Control apparatus, control method, and storage medium

Abstract

To provide a control device, a control method, and a control program for suppressing mirror-finishing of a wheel.SOLUTION: The brake controller 20 includes the skidding detector 21 that detects skidding during braking, the determination unit 22 that determines whether the surface roughening for roughening the tread of the wheel 12 is necessary based on the skidding information detected by the skidding detector 21, and the controller 23 that performs the surface roughening when the determination unit 22 determines that the surface roughening is necessary.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a control device, a control method, and a control program. [Background technology]

[0002] The railway vehicle braking device described in Patent Document 1 is equipped with a regenerative brake using an electric motor that drives the wheels, and an air brake that presses a brake shoe against the wheel tread. In this braking device, the air brake supplements the braking force of the regenerative brake by an amount that is insufficient compared to the command value, thereby generating braking force. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 7-007806 Summary of the Invention [Problem to be solved by the invention]

[0004] In the braking device described in Patent Document 1, regenerative braking is used almost exclusively from the time braking begins until the train stops, so the air brakes barely function. As a result, there are fewer opportunities for the wheel tread to come into contact with the friction material, which reduces the risk of the wheel tread becoming roughened, which can cause the wheel tread to become polished. When polishing occurs, the adhesion between the wheel and rail decreases, which can lead to skidding. [Means for solving the problem]

[0005] A control device that solves the above problem includes a slide detection unit that detects slides when braking, a determination unit that determines whether roughening of the wheel tread is necessary based on the slide information detected by the slide detection unit, and a control unit that performs the roughening when the determination unit determines that the roughening is necessary.

[0006] According to the above configuration, when it is determined that roughening is necessary based on the skid information, roughening is performed to roughen the wheel tread. Therefore, since skid occurs when the wheel becomes mirror-finished, roughening the wheel tread can prevent the wheel from becoming mirror-finished.

[0007] With regard to the above control device, it is preferable that the judgment unit judges that the roughening treatment is necessary when at least one of the following occurs: the number of times that the sliding occurs in a predetermined period is equal to or greater than a predetermined number; the ratio of the sliding to the number of times that the braking is performed in a predetermined period is equal to or greater than a predetermined ratio; and the cumulative sliding time, which is the cumulative total time that the sliding has occurred in a predetermined period, is equal to or greater than a predetermined time.

[0008] In the above control device, it is preferable that the control unit applies the surface roughening treatment by pressing a brake shoe against the tread surface. In the above control device, it is preferable that the control unit performs the surface roughening process when a brake command is input.

[0009] It is preferable that the above control device is provided with a calculation unit that calculates the increase in roughness of the tread surface due to the roughening treatment, the control unit repeatedly performs the roughening treatment, and the judgment unit judges that the roughening treatment should not be performed if the sum of the increase in roughness calculated by the calculation unit in the repeated roughening treatments is greater than or equal to a predetermined value.

[0010] The control device preferably includes a determination unit that determines a second speed, which is the rotational speed of the wheel at which the roughening treatment is to be ended, based on a first speed, which is the rotational speed of the wheel at which the roughening treatment is to be started, and the control unit performs the roughening treatment from the first speed to the second speed.

[0011] A control method for solving the above problem includes a skid detection process for detecting skid when braking, a determination process for determining whether roughening of the wheel tread is necessary based on the detected skid information, and a roughening process for performing the roughening process when it is determined that the roughening process is necessary.

[0012] According to the above method, when it is determined that roughening is necessary based on the skid information, roughening is performed to roughen the wheel tread. Therefore, since skid occurs when the wheel becomes mirror-finished, roughening the wheel tread can prevent the wheel from becoming mirror-finished.

[0013] The control program that solves the above problem causes a computer to execute a skid detection process that detects skids when braking, a determination process that determines whether roughening of the wheel tread is necessary based on the detected skid information, and the roughening process that is carried out when it is determined that the roughening is necessary.

[0014] According to the program, when it is determined that roughening is necessary based on the skid information, roughening is performed to roughen the wheel tread. Therefore, since skid occurs when the wheel becomes mirror-finished, roughening the wheel tread can prevent the wheel from becoming mirror-finished. [Effects of the Invention]

[0015] According to the present invention, it is possible to prevent the wheels from becoming mirror-finished. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a block diagram showing a schematic configuration of a control device according to an embodiment of the present invention; [Figure 2] 5(a) to 5(c) are diagrams illustrating braking performed by the control device of the embodiment. [Figure 3] 4 is a flowchart showing a control method performed by the control device of the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0017] (Present embodiment) Hereinafter, an embodiment of the present invention in which a control device, a control method, and a control program are embodied in a brake device will be described with reference to Figures 1 to 3. The brake device is mounted on a railway vehicle and slows or stops the railway vehicle.

[0018] 1, the brake control system 1 is a system that is mounted on a railway vehicle and controls the brakes of the railway vehicle. The brake control system 1 includes a brake command unit 2, a regenerative brake control device 3, a pressure sensor 4, a speed sensor 5, a brake device 10, a brake cylinder 11, a brake shoe 13, and a main air tank 30.

[0019] The brake command unit 2 is installed in the driver's cab of the railway vehicle, generates a brake command based on an operation by the driver, etc., and outputs it to the brake device 10. The regenerative brake control device 3 is a device that controls regenerative braking by a drive machine (not shown) that drives the wheels 12. The pressure sensor 4 detects the pressure of an air spring or the like to detect the load applied to the railway vehicle by passengers, and outputs the pressure to the brake device 10. The speed sensor 5 detects the rotational speed of the wheels 12 and outputs the pressure to the brake device 10.

[0020] The braking device 10 is a device that generates a braking force by driving a brake cylinder 11 with a brake cylinder pressure PC. The brake cylinder 11 is connected to a tread brake that presses a brake shoe 13 against a wheel 12.

[0021] The brake device 10 includes a brake control device 20, an electro-pneumatic converting valve 31, a relay valve 32, a first pressure sensor 33, and a second pressure sensor 34. The brake control device 20 cooperates with the regenerative brake control device 3 and drives the brake cylinder 11 to generate braking force.

[0022] The brake control device 20 may be configured as one or more processors that execute various processes according to a computer program (software). The processes executed by the brake control device 20, i.e., the processor, include a control method. The control method includes a skid detection process, a determination process, and a rough surface process, which will be described later. The brake control device 20 may also be configured as a circuit including one or more dedicated hardware circuits, such as an application-specific integrated circuit (ASIC), or a combination thereof, that execute at least some of the various processes. The processor includes a CPU and memory, such as RAM and ROM. The memory stores program code or instructions configured to cause the CPU to execute the processes. The memory, i.e., a computer-readable medium, includes any available medium accessible by a general-purpose or special-purpose computer. The program stored in the computer-readable medium includes a control program. The control program causes the computer to execute the skid detection process, the determination process, and the rough surface process.

[0023] The brake control device 20 includes a slide detection unit 21, a determination unit 22, a control unit 23, a storage unit 24, a calculation unit 25, and a determination unit 26. The slide detection unit 21 detects slides during braking. The determination unit 22 determines whether or not roughening is required to roughen the treads of the wheels 12 based on the slide information detected by the slide detection unit 21. The control unit 23 performs roughening to roughen the treads of the wheels 12 when the determination unit 22 determines that roughening is required.

[0024] The determination unit 22 determines that surface roughening is necessary when at least one of the following occurs: the number of times sliding occurs in a predetermined period is equal to or greater than a predetermined number; the ratio of sliding to the number of times braking is performed in a predetermined period is equal to or greater than a predetermined percentage; and the cumulative sliding time, which is the cumulative total of the time spent sliding in a predetermined period, is equal to or greater than a predetermined time. Note that the determination unit 22 may also determine that surface roughening is necessary when any one of the following occurs: the number of times sliding occurs in a predetermined period is equal to or greater than a predetermined number; the ratio of sliding to the number of times braking is performed in a predetermined period is equal to or greater than a predetermined percentage; and the cumulative sliding time, which is the cumulative total of the time spent sliding in a predetermined period, is equal to or greater than a predetermined time.

[0025] The control unit 23 performs roughening by pressing the brake shoes 13 against the treads of the wheels 12. When the brake shoes 13 are pressed against the treads of the wheels 12, the brake shoes 13 roughen the treads of the wheels 12. The control unit 23 performs roughening when a brake command is input from the brake command unit 2. That is, the control unit 23 presses the brake shoes 13 against the treads of the wheels 12 when braking, thereby roughening the treads of the wheels 12. Furthermore, the control unit 23 starts roughening when a brake command is input from the brake command unit 2. That is, the speed when the brake command is input is set to the first speed. The control unit 23 determines that the vehicle has stopped when the speed input from the speed sensor 5 becomes zero.

[0026] The memory unit 24 stores parameters such as the brake cylinder pressure PC and the period for applying the brake cylinder pressure PC, which are used when the control unit 23 performs a roughening process to roughen the tread surface of the wheel 12.

[0027] The calculation unit 25 calculates the increase in roughness of the tread due to the roughening treatment. The determination unit 22 determines whether or not to perform the roughening treatment. The control unit 23 repeatedly performs the roughening treatment. The determination unit 22 determines not to perform the roughening treatment if the sum of the increase in roughness calculated by the calculation unit 25 in the repeated roughening treatments is equal to or greater than a predetermined value. The predetermined value is a value at which the tread has the desired roughness.

[0028] The determination unit 26 determines a second speed, which is the rotational speed of the wheel 12 at which the roughening process is to be terminated, based on a first speed, which is the rotational speed of the wheel 12 at which the roughening process is to be initiated. The control unit 23 performs the roughening process from the first speed to the second speed. The determination unit 26 determines the second speed so as to obtain a speed difference that is predefined according to the first speed. The memory unit 24 stores a speed difference table defined according to the first speed. Note that the second speed may be determined according to the first speed with the speed difference kept constant.

[0029] The brakes include a regenerative brake that decelerates the wheels 12 using a drive machine (not shown) that drives the wheels 12, and a tread brake that presses the brake shoes 13 against the treads of the wheels 12. The brake control device 20 controls the braking force so that the sum of the braking force from the regenerative brake and the braking force from the tread brake becomes the braking force required by the brake command.

[0030] As shown in FIG. 2(a), when surface roughening is not performed, the control unit 23 performs regenerative braking when a brake command is input from the brake command unit 2. Then, when the rotational speed of the wheel 12 drops to a terminal speed at which regenerative braking is to be terminated, the control unit 23 stops regenerative braking and performs tread braking until the rotation of the wheel 12 stops. Because regenerative braking allows electricity to be recovered, it is desirable to perform regenerative braking up to a terminal speed at which the deceleration effect of regenerative braking can be obtained. Note that when the braking force required by the brake command cannot be obtained by regenerative braking alone, tread braking is also used to obtain the required braking force.

[0031] As shown in FIG. 2(b), when the first roughening treatment is performed, the control unit 23 shortens the proportion of the regenerative braking period and lengthens the proportion of the tread braking period compared to when the roughening treatment is not performed. In other words, when the first roughening treatment is performed, the control unit 23 reduces the braking force by the regenerative braking and increases the braking force by the tread braking. When a brake command is input from the brake command unit 2, the control unit 23 does not perform regenerative braking to roughen the tread of the wheel 12, but performs tread braking from the start of braking (first speed). Then, when the second speed is reached, the control unit 23 stops tread braking and performs regenerative braking. Thereafter, when the rotational speed of the wheel 12 decreases to the end speed, the control unit 23 stops regenerative braking and performs tread braking until the rotation of the wheel 12 stops.

[0032] 2(c), when the second roughening treatment is performed, upon receiving a brake command from the brake command unit 2, the control unit 23 does not perform regenerative braking to roughen the tread of the wheel 12, but performs tread braking from the start of braking until the rotation of the wheel 12 stops. The control unit 23 may selectively perform the first roughening treatment or the second roughening treatment depending on the roughness of the tread of the wheel 12, or may perform only one of the first roughening treatment or the second roughening treatment.

[0033] As shown in FIG. 1, the primary air tank 30 is an air tank that outputs stored compressed air PA. The electro-pneumatic converting valve 31 converts the pressure control signal SA, which is an electric signal output from the control unit 23, into an air signal PB that indicates the control content by air pressure.

[0034] The relay valve 32 outputs air at a brake cylinder pressure PC corresponding to the command pressure, which is the air pressure of the air signal PB output from the electro-pneumatic converting valve 31, to the brake cylinder 11. The brake cylinder pressure PC is the air signal PB amplified by compressed air PA. The brake cylinder pressure PC and the command pressure of the air signal PB are assumed to be proportional to each other.

[0035] The first pressure sensor 33 is a sensor that detects a command pressure, which is the air pressure of the air signal PB. The command pressure is a physical quantity that indicates the force pressing the brake shoe 13 against the wheel 12. The first pressure sensor 33 outputs the detected command pressure of the air signal PB to the brake control device 20 as a feedback signal SB.

[0036] The second pressure sensor 34 is a sensor that detects the brake cylinder pressure PC, which is the air pressure in the brake cylinder 11. The brake cylinder pressure PC is a physical quantity that indicates the force pressing the brake shoe 13 against the wheel 12. The second pressure sensor 34 outputs the detected brake cylinder pressure PC to the brake control device 20 as a feedback signal SC.

[0037] (Action of this embodiment) Next, a control method performed by the brake control device 20 configured as above will be described with reference to FIG.

[0038] First, the brake control device 20 determines whether or not a brake command has been acquired (step S11). That is, if a brake command has not been input from the brake command unit 2 (step S11: NO), the control unit 23 waits until a brake command is input.

[0039] On the other hand, when a brake command is input from the brake command unit 2 (step S11: YES), the control unit 23 determines whether the vehicle has stopped (step S12). That is, the control unit 23 determines whether the speed input from the speed sensor 5 is zero. Then, when the control unit 23 determines that the vehicle has not stopped (step S12: NO), it waits until the vehicle stops.

[0040] On the other hand, when the control unit 23 determines that the vehicle has stopped (step S12: YES), the process proceeds to step S13. Next, the brake control device 20 acquires slide information (step S13). That is, the determination unit 22 acquires the slide information detected by the slide detection unit 21 during braking.

[0041] Next, the brake control device 20 determines whether or not surface roughening is necessary (step S14). That is, the determination unit 22 determines whether or not surface roughening is necessary to roughen the tread of the wheel 12 based on the slide information detected by the slide detection unit 21. The determination unit 22 determines that surface roughening is necessary when at least one of the following occurs: the number of slides in a predetermined period is equal to or greater than a predetermined number; the ratio of slides to the number of braking operations in a predetermined period is equal to or greater than a predetermined percentage; and the cumulative slide time, which is the total time of slides in a predetermined period, is equal to or greater than a predetermined time. The determination unit 22 also determines that surface roughening is not necessary if the sum of the increase in roughness calculated by the calculation unit 25 in repeated surface roughening operations is equal to or greater than a predetermined value. Then, when the determination unit 22 determines that surface roughening is not necessary (step S14: NO), the control unit 23 ends the process without performing surface roughening.

[0042] On the other hand, if the determining unit 22 determines that surface roughening is necessary (step S14: YES), the control unit 23 proceeds to step S15. Next, the brake control device 20 determines whether the vehicle has started moving (step S15). That is, the control unit 23 determines whether the speed input from the speed sensor 5 is greater than zero. Then, when the control unit 23 determines that the vehicle has not started moving (step S15: NO), it waits until the vehicle starts moving.

[0043] On the other hand, when the control unit 23 determines that the vehicle has started moving (step S15: YES), the process proceeds to step S16. Next, the brake control device 20 determines whether or not a brake command has been acquired (step S16). That is, if a brake command has not been input from the brake command unit 2 (step S16: NO), the control unit 23 waits until a brake command is input.

[0044] On the other hand, when a brake command is input from the brake command unit 2 (step S16: YES), the control unit 23 performs surface roughening (step S17). That is, the control unit 23 supplies the brake cylinder pressure PC to the brake cylinder 11 and performs surface roughening by pressing the brake shoe 13 against the tread of the wheel 12. The tread of the wheel 12 against which the brake shoe 13 is pressed becomes rough by the brake shoe 13. The vehicle is decelerated by the tread brake.

[0045] Next, the brake control device 20 determines whether the vehicle has stopped (step S18). That is, the control unit 23 determines whether the speed input from the speed sensor 5 is zero. Then, when the control unit 23 determines that the vehicle has not stopped (step S18: NO), it waits until the vehicle stops.

[0046] On the other hand, when the control unit 23 determines that the vehicle has stopped (step S18: YES), it ends the roughening process as the rotation of the wheels 12 has stopped. Note that if the sum of the increase in roughness calculated by the calculation unit 25, including the amount of roughening process that has been performed, is less than a predetermined value, the control unit 23 also performs the roughening process at the next braking.

[0047] (Action of this embodiment) Next, the effects of this embodiment will be described. (1) When it is determined that roughening is necessary based on the skid information, roughening is performed to roughen the tread of the wheel 12. Therefore, since skid occurs when the wheel 12 becomes mirror-finished, roughening the tread can prevent the wheel 12 from becoming mirror-finished.

[0048] (2) There is a possibility that the cause of skidding is something other than the mirror finish of the tread of the wheel 12. Therefore, it is determined that roughening is necessary when skidding occurs at least a predetermined number of times, a predetermined percentage, or a predetermined time. Therefore, by performing roughening when there is a certain amount of skidding, it is possible to determine that the skidding is due to mirror finish and roughen the tread of the wheel 12.

[0049] (3) By using the brake shoes 13 provided for braking for the surface roughening, there is no need to provide a new member for the surface roughening. (4) When a brake command is input, the brake shoe 13 is pressed against the tread of the wheel 12 to roughen the tread. Therefore, the tread is roughened during braking, eliminating the need for separate roughening treatment.

[0050] (5) When the roughness of the tread of the wheel 12 becomes sufficiently high, the roughening process is not performed, so unnecessary roughening can be suppressed. (6) The roughening process is performed up to a second speed determined based on the first speed. Therefore, the period for performing the roughening process is set based on the first speed, rather than a fixed time, so that the tread of the wheel 12 can be roughened by setting an optimal period rather than a fixed time.

[0051] (Other embodiments) The above embodiment can be modified as follows: The above embodiment and the following modifications can be combined with each other within the scope of technical compatibility.

[0052] In the above embodiment, regenerative braking and tread braking are not performed simultaneously during braking, but only one of them is performed. However, tread braking may also be performed while regenerative braking is performed during braking. Note that the tread braking can roughen the wheel tread surface 12 regardless of whether regenerative braking is performed or not.

[0053] In the above embodiment, the determination unit 22 determines that the roughening process should not be performed when the sum of the increase in the roughness of the tread of the wheel 12 is equal to or greater than a predetermined value. However, the control unit 23 may perform the roughening process at a predetermined timing.

[0054] In the above embodiment, the number setting unit may set the number of times the roughening process is performed until the target value of the increase in the roughness of the tread of the wheel 12 is reached. In the above embodiment, the roughening process is started when a brake command is input to the control unit 23. However, the control unit 23 may start the roughening process regardless of whether a brake command is input.

[0055] In the above embodiment, the surface roughening process is performed when a brake command is input to the control unit 23. However, the control unit 23 may perform the surface roughening process regardless of whether a brake command is input.

[0056] In the above embodiment, the determination unit 26 determines the second speed so that the second speed is a speed difference that is predetermined according to the first speed. However, the determination unit 26 may determine the second speed so that the difference between the square of the first speed and the square of the second speed is a predetermined value. For example, braking energy (MJ) = wheel load (kg) × (initial braking speed (km / h) × 1000 ÷ 3600) 2 The second speed is determined so that the difference between ÷ 1,000,000 ÷ 2 is a predetermined value. Braking energy can be used to calculate the energy contributed by the brakes rather than speed, and the amount of roughening of the tread can be determined more accurately.

[0057] In the above embodiment, the control unit 23 performs the surface roughening process by pressing the brake shoes 13 against the treads of the wheels 12. However, the surface roughening process may also be performed by roughening the treads of the wheels 12 by scattering sand on the treads of the wheels 12 using a sand scattering device or the like.

[0058] In the above embodiment, the control unit 23 performs the roughening process by pressing the brake shoes 13 against the treads of the wheels 12. However, the roughening process may also be performed by bringing abrasives into contact with the treads of the wheels 12 using a tread cleaning device or the like to roughen the treads of the wheels 12.

[0059] In the above embodiments, if an object is made up of multiple objects, the multiple objects may be integrated, and conversely, if an object is made up of a single object, it may be divided into multiple objects. Regardless of whether the objects are integrated or not, it is sufficient that the object of the invention can be achieved.

[0060] In the above embodiments, where multiple functions are provided in a distributed manner, some or all of the multiple functions may be provided in a consolidated manner, and conversely, where multiple functions are provided in a consolidated manner, some or all of the multiple functions may be provided in a distributed manner. Regardless of whether the functions are consolidated or distributed, it is sufficient that the configuration is such that the object of the invention can be achieved. [Explanation of symbols]

[0061] PA...Compressed air PB...Air signal PC: Brake cylinder pressure SA...Pressure control signal SB...Feedback signal SC: Feedback signal 1. Brake control system 2...Brake command unit 3...Regenerative brake control device 4...Pressure sensor 5...Speed ​​sensor 10...Brake device 11...Brake cylinder 12...Wheel 13...Bracelets 20...Brake control device 21...Slide detection unit 22…Judgment section 23...Control unit 24...Storage section 25...Calculation section 26...Decision Section 30...Original air tank 31...Electro-pneumatic converter valve 32...Relay valve 33...First pressure sensor 34...Second pressure sensor

Claims

1. a skid detection unit that detects skid when braking; a determination unit that determines whether or not a roughening process for roughening the wheel tread is necessary based on the slide information detected by the slide detection unit; a control unit that performs the surface roughening process when the determination unit determines that the surface roughening process is necessary. Control device.

2. The determination unit determines that the surface roughening is necessary when at least one of the following occurs: the number of times the sliding occurs in a predetermined period is equal to or greater than a predetermined number; the ratio of the sliding to the number of times the braking is performed in a predetermined period is equal to or greater than a predetermined ratio; and the cumulative sliding time, which is the cumulative total of the sliding times in a predetermined period, is equal to or greater than a predetermined time. The control device according to claim 1 .

3. The control unit performs the surface roughening process by pressing a brake shoe against the tread surface. The control device according to claim 1 or 2.

4. The control unit starts the surface roughening process when a brake command is input. The control device according to claim 3 .

5. a calculation unit that calculates an increase in roughness of the tread surface due to the surface roughening treatment; The control unit repeatedly performs the surface roughening treatment, The determining unit determines not to perform the surface roughening process when a sum of the increase in the roughness calculated by the calculating unit in the surface roughening processes that have been repeatedly performed is equal to or greater than a predetermined value. The control device according to claim 1 .

6. a determination unit that determines a second speed, which is the rotational speed of the wheel at which the surface roughening process is to be ended, based on a first speed, which is the rotational speed of the wheel at which the surface roughening process is to be started; The control unit performs the surface roughening process from the first speed to the second speed. The control device according to claim 1 .

7. A skid detection process for detecting skids during braking; a determination process for determining whether or not roughening of the wheel tread is necessary based on the detected skid information; and performing the surface roughening treatment when it is determined that the surface roughening treatment is necessary. Control method.

8. A skid detection process for detecting skids during braking; a determination process for determining whether or not roughening of the wheel tread is necessary based on the detected skid information; and performing the surface roughening process when it is determined that the surface roughening process is necessary. Control program.

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