the current of the coil 34C so as to follow the rise of the current command Ic from the predetermined value Ic32 to the predetermined value Ic33.

[0103] As shown in FIG. 11A, when the current command Ic reaches a predetermined value Ic33 (time t4), it maintains the state of the predetermined value Ic33 for a certain period of time T32. Then, as shown in FIG. 11C, the door control device 80 performs feedback control to maintain the current of the coil 34C at the predetermined value Ic33 for a certain period of time T32.

[0104] As shown in FIG. 13A, at time t4, the plunger protrusion amount is at the maximum (i.e., full stroke), and the lower end of the lock pin 31 is not inserted into the lock hole 32A at all. Also, the tip of the actuator portion 52 of the locking detection switch 50 is separated from the lower end surface 35C of the vertical slider 35, and the restraint by the vertical slider 35 is released.

[0105] As shown in FIG. 11A, when a certain period of time T32 for maintaining the state of the predetermined value Ic33 elapses after the current command Ic reaches the predetermined value Ic33 (time t5), it drops from the predetermined value Ic33 to the predetermined value Ic34 (<Ic32) with a relatively gentle constant slope. Then, as shown in FIG. 11C, the door control device 80 performs feedback control on the current of the coil 34C to follow the drop of the current command Ic from the predetermined value Ic33 to the predetermined value Ic34.

[0106] As shown in FIG. 13B, during the time period from t4 to t5, the opening operation of the door 10 is started, and at time t5, the opening operation of the door 10 is being executed. Therefore, at time t5, the mover 21, the opening / closing interlocking member 32 including the lock hole 32A, and the horizontal slider 36 are moving in the opening direction, and the contact portion 35A of the vertical slider 35 is in contact with the support surface 36B of the horizontal slider 36.

[0107] As shown in FIG. 11A, when the current command Ic reaches the predetermined value Ic34, it maintains the state of the predetermined value Ic34 for a certain period of time T33. Then, as shown in FIG. 11C, the door control device 80 performs feedback control to maintain the current of the coil 34C at the predetermined value Ic34 for a certain period of time T33.

[0108] The times T31, T32, and T33 are preset, for example, so that the total energization time of the coil 34C, starting from the rise of the current command Ic from zero, is sufficiently longer than the minimum time required for the locking device 30 to complete the unlocking operation.

[0109] 11A, after a certain time T33 during which the current command Ic is maintained at the predetermined value Ic34, the current command Ic drops from the predetermined value Ic34 to zero at a relatively steep, constant slope. Then, as shown in FIG. 11C, the door control device 80 drops the current of the coil 34C to zero so as to follow the drop of the current command Ic toward zero.

[0110] As shown in FIG. 11D, the plunger protrusion amount decreases as the current in the coil 34C falls from a predetermined value Ic34 to zero, and reaches zero after the current in the coil 34C reaches zero (time t6).

[0111] 13B and 13C, the horizontal slider 36 follows the opening operation of the door 10 to some extent, but the amount of movement in the opening direction is restricted. Therefore, after time t5, the support surface 36B of the horizontal slider 36 can maintain a state in which it supports the abutment portion 35A of the vertical slider 35. Therefore, as shown in FIG. 13C, at time t6, although the upper end of the plunger 34B is entirely housed in the housing 34A, the vertical position of the vertical slider 35 is maintained at a position where the lock pin 31 is not inserted into the lock hole 32A.

[0112] As shown in FIG. 11F , the noise level in the comparative example reaches a maximum between times t1 and t2 immediately after the plunger 34B starts moving, and then reaches a maximum between times t3 and t4 when the plunger protrusion reaches a maximum. In contrast, in this example, as described above, the thrust immediately after the plunger 34B starts moving and the thrust when the plunger 34B reaches its full stroke can be suppressed more than in the comparative example. Therefore, noise caused by the impact of the plunger 34B starting to move, the impact when the plunger 34B abuts against the vertical slider 35, and the impact when the plunger 34B reaches its stroke end are suppressed. As a result, the noise level is suppressed from a maximum value due to a sudden increase after the current in the coil 34C rises and a subsequent maximum value due to the plunger 34B reaching its stroke end. Therefore, the door control device 80, like the second example described above, can further reduce noise compared to the comparative example.

[0113] Furthermore, in this example, the door control device 80 determines a change in the load state on the plunger 34B that occurs depending on the vertical position of the lock pin 31, and changes (specifically, reduces) the thrust of the plunger 34B in response to the change. This allows the door control device 80 to change the thrust of the plunger 34B at an appropriate timing in accordance with the vertical position of the lock pin 31. Therefore, the door control device 80 can achieve a reduction in noise when the door 10 is unlocked with a relatively high degree of reproducibility by controlling the current of the coil 34C.

[0114] [Comparative example of a method for controlling a locking device when locking a door] Next, a comparative example of a control method for the locking device 30 when the door 10 is locked will be described with reference to FIGS.

[0115] Hereinafter, for convenience, the entity that implements the method for controlling the locking device 30 when the door 10 is locked will be described as a "door control device" without a reference numeral.

[0116] 14 and 15 are diagrams illustrating a comparative example of the operation of the locking device 30 when the door 10 is locked.

[0117] Specifically, FIG. 14 is a diagram including FIGS. 14A to 14C that schematically illustrates the time-varying operational state of the locking device 30 in a comparative example when the door 10 is locked. FIGS. 14A to 14C correspond to the operational states at times t41 to t43 in FIG. 15, respectively. FIG. 15 is a time chart including FIGS. 15A to 15E that illustrates the time-varying states of the solenoid 34 and the lock detection switch 50 and the noise level when the door 10 is locked. FIG. 15A is a time chart that illustrates the time-varying current command Ic of the coil 34C of the solenoid 34. FIG. 15B is a time chart that schematically illustrates the time-varying current (actual value) of the coil 34C of the solenoid 34. FIG. 15C is a time chart that schematically illustrates the time-varying amount of the plunger 34B of the solenoid 34 protruding from the housing 34A at its upper end. Fig. 15D is a time chart showing a schematic representation of a change in the lock detection signal over time, and Fig. 15E is a time chart showing a schematic representation of a change in the noise volume over time.

[0118] As shown in FIGS. 14A to 14C and 15A to 15C, in the comparative example, the solenoid 34 does not operate when the door 10 is locked.

[0119] 14A, at time t41, the door 10 is in the closing operation, and the opening / closing interlocking member 32 including the movable element 21 and the lock hole 32A moves in the closing direction in conjunction with the closing operation of the door 10. In addition, the abutting portion 35A of the vertical slider 35 abuts against the support surface 36B of the horizontal slider 36, and the lower end of the lock pin 31 is positioned above the upper opening of the lock hole 32A in the vertical direction.

[0120] As shown in FIG. 14B, at time t42, the door 10 continues to close, and the open / close interlocking member 32, including the movable element 21 and the lock hole 32A, moves in the closing direction in conjunction with the closing movement of the door 10. The movable element 21 can move in the closing direction while pushing the horizontal slider 36, and the horizontal slider 36 moves in the closing direction in response to the movement of the movable element 21 in the closing direction. Therefore, the abutting portion 35A of the vertical slider 35 transitions from abutting against the support surface 36B at time t41 to abutting against the support surface 36C. As a result, the vertical slider 35 moves downward along the slope of the support surface 36C, and the tip of the actuator portion 52 of the lock detection switch 50 abuts against the side surface 35B of the vertical slider 35. Therefore, as shown in FIGS. 14B and 15D, the lock detection switch 50 transitions from an OFF state to an ON state at time t42.

[0121] 14C, at time t43, the lock hole 32A reaches a position directly below the lock pin 31 due to the movement of the movable element 21 and the opening / closing interlocking member in the closing direction in conjunction with the closing operation of the door 10. At this time, the support surface 36A is located directly below the abutting portion 35A of the vertical slider 35, so the lock pin 31 can fall downward until the abutting portion 35A abuts against the support surface 36A. Therefore, the lock pin 31 is inserted so as to fall into the lock hole 32A by the elastic force of the biasing spring 33 and the biasing force due to its own weight acting on it, and the door 10 can be locked by the locking device 30.

[0122] The elastic force of the spring 33 and the biasing force of its own weight act on the lock pin 31. Therefore, as shown in Fig. 15E, there is a possibility that extremely loud noises will be generated due to the impact when the lock pin 31 starts moving as it falls or the impact when the lock pin 31 reaches the stroke end as it falls.

[0123] [Method for controlling a locking device when locking a door] Next, a method for controlling the locking device 30 when the door 10 according to this embodiment is locked will be described with reference to FIGS.

[0124] Fig. 16 is a diagram illustrating an example of a method for controlling the locking device 30 when the door 10 is locked by the door control device 80 according to this embodiment. Fig. 17 and Fig. 18 are diagrams illustrating the operation of the locking device 30 corresponding to the example of the method for controlling the locking device 30 when the door 10 is locked.

[0125] Specifically, Fig. 16 includes Figs. 16A to 16F. Figs. 16A and 16B are time charts illustrating an example of a control method for the locking device 30 when the door 10 according to this embodiment is locked, and Figs. 16C to 16F are time charts schematically illustrating control results obtained by the control method corresponding to Figs. 16A and 16B. Fig. 16A is a time chart illustrating an example of a change over time in the current command Ic of the coil 34C of the solenoid 34 when the door 10 is locked. Fig. 16B is a time chart schematically illustrating a change over time in the setting of the feedback gain. Fig. 16C is a time chart schematically illustrating a change over time in the current (actual value) of the coil 34C of the solenoid 34. Fig. 16D is a time chart schematically illustrating a change over time in the amount of protrusion (plunger protrusion amount) of the upper end of the plunger 34B of the solenoid 34 from the housing 34A. Fig. 16E is a time chart schematically illustrating a change over time in the lock detection signal. Fig. 16F is a time chart showing a schematic change in noise level over time. Fig. 17 includes Figs. 17A to 17D showing the operating states of locking device 30 corresponding to times t51 to t54 in Fig. 16, respectively, and Fig. 18 includes Figs. 18A to 18C showing the operating states of locking device 30 corresponding to times t55 to t57 in Fig. 16, respectively.

[0126] 16A, at time t51 during the closing operation of the door 10, the current command Ic rises from zero to a predetermined value Ic51 at a relatively gentle, constant slope. Then, as shown in FIG. 16C, the door control device 80 performs feedback control so that the current of the coil 34C follows the rise of the current command Ic from zero to the predetermined value Ic51.

[0127] Time t51 is predetermined as a timing after the start of the closing operation of the door 10 and sufficiently before the timing when the lock pin 31 and the lock hole 32A are in the same position in the opening and closing direction (i.e., the timing when the lock pin 31 can be inserted into the lock hole 32A). For example, time t51 corresponds to the timing when the closing operation of the door 10 starts. Alternatively, time t51 may correspond to the timing when the door 10 reaches a predetermined position. In this case, the door control device 80 can determine when time t51 has arrived based on the output of the encoder 40.

[0128] 16B, at time t51, the door control device 80 sets the feedback gain to a relatively strong state (i.e., a relatively large value), which enables the door control device 80 to maintain a relatively high level of compliance of the current in the coil 34C with the current command Ic.

[0129] 17A, at time t51, the opening / closing interlocking member 32 including the lock hole 32A is moving in the closing direction in conjunction with the closing operation of the door 10, and there is a large offset between the lock hole 32A and the lock pin 31 in the opening / closing direction of the door 10. In addition, the abutting portion 35A of the vertical slider 35 abuts against the support surface 36B of the horizontal slider 36, and the vertical position of the vertical slider 35 is maintained at a position where the lock pin 31 is not inserted into the lock hole 32A. Then, as shown in FIGS. 16D and 17A, the plunger 34B is not abutting against the vertical slider 35, and its upper end portion begins to protrude from the housing 34A in response to the start of energization of the coil 34C.

[0130] 16A, when the current command Ic reaches a predetermined value Ic51, it maintains the state at the predetermined value Ic51 for a certain time T51. Then, as shown in FIG. 16C, the door control device 80 performs feedback control to maintain the current of the coil 34C at the predetermined value Ic51.

[0131] As shown in FIG. 16A, when a certain time T51 during which the current command Ic is maintained at a predetermined value Ic51 elapses, the current command Ic falls from the predetermined value Ic51 to a predetermined value Ic52 (<Ic51) with a relatively gentle constant slope. Then, as shown in FIG. 16C, the door control device 80 feedback-controls the current in the coil 34C so as to follow the fall of the current command Ic from the predetermined value Ic51 to the predetermined value Ic52.

[0132] As shown in FIG. 16D, the plunger protrusion amount increases starting from time t51 and reaches the full stroke near the timing (time t52) when it reaches the predetermined value Ic52 due to the fall of the current in the coil 34C. Thereby, the door control device 80 can suppress the impact caused by the contact between the plunger 34B and the vertical slider 35 when the full stroke of the plunger protrusion amount is reached by lowering the current in the coil 34C.

[0133] As shown in FIG. 17B, at time t52, the opening / closing interlocking member 32 including the lock hole 32A is moving in the closing direction in conjunction with the closing operation of the door 10, and there is a large offset between the lock hole 32A and the lock pin 31 in the opening / closing direction of the door 10. Further, the contact portion 35A of the vertical slider 35 abuts on the support surface 36B of the horizontal slider 36, and the vertical position of the vertical slider 35 is maintained at a position where the lock pin 31 is not inserted into the lock hole 32A. Then, as shown in FIGS. 16D and 17B, the plunger 34B is in a state where the amount of protrusion from the housing 34A at its upper end is at the full stroke (i.e., maximum), and the upper end abuts on the vertical slider 35.

[0134] As shown in FIG. 16A, when the current command Ic reaches the predetermined value Ic52, it maintains the state of being maintained at the predetermined value Ic52 for a certain time T52. Then, as shown in FIG. 16C, the door control device 80 performs feedback control to maintain the current in the coil 34C at the predetermined value Ic52.

[0135] As shown in FIG. 16A, when a certain time T52 during which the current command Ic is maintained at a predetermined value Ic52 elapses, the current command Ic rises from the predetermined value Ic52 to a predetermined value Ic53 (>Ic51>Ic52) with a relatively gentle constant slope. Then, as shown in FIG. 16C, the door control device 80 feedback-controls the current of the coil 34C so as to follow the rise of the current command Ic from the predetermined value Ic52 to the predetermined value Ic53.

[0136] As shown in FIGS. 16C and 17C, at the time t53 when the current of the coil 34C reaches the predetermined value Ic53, the opening / closing interlocking member 32 moves in the closing direction in conjunction with the closing operation of the door 10 and shifts to a state of pressing the horizontal slider 36 in the closing direction. Therefore, the horizontal slider 36 moves in the closing direction in conjunction with the movement of the opening / closing interlocking member 32 in the closing direction. As a result, at the time t53, although the contact portion 35A of the vertical slider 35 is supported by the support surface 36B of the horizontal slider 36, in accordance with the movement of the horizontal slider 36 in the closing direction, the state in which the contact portion 35A of the vertical slider 35 is supported by the support surface 36B is released. Therefore, before the state in which the contact portion 35A of the vertical slider 35 is supported by the support surface 36B is released, by increasing the current of the coil 34C to the predetermined value Ic53, a state in which the vertical slider 35 can be supported only by the plunger 34B from below can be realized in advance.

[0137] As shown in FIG. 16A, when the current command Ic reaches the predetermined value Ic53 (time t53), it maintains the predetermined value Ic53 for a certain time T53. Then, as shown in FIG. 16C, the door control device 80 performs feedback control so as to maintain the current of the coil 34C at the predetermined value Ic53.

[0138] As shown in FIG. 16A, when a certain time T53 during which the current command Ic is maintained at the predetermined value Ic53 elapses (time t54), the current command Ic falls from the predetermined value Ic53 to a predetermined value Ic54 (Ic51<Ic54<Ic53). Then, as shown in FIG. 16C, the door control device 80 feedback-controls the current of the coil 34C so as to follow the fall of the current command Ic from the predetermined value Ic53 to the predetermined value Ic54.

[0139] 17D, at time t54, due to the movement of the opening / closing interlocking member 32 in the closing direction accompanying the closing operation of the door 10, the lock hole 32A reaches the same position as the lock pin 31 in the opening / closing direction of the door 10. In other words, the opening / closing interlocking member 32 reaches a position where the lock pin 31 can be inserted into the lock hole 32A. Therefore, at time t54, the door control device 80 reduces the current to the coil 34C, thereby realizing a state in which the biasing force of the weights of the biasing spring 33, the lock pin 31, the vertical slider 35, etc. is greater than the thrust of the plunger 34B. As a result, the door control device 80 can cause the lock pin 31 to start to slowly fall toward the lock hole 32A.

[0140] 16A, when the current command Ic reaches the predetermined value Ic54, it is maintained at the predetermined value Ic54. Then, the door control device 80 performs feedback control so as to maintain the current of the coil 34C at the predetermined value Ic54.

[0141] As shown in FIG. 16B, after a certain period of time has passed in which the feedback gain is maintained at the predetermined value Ic54, the door control device 80 changes the feedback gain setting from a relatively strong state to a relatively weak state.

[0142] 16D, the plunger protrusion amount starts to decrease at a relatively steep slope as the current in the coil 34C falls to the predetermined value Ic54. Therefore, while the current in the coil 34C is maintained at the predetermined value Ic34, the lock pin 31 and the vertical slider 35 move downward in response to the decrease in the plunger protrusion amount. As a result, the tip of the actuator part 52 of the lock detection switch 50 abuts against the lower end surface 35C of the vertical slider 35.

[0143] When the tip of the actuator unit 52 of the lock detection switch 50 comes into contact with the lower end surface 35C of the vertical slider 35, the biasing force acting on the actuator unit 52 acts to press the vertical slider 35 upward. As the plunger protrusion amount further decreases, the vertical slider 35 moves further downward and transitions from a state in which it abuts against the lower end surface 35C of the actuator unit 52 to a state in which it abuts against the side surface 35B. At this time, the biasing force acting on the actuator unit 52 transitions from a state in which it acts upward on the vertical slider 35 to a state in which it acts in the lateral direction of the vertical slider 35 (specifically, in the opening direction of the door 10). Therefore, because the feedback gain is set to a relatively weak state, the response to the current command Ic decreases, and as shown in FIG. 16C , the current in the coil 34C increases in response to changes in the load state on the plunger 34B (see the upward-pointing white arrow in the figure).

[0144] As shown in FIG. 16C , the door control device 80 determines that the load state on the plunger 34B has changed when the increase in the current through the coil 34C becomes relatively large (time t55). A relatively large increase in the current through the coil 34C means, for example, that the current through the coil 34C is large relative to a threshold value Th2 that is set as a value slightly larger than the predetermined value Ic54. A state where the current is large relative to the threshold value Th2 may be equal to or greater than the threshold value Th2. Furthermore, a relatively large increase in the current through the coil 34C may mean that the increase in the current through the coil 34C relative to the predetermined value Ic54 is large relative to a threshold value ΔTh2 (>0). A state where the current is large relative to the threshold value ΔTh2 may be equal to or greater than the threshold value ΔTh2.

[0145] As shown in FIG. 18A, at time t55, the lower end of the lock pin 31 has started to be inserted into the lock hole 32A. Also, as described above, the tip of the actuator portion 52 of the locking detection switch 50 has shifted from the state of abutting against the lower end surface 35C of the vertical slider 35 to the state of abutting against the side surface 35B. Therefore, as shown in FIG. 16E, at time t55, the locking detection signal has switched from an off signal to an on signal.

[0146] As shown in FIG. 16B, at time t55, the door control device 80 makes a setting change to return the feedback gain from a relatively weak state to a relatively strong state. As a result, the door control device 80 can return to a state where it can maintain relatively high followability of the current of the coil 34C with respect to the current command Ic after time t55.

[0147] As shown in FIG. 16A, starting from the timing (time t55) when it is determined that the load state on the plunger 34B has changed, the current command Ic rises from a predetermined value Ic54 to a predetermined value Ic55 (Ic54 < Ic55 < Ic53) with a relatively steep constant slope. Then, as shown in FIG. 16C, the door control device 80 performs feedback control on the current of the coil 34C so as to follow the rise of the current command Ic toward the predetermined value Ic55.

[0148] As shown in FIG. 16A, when the current command Ic reaches the predetermined value Ic55, it maintains the predetermined value Ic55. Then, the door control device 80 performs feedback control to maintain the current of the coil 34C at the predetermined value Ic55.

[0149] As shown in FIG. 16B, when a certain time has elapsed in the state of maintaining the predetermined value Ic55, the door control device 80 changes the setting of the feedback gain from a relatively strong state to a relatively weak state.

[0150] 16D, the decrease in the plunger protrusion amount stagnates when the current in the coil 34C rises to a predetermined value Ic55, and as a result, the downward movement of the lock pin 31 and the vertical slider 35 stagnates. This is because, in addition to the increase in the thrust of the solenoid 34, there is an effect of a decrease in the biasing force of the lock pin 31 due to a decrease in the amount of compression of the biasing spring 33 acting on the lock pin 31.

[0151] Here, because the feedback gain has been set to a relatively weak state, the ability to follow the current command Ic decreases, and as shown in Figure 16C, the current in coil 34C decreases in response to changes in the load state on plunger 34B (see the downward white arrow in the figure).

[0152] As shown in FIG. 16C , the door control device 80 determines that the load state on the plunger 34B has changed when the decrease in the current through the coil 34C becomes relatively large (time t56). A relatively large decrease in the current through the coil 34C means, for example, that the current through the coil 34C is small relative to a threshold value Th3, which is set as a value slightly smaller than the predetermined value Ic55. A state where the current is small relative to the threshold value Th3 may be equal to or smaller than the threshold value Th3. Furthermore, a relatively large decrease in the current through the coil 34C may mean that the decrease in the current through the coil 34C relative to the predetermined value Ic55 is large relative to a threshold value ΔTh3 (>0). A state where the current is large relative to the threshold value ΔTh3 may be equal to or larger than the threshold value ΔTh3.

[0153] As shown in FIG. 18B, at time t56, the vertical position of the lower end of lock pin 31 has hardly changed since time t55, and the lower end of lock pin 31 is slightly inserted into lock hole 32A.

[0154] 16B, at time t56, the door control device 80 changes the feedback gain from a relatively weak state back to a relatively strong state, thereby enabling the door control device 80 to return to a state in which it can maintain a relatively high level of compliance of the current in the coil 34C with the current command Ic after time t56.

[0155] 16A, starting from the timing (time t56) when it is determined that the load state on the plunger 34B has changed, the current command Ic drops from a predetermined value Ic55 to zero at a relatively steep, constant slope. Then, as shown in FIG. 16C, the door control device 80 feedback-controls the current of the coil 34C so as to follow the drop of the current command Ic toward zero.

[0156] As shown in FIG. 16D, the plunger protrusion amount decreases as the current in coil 34C falls toward zero, and reaches zero after the current in coil 34C reaches zero.

[0157] 18C, at time t57 after the plunger protrusion amount reaches zero, the contact portion 35A of the vertical slider 35 is supported by the support surface 36A of the horizontal slider 36. As a result, the lock pin 31 reaches the lower stroke end, and its lower end is inserted into the lock hole 32A, thereby achieving a completely locked state of the door 10.

[0158] As shown in Figure 16F, the noise level reaches its maximum value around time t52 when plunger 34B contacts vertical slider 35 and around time t56 when the current in coil 34C drops toward zero, and the noise level reaches its maximum value around time t56.

[0159] In contrast, in this example, as described above, when the plunger 34B abuts against the vertical slider before the lock pin 31 transitions to a state where it can be inserted into the lock hole 32A, the current of the coil 34C drops from the predetermined value Ic51 to the predetermined value Ic52. Therefore, noise caused by the impact when the plunger 34B abuts against the vertical slider 35 can be suppressed.

[0160] In this example, as described above, the plunger 34B supports the vertical slider 35 from below at the timing when the lock pin 31 starts to move downward (i.e., drop). Therefore, as shown in Fig. 16F, noise caused by the impact when the lock pin 31 starts to move can be suppressed, and as a result, the amount of noise at that time does not reach a maximum value.

[0161] 16D, in this example, the plunger protrusion amount is reduced in stages, so that the amount of fall of the lock pin 31 when the plunger protrusion amount is finally shifted to zero is relatively small, thereby suppressing noise caused by the impact when the lock pin 31 reaches its full stroke.

[0162] Furthermore, in this example, the door control device 80 determines a change in the load state on the plunger 34B that occurs depending on the vertical position of the lock pin 31, and changes the thrust of the plunger 34B in response to the change. This allows the door control device 80 to change the thrust of the plunger 34B at an appropriate timing in accordance with the vertical position of the lock pin 31. Therefore, the door control device 80 can achieve noise reduction when the door 10 is locked with a relatively high degree of reproducibility by controlling the current through the coil 34C.

[0163] In this way, in this example, when locking the door 10, the door control device 80 controls the thrust of the solenoid 34 to weaken the biasing force of the biasing spring 33 on the lock pin 31 and the biasing force of the lock pin 31 due to its own weight. This allows the door control device 80 to suppress noise that accompanies the locking operation of the locking device 30 when locking the door 10.

[0164] [Other embodiments] Next, another embodiment will be described.

[0165] The above-described embodiment may be modified or changed as appropriate.

[0166] For example, in the above-described embodiment, instead of the solenoid 34, another thrust generating device capable of generating thrust directly or indirectly on the lock pin 31 may be provided.

[0167] Furthermore, in the above-described embodiments and modifications, the door control device 80 may directly determine a predetermined position of the lock pin 31 instead of determining a change in the load state of the plunger 34B, which depends on the position of the lock pin 31. This allows the door control device 80 to increase or decrease the current to the coil 34C at an appropriate timing by directly using the position of the lock pin 31. In this case, the position of the lock pin 31 may be obtained using a sensor that measures the position of the lock pin 31, or may be estimated based on the output of the encoder 40, the full-close detection switch 60, etc.

[0168] Furthermore, in the above-described embodiments and examples of modifications and variations, the lock pin 31 is provided on the vehicle body (i.e., the fixed part), and the lock hole 32A is provided on the door 10 side (i.e., the movable part) that is linked to the opening and closing operation of the door 10, but the reverse may also be true.

[0169] Furthermore, in the above-described embodiments and examples of modifications and variations, the lock detection switch 50 may be provided below the vertical slider 35 rather than to the side of the vertical slider 35, and may be configured to be turned on when the actuator unit 52 is pressed from above by the vertical slider 35.

[0170] [Effect] Next, the operation of the control device and control method according to this embodiment will be described.

[0171] In a first aspect of this embodiment, a control device controls the operation of a locking device having: a first member and a second member that, as the first member moves toward the first member, establishes a predetermined positional relationship between the first member and the second member to lock the door of a railway vehicle; a first force generating unit that generates a first force to move the second member toward the first member when locking the door; and a second force generating unit that generates a second force against the first force to move the second member away from the first member when unlocking the door, thereby unlocking the door. The control device is, for example, the door control device 80 described above. The railway vehicle is, for example, the railway vehicle 1 described above. The door is, for example, the door 10 described above. The first member is, for example, the opening / closing interlocking member 32 including the lock hole 32A described above. The second member is, for example, the lock pin 31 described above. The first force is, for example, the elastic force of the above-mentioned biasing spring 33 or gravity (its own weight) acting on the lock pin 31. The first force generating unit is, for example, the above-mentioned biasing spring 33 that generates the elastic force or the lock pin 31 that generates gravity. The second force generating unit is, for example, the above-mentioned solenoid 34. The locking device is, for example, the above-mentioned locking device 30. Specifically, the control device controls the second force generating unit to weaken the second force when the door transitions from a locked state to an unlocked state.

[0172] In a control method according to a first aspect of the present embodiment, a control device controls the operation of a locking device having a first member and a second member that, as the first member moves toward the first member, establishes a predetermined positional relationship between the first member and the second member to lock the door of a railway vehicle, a first force generating unit that generates a first force to move the second member toward the first member when the door is locked, and a second force generating unit that generates a second force against the first force to move the second member away from the first member when the door is unlocked. Specifically, in the control method according to the present aspect, the control device controls the second force generating unit to weaken the second force when the door transitions from a locked state to an unlocked state.

[0173] This allows the control device to reduce the second force when the second member reaches the stroke end during unlocking the door, thereby suppressing noise caused by the impact at that time. Therefore, the control device can suppress noise caused by the unlocking operation of the locking device during unlocking the door.

[0174] Furthermore, in a second aspect of this embodiment, based on the first aspect described above, the control device may control the second force generating unit so that, during unlocking, the second force is transitioned from a zero state to a relatively high state, and then the second force is weakened to a relatively low state.

[0175] This allows the control device to more quickly release the state in which the second member is in a predetermined positional relationship with the first member when unlocking the door, while suppressing noise associated with the unlocking operation of the locking device.

[0176] In a third aspect of this embodiment, based on the first or second aspect described above, the control device may control the second force generating unit to weaken the second force before the switch unit, which performs a switching operation in response to the movement of the second member by mechanical action with the second member, switches from a state of outputting a first signal corresponding to the locked state of the door to a state of outputting a second signal corresponding to the unlocked state of the door. The switch unit is, for example, the lock detection switch 50 described above. The first signal and the second signal are the on signal and off signal described above.

[0177] This allows the control device to reliably reduce the second force when the second member reaches the stroke end, thereby suppressing noise caused by the impact at that time.

[0178] Furthermore, in a fourth aspect of this embodiment, assuming the first or second aspect described above, the control device may control the second force generating unit to weaken the second force in response to a switch unit that performs a switching operation in response to the operation of the second member by mechanical action with the second member switching from a state of outputting a first signal corresponding to the locked state of the door to a state of outputting a second signal corresponding to the unlocked state of the door.

[0179] This allows the control device to prevent the time until the unlocking operation of the locking device is completed from being extended, while reliably reducing the second force when the second member reaches the stroke end, thereby suppressing noise caused by the impact at that time.

[0180] Furthermore, in a fifth aspect of this embodiment, based on the first or second aspect described above, the control device may control the second force generating unit to weaken the second force in accordance with the position of the second member.

[0181] This allows the control device to reduce the second force at the same timing every time in accordance with the position of the second member, thereby improving the repeatability of the reduction in noise that accompanies the unlocking operation of the locking device.

[0182] In addition, in a sixth aspect of this embodiment, in the fifth aspect described above, the second force generating unit may be controlled to weaken the second force in accordance with a change in the load acting on the second force generating unit depending on the position of the second member.

[0183] This allows the control device to determine the position of the second member from changes in the load acting on the second force generating unit and weaken the second force at the same timing each time relative to the position of the second member, thereby improving the repeatability of the reduction in noise that accompanies the unlocking operation of the locking device.

[0184] In a seventh aspect of this embodiment, based on the sixth aspect, the second force generating unit may be a solenoid. The solenoid is, for example, the above-mentioned solenoid 34. The control device may determine a change in the load acting on the solenoid according to the position of the second member based on the current value of the solenoid, and control the solenoid to weaken the second force.

[0185] This allows the control device to determine a change in the load acting on the solenoid from the current value of the solenoid, and to weaken the second force at the same timing every time for the position of the second member.

[0186] Furthermore, in an eighth aspect of this embodiment, based on the seventh aspect described above, the current of the solenoid is feedback-controlled to transition the second force to a relatively high state, and then the feedback gain is weakened and the current of the solenoid is feedback-controlled to maintain a constant current, and when the current of the solenoid changes significantly relative to a predetermined reference in that control state, the current of the solenoid is feedback-controlled to weaken the second force to a relatively low state.

[0187] This allows the control device to reliably determine changes in the load acting on the solenoid from the current value of the solenoid, and to weaken the thrust at the same timing each time for the position of the second member.

[0188] In a ninth aspect of this embodiment, a control device controls the operation of a locking device having: a first member and a second member that, as the first member moves toward the first member, establishes a predetermined positional relationship between the first member and the second member to lock the door of a railway vehicle; a first force generating unit that, when locking the door, generates a first force that moves the second member toward the first member; and a second force generating unit that, when unlocking the door, generates a second force that resists the first force and moves the second member away from the first member to unlock the door. Specifically, when locking the door to transition from an unlocked state to a locked state, the control device controls the second force generating unit to generate the second force so as to weaken the action of the first force generating unit on the second member.

[0189] In a control method according to a ninth aspect of the present embodiment, a control device controls the operation of a locking device having a first member and a second member that, as the first member moves toward the first member, establishes a predetermined positional relationship between the first member and the second member to lock the door of a railway vehicle, a first force generating unit that generates a first force to move the second member toward the first member when the door is locked, and a second force generating unit that generates a second force against the first force to move the second member away from the first member when the door is unlocked. Specifically, in the control method according to this aspect, when the door is transitioning from an unlocked state to a locked state, the control device controls the second force generating unit to generate the second force to weaken the action of the first force generating unit on the second member.

[0190] This allows the control device to reduce the impact when the second member starts to move due to the first force or when the second member reaches the stroke end when the door is locked, thereby reducing the noise that accompanies the unlocking operation of the locking device when the door is locked.

[0191] In addition, in a tenth aspect of this embodiment, the control device may control the second force generating unit during the closing operation of the door to generate a relatively high second force before the second member is in a state where it can move to establish the predetermined positional relationship with the first member, and transition to a state where it generates a relatively low second force when the second member is in a state where it can move to establish the predetermined positional relationship with the first member.

[0192] As a result, when the second member is able to move to establish a predetermined positional relationship with the first member in response to the door closing operation, the control device can suppress the sudden movement of the second member due to the first force, and suppress noise caused by the impact when the second member starts moving.

[0193] In an eleventh aspect of this embodiment, at the start of the closing operation of the door, an acting portion of the second force generating portion for applying the second force to the second member may not be in a position where it can apply the second force to the second member. The acting portion is, for example, plunger 34B. Then, during the closing operation of the door, the control device may control the second force generating portion to move the acting portion to a position where it can apply the second force to the second member before the second member is in a state where it can move to establish the predetermined positional relationship with the first member.

[0194] As a result, when the second member is in a state where it can move to establish the specified positional relationship with the first member, the control device can apply a second force to the second member so as to suppress noise caused by impact when the second member starts to move.

[0195] In addition, in a twelfth aspect of this embodiment, the control device may control the second force generating unit to increase the second force in response to a switch unit, which performs a switching operation in response to the operation of the second member through mechanical action between the second member and the switch unit, switching from a state of outputting a second signal corresponding to the unlocked state of the door to a state of outputting a first signal corresponding to the locked state of the door.

[0196] This allows the control device to reduce the impact when the second member reaches the stroke end and suppress noise at that time, while suppressing an extension of the time until the locking operation of the locking device is completed.

[0197] In addition, in a thirteenth aspect of this embodiment, the control device may control the second force generation unit to increase the second force in accordance with the position of the second member.

[0198] This allows the control device to increase the thrust at the same timing every time in accordance with the position of the second member, thereby reliably suppressing noise caused by the impact when the second member reaches the stroke end.As a result, the control device can improve the repeatability of the reduction in noise that accompanies the locking operation of the locking device.

[0199] In addition, in a fourteenth aspect of this embodiment, the control device may control the second force generating unit to increase the second force in accordance with changes in the load acting on the second force generating unit depending on the position of the second member.

[0200] This allows the control device to determine the position of the second member from changes in the load acting on the second force generating unit and to increase the second force at the same timing each time for the position of the second member, thereby improving the repeatability of the reduction in noise that accompanies the locking operation of the locking device.

[0201] In a fifteenth aspect of this embodiment, the second force generating unit may be a solenoid, and the control device may determine a change in load acting on the solenoid depending on the position of the second member based on a current value of the solenoid, and control the solenoid to increase the second force.

[0202] This allows the control device to determine changes in the load acting on the solenoid from the current value of the solenoid, and to increase the thrust force at the same timing each time for the position of the second member.

[0203] In addition, in a sixteenth aspect of this embodiment, when the second member is in a state where it can move to establish the predetermined positional relationship with the first member, the control device feedback-controls the current of the solenoid to transition the second force from a relatively high state to a relatively low state, and then weakens the feedback gain and feedback-controls the current of the solenoid to maintain a constant current, and when the current of the solenoid changes significantly relative to a predetermined standard in that control state, the control device feedback-controls the current of the solenoid to strengthen the second force.

[0204] This allows the control device to reliably determine a change in the load acting on the solenoid from the current value of the solenoid, and to increase the second force at the same timing for the position of the second member every time.

[0205] Although the embodiments have been described in detail above, the present disclosure is not limited to such specific embodiments, and various modifications and variations are possible within the scope of the gist described in the claims. [Explanation of symbols]

[0206] 1. Railway vehicles 10 doors 30 Locking device 31 Lock pin 32 Opening and closing interlocking member 32A Rock Hall 33 bias spring 34 Solenoid 34A housing 34B Plunger 34C coil 35 Vertical Slider 35A Contact part 35B Side 35C Bottom end surface 36 Horizontal slider 36A Support surface 36B Support surface 36C Support surface 50 Lock detection switch 51 Main body 52 Actuator section 70 Current Sensor 80 Door control device 81 Power supply 82 Switch 83 Control circuit

Claims

1. A first member; a second member that, when moved toward the first member, establishes a predetermined positional relationship with the first member, thereby locking the door of the railway vehicle; and a first force generating unit that generates a first force that moves the second member toward the first member when the door is locked; a second force generating unit that generates a second force against the first force when the door is unlocked, and moves the second member away from the first member, thereby realizing an unlocked state of the door. A control device for controlling the operation of a locking device, When the door is unlocked, the second force generating unit is controlled to weaken the second force. Control device.

2. At the time of unlocking, the second force generating unit is controlled so as to transition the second force from a zero state to a relatively high state and then weaken the second force to a relatively low state. The control device according to claim 1 .

3. a switch unit that performs a switching operation according to the operation of the second member by a mechanical action between the switch unit and the second member, controlling the second force generating unit to weaken the second force before switching from a state of outputting a first signal corresponding to the locked state of the door to a state of outputting a second signal corresponding to the unlocked state of the door; The control device according to claim 1 or 2.

4. a switch unit that performs a switching operation according to the operation of the second member by mechanical action with the second member, and controls the second force generating unit to weaken the second force in response to switching from a state of outputting a first signal corresponding to the locked state of the door to a state of outputting a second signal corresponding to the unlocked state of the door; The control device according to claim 1 or 2.

5. controlling the second force generation unit to weaken the second force in accordance with the position of the second member; The control device according to claim 1 or 2.

6. controlling the second force generation unit to weaken the second force in accordance with a change in the load acting on the second force generation unit according to the position of the second member; The control device according to claim 5 .

7. the second force generating unit is a solenoid, a change in the load acting on the solenoid in accordance with the position of the second member is determined based on the current value of the solenoid, and the solenoid is controlled to weaken the second force; The control device according to claim 6.

8. feedback-controlling the current of the solenoid to transition the second force to a relatively high state, and then weakening the feedback gain and feedback-controlling the current of the solenoid to maintain a constant current, and when the current of the solenoid changes significantly relative to a predetermined reference in this control state, feedback-controlling the current of the solenoid to weaken the second force to a relatively low state; The control device according to claim 7.

9. A first member; a second member that, in response to movement toward the first member, establishes a predetermined positional relationship with the first member, thereby realizing a locked state of the railway vehicle door; a first force generating unit that generates a first force that moves the second member toward the first member when the door is locked; a second force generating unit that generates a second force against the first force when the door is unlocked, and moves the second member away from the first member, thereby realizing an unlocked state of the door. A control device for controlling the operation of a locking device, When the door is locked, the second force generating unit is controlled to generate the second force so as to weaken the action of the first force generating unit on the second member. Control device.

10. During the closing operation of the door, the second force generating unit is controlled to generate a relatively high second force before the second member is in a state where it can move to establish the predetermined positional relationship with the first member, and when the second member is in a state where it can move to establish the predetermined positional relationship with the first member, the second force generating unit is shifted to a state where it can generate a relatively low second force. The control device according to claim 9.

11. at the start of the closing operation of the door, an action portion of the second force generation portion for applying the second force to the second member is not in a position where the second force can be applied to the second member, During the closing operation of the door, the second force generating unit is controlled to move the second member to a position where the action unit can apply the second force to the second member before the second member is in a state where it can move to establish the predetermined positional relationship with the first member. The control device according to claim 10.

12. a switch unit that performs a switching operation according to the operation of the second member by a mechanical action between the switch unit and the second member, and controls the second force generating unit to increase the second force according to switching from a state of outputting a second signal corresponding to the unlocked state of the door to a state of outputting a first signal corresponding to the locked state of the door; 12. A control device according to any one of claims 9 to 11.

13. controlling the second force generation unit to increase the second force in accordance with the position of the second member; 12. A control device according to any one of claims 9 to 11.

14. controlling the second force generating unit to increase the second force in accordance with a change in the load acting on the second force generating unit according to the position of the second member; The control device according to claim 13.

15. the second force generating unit is a solenoid, a change in the load acting on the solenoid in accordance with the position of the second member is determined based on the current value of the solenoid, and the solenoid is controlled to increase the second force; The control device according to claim 14.

16. When the second member is in a state where it can move to establish the predetermined positional relationship with the first member, the current of the solenoid is feedback-controlled to transition the second force from a relatively high state to a relatively low state, and thereafter, the feedback gain is weakened and the current of the solenoid is feedback-controlled to maintain a constant current, and when the current of the solenoid changes significantly relative to a predetermined reference in this control state, the current of the solenoid is feedback-controlled to strengthen the second force. The control device according to claim 15.

17. A first member; a second member that, when moved toward the first member, establishes a predetermined positional relationship with the first member, thereby locking the door of the railway vehicle; and a first force generating unit that generates a first force that moves the second member toward the first member when the door is locked; a second force generating unit that generates a second force against the first force when the door is unlocked, and moves the second member away from the first member, thereby realizing an unlocked state of the door. A control method for controlling the operation of a locking device, comprising: When the door is unlocked, the second force generating unit is controlled to weaken the second force. Control method.

18. A first member; a second member that, in response to movement toward the first member, establishes a predetermined positional relationship with the first member, thereby realizing a locked state of the railway vehicle door; a first force generating unit that generates a first force that moves the second member toward the first member when the door is locked; a second force generating unit that generates a second force against the first force when the door is unlocked, and moves the second member away from the first member, thereby realizing an unlocked state of the door. A control method for controlling the operation of a locking device, comprising: When the door is locked, the second force generating unit is controlled to generate the second force so as to weaken the action of the first force generating unit on the second member. Control method.

Images