Brake control device, brake control system, and brake control method

Abstract

A brake control device (1) comprises a discrimination unit (13) that discriminates whether a friction material and a rotating body are separated from each other, and a driving driver (14) that supplies a motor (31) of a mechanical brake device (30) with electric power corresponding to a target torque and a target rotation speed based on the target torque. When the friction material and the rotating body are separated from each other, the driving driver (14) sets, as the target torque, a value smaller than the torque of the motor (31) for pressing the friction material against the rotating body. When the friction material and the rotating body are not separated from each other, the driving driver (14) sets the torque of the motor (31) for obtaining a target mechanical braking force as the target torque.

Description

[Technical Field]

[0001] This disclosure relates to a brake control device, a brake control system, and a brake control method. [Background technology]

[0002] Railway vehicles are equipped with mechanical braking systems that generate braking force by pressing friction material against a rotating body that rotates during the vehicle's operation. Mechanical braking systems include electric braking systems that use the rotation of a motor to slide the output shaft of a rotary-to-linear motion conversion mechanism, thereby pressing friction material against the rotating body.

[0003] An example of this type of mechanical brake device is disclosed in Patent Document 1. The brake device disclosed in Patent Document 1 comprises an actuator that moves a piston forward by the rotation of a motor and presses a brake pad against a disc rotor, and a controller that controls the actuator. When a braking force request occurs, the controller moves the piston forward at a first speed, and then decelerates it to a second speed lower than the first speed and moves the piston forward again, thereby eliminating the clearance between the brake pad and the disc rotor. [Prior art documents] [Patent Documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2019-38302 [Overview of the Initiative] [Problems that the invention aims to solve]

[0005] In the mechanical brake system disclosed in Patent Document 1, increasing the motor output to improve responsiveness increases the power consumption required to drive the motor. On the other hand, reducing the power consumption of the mechanical brake system in order to reduce power consumption in railway vehicles reduces the responsiveness of the mechanical brake system.

[0006] This disclosure is made in view of the circumstances described above, and aims to provide a brake control device, a brake control system, and a brake control method that improve the responsiveness of a mechanical brake device and suppress the increase in power consumption. [Means for solving the problem]

[0007] To achieve the above objective, the brake control device according to this disclosure is a brake control device that controls a mechanical brake device which generates a mechanical brake force by pressing a friction material against a rotating body that rotates when a railway vehicle is running using the rotational force of a motor whose torque and rotational speed can be adjusted, and comprises a target brake force determination unit, a target mechanical brake force determination unit, a discrimination unit, and a drive driver. The target brake force determination unit determines the target brake force from the deceleration indicated by a brake command that instructs the deceleration of the railway vehicle. The target mechanical brake force determination unit determines the target mechanical brake force, which is the target value of the brake force by the mechanical brake device, from the target brake force. The discrimination unit determines whether or not the friction material and the rotating body are separated. The drive driver is When a brake command is input to the target brake force determination unit, If the discrimination unit determines that the friction material and the rotating body are separated, the target torque is set to a value smaller than the motor torque required to press the friction material against the rotating body. If the discrimination unit determines that the friction material and the rotating body are not separated, the target torque is set to the motor torque required to obtain the target mechanical braking force. The power supplied from the power supply unit is converted into power to be supplied to the motor according to the target torque and the target rotational speed determined from the target torque based on the relationship characteristics between the motor torque and rotational speed, and the converted power is supplied to the motor. [Effects of the Invention]

[0008] The brake control device according to this disclosure controls the motor of the mechanical brake device based on a target torque corresponding to whether or not the friction material and the rotating body are separated, and a target rotational speed corresponding to the target torque. As a result, it is possible to improve the responsiveness of the mechanical brake device and suppress the increase in power consumption. [Brief explanation of the drawing]

[0009] [Figure 1] Block diagram of the brake control system according to Embodiment 1 [Figure 2] Diagram showing the configuration of the mechanical brake device according to Embodiment 1 [Figure 3] Diagram showing the configuration of the mechanical brake device according to Embodiment 1 [Figure 4] Relationship characteristics of torque and rotational speed used by the brake control device according to Embodiment 1 for motor control [Figure 5] Block diagram showing the hardware configuration of the brake control device according to Embodiment 1 [Figure 6] Flowchart showing an example of the operation of the brake control process performed by the brake control device according to Embodiment 1 [Figure 7] Timing chart showing an example of the operation of the brake control process performed by the brake control device according to Embodiment 1 [Figure 8] Block diagram of the brake control system according to Embodiment 2 [Figure 9] Flowchart showing an example of the operation of the brake control process performed by the brake control device according to Embodiment 2 [Figure 10] Timing chart showing an example of the operation of the brake control process performed by the brake control device according to Embodiment 2 [Figure 11] Timing chart showing another example of the operation of the brake control process performed by the brake control device according to Embodiment 2 [Figure 12] Block diagram of the brake control system according to Embodiment 3 [Figure 13] Diagram showing the configuration of the mechanical brake device according to Embodiment 3 [Figure 14] Flowchart showing an example of the operation of the brake control process performed by the brake control device according to Embodiment 3 [Figure 15] Timing chart showing an example of the operation of the brake control process performed by the brake control device according to Embodiment 3 [Figure 16] Flowchart showing another example of the operation of the brake control process performed by the brake control device according to the embodiment [Figure 17] Timing chart showing another example of the operation of the brake control process performed by the brake control device according to the embodiment [Figure 18] Diagram showing a modification of the configuration of the mechanical brake device according to the embodiment [Figure 19] Block diagram showing a modification of the hardware configuration of the brake control device according to the embodiment

Mode for Carrying Out the Invention

[0010] Hereinafter, a brake control device, a brake control system, and a brake control method according to an embodiment of the present disclosure will be described in detail with reference to the drawings. In the drawings, the same or equivalent parts are denoted by the same reference numerals.

[0011] (Embodiment 1) Taking as an example a brake control device that is mounted on a railway vehicle and controls a mechanical brake device provided for each wheel, the brake control device according to Embodiment 1 will be described. In Embodiment 1, the railway vehicle decelerates by the mechanical brake force generated by the mechanical brake device. The brake control system 100 shown in FIG. 1 includes a mechanical brake device 30 that generates a mechanical brake force by the rotational force of a motor 31, and a brake control device 1 that controls the mechanical brake device 30. In FIG. 1, only the components related to electrical control among the components of the mechanical brake device 30 are shown. In order to avoid complicating the drawing, one mechanical brake device 30 is shown in FIG. 1, but the brake control device 1 controls a plurality of mechanical brake devices 30.

[0012] The brake control device 1 includes a target brake force determination unit 11 that obtains a target brake force, which is a target value of the brake force, from a brake command acquired from, for example, an operation unit 41 provided on the driver's cab, and a target mechanical brake force determination unit 12 that obtains a target mechanical brake force, which is a target value of the mechanical brake force by the mechanical brake device 30, from the target brake force.

[0013] The brake control device 1 includes a discrimination unit 13 that determines whether or not the friction material of the mechanical brake device 30 is separated from the rotating body that rotates when the railway vehicle is running, and a drive driver 14 that converts the power supplied from the power supply device 42 into power to be supplied to the motor 31 according to the target mechanical braking force and the discrimination result of the discrimination unit 13, and outputs the converted power to the motor 31.

[0014] The mechanical brake device 30 controlled by the brake control device 1 having the above configuration generates braking force by pressing friction material 50 against a rotating body 60 that rotates when the railway vehicle is running, as shown in Figures 2 and 3. A mechanical brake device 30 is provided for each rotating body 60. The friction material 50 is a brake shoe, brake pad, etc. The rotating body 60 is a wheel, disc rotor, etc.

[0015] The mechanical brake device 30 is powered by electricity supplied from the brake control device 1 and includes a motor 31 that rotates the drive shaft 31a, a reduction gear 32 that reduces the rotational speed of the motor 31 and increases the torque output, and a rotation-to-linear motion conversion mechanism 33 that is connected to the drive shaft 31a via the reduction gear 32 and slides the output shaft 33a in accordance with the rotation of the drive shaft 31a. The mechanical brake device 30 also includes a rotation sensor 34 mounted near the motor 31 to detect the rotational speed (in rpm) of the motor 31, and a load cell 35 mounted on one end 33b of the output shaft 33a to measure the pressing force, which is the force with which the rotation-to-linear motion conversion mechanism 33 presses the friction material 50 against the rotating body 60. To avoid complicating the diagram, only one drive driver 14 is shown in Figure 1, but the brake control device 1 includes multiple drive drivers 14 that are one-to-one associated with multiple mechanical brake devices.

[0016] The motor 31 is, for example, a three-phase induction motor driven by three-phase AC power supplied from the brake control device 1. As the motor 31 rotates, the output shaft 33a of the rotary-to-linear motion conversion mechanism 33 slides, causing the friction material 50 attached to one end 33b of the output shaft 33a to move either toward the rotating body 60 or toward the rotating body 60.

[0017] When the mechanical brake device 30 is stopped, the friction material 50 is away from the rotating body 60, as shown in Figure 2. When the mechanical brake device 30 starts operating, specifically when the motor 31 is driven by power supplied from the brake control device 1 and rotates in the forward direction, the rotary-to-linear motion conversion mechanism 33 moves the output shaft 33a toward the rotating body 60 in accordance with the rotation of the motor 31. As a result, the friction material 50 attached to the end 33b of the output shaft 33a is pushed toward the rotating body 60. Consequently, as shown in Figure 3, the friction material 50 moves to a position where it contacts the rotating body 60 and is pressed against the rotating body 60 by the rotary-to-linear motion conversion mechanism 33.

[0018] To improve the responsiveness of the mechanical brake device 30, it is preferable to quickly move the friction material 50 from the position shown in Figure 2 to a position where it contacts the rotating body 60. Furthermore, it is preferable to suppress the increase in the amount of power consumed by the mechanical brake device 30 during its operation. Details of the brake control device 1 for improving the responsiveness of the mechanical brake device 30 and suppressing the increase in power consumption will be described below.

[0019] The control unit 41 shown in Figure 1 has a master controller that outputs a brake command indicating deceleration to the target brake force determination unit 11. The master controller outputs a brake command indicating deceleration corresponding to the notch in response to the operator's brake operation to the target brake force determination unit 11.

[0020] The target braking force determination unit 11 determines the target braking force for each vehicle or bogie from the deceleration indicated by the brake command that instructs the deceleration of the railway vehicle. For example, the target braking force determination unit 11 obtains the weight of the vehicle from a load-sensing device (not shown) and determines the target braking force for each vehicle by multiplying the weight of the vehicle by the deceleration indicated by the brake command. The target braking force determination unit 11 sends the determined target braking force to the target mechanical braking force determination unit 12.

[0021] The target mechanical braking force determination unit 12 determines the target mechanical braking force, which is the target value of the mechanical braking force generated by each mechanical braking device 30, from the target braking force. For example, the target mechanical braking force determination unit 12 determines the target mechanical braking force of the mechanical braking device 30 provided for each wheel from the target braking force for each vehicle. The target mechanical braking force determination unit 12 obtains the pressing force of the mechanical braking device 30 from the load cell 35 of the mechanical braking device 30 and determines the actual mechanical braking force, which corresponds to the mechanical braking force actually generated. The target mechanical braking force determination unit 12 adjusts the value of the target mechanical braking force by performing feedback control based on the actual mechanical braking force and sends the adjusted target mechanical braking force to the drive driver 14.

[0022] The discrimination unit 13 determines whether the friction material 50 and the rotating body 60 are separated or not. In Embodiment 1, the discrimination unit 13 determines whether the friction material 50 and the rotating body 60 are separated or not based on the pressing force of the mechanical brake device 30 obtained from the load cell 35. For example, if the pressing force of the mechanical brake device 30 can be considered to be 0, the friction material 50 and the rotating body 60 can be considered to be separated. If the pressing force of the mechanical brake device 30 is greater than 0, the friction material 50 and the rotating body 60 can be considered not to be separated, in other words, to be in contact. The discrimination unit 13 sends the discrimination result to the drive driver 14.

[0023] The drive driver 14 includes a motor target value determination unit 15 that determines a target torque from the target mechanical braking force and the determination result of the determination unit 13, and determines a target rotational speed from the target torque; a signal generation unit 16 that generates a PWM (Pulse Width Modulation) signal to instruct switching operation from the target torque and target rotational speed, and outputs a PWM signal; and a power conversion circuit 17 that has a plurality of switching elements that perform switching operation according to the PWM signal and converts the power supplied from the power supply unit 42 into power to be supplied to the motor 31 of the mechanical brake device 30.

[0024] The motor target value determination unit 15 obtains the target mechanical braking force from the target mechanical braking force determination unit 12 and the rotational speed of the motor 31 from the rotation sensor 34 of the mechanical braking device 30. The motor target value determination unit 15 determines the target pressing force, which is the target value of the pressing force of the mechanical braking device 30, from the target mechanical braking force. The motor target value determination unit 15 determines the target torque, which is the target value of the torque of the motor 31, from the target pressing force and the parameters of the mechanical braking device 30.

[0025] The parameters of the mechanical brake device 30 are used to convert the pressing force, which is the force with which the friction material 50 presses against the rotating body 60, into the torque of the motor 31. The parameters of the mechanical brake device 30 are determined, for example, by the ratio of rotational momentum, which is the input to the rotary-to-linear motion conversion mechanism 33, to the linear momentum, which is the output, and the reduction ratio of the reduction gear 32. The motor target value determination unit 15 is assumed to have information about the parameters of the mechanical brake device 30 stored in advance.

[0026] When the discrimination unit 13 determines that the friction material 50 and the rotating body 60 are separated, the motor target value determination unit 15 sets a target torque smaller than the torque of the motor 31 required to press the friction material 50 against the rotating body 60. This torque is a torque corresponding to the characteristics of the mechanical brake device 30. For example, when the discrimination unit 13 determines that the friction material 50 and the rotating body 60 are separated, the motor target value determination unit 15 sets the target torque to the minimum torque of the motor 31 required to bring the friction material 50 closer to the rotating body 60.

[0027] When the discrimination unit 13 determines that the friction material 50 and the rotating body 60 are not separated, the motor target value determination unit 15 sets the torque of the motor 31 required to obtain the target mechanical braking force as the target torque.

[0028] The motor target value determination unit 15 obtains the target rotational speed from the target torque obtained as described above. Specifically, the motor target value determination unit 15 determines the target rotational speed from the target torque based on the relationship characteristics between the torque and the rotational speed of the motor 31. The torque and the rotational speed of the motor 31 have a negative correlation. An example of the relationship characteristics between the torque and the rotational speed of the motor 31 is shown as a straight line with a negative slope in FIG. 4. The position of the straight line showing the relationship characteristics between the torque and the rotational speed of the motor 31 changes depending on the applied voltage of the motor 31. In FIG. 4, the relationship characteristics corresponding to the applied voltages V1, V2, and V3 of the motor 31 are shown. Note that V1, V2, and V3 satisfy the equation V1 < V2 < V3. The motor target value determination unit 15 acquires any one of the U-phase voltage command value, the V-phase voltage command value, and the W-phase voltage command value, and determines the relationship characteristics between the torque and the rotational speed of the motor 31 from the acquired voltage command value.

[0029] The motor target value determination unit 15 uses the torque and the rotational speed located within the range surrounded by the straight line showing the relationship characteristics, the X-axis, and the Y-axis as the target torque and the target rotational speed of the motor 31, respectively. For example, when the applied voltage of the motor 31 is V2, the motor target value determination unit 15 uses the torque and the rotational speed located within the shaded range in FIG. 4 as the target torque and the target rotational speed of the motor 31, respectively. Specifically, when the applied voltage of the motor 31 is V2, the motor target value determination unit 15 sets the rotational speed N1, which is the maximum rotational speed that can be obtained with respect to the target torque τ1, which is the torque for obtaining the target mechanical braking force, as the target rotational speed. When the discrimination unit 13 determines that the friction material and the rotating body are not separated, the motor target value determination unit 15 outputs the target torque τ1 and the target rotational speed N1 obtained as described above to the signal generation unit 16.

[0030] For example, when the discrimination unit 13 determines that the friction material 50 and the rotating body 60 are separated, the motor target value determination unit 15 sets a value smaller than the torque of the motor 31 for pressing the friction material 50 against the rotating body 60 as the target torque. For example, the motor target value determination unit 15 sets the minimum torque τ MIN of the motor 31 for bringing the friction material 50 closer to the rotating body 60 as the target torque. In the example of FIG. 4, the torque τ MINThis is less than the torque τ1 that can press the friction material 50 against the rotating body 60.

[0031] When the applied voltage to motor 31 is V2, the motor target value determination unit 15 determines the target torque τ MIN The maximum possible rotational speed for this is rotational speed N. MAX The target rotational speed is set to τ. When the discriminant unit 13 determines that the friction material and the rotating body are separated, the motor target value determination unit 15 determines the target torque τ as described above. MIN and target rotational speed N MAX This is output to the signal generation unit 16.

[0032] The motor target value determination unit 15 preferably changes the target torque while maintaining the rate of change of the target torque per unit time within a first target range corresponding to the target value of the rate of change of the deceleration of the railway vehicle. The target value of the rate of change of the deceleration of the railway vehicle is a value that can suppress a deterioration in the ride comfort of the railway vehicle. In other words, the first target range is the range of the rate of change of the torque of the motor 31 that can suppress a deterioration in the ride comfort of the railway vehicle.

[0033] Similarly, the motor target value determination unit 15 preferably changes the target rotation speed while maintaining the rate of change of the target rotation speed per unit time within a second target range corresponding to the target value of the rate of change of the deceleration of the railway vehicle. In other words, the second target range is the range of the rate of change of the rotation speed of the motor 31 that can suppress a deterioration in the ride comfort of the railway vehicle.

[0034] The signal generation unit 16 generates and outputs multiple PWM signals for controlling multiple switching elements in the power conversion circuit 17 from the target torque obtained from the motor target value determination unit 15, the actual torque which is the actual torque of the motor 31, the target rotational speed obtained from the motor target value determination unit 15, and the actual rotational speed which is the actual rotational speed of the motor 31.

[0035] In detail, the signal generation unit 16 obtains the target torque of the motor 31 from the motor target value determination unit 15 and obtains the measured value of the output current of the power conversion circuit 17 from the current sensor 18. Specifically, the signal generation unit 16 obtains the measured values ​​of the U-phase current and V-phase current from the current sensor 18 and determines the value of the W-phase current from the measured values ​​of the U-phase current and V-phase current. The signal generation unit 16 determines the actual torque of the motor 31 from the U-phase current, V-phase current and W-phase current. The signal generation unit 16 performs feedback control based on the target torque and the actual torque to determine the U-phase voltage command value, V-phase voltage command value and W-phase voltage command value. The signal generation unit 16 generates a PWM signal by comparing each of the U-phase voltage command value, V-phase voltage command value and W-phase voltage command value with the value of a triangular wave signal having a frequency corresponding to the target rotational speed. It is preferable that the signal generation unit 16 performs feedback control based on the target rotational speed and the actual rotational speed. The signal generation unit 16 outputs a PWM signal to each switching element of the power conversion circuit 17.

[0036] The power conversion circuit 17 has multiple switching elements controlled by a PWM signal supplied from the signal generation unit 16. Through the switching operation of the multiple switching elements, the power conversion circuit 17 converts the DC power supplied from the power supply unit 42 into three-phase AC power, and supplies the three-phase AC power to the motor 31 of the mechanical brake device 30.

[0037] The power supply unit 42 converts the power supplied from a current collector (not shown) into power for supply to the power conversion circuit 17, and outputs the converted power to the power conversion circuit 17. The power supply unit 42 has an inverter that receives DC power from a current collector that obtains power from a substation via a power supply line and converts the DC power into AC power, and a rectifier circuit that rectifies the AC power into DC power.

[0038] Figure 5 shows the hardware configuration of the brake control device 1 having the above configuration. The brake control device 1 comprises a processor 81, a memory 82, and an interface 83. The processor 81, memory 82, and interface 83 are connected to each other by a bus 80. The functions of each part of the brake control device 1 are realized by software, firmware, or a combination of software and firmware. The software and firmware are written as programs and stored in the memory 82. The functions of each part described above are realized by the processor 81 reading and executing the programs stored in the memory 82. In other words, the memory 82 stores programs for executing the processing of each part of the brake control device 1.

[0039] Memory 82 includes, for example, non-volatile or volatile semiconductor memories such as RAM (Random Access Memory), ROM (Read-Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable and Programmable Read-Only Memory), magnetic disks, flexible disks, optical disks, compact disks, minidiscs, DVDs (Digital Versatile Discs), etc.

[0040] The brake control device 1 is connected to the operating unit 41, the power supply unit 42, and the mechanical brake device 30 via interface 83. Interface 83 has one or more interface modules conforming to standards, depending on the connection destination.

[0041] The brake control process performed by the brake control device 1 having the above configuration will be explained with reference to Figure 6. When a railway vehicle starts operating, the brake control device 1 starts the process shown in Figure 6. Specifically, when the lift switch is operated to bring the pantograph, which is an example of a current collection device, into contact with the overhead wire, which is an example of a power supply line, the brake control device 1 starts the process shown in Figure 6.

[0042] The target brake force determination unit 11 repeats the process of step S11 while it has not received a brake command from the operation unit 41 (step S11; No).

[0043] When the target brake force determination unit 11 receives a brake command from the operation unit 41 (step S11; Yes), it determines the target brake force from the deceleration indicated by the brake command (step S12). The target brake force determination unit 11 sends the determined target brake force to the target machine brake force determination unit 12.

[0044] The target machine brake force determination unit 12 determines the target machine brake force for each machine brake device 30 from the target brake force determined in step S12 (step S13).

[0045] The discrimination unit 13 determines from the measurement value of the load cell 35 whether or not the friction material 50 and the rotating body 60 are separated (step S14).

[0046] When it is determined that the friction material 50 and the rotating body 60 are separated (step S14; Yes), the motor target value determination unit 15 of the drive driver 14 sets the target torque to a value smaller than the torque of the motor 31 required to press the friction material 50 against the rotating body 60 (step S15). Specifically, the motor target value determination unit 15 sets the target torque to the minimum torque of the motor 31 required to bring the friction material 50 closer to the rotating body 60, in other words, the minimum torque of the motor 31 required to move the friction material 50 toward the rotating body 60.

[0047] If it is determined that the friction material 50 and the rotating body 60 are not separated, in other words, that the friction material 50 and the rotating body 60 are in contact (step S14; No), the motor target value determination unit 15 of the drive driver 14 determines the torque of the motor 31 required to obtain the target mechanical braking force from the target pressing force corresponding to the target mechanical braking force determined in step S13, and sets the torque of the motor 31 required to obtain the target mechanical braking force as the target torque (step S16).

[0048] The motor target value determination unit 15 determines the target rotational speed from the target torque determined in step S15 or S16, based on the relationship characteristics between the torque and rotational speed of the motor 31 (step S17).

[0049] The signal generation unit 16 of the drive driver 14 generates a PWM signal corresponding to the target torque determined in step S15 or S16 and the target rotational speed determined in step S17, and sends the PWM signal to each switching element of the power conversion circuit 17, thereby supplying power from the power conversion circuit 17 to the motor 31 and controlling the mechanical brake device 30 (step S18). In detail, the power conversion circuit 17 converts the power supplied from the power supply device 42 into power to be supplied to the motor 31 in accordance with the PWM signal, and supplies the converted power to the motor 31.

[0050] As the motor 31, powered by the motor, rotates in the forward direction, the friction material 50 attached to the end 33b of the output shaft 33a of the rotary-to-linear motion conversion mechanism 33 is pushed toward the rotating body 60. As a result, the friction material 50 is pressed against the rotating body 60, generating a braking force.

[0051] Once the process in step S18 is completed, the brake control device 1 repeats the process from step S11 as described above. The brake control device 1 repeats the brake control process shown in Figure 6 at predetermined intervals while the railway vehicle is in operation.

[0052] Figure 7 shows a timing chart illustrating an example of the operation of the brake control process by the brake control device 1 described above. Time T1 is defined as the timing at which the brake command is input. Time T2 is defined as the timing at which the friction material 50 comes into contact with the rotating body 60 and the mechanical brake force begins to act after time T1.

[0053] Until time T1, no braking command is input as shown in Graph A. Therefore, as shown in Graph B, the target mechanical braking force cannot be obtained in the target mechanical braking force determination unit 12 until time T1. Similarly, as shown in Graphs C and D, the target torque and the target rotational speed cannot be obtained in the motor target value determination unit 15 until time T1. As a result, as shown in Graph E, the friction material 50 is not pressed against the rotating body 60, so no mechanical braking force is generated in the mechanical braking device 30.

[0054] As shown in Graph A, when a braking command indicating the brake notch BN1 is supplied to the brake control device 1 at time T1, the target braking force determination unit 11 obtains the target braking force from the brake notch BN1. As shown in Graph C, the target mechanical braking force determination unit 12 obtains the target mechanical braking force for each mechanical braking device 30 from the target braking force corresponding to the brake notch BN1. Let the value of the target mechanical braking force at this time be BP1.

[0055] The motor target value determination unit 15 included in the drive driver 14 obtains the target torque and the target rotational speed of the motor 31. Between time T1 and time T2, the friction material 50 and the rotating body 60 are separated. Therefore, as shown in Graph C, the motor target value determination unit 15 sets the minimum torque τ of the motor 31 that can bring the friction material 50 closer to the rotating body 60 MIN as the target torque.

[0056] As shown in Graph D, the motor target value determination unit 15 sets the maximum rotational speed N corresponding to the target torque MAX as the target rotational speed.

[0057] The signal generation unit 16 sends a PWM signal corresponding to the target torque and the target rotational speed to each switching element included in the power conversion circuit 17, and the power converted by the power conversion circuit 17 is supplied to the motor 31. By setting the target torque to the minimum torque τ MIN , the target rotational speed becomes sufficiently high, so the friction material 50 quickly contacts the rotating body 60. As a result, at time T2, the friction material 50 contacts the rotating body 60.

[0058] From time T2 onward, the friction material 50 and the rotating body 60 are in contact. Therefore, the motor target value determination unit 15 sets the torque τ1 required to obtain the target mechanical braking force BP1 as the target torque. Furthermore, as shown in graph D, the motor target value determination unit 15 sets the rotational speed N1 corresponding to the target torque τ1 as the target rotational speed.

[0059] As shown in Graph C, the motor target value determination unit 15 changes the target torque while maintaining the rate of change of the target torque per unit time within a first target range corresponding to the target value of the rate of change of the deceleration of the railway vehicle. As a result, at time T3, the value of the target torque output by the motor target value determination unit 15 to the signal generation unit 16 reaches τ1.

[0060] Similarly, as shown in graph D, the motor target value determination unit 15 changes the target rotational speed while maintaining the rate of change of the target rotational speed per unit time within a second target range corresponding to the target value of the rate of change of the deceleration of the railway vehicle. As a result, at time T3, the value of the target rotational speed output by the motor target value determination unit 15 to the signal generation unit 16 reaches N1. By reducing the rotational speed when the friction material 50 and the rotating body 60 come into contact, the power consumption of the motor 31 is reduced. As a result, the power consumption of the mechanical brake device 30 is reduced.

[0061] From time T2 onward, as shown in graph E, the friction material 50 is pressed against the rotating body 60, generating a braking force from the mechanical brake device 30, and the railway vehicle decelerates as shown in graph F. Subsequently, the railway vehicle comes to a stop at time T4.

[0062] As described above, the brake control device 1 according to Embodiment 1 sets a target torque smaller than the torque of the motor 31 required to generate mechanical braking force by pressing the friction material 50 against the rotating body 60 when the friction material 50 and the rotating body 60 are separated. By reducing the target torque when the friction material 50 and the rotating body 60 are separated, the target rotational speed can be increased, making it possible to quickly bring the friction material 50 closer to the rotating body 60. Subsequently, when the friction material 50 and the rotating body 60 come into contact, the target torque is set to the torque of the motor 31 required to obtain the target mechanical braking force, thereby reducing the target rotational speed and the power consumption of the motor 31. In other words, the brake control device 1 makes it possible to reduce power consumption while maintaining the responsiveness of the mechanical brake device 30.

[0063] (Embodiment 2) The method for determining whether the friction material 50 and the rotating body 60 are separated is not limited to the example described above and is arbitrary. Embodiment 2 will describe a brake control device that determines whether the friction material 50 and the rotating body 60 are separated using a method different from Embodiment 1, focusing on the differences from Embodiment 1. The brake control device according to Embodiment 2 will be described using as an example a brake control device that controls a mechanical brake device 30 provided for each wheel, which is mounted on a railway vehicle that decelerates by at least one of mechanical braking force and electric braking force.

[0064] The brake control system 101 shown in Figure 8 comprises a mechanical brake device 30 and a brake control device 2 that controls the mechanical brake device 30. In Figure 8, only the components related to electrical control of the mechanical brake device 30 are shown.

[0065] The target braking force determination unit 11 determines the target electric braking force, which is the target value of the electric braking force generated by consuming the power produced when the main motor that generates the propulsion force of the railway vehicle operates as a generator, from the determined target braking force. The target braking force determination unit 11 sends the determined target electric braking force to the main circuit control device 43.

[0066] The main circuit control device 43 controls a main power converter that converts power supplied from the current collector into power to be supplied to the main motor, supplies the converted power to the main motor, or converts power supplied from the main motor acting as a generator into power to be supplied to other railway vehicles, and outputs the converted power to the current collector. During braking, the main circuit control device 43 controls the main power converter according to the target electric braking force obtained from the target braking force determination unit 11. Electric braking force is generated when power supplied from the main motor acting as a generator is supplied to other railway vehicles and consumed. The main circuit control device 43 sends regenerative feedback indicating the actual electric braking force, which is the electric braking force that has actually been generated, to the target mechanical braking force determination unit 12.

[0067] The target mechanical braking force determination unit 12 determines the target mechanical braking force, which is the target value of the mechanical braking force generated by the mechanical braking device 30 provided for each wheel, from the difference between the target braking force and the actual electric braking force indicated by the regenerative feedback. Similar to Embodiment 1, the target mechanical braking force determination unit 12 adjusts the value of the target mechanical braking force by performing feedback control based on the actual mechanical braking force and sends the adjusted target mechanical braking force to the drive driver 14.

[0068] The discrimination unit 13 determines whether the friction material 50 and the rotating body 60 are separated based on the cumulative value of the motor 31's rotations since the mechanical brake device 30 started operating, and the distance between the friction material 50 and the rotating body 60 when the mechanical brake device 30 is stopped. In detail, the discrimination unit 13 accumulates the rotations each time it acquires the rotations of the motor 31 from the rotation sensor 34 after the mechanical brake device 30 starts operating. The cumulative value of the rotations represents the total number of rotations of the motor 31 from the start of operation of the mechanical brake device 30 until the calculation timing of the cumulative value. The discrimination unit 13 considers the moment when the motor 31 starts rotating from a stopped state as the timing when the mechanical brake device 30 started operating. In other words, the discrimination unit 13 considers the mechanical brake device 30 to have started operating when the rotations acquired from the rotation sensor 34 exceed 0.

[0069] The discrimination unit 13 determines whether the friction material 50 and the rotating body 60 are separated based on the cumulative value of the rotational speed obtained as described above, and a reference rotational speed determined according to the distance between the friction material 50 and the rotating body 60 when the mechanical brake device 30 is stopped. The reference rotational speed is determined from the distance between the friction material 50 and the rotating body 60 when the mechanical brake device 30 is stopped, based on the parameters of the mechanical brake device 30, specifically the ratio of rotational momentum, which is the input to the rotary-to-linear motion conversion mechanism 33, to the linear momentum, which is the output, and the reduction ratio of the reduction gear 32. If the cumulative value of the rotational speed is less than the reference rotational speed, the friction material 50 and the rotating body 60 can be considered separated. If the cumulative value of the rotational speed is equal to or greater than the reference rotational speed, the friction material 50 and the rotating body 60 can be considered to be in contact. The discrimination unit 13 is assumed to have information about the reference rotational speed stored in advance.

[0070] The hardware configuration of the brake control device 2 is the same as that of the brake control device 1 according to Embodiment 1.

[0071] The brake control process performed by the brake control device 2 will be explained using Figure 9. When the railway vehicle starts operating, the brake control device 2 starts the process shown in Figure 9. The process in steps S11-S18 in Figure 9 is the same as the process in steps S11-S18 performed by the brake control device 1 according to Embodiment 1 shown in Figure 6. In step S12, the target brake force determination unit 11 determines the target brake force, and then determines the electric brake force from the target brake force (step S21). In step S13, the target mechanical brake force determination unit 12 determines the target mechanical brake force from the difference between the target brake force and the actual electric brake force indicated by the regenerative feedback.

[0072] In step S14, the discrimination unit 13 determines whether the friction material 50 and the rotating body 60 are separated based on whether the cumulative value of the rotational speed is equal to or greater than the reference rotational speed.

[0073] When the actual electric braking force is greater than or equal to the target braking force, the target mechanical braking force determined in step S13 becomes 0, so in step S16, the motor target value determination unit 15 sets the target torque to 0. When the actual electric braking force is less than the target braking force, the target mechanical braking force determined in step S13 becomes a value greater than 0, so in step S16, the motor target value determination unit 15 sets the torque of the motor 31 required to obtain the target mechanical braking force as the target torque.

[0074] If the target torque is set to 0 in step S16, the motor target value determination unit 15 sets the target rotational speed to 0 in step S17.

[0075] Figure 10 shows a timing chart illustrating an example of the operation of the brake control process by the brake control device 2 described above. The timing at which the brake command is input is defined as time T11. After time T11, the timing at which the friction material 50 comes into contact with the rotating body 60 is defined as time T12.

[0076] As shown in Graph A, no brake command is input until time T11. Therefore, as shown in Graph B, the target mechanical brake force cannot be determined in the target mechanical brake force determination unit 12 until time T11. Similarly, as shown in Graphs C and D, the target torque and target rotational speed cannot be determined in the motor target value determination unit 15 until time T11. As a result, as shown in Graph G, the friction material 50 is not pressed against the rotating body 60, and therefore no mechanical brake force is generated in the mechanical brake device 30.

[0077] As shown in Graph A, when a brake command indicating brake notch BN1 is supplied to the brake control device 1 at time T11, the target brake force determination unit 11 determines the target brake force from brake notch BN1.

[0078] The target braking force determination unit 11 determines the target electric braking force from the target braking force, as shown in Graph B. The target electric braking force EBP1 is assumed to be equal to the target braking force. The main circuit control device 43 controls the main power converter according to the target electric braking force, generating an electric braking force EBP1', as shown in Graph C. The electric braking force EBP1' is assumed to be equal to the target electric braking force EBP1.

[0079] As shown in Graph D, the target mechanical braking force determination unit 12 determines the target mechanical braking force for each mechanical braking device 30 from the difference between the target braking force corresponding to the brake notch BN1 and the actual electric braking force indicated by the regenerative feedback. As shown in Graph D, from time T11 onward, while an electric braking force EBP1' that can be considered to match the target electric braking force EBP1 is generated, the target mechanical braking force is 0.

[0080] The motor target value determination unit 15 of the drive driver 14 determines the target torque and target rotational speed of the motor 31. Between time T11 and time T12, the friction material 50 and the rotating body 60 are separated. Therefore, as shown in graph E, the motor target value determination unit 15 determines the minimum torque τ of the motor 31 that allows the friction material 50 to move closer to the rotating body 60. MIN The target torque is set to [this value].

[0081] As shown in graph F, the motor target value determination unit 15 determines the minimum torque τ, which is the target torque. MIN The maximum rotational speed N corresponding to this MAX This will be the target rotational speed.

[0082] The signal generation unit 16 sends PWM signals corresponding to the target torque and target rotational speed to each switching element of the power conversion circuit 17, and the power converted by the power conversion circuit 17 is supplied to the motor 31. The target torque is set to the minimum torque τ MIN By doing so, the target rotational speed becomes sufficiently high, causing the friction material 50 to quickly come into contact with the rotating body 60. As a result, at time T12, the friction material 50 comes into contact with the rotating body 60.

[0083] At time T12, the target mechanical braking force is 0. From time T12 onward, the discrimination unit 13 determines that the friction material 50 and the rotating body 60 are not separated. As a result, at time T12, the motor target value determination unit 15 sets the target torque and target rotational speed to 0, as shown in graphs E and F.

[0084] At time T12, the friction material 50 is in contact with the rotating body 60, but the target torque and target rotational speed are set to 0. Therefore, as shown in graph G, the friction material 50 is not pressed against the rotating body 60, and no mechanical braking force is generated in the mechanical braking device 30.

[0085] After time T12, for example, the timing at which electric braking force can no longer be obtained due to regenerative braking failure is defined as time T13. At time T13, the actual braking force indicated by the regenerative feedback becomes 0, so the target mechanical braking force determined by the target mechanical braking force determination unit 12 increases, as shown in graph D.

[0086] Since the discrimination unit 13 determines that the friction material 50 and the rotating body 60 are not separated, the motor target value determination unit 15 sets the torque τ1 required to obtain the target mechanical braking force as the target torque, as shown in graph E.

[0087] As shown in graph F, the motor target value determination unit 15 sets the maximum rotational speed N1 corresponding to the target torque τ1 as the target rotational speed.

[0088] As shown in Graph E, the motor target value determination unit 15 changes the target torque while maintaining the rate of change of the target torque per unit time within a first target range corresponding to the target value of the rate of change of the deceleration of the railway vehicle. As a result, at time T14, the value of the target torque output by the motor target value determination unit 15 to the signal generation unit 16 reaches τ1.

[0089] Similarly, as shown in graph F, the motor target value determination unit 15 changes the target rotational speed while maintaining the rate of change of the target rotational speed per unit time within a second target range corresponding to the target value of the rate of change of the deceleration of the railway vehicle. As a result, at time T14, the value of the target rotational speed output by the motor target value determination unit 15 to the signal generation unit 16 reaches N1. By reducing the rotational speed when the friction material 50 and the rotating body 60 come into contact, the power consumption of the motor 31 is reduced. As a result, the power consumption of the mechanical brake device 30 is reduced.

[0090] From time T13 onward, as shown in graph G, the friction material 50 is pressed against the rotating body 60, generating a braking force from the mechanical brake device 30, and the railway vehicle decelerates as shown in graph H. Subsequently, the railway vehicle comes to a stop at time T15.

[0091] A timing chart showing another example of the operation of the brake control process by the brake control device 2. To This is shown in Figure 11. Similar to Figure 10, the timing at which the brake command is input is defined as time T11. After time T11, the timing at which the friction material 50 comes into contact with the rotating body 60 is defined as time T12.

[0092] As shown in Graph A, no brake command is input until time T11. Therefore, as shown in Graph B, the target mechanical brake force cannot be determined in the target mechanical brake force determination unit 12 until time T11. Similarly, as shown in Graphs C and D, the target torque and target rotational speed cannot be determined in the motor target value determination unit 15 until time T11. As a result, as shown in Graph G, the friction material 50 is not pressed against the rotating body 60, and therefore no mechanical brake force is generated in the mechanical brake device 30.

[0093] As shown in Graph A, when a brake command indicating brake notch BN1 is supplied to the brake control device 2 at time T11, the target brake force determination unit 11 determines the target brake force from brake notch BN1.

[0094] The target braking force determination unit 11 determines the target electric braking force from the target braking force, as shown in Graph B. The target electric braking force EBP1 is assumed to be equal to the target braking force. The main circuit control device 43 controls the main power converter according to the target electric braking force, but when there are no tractioned railway vehicles nearby, regenerative braking fails, and as shown in Graph C, no actual electric braking force is generated.

[0095] As shown in Graph D, the target mechanical braking force determination unit 12 determines the target mechanical braking force for each mechanical braking device 30 from the difference between the target braking force corresponding to the brake notch BN1 and the actual electric braking force indicated by the regenerative feedback. If, at time T11, an electric braking force corresponding to the target electric braking force is not generated, the target mechanical braking force determination unit 12 determines the target mechanical braking force for each mechanical braking device 30 from the target braking force, as shown in Graph D. The value of the target mechanical braking force at this time is denoted as BP1.

[0096] The motor target value determination unit 15 of the drive driver 14 determines the target torque and target rotational speed of the motor 31. Between time T11 and time T12, the friction material 50 and the rotating body 60 are separated. Therefore, as shown in graph E, the motor target value determination unit 15 determines the minimum torque τ of the motor 31 that allows the friction material 50 to move closer to the rotating body 60. MIN The target torque is set to [this value].

[0097] As shown in graph F, the motor target value determination unit 15 determines the minimum torque τ, which is the target torque. MIN The maximum rotational speed N corresponding to this MAX This will be the target rotational speed.

[0098] The signal generation unit 16 sends PWM signals corresponding to the target torque and target rotational speed to each switching element of the power conversion circuit 17, and the power converted by the power conversion circuit 17 is supplied to the motor 31. The target torque is set to the minimum torque τ MINBy doing so, the target rotational speed becomes sufficiently high, causing the friction material 50 to quickly come into contact with the rotating body 60. As a result, at time T12, the friction material 50 comes into contact with the rotating body 60.

[0099] At time T12, the target mechanical braking force is BP1. From time T12 onward, the discrimination unit 13 determines that the friction material 50 and the rotating body 60 are not separated. As a result, at time T12, the motor target value determination unit 15 determines the target torque and the target rotational speed corresponding to the target torque in order to obtain the target mechanical braking force BP1, as shown in graphs E and F.

[0100] As described above, power corresponding to the target torque and target rotational speed is supplied to the motor 31, causing the motor 31 to rotate. As shown in graph G, the pressing force, which is the force with which the friction material 50 presses against the rotating body 60 due to the rotational force of the motor 31, increases. As a result, as shown in graph H, the railway vehicle decelerates.

[0101] After time T12, the timing at which the electric braking force is generated is set to time T21. As shown in graph C, when the actual electric braking force is generated, the target mechanical braking force determination unit 12 reduces the target mechanical braking force, as shown in graph D. As the target mechanical braking force decreases, the motor target value determination unit 15 reduces the target torque and target rotational speed, as shown in graphs E and F. Subsequently, the target torque and target rotational speed reach 0. As a result, as shown in graph G, the pressing force, which is the force pressing the friction material 50 against the rotating body 60, decreases. Since the electric braking force is still being generated, the railway vehicle continues to decelerate, as shown in graph H.

[0102] After time T21, for example, time T22 is defined as the timing when the electric braking force begins to decrease due to regenerative braking failure. When regenerative braking failure occurs at time T22, the actual electric braking force decreases as shown in graph C. As a result, the target mechanical braking force determination unit 12 increases the target mechanical braking force as shown in graph D. At time T23, the target mechanical braking force reaches BP1. The motor target value determination unit 15 increases the target torque from 0 as the target mechanical braking force increases, and sets a target rotational speed greater than 0 according to the target torque. Subsequently, at time T24, the target torque reaches τ1, and the target rotational speed reaches the rotational speed N1 corresponding to the torque τ1.

[0103] From time T22 onward, as shown in graph G, the friction material 50 is pressed against the rotating body 60, increasing the braking force of the mechanical brake device 30. As shown in graph H, even though the electric braking force decreases, the mechanical braking force of the mechanical brake device 30 increases, causing the railway vehicle to continue to decelerate. Subsequently, at time T25, the railway vehicle comes to a stop.

[0104] As explained above, the brake control device 2 according to Embodiment 2 sets a target torque smaller than the torque of the motor 31 required to generate mechanical braking force by pressing the friction material 50 against the rotating body 60 when the friction material 50 and the rotating body 60 are separated. By reducing the target torque when the friction material 50 and the rotating body 60 are separated, the target rotational speed can be increased, making it possible to quickly bring the friction material 50 closer to the rotating body 60. Subsequently, when the friction material 50 and the rotating body 60 come into contact, the target torque is set to the torque of the motor 31 required to obtain the target mechanical braking force, thereby reducing the target rotational speed and the power consumption of the motor 31. In other words, the brake control device 1 makes it possible to reduce power consumption while maintaining the responsiveness of the mechanical brake device 30.

[0105] When an electric braking force is generated, the motor 31 is controlled based on the increased target rotational speed to keep the friction material 50 close to the rotating body 60. This makes it possible to quickly activate the mechanical brake device 30 when, for example, the electric braking force begins to decrease due to regenerative braking failure. In other words, the responsiveness of the mechanical brake device 30 is improved.

[0106] (Embodiment 3) The configuration of the mechanical brake device is not limited to the example described above; any device that generates a mechanical braking force by pressing the friction material 50 against the rotating body 60 using the rotational force of a motor is acceptable. Furthermore, the method for determining whether the friction material 50 and the rotating body 60 are separated is not limited to the example described above and is also acceptable. Embodiment 3 will describe a brake control device that determines whether the friction material 50 and the rotating body 60 are separated using a method different from Embodiments 1 and 2, and controls a mechanical brake device with a configuration different from Embodiments 1 and 2, focusing on the differences from Embodiments 1 and 2.

[0107] The brake control system 102 shown in Figure 12 comprises a mechanical brake device 40 that generates a mechanical braking force based on the rotational force of the motor 31, and a brake control device 3 that controls the mechanical brake device 40. In Figure 12, only the components related to electrical control of the mechanical brake device 40 are shown.

[0108] As shown in Figure 13, the mechanical brake device 40 includes, in addition to the configuration of the mechanical brake device 30, a retaining mechanism 36 that restricts and holds the sliding of the output shaft 33a. The retaining mechanism 36 has, for example, a solenoid. The retaining mechanism 36 attracts the output shaft 33a, which is made of a magnetic material, by the magnetic force generated when the solenoid is energized, thereby restricting the sliding of the output shaft 33a and holding the output shaft 33a whose sliding is restricted. When the solenoid is not energized, the retaining mechanism 36 allows the sliding of the output shaft 33a.

[0109] As shown in Figure 12, the brake control device 3 includes, in addition to the configuration of the brake control device 1, a holding mechanism control unit 19 that switches on and off a relay 45 that electrically connects the solenoid of the holding mechanism 36 to the power supply 44 for the solenoid. The holding mechanism control unit 19 switches on and off the relay 45 in response to instructions from the motor target value determination unit 15.

[0110] The discrimination unit 13 determines whether the friction material 50 is separated from the rotating body 60 based on the current flowing from the drive driver 14 to the motor 31. More specifically, the discrimination unit 13 determines whether the rate of increase in the amplitude of the measurement value from the current sensor 18 is within the target range. When the friction material 50 comes into contact with the rotating body 60, the rotation of the motor 31 is restricted, and the actual rotational speed of the motor 31 decreases. As a result, the difference between the target rotational speed and the actual rotational speed becomes large, and the current flowing from the drive driver 14 to the motor 31 increases rapidly due to the feedback control of the drive driver 14.

[0111] Therefore, the discrimination unit 13 determines whether the friction material 50 is separated from the rotating body 60 by comparing the rate of increase in the amplitude of the current flowing from the drive driver 14 to the motor 31 with the target range. If the rate of increase in the amplitude of the measurement value from the current sensor 18 is within the target range, the friction material 50 and the rotating body 60 can be considered separated. If the rate of increase in the amplitude of the measurement value from the current sensor 18 exceeds the target range, the friction material 50 can be considered not separated from the rotating body 60. The target range should be wider than the range in which the current amplitude can fluctuate when the friction material 50 and the rotating body 60 are separated.

[0112] The motor target value determination unit 15 sends an ON instruction to the relay 45 if the condition in which the target torque is constant and the discrimination unit 13 has determined that the friction material 50 and the rotating body 60 are not separated continues for a standard time determined according to the characteristics of the motor 31. If the brake command changes while the relay 45 is receiving an ON instruction, the motor target value determination unit 15 sends an OFF instruction to the relay 45. A constant target torque means that the rate of change of the target torque per unit time is sufficiently small. The length of the standard time should be determined according to the characteristics of the motor 31, according to the length of time for which high torque and low speed driving is permitted.

[0113] When relay 45 is in the off state, the solenoid of the holding mechanism 36 is electrically disconnected from the solenoid power supply 44. Therefore, no magnetic force is generated in the solenoid. As a result, the output shaft 33a can slide.

[0114] When relay 45 is turned on, the solenoid in the holding mechanism 36 is electrically connected to the solenoid power supply 44. The energization of the solenoid generates a magnetic force, suppressing the sliding of the output shaft 33a. The holding mechanism 36, with the solenoid, holds the output shaft 33a, whose sliding is suppressed. When relay 45 is turned on while the friction material 50 is pressed against the rotating body 60, the holding mechanism 36 with the solenoid suppresses and holds the output shaft 33a. As a result, the state in which the friction material 50 is pressed against the rotating body 60 is maintained. In other words, it becomes possible to continuously generate mechanical braking force even without driving the motor 31.

[0115] The hardware configuration of the brake control device 3 is the same as that of the brake control device 1 according to Embodiment 1.

[0116] The brake control process performed by the brake control device 3 having the above configuration will be explained with reference to Figure 14. When the railway vehicle starts operating, the brake control device 3 starts the process shown in Figure 14. The process in steps S11-S18 in Figure 14 is the same as the process in steps S11-S18 performed by the brake control device 1 according to Embodiment 1 shown in Figure 6.

[0117] If the discrimination unit 13 determines that the friction material 50 and the rotating body 60 are not separated (Step S14; No), and the target torque is constant, and the state in which the discrimination unit 13 determines that the friction material 50 and the rotating body 60 are not separated continues for a standard time determined according to the characteristics of the motor 31 (Step S31; Yes), then the brake control device 3 controls the holding mechanism 36 to restrict the sliding of the output shaft 33a and hold it in place (Step S32). Specifically, in Step S32, the motor target value determination unit 15 sends an instruction to the holding mechanism control unit 19 to turn on the relay 45, and the holding mechanism control unit 19 turns on the relay 45. As a result, the solenoid of the holding mechanism 36 is electrically connected to the solenoid power supply 44, a magnetic force is generated by the solenoid, and the output shaft 33a, which is made of magnetic material, is attracted to the solenoid. As a result, the sliding of the output shaft 33a is suppressed, and the output shaft 33a is held by the holding mechanism 36.

[0118] If the target torque is constant and the discriminant unit 13 determines that the friction material 50 and the rotating body 60 are not separated, this state does not continue for a standard time determined according to the characteristics of the motor 31 (step S31; No), then the process in step S16 is performed in the same manner as in Embodiment 1.

[0119] Figure 15 shows an example of the target torque and target rotational speed in brake control by the brake control device 3 described above. The operation of each part of the brake control device 3 at times T1, T2, T3, and T4 is the same as the operation of each part of the brake control device 1 shown in Figure 7. As shown in Graph E, relay 45 is off at the start.

[0120] As shown in graph C, the target torque remains constant from time T3 onward. As shown in graph F, the friction material 50 and the rotating body 60 are in contact from time T2 onward.

[0121] Time T31 is defined as the time when a reference time has elapsed from time T3. At time T31, if the motor target value determination unit 15 determines that the target torque is considered constant and that the friction material 50 and the rotating body 60 have not separated for a period of time longer than the reference time, it sends an instruction to the holding mechanism control unit 19 to turn on the relay 45. When the motor target value determination unit 15 sends an instruction to the holding mechanism control unit 19 to turn on the relay 45, it sets the target torque and target rotational speed to 0, as shown in graphs C and D.

[0122] The holding mechanism control unit 19, following instructions from the motor target value determination unit 15, turns on the relay 45 at time T31, as shown in graph E. As a result, the solenoid of the holding mechanism 36 is electrically connected to the solenoid power supply 44, generating a magnetic force from the solenoid. The output shaft 33a is attracted by the magnetic force of the solenoid, suppressing the sliding of the output shaft 33a. With the friction material 50 pressed against the rotating body 60, the holding mechanism 36 holds the output shaft 33a, whose sliding is suppressed, and the pressing force is maintained, as shown in graph F. As a result, as shown in graph G, the railway vehicle continues to decelerate and stops at time T4.

[0123] As described above, in the brake control device 3 according to Embodiment 3, when the target torque is constant and the friction material 50 and the rotating body 60 remain in contact for a reference time or longer, the holding mechanism 36 controls the sliding of the output shaft 33a and holds the output shaft 33a. With the friction material 50 pressed against the rotating body 60, the holding mechanism 36 holds the output shaft 33a, whose sliding is suppressed, thereby maintaining the pressing force. By preventing the motor 31 from being driven for a long time in a high torque and low speed state, the occurrence of overcurrent in the motor 31 is suppressed.

[0124] This disclosure is not limited to the embodiments described above. The embodiments described above can be combined in any way. For example, the brake control device 2 may further include the holding mechanism control unit 19 provided in the brake control device 3 and control the mechanical brake device 40. As another example, the brake control device 1 may determine whether the friction material 50 and the rotating body 60 are separated from the current flowing from the drive driver 14 to the motor 31, similar to the discrimination unit 13 provided in the brake control device 3. As yet another example, the target mechanical brake force determination unit 12 provided in the brake control devices 1 and 3 may determine the target mechanical brake force from the difference between the target brake force and the actual electric brake force, similar to the brake control device 2.

[0125] The discrimination method of the discrimination unit 13 can be any method that can determine whether or not the friction material 50 and the rotating body 60 are separated. For example, the discrimination unit 13 may determine whether or not the friction material 50 and the rotating body 60 are separated from the integrated value of the motor 31's rotational speed and a reference rotational speed corresponding to a distance shorter than the distance between the friction material 50 and the rotating body 60 when the mechanical brake device 30 is stopped. The reference rotational speed in this case is a distance that is sufficiently close to the distance between the friction material 50 and the rotating body 60 when the mechanical brake device 30 is stopped, for example, a reference rotational speed corresponding to the distance when the distance between the friction material 50 and the rotating body 60 when the mechanical brake device 30 is stopped is 5 mm or less. This makes it possible to move the friction material 50 to a position that is not in contact with the rotating body 60 but is sufficiently close to the rotating body 60 while a brake command is input and the electric brake force is operating. This makes it possible to quickly operate the mechanical brake device 30 when the electric brake force decreases.

[0126] The method for setting the target rotational speed by the motor target value determination unit 15 is not limited to the example described above. For example, when the distance between the friction material 50 and the rotating body 60 becomes sufficiently small, the motor target value determination unit 15 may gradually decrease the target rotational speed from the maximum rotational speed corresponding to the minimum torque. Specifically, the motor target value determination unit 15 may gradually decrease the target rotational speed after a certain period of time has elapsed during which the motor 31 is controlled with the maximum rotational speed corresponding to the minimum torque as the target rotational speed. This certain period of time is determined by the rotational speed of the motor 31, the distance between the friction material 50 and the rotating body 60 when the mechanical brake device 30 is stopped, the ratio of rotational momentum (input) to linear momentum (output) of the rotary-to-linear motion conversion mechanism 33, the reduction ratio of the reduction gear 32, etc.

[0127] Alternatively, the motor target value determination unit 15 may gradually reduce the target rotational speed if the cumulative value of the rotational speed of the motor 31 during the period in which the motor 31 is controlled with the maximum rotational speed corresponding to the minimum torque as the target rotational speed exceeds a threshold value. This threshold value is determined by the distance between the friction material 50 and the rotating body 60 when the mechanical brake device 30 is stopped, the ratio of the rotational momentum input to the linear momentum output of the rotary-to-linear motion conversion mechanism 33, the reduction ratio of the reduction gear 32, etc.

[0128] The timing for controlling the holding mechanism 36 is not limited to the example described above. Another example of brake control performed by the brake control device 3 is shown in Figure 16. In the example in Figure 16, the holding mechanism control unit 19 turns on the relay 45 when a certain amount of time has elapsed since the railway vehicle came to a stop. Steps S11-S18 in Figure 16 are the same as the processing of steps S11-S18 performed by the brake control device 1 shown in Figure 6. The motor target value determination unit 15 obtains the speed of the railway vehicle from a speed sensor, train information management device, etc. mounted on the railway vehicle. The motor target value determination unit 15 determines whether the target mechanical braking force is greater than 0 and whether the railway vehicle is stopped, that is, whether a certain amount of time has elapsed since the speed was 0 (step S33). The length of the certain amount of time should be long enough to indicate that the railway vehicle is stopped, and not due to a false detection by the sensor. The motor target value determination unit 15 determines that the target mechanical braking force is greater than 0 and that the railway vehicle has been stopped for a certain period of time (step S33; Yes), and the brake control device 3 controls the holding mechanism 36 to restrict the sliding of the output shaft 33a and hold it in place (step S32). Specifically, in step S32, the motor target value determination unit 15 sends an instruction to the holding mechanism control unit 19 to turn on the relay.

[0129] In Figure 17, which is a timing chart corresponding to Figure 16, time T41 is defined as the time when a certain amount of time has elapsed since the railway vehicle stopped at time T4. At time T41, when the motor target value determination unit 15 determines that a certain amount of time has elapsed since the railway vehicle stopped, it sends an instruction to the holding mechanism control unit 19 to turn on the relay. At time T41, the motor target value determination unit 15 sets the target torque and target rotational speed to 0, as shown in graphs C and D.

[0130] As shown in Graph E, the holding mechanism control unit 19 turns on the relay 45 in accordance with the instruction to turn on the relay. As a result, the solenoid of the holding mechanism 36 is electrically connected to the solenoid power supply 44, and a magnetic force is generated from the solenoid. The output shaft 33a is attracted by the magnetic force of the solenoid, and the sliding of the output shaft 33a is suppressed. With the friction material 50 pressed against the rotating body 60, the holding mechanism 36 holds the output shaft 33a, whose sliding is suppressed, and the pressing force is maintained as shown in Graph F. As a result, as shown in Graph G, the state in which the railway vehicle is stopped at time T4 is maintained.

[0131] As another example, the holding mechanism control unit 19 may turn on the relay 45 when the condition in which the target torque is constant and the discrimination unit 13 has determined that the friction material 50 and the rotating body 60 are not separated has elapsed for a standard time determined according to the characteristics of the motor 31, or when a certain amount of time has elapsed since the railway vehicle stopped.

[0132] The configuration of the mechanical brake devices 30 and 40 is not limited to the examples described above. For example, the mechanical brake device 30 may include a power assist mechanism 37 that presses the friction material 50 against the rotating body 60 in accordance with the force applied by the rotary-to-linear motion conversion mechanism 33, as shown in Figure 18. In this case, the load cell 35 is attached to the power assist mechanism 37 and measures the force with which the power assist mechanism 37 presses the friction material 50 against the rotating body 60.

[0133] The power assist mechanism 37 is not limited to a lever mechanism, but may also be a toggle mechanism, a link mechanism, or the like. The mechanical brake device 40 may also be equipped with a power assist mechanism 37, similar to the mechanical brake device 30.

[0134] The motor 31 is not limited to a three-phase induction motor; any motor with adjustable torque and rotational speed is acceptable.

[0135] The configuration of the holding mechanism 36 is not limited to the example described above, and any mechanism that can be controlled by the brake control device 1-3 and that can allow or suppress the sliding of the output shaft 33a is acceptable. For example, the holding mechanism 36 may allow the sliding of the output shaft 33a when the solenoid is energized, and suppress the sliding of the output shaft 33a when the solenoid is not energized.

[0136] The brake command output by the control unit 41 is not limited to a service brake command, but may also include emergency brake commands, safety brake commands, parking brake commands, etc.

[0137] The target braking force determination unit 11 is not limited to the operation unit 41, but may also acquire braking commands from a train information management system, an ATS (Automatic Train Stop) device, etc.

[0138] The central part of the control processing unit, which includes a processor 81, memory 82, and interface 83, can be implemented using a standard computer system rather than a dedicated system. For example, a computer program for performing the above-described operations may be stored on a computer-readable recording medium (flexible disk, CD-ROM (Compact Disc-Read Only Memory), DVD-ROM (Digital Versatile Disc-Read Only Memory), etc.) and distributed, and the brake control device 1-3 that performs the above-described processing may be implemented by installing the computer program on a computer. Alternatively, the computer program may be stored on a storage device of a server device on a communication network, and the brake control device 1-3 may be implemented by downloading it from a standard computer system.

[0139] If the functions of the brake control device 1-3 are realized through a division of labor between the OS (Operating System) and the application program, or through cooperation between the OS and the application program, then only the application program portion may be stored on a recording medium, storage device, etc.

[0140] It is also possible to superimpose a computer program onto a carrier wave and distribute it via a communication network. For example, the computer program could be posted on a bulletin board system (BBS) on a communication network and distributed via the network. Then, the above-described process could be executed by starting this computer program and running it under the control of the OS, just like any other application program.

[0141] The hardware configuration of the brake control devices 1-3 is not limited to the examples described above. As an example, as shown in Figure 19, the brake control device 1 may be implemented by a processing circuit 84. The processing circuit 84 is connected to the operating unit 41, the power supply unit 42, and the mechanical brake device 30 via an interface circuit 85. If the processing circuit 84 is dedicated hardware, it may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. Each part of the brake control device 1 may be implemented by an individual processing circuit 84, or each part of the brake control device 1 may be implemented by a common processing circuit 84.

[0142] Some functions of the brake control devices 1-3 may be implemented by dedicated hardware, while others may be implemented by software or firmware. For example, in the brake control device 1, the drive driver 14 may be implemented by the processing circuit 84 shown in Figure 19, and the target brake force determination unit 11, the target mechanical brake force determination unit 12, and the discrimination unit 13 may be implemented by the processor 81 shown in Figure 5 reading and executing a program stored in memory 82.

[0143] This disclosure allows for various embodiments and modifications without departing from the broad spirit and scope of this disclosure. Furthermore, the embodiments described above are for illustrative purposes only and do not limit the scope of this disclosure. In other words, the scope of this disclosure is indicated by the claims, not by the embodiments. Various modifications made within the scope of the claims and the equivalent significance of the disclosure are considered to be within the scope of this disclosure. [Explanation of Symbols]

[0144] 1,2,3 Brake control device, 11 Target brake force determination unit, 12 Target mechanical brake force determination unit, 13 Discrimination unit, 14 Drive driver, 15 Motor target value determination unit, 16 Signal generation unit, 17 Power conversion circuit, 18 Current sensor, 19 Holding mechanism control unit, 20 Relay, 30,40 Mechanical brake device, 31 Motor, 31a Drive shaft, 32 Reducer, 33 Rotation-to-linear motion conversion mechanism, 33a Output shaft, 33b End, 34 Rotation sensor, 35 Load cell, 36 Holding mechanism, 37 Power assist mechanism, 41 Operation unit, 42 Power supply unit, 43 Main circuit control unit, 44 Power supply for solenoid, 45 Relay, 50 Friction material, 60 Rotating body, 80 Bus, 81 Processor, 82 Memory, 83 Interface, 84 Processing circuit, 85 Interface circuit, 100,101,102 Brake control system.

Claims

1. A brake control device that controls a mechanical brake system that generates a mechanical braking force by pressing a friction material against a rotating body that rotates during the operation of a railway vehicle using the rotational force of a motor with adjustable torque and rotational speed, A target braking force determination unit that determines the target braking force from the deceleration indicated by the brake command that instructs the deceleration of the aforementioned railway vehicle, A target mechanical braking force determination unit that determines the target mechanical braking force, which is the target value of the braking force by the mechanical braking device, from the aforementioned target braking force, A determination unit for determining whether the friction material and the rotating body are separated, When the brake command is input to the target brake force determination unit, if the discrimination unit determines that the friction material and the rotating body are separated, the target torque is set to a value smaller than the motor torque required to press the friction material against the rotating body. If the discrimination unit determines that the friction material and the rotating body are not separated, the target torque is set to the motor torque required to obtain the target mechanical brake force. The drive driver converts the power supplied from the power supply unit into power to supply to the motor, and supplies the converted power to the motor, according to the target torque and the target rotational speed determined from the target torque based on the relationship characteristics between the motor's torque and rotational speed. A brake control device equipped with the following features.

2. If the discriminant determines that the friction material and the rotating body are separated, the drive driver sets the minimum torque of the motor used to bring the friction material closer to the rotating body as the target torque. The brake control device according to claim 1.

3. The drive driver sets the maximum rotational speed corresponding to the target torque based on the relational characteristics to the target rotational speed. The brake control device according to claim 1.

4. The drive driver, from the time the brake command is input to the target brake force determination unit until the determination unit determines that the friction material and the rotating body are separated, sets the minimum torque of the motor to bring the friction material closer to the rotating body as the target torque, sets the maximum rotational speed corresponding to the target torque based on the relationship characteristics as the target rotational speed, converts the power supplied from the power supply device into power to be supplied to the motor according to the target torque and the target rotational speed, and supplies the converted power to the motor. The brake control device according to claim 1.

5. The drive driver changes the target torque while maintaining the rate of change of the target torque per unit time within a first target range corresponding to a target value of the rate of change of the deceleration of the railway vehicle. A brake control device according to any one of claims 1 to 4.

6. The drive driver changes the target rotational speed while maintaining the rate of change of the target rotational speed per unit time within a second target range corresponding to the target value of the rate of change of the deceleration of the railway vehicle. A brake control device according to any one of claims 1 to 4.

7. The discrimination unit determines whether the friction material and the rotating body are separated based on the cumulative value of the motor's rotational speed since the mechanical brake device started operating, and a reference rotational speed determined according to the distance between the friction material and the rotating body when the mechanical brake device is stopped. A brake control device according to any one of claims 1 to 4.

8. The discrimination unit determines whether the friction material and the rotating body are separated based on the cumulative value and the reference rotational speed, which corresponds to a distance shorter than the distance between the friction material and the rotating body when the mechanical brake device is stopped. The brake control device according to claim 7.

9. The discrimination unit is provided in the mechanical brake device and determines whether the friction material and the rotating body are separated based on a measurement value obtained from a load cell that measures the pressing force, which is the force with which the friction material presses against the rotating body. A brake control device according to any one of claims 1 to 4.

10. The discrimination unit determines whether the friction material and the rotating body are separated based on the current flowing from the drive driver to the motor. A brake control device according to any one of claims 1 to 4.

11. The mechanical brake device further comprises an output shaft that slides in accordance with the rotation of the motor, pressing the friction material against the rotating body or separating the friction material from the rotating body, and a holding mechanism that restricts and holds the sliding of the output shaft, and further comprises a holding mechanism control unit that controls the holding mechanism, The holding mechanism control unit controls the holding mechanism to restrict the sliding of the output shaft when the discrimination unit determines that the friction material and the rotating body are not separated. A brake control device according to any one of claims 1 to 4.

12. The holding mechanism control unit, when the discrimination unit determines that the friction material and the rotating body are not separated, restricts the sliding of the output shaft, which is made of a magnetic material, by the magnetic force generated when power is applied, and supplies power to the holding mechanism, which allows the sliding of the output shaft when power is not applied, thereby causing the holding mechanism to restrict the sliding of the output shaft and hold it in place. The brake control device according to claim 11.

13. The holding mechanism control unit, when the discrimination unit determines that the friction material and the rotating body are not separated, allows the sliding of the output shaft, which is made of a magnetic material, by the magnetic force generated when power is applied, and stops supplying power to the holding mechanism that restricts the sliding of the output shaft when power is not applied, thereby causing the holding mechanism to restrict the sliding of the output shaft and hold it in place. The brake control device according to claim 11.

14. The holding mechanism control unit, when the target torque can be considered constant and the discriminator determines that the friction material and the rotating body are not separated, continues for a standard time determined according to the characteristics of the motor, causes the holding mechanism to restrict the sliding of the output shaft and hold it in place. The brake control device according to claim 11.

15. The holding mechanism control unit restricts the sliding of the output shaft and holds it in place when the target mechanical braking force is greater than zero and the railway vehicle is stopped. The brake control device according to claim 11.

16. The target mechanical braking force determination unit acquires regenerative feedback indicating the actual electric braking force generated by consuming the power produced by the main motor acting as a generator, and determines the target mechanical braking force from the difference between the actual electric braking force indicated by the regenerative feedback and the target braking force. A brake control device according to any one of claims 1 to 4.

17. A brake control device according to any one of claims 1 to 4, A plurality of mechanical brake devices are provided for each wheel of a railway vehicle and, under the control of the brake control device, generate braking force by pressing friction material against a rotating body that rotates when the railway vehicle is running. A brake control system equipped with the following features.

18. A brake control method for controlling a mechanical brake device that generates a mechanical braking force by pressing a friction material against a rotating body that rotates during the operation of a railway vehicle using the rotational force of a motor with adjustable torque and rotational speed, The target braking force is determined from the deceleration indicated by the brake command that instructs the aforementioned railway vehicle to decelerate. From the aforementioned target braking force, the target mechanical braking force, which is the target value of the braking force by the mechanical braking device, is determined. It is determined whether the friction material and the rotating body are separated. When the aforementioned brake command is input, if it is determined that the friction material and the rotating body are separated, the target torque is set to a value smaller than the motor torque required to press the friction material against the rotating body. If it is determined that the friction material and the rotating body are not separated, the motor torque required to obtain the target mechanical braking force is set to the motor's target torque. The power conversion circuit that converts the power supplied from the power supply device into power to supply to the motor and supplies the converted power to the motor is controlled according to the target torque and the target rotational speed determined from the target torque based on the relationship characteristics between the motor's torque and rotational speed. Brake control method.

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