JP2015076911A - Drive control system and vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress power consumption during powering and preventing invalidation of regeneration so as to improve energy saving effect, by optimizing discharge timing of an electrical storage device, suppressing losses in an areal line and the electrical storage device, suppressing a reduction in an areal line voltage during powering, and suppressing an increase in the areal line voltage during regeneration.SOLUTION: A drive control system for controlling a vehicle to be driven, determines whether to discharge electric power storage means 104 or to feed electric power from an areal line 102 on the basis of power feeding point position and stop position information when the vehicle accelerates from each stop position. Furthermore, the drive control system determines a target power-storage remaining capacity from a relation between an areal line resistance from power feed point positions before and after each stop position and an internal resistance of the electric power storage means. The drive control system includes electric-power-storage instruction means 111 for determining whether to charge or discharge the electric power storage means 104 on the basis of a magnitude relation between a current power-storage remaining capacity and the target power-storage remaining capacity at each stop position, a magnitude relation between a predicted areal line voltage from areal-line-voltage prediction means 109 and an areal line voltage from areal-line-voltage measuring means 105, and a vehicle travel state.

Description

  The present invention relates to a vehicle drive control system and a vehicle equipped with the drive control system.

  Due to global environmental problems, energy saving is also strongly demanded in the railway field, which is said to be excellent as a moving body. About 70% -80% of the total power in the railway system is the power consumption related to train operation, and this reduction is important. As one of the power reduction methods, it can be considered that the regenerative energy generated during braking of the vehicle is returned to the overhead line and used to the maximum for powering of other vehicles traveling in close proximity.

However, since it is actually very difficult to synchronize the braking of the host vehicle and the power running of the other vehicle, a system using a power storage device that stores regenerative power is known.
In order to ensure energy saving performance using the power storage device, regenerative energy generated during braking of the vehicle is charged without leaving the power storage device, and in consideration of the situation of other vehicles, in preparation for the next charge, It is necessary to discharge the charged energy at an optimal timing.

  Furthermore, when charging the power storage device, there is a loss due to the internal resistance of the power storage device, and when regenerating on the overhead wire, there is a loss due to the overhead wire resistance. Therefore, it is necessary to control the optimal regenerative power discharge timing.

As means for solving this problem, Patent Document 1 describes the following railway vehicle drive system.
“The voltage sensor 8 c detects the ground voltage (overhead voltage) Es of the power supplied from the power line by the current collector 3. The current sensor 9 e is the current amount of the power supplied from the power line by the current collector 3 (overhead line) The integrated control means 10 to which both detection values are input calculates the ratio of the increase amounts ΔEs and ΔIs of the overhead wire current Es and the overhead wire current Is in a predetermined time, R_reg (= ΔEs / ΔIs). When R_reg exceeds the predetermined value Ref_dif_ecf_is during the regenerative braking operation of the inverter device 6, the power storage system 7 thereafter uses the regenerative power of the inverter device 6 not as consumption as power running power of other trains, Charging is performed with priority over the charging of the power storage system, and the power storage device is mounted on the vehicle, and the resistance is obtained from the rise of the overhead voltage of the vehicle during regeneration and the magnitude of the regenerative current. Regeneration to overhead wire based on resistance Decide whether to charge or charge the battery ”(see summary)

JP 2013-59144 A

However, in Patent Document 1, it is determined whether to charge the power storage device in consideration only of the loss at the time of regeneration or to return to the overhead line, and it is not charging that considers discharge that is important for charging. . Usually, since the amount of charge power and the amount of discharge power of the power storage device match, charging is impossible unless the battery can be discharged. The most important thing in discharging is the timing.
That is, when another vehicle discharges during regeneration, in the power storage device of the own vehicle, when the storage state is close to almost full charge and the capacity for storing the discharged power does not remain, The electric power that the vehicle can regenerate may be reduced. In addition, if the regenerative vehicle does not have a power storage device, the regenerative power cannot be recovered by its own power storage device, so a light load regenerative operation that narrows down regeneration or regenerative invalidation occurs, and a mechanical brake that wastes energy is activated. Sometimes.

In addition, when the regenerating vehicle has a power storage device, it can be regenerated to the power storage device of the host vehicle depending on the control. However, in the method of Patent Document 1, it is selected to return to the overhead line. The same phenomenon occurs as when there is no power storage device. For this reason, unless charging is performed in consideration of the discharge amount of the power storage device, after all, energy is not saved.
Therefore, an object of the present invention is to optimize the discharge timing of the power storage device, suppress the loss of the overhead wire and the power storage device, suppress the overhead wire voltage decrease during power running, and suppress the overhead wire voltage increase during regeneration. The purpose is to reduce the amount of power consumption and to prevent the regeneration from becoming invalid and to enhance the energy saving effect.

In order to solve the above problems, the present invention includes a plurality of means for solving the above problems. For example, the configuration described in the scope of claims is adopted.
For example, in order to achieve the above object, the present invention is a drive control system that has power storage means and a drive device, and controls the drive of a vehicle that is always connected to a power supply line. Means for deciding whether to discharge from the power storage device or to supply power from an overhead line from the power supply station position in the travel region and the stop position information of the vehicle when the vehicle accelerates from each stop position; Means for determining a target remaining charge amount of the power storage means from the relationship between the overhead wire resistance from the power supply station position in front of and behind the position and the internal resistance of the power storage means with respect to the position; Based on the traveling position of the vehicle, the overhead line voltage predicting means for predicting the overhead line voltage at the traveling position, and the overhead line voltage measuring means for measuring the current overhead line voltage, from the power storage means The current remaining power amount, the target power remaining amount at each stop position, the predicted overhead voltage obtained from the overhead line voltage predicting means, the magnitude relationship between the overhead line voltage obtained from the overhead line voltage measuring means, and Power storage command means for determining whether to charge / discharge the power storage means based on the running state of the vehicle.

  According to the present invention, the power storage means is charged based on the current power storage remaining amount, the relationship between the target power storage remaining amount at each stop position, the predicted overhead line voltage and the actual overhead line voltage, and the running state of the vehicle. Since it is determined whether or not the discharge is performed, it is possible to suppress the overhead line voltage drop accompanying the supply from the overhead line. As a result, since the acceleration performance is improved, in the railway system that observes the traveling time, it is possible to travel using a lot of coasting, which is energy saving. In addition, since the overhead voltage drop during power running can be suppressed, peak cut is possible, and the power output scale of the substation can be reduced.

FIG. 1 is a diagram illustrating an example of a drive system for realizing Example 1 of the present invention. FIG. 2 is a diagram illustrating an example of a predicted overhead line voltage calculating unit for realizing the first embodiment of the present invention. FIG. 3 is a diagram illustrating an example of a target remaining power level database creation unit for realizing the first embodiment of the present invention. FIG. 4 is a diagram illustrating an example of processing of the power storage control command unit for realizing the first embodiment of the present invention. FIG. 5 is a diagram showing an example of a line section to which the present invention is applied. FIG. 6 is a diagram illustrating an example of an effect when the first embodiment of the present invention is applied. FIG. 7 is a diagram illustrating an example of a drive system for realizing the second embodiment of the present invention. FIG. 8 is a diagram illustrating an example of a target remaining power level database creation unit for realizing the second embodiment of the present invention. FIG. 9 is a diagram illustrating an example of target remaining power amount data for realizing the second embodiment of the present invention. FIG. 10 is a diagram illustrating an example of an effect when the second embodiment of the present invention is applied.

  Embodiments of the present invention will be described below with reference to the drawings.

[Example 1]
FIG. 1 is a schematic configuration diagram showing an entire railway vehicle control apparatus according to an embodiment of the present invention. First, a power system composed of the overhead line 102, the driving device 103, the power storage device 104 as power storage means, the overhead line voltage measurement means 105, and the master computer 106 connected by a thick line will be described.
The vehicle 101 receives power supplied from the overhead line 102 or the power storage device 104 as power storage means based on a drive command 154 from the master controller 106, and travels via the drive device 103. The overhead wire voltage measuring means 105 measures the overhead wire voltage at a point where the vehicle 101 is in contact with the overhead wire 102.

Next, a control system shown by a thin line will be described.
First, using the substation database 150 and data 151 (including the station position database, overhead wire resistance data, and internal resistance data of the power storage device 104) obtained from the database 107, the position-power remaining amount database creating means 108 -Create target power storage remaining amount data 152 and output availability information 153 of the power storage device during power running at the station.
Note that the output permission / inhibition information 153 and details of the process for creating it will be described later.

The drive device 103 that has received the drive command 154 from the mass control 106 controlled by the driver travels by receiving power supply from the overhead wire 102 or the power storage means 104, and the position 155 changes accordingly.
The power storage device at the time of power running when leaving the station by the new position 155 calculated from the drive device 103, the substation database 150 obtained from the database 107, the vehicle characteristics 156, and the position-power storage remaining amount database creation means 108 The predicted overhead line voltage 157 at the new position 155 created by the predicted overhead line voltage calculation means 109 is obtained using the output availability information 153. Detailed processing will be described later.

  The target remaining power level calculation unit 110 calculates the target remaining power level 158 at the position 155 using the position-target remaining power level data 152 and the position 155, and outputs it to the power storage command unit 11. If there is no matching position in the position-target power remaining amount data 152, data is acquired by a method such as linear interpolation using data before and after that position.

  The power accumulation command unit 111 includes a drive command 154, a predicted overhead line voltage 157, a target remaining power level 158 obtained from the target remaining power level calculation unit 110, an overhead line voltage 159 obtained from the overhead line voltage measurement unit 105, and the power accumulation unit 104. The charge / discharge command 161 for the power storage means 104 is determined based on the current remaining power 160 obtained from the above. In addition, when the automatic train driving apparatus etc. are mounted, it replaces with the output from the mass control 106, and employ | adopts the command from an automatic train driving apparatus.

The process of the predicted overhead line voltage calculation unit 109 shown in FIG. 1 will be described with reference to FIG.
In step 201, the substation positions Xt1 and Xt2 that are closest in the front-rear direction are obtained from both ends of the host vehicle position X0, and the process proceeds to step 202.
In step 202, the distances Xt3 and Xt4 to the respective substations are obtained from the substation positions Xt1 and Xt2 and the own train position X0, and the power is supplied from each substation in consideration of the overhead wire resistance of each section. The overhead wire resistance values Rt1 and Rt2 are calculated, and the process proceeds to step 203.

  In step 203, the necessary current amount I is calculated on the assumption that all power supply is received from the overhead line in consideration of the train performance from the notch operation of the host vehicle. In addition, about this electric current amount I, when taking into consideration the electric power output from an electrical storage apparatus, and the auxiliary machine parts used for an air conditioning or lighting in a vehicle, etc., these are added to the electric current amount I, and it progresses to step 204.

In step 204, the currents I1 and I2 supplied from the respective substations are obtained from Rt1 and Rt2 calculated in step 202 and the necessary current amount I calculated in step 203 and the sending voltages OV1 and OV2 of the respective substations. . How to find it
OV1-Rt1 ・ I1 = OV2-Rt2 ・ I2
I1 + I2 = I
It is obtained by the simultaneous equations of Next, the process proceeds to step 205.

In step 205, the predicted punter point voltage PV of the train is obtained from I1 or I2 obtained in step 204 and the sending voltages OV1 and OV2 of the respective substations. How to find it
PV = OV1-Rt1 ・ I1
Or
PV = OV2-Rt2 ・ I2
Ask for. This is the end.

Next, processing by the target remaining power remaining amount database creation unit 108 will be described with reference to FIG. Note that data 151 obtained from the database 107 is a station position database, overhead wire resistance, and internal resistance of the installed power storage device.
In step 301, a substation position closest to each station position is obtained using a database of station positions and substation positions, and the process proceeds to step 302.

In step 302, the distance to the nearest substation for each station position is obtained from the combination of each obtained station position and the substation position obtained in step 301, and the process proceeds to step 303.
In step 303, using the distance and overhead wire resistance obtained in step 302, a resistance value when current is passed from the substation to the station is obtained, and the process proceeds to step 304.

  In step 304, the resistance value obtained in step 303 is compared with the internal resistance of the mounted power storage device. If the resistance value obtained in step 303 is small, it is more energy saving to supply power from the overhead wire. In the position-target power storage remaining amount database, the target power storage remaining amount at the station position is the lower limit value of the use range of the mounted power storage device. Moreover, the output permission information of the power storage device at the time of powering at the station is set not to be output.

On the other hand, when the resistance value obtained in step 303 is large, it is more energy saving to discharge power from the power storage device. Therefore, as the position-target power storage remaining amount database, the target power storage remaining amount at the station position is The upper limit of the use range of the power storage device. Moreover, it sets to output the output propriety information of the electrical storage apparatus at the time of power running in a station.
This is the end. It should be noted that there is no problem even if the output permission / prohibition information of the power storage device at the time of powering at the station is expressed by bit information indicating whether or not to output.

FIG. 4 is a diagram regarding the processing contents of the power accumulation command means 111. Whether braking or other than braking is determined from the information obtained by the drive command, using the magnitude relationship between the target remaining power storage amount and the current remaining power storage amount, and further using the current storage remaining amount and the upper and lower limit size relationship of the power storage device, A charge / discharge command for the power storage means is determined.
In FIG. 4, the conditions in the vertical direction (Yes No Yes No) for determining the charge / discharge command are in order from the top,
(A) When the target power storage remaining amount is larger than the current power storage remaining amount and the current power storage remaining amount is larger than the use range lower limit value.
(B) When the target power storage remaining amount is larger than the current power storage remaining amount and the current power storage remaining amount is less than or equal to the use range lower limit value.
(C) When the target power storage remaining amount is equal to or less than the current power storage remaining amount and the current power storage remaining amount is larger than the use range upper limit value.
(D) When the target power storage remaining amount is equal to or less than the current power storage remaining amount and the current power storage remaining amount is equal to or less than the use range upper limit value.
Respectively.

In FIG. 4, the horizontal conditions for determining the charge / discharge command are in order from the left,
(Α) When the overhead line voltage is larger than the predicted overhead line voltage and not during braking.
(Β) The overhead line voltage is larger than the predicted overhead line voltage and braking is performed.
(Γ) The overhead line voltage is less than or equal to the predicted overhead line voltage, and during power running.
(Δ) When the overhead line voltage is equal to or lower than the predicted overhead line voltage and when coasting.
(Ε) The overhead line voltage is equal to or lower than the predicted overhead line voltage and during braking.
Respectively.
That is, in this embodiment, the charge / discharge command is determined corresponding to combinations of 4 ways in the vertical direction and 5 ways in the horizontal direction = 20 ways.

Here, the meaning of the command determined for each combination of (a) to (d) and (α) to (ε) will be described. “No command” means “Do not charge / discharge”, “Charge command” means “Charge within the range of the maximum charge power of the installed power storage device”, and “Discharge command” means “the range of the maximum discharge power of the installed power storage device” It means “to discharge”.
The “restricted charging command” is (d) and (β), that is, the target power storage remaining amount is less than or equal to the current power storage remaining amount, the current power storage remaining amount is less than or equal to the use range upper limit value, and the overhead line Since braking is being performed in a state where the voltage is larger than the predicted overhead line voltage, there is a high possibility that another vehicle is regenerating. Therefore, it is better to charge the power storage device with regenerative power.
However, although the current power storage remaining amount is less than or equal to the upper limit value of the use range, the current power storage remaining amount is larger than the target power storage remaining amount, so that the charging power has to be limited. For this reason, charge amount is restrict | limited by the following formula | equation.
Charged power = (Upper limit value of used range-Current remaining charge) / (Upper limit value of used range-Target remaining charge) x Normal charge power Note that the normal charge power is the maximum power that can be regenerated by the charge command. Represents.

Next, the “limited discharge command” will be described. The “restricted discharge command” is the case of (a) and (γ), that is, the target remaining power level is greater than the current stored power level and the current stored power level is greater than the lower limit of the use range, and the overhead voltage Is larger than the predicted overhead line voltage, and it is estimated that there is a high possibility that many other vehicles are powering more than expected. However, although it is above the lower limit value of the use range, the current power storage remaining amount is smaller than the target power storage remaining amount, so the discharge power has to be limited. For this reason, discharge electric power is restrict | limited by the following formula | equation.
Discharge power = (Current power remaining amount−Lower limit of use range) / (Target power storage remaining amount−Lower limit of use range) × Normal discharge power Note that the normal discharge power is the maximum power that can be discharged by a discharge command. Represent.

  FIG. 5 shows an example of a line section to which this embodiment is applied, and is composed of two substations and five stations. FIG. 6 illustrates an example of control when the present embodiment is used when traveling in the line section shown in FIG. 5, and (a) position-speed pattern, (b) remaining power storage amount from the top. The position—target remaining power level created by the database creation means 108, (c) the same position—created by the remaining power database creation means 108—the output availability information of the power storage device 104 (at the time of departure from the station), (d) the position— Overhead voltage (thin solid line is actual overhead line voltage, thick solid line is predicted overhead line voltage), (e) position-vehicle power storage remaining amount (thin solid line, broken line is target power storage residual amount), (f) position-overhead line voltage (thick solid line is When the present embodiment is applied, a thin solid line is not applied).

Hereinafter, the vehicle traveling state at each position is described as areas A1, A2, A3, A4, B1, B2, B3, B4, C1, C2, C3, C4, D1, D2, and D3, and will be described for each area.
In FIG. 3C, the processing by the remaining power storage database creation means 108 with the target shown in FIG. 3 indicates that the power storage device 104 at the time of powering at the station is “not output” to the B station close to the A substation. It is assumed that “output” is output from station B to station D, and “not output” is from station D to station E near station B.

Area A1 represents power running when traveling from A station toward B station. The target remaining power level is set to the lower limit value of the use range, and is set to a value larger than the current remaining power level.
Further, in (d), the actual overhead line voltage (thin solid line) is smaller than the predicted overhead line voltage (thick solid line) due to the influence of power running of other railway vehicles, and the running state of the vehicle is power running. Therefore, the conditions of (b) and (γ) in FIG. 4 are satisfied, and “no command” is given to the power storage device 104, so that the remaining power storage is maintained.

  Area A2 represents coasting when traveling from A station toward B station. As shown in FIG. 6 (e), the target power storage remaining amount is larger than the current power storage remaining amount, and as shown in FIG. 6 (d), the actual overhead line voltage is smaller than the predicted overhead line voltage, and the running state of the vehicle is It is lameness. Therefore, the conditions of (b) and (δ) in FIG. 4 are satisfied, and “no command” is given to the power storage device 104, so that the remaining power storage is maintained.

  Area A3 represents braking when traveling from station A toward station B. At this time, as shown in FIG. 6 (e), the target power storage remaining amount is larger than the current power storage remaining amount, and as shown in FIG. 6 (d), the overhead line voltage is smaller than the predicted overhead line voltage, and the vehicle travels. The state is braking. Therefore, the condition (a), (b), and (ε) in FIG. 4 is satisfied, and a charge command is issued to the power storage device 104 regardless of whether the current remaining power storage amount is greater than or equal to the lower limit value or less than the lower limit value of the use range. The remaining amount of power storage is increased. Thereby, the increase amount of overhead wire voltage is suppressed and it becomes a stable direction as an overhead wire.

  Area B1 represents power running when traveling from station B toward station C. As shown in (e) of FIG. 6, the target power storage remaining amount is larger than the current power storage remaining amount, and the current power storage remaining amount is larger than the use range lower limit value. In addition, as shown in FIG. 6D, the actual overhead line voltage is smaller than the predicted overhead line voltage, and the running state of the vehicle is power running. Therefore, the conditions of (a) and (γ) are satisfied in FIG. 4, and further, as shown in (c) of FIG. 6, the output propriety information of the power storage device 104 is switched to “output”. A limited discharge command is issued to 104, the remaining amount of power storage is reduced, and the amount of overhead voltage drop is suppressed.

  Area B2 represents a lameness when traveling from station B toward station C. As shown in FIG. 6 (e), the target power storage remaining amount is larger than the current power storage remaining amount, the actual overhead line voltage is smaller than the predicted overhead line voltage, and the running state of the vehicle is coasting. Therefore, the conditions of (a), (b), and (δ) in FIG. 4 are satisfied, and a command is output to the power storage device regardless of whether the current power storage remaining amount is not less than the lower limit value or less than the lower limit value of the use range. The remaining power storage is maintained. Further, the overhead line voltage has the same value as that when the control is not performed.

  Area B3 also represents lameness when traveling from station B to station C, similarly to area B2. The difference from the area B2 is that the actual overhead line voltage is larger than the predicted overhead line voltage, as shown in FIG. Accordingly, the conditions (a), (b), and (α) in FIG. 4 are satisfied, the process is not changed, no command is output to the power storage device 104, and the remaining power storage is maintained. At that time, the overhead line voltage becomes the same value as in the case where the control is not performed.

  Area B4 represents braking when traveling from station B to station C. As shown in FIG. 6 (e), the target power storage remaining amount is larger than the current power storage remaining amount, and as shown in FIG. 6 (d), the actual overhead line voltage is larger than the predicted overhead line voltage, and the vehicle travels. The state is braking. Therefore, the condition (a), (b), and (β) in FIG. 4 is satisfied, and a charge command is issued to the power storage device 104 regardless of whether the current remaining power storage amount is greater than or equal to the lower limit value or less than the lower limit value of the use range. The remaining amount of power storage is increased. Moreover, the increase amount of the overhead wire voltage is suppressed, and the overhead wire is in a stable direction as shown in FIG.

Area C1 represents power running when traveling from station C to station D. As shown in (e) of FIG. 6, the target power storage remaining amount is larger than the current power storage remaining amount, and as shown in (f) of FIG. 6, the overhead line voltage is larger than the predicted overhead line voltage, and the running state of the vehicle is Power running (other than braking).
Therefore, the conditions of (a), (b), and (α) in FIG. 4 are satisfied, and a command is output to the power storage device regardless of whether the current power storage remaining amount is not less than the lower limit value or less than the lower limit value of the use range. The remaining power storage is maintained. Further, the overhead line voltage has the same value as that when the control is not performed.

  Area C2 represents a coasting when traveling from station C to station D. The target power storage remaining amount is greater than the current power storage remaining amount, the overhead line voltage is greater than the predicted overhead line voltage, and the running state of the vehicle is coasting (other than braking). Therefore, the conditions of (a), (b), and (δ) in FIG. 4 are satisfied, and the power storage device 104 is instructed regardless of whether the current power storage remaining amount is not less than the lower limit value or less than the lower limit value of the use range. It is not output and the remaining power storage is maintained. Further, the overhead line voltage has the same value as that when the control is not performed.

  Similarly to the area C2, the area C3 represents coasting when traveling from the C station toward the D station. The difference from C2 is that, as shown in FIG. 6 (e), the target power storage remaining amount is smaller than the current power storage remaining amount, and as shown in FIG. 6 (d), the overhead line voltage is smaller than the predicted overhead line voltage. It is a point. Therefore, the conditions (c), (d), and (δ) in FIG. 4 are satisfied, and a discharge command is issued to the power storage device 104 regardless of whether the current remaining power storage amount is not less than the upper limit value or less than the upper limit value of the use range. The remaining amount of electricity stored is reduced. Further, the amount of decrease in overhead wire voltage is suppressed.

  Area C4 represents braking when traveling from station C to station D. As shown in FIG. 6 (e), the target power storage remaining amount is smaller than the current power storage remaining amount, the overhead line voltage is smaller than the predicted overhead line voltage, and the running state of the vehicle is braking. Therefore, the conditions (c), (d), and (ε) in FIG. 4 are satisfied, and a command is issued to the power storage device 104 regardless of whether the current remaining power storage amount is greater than or equal to the upper limit value or less than the upper limit value of the use range. It is not output and the remaining power storage is maintained. Also, the overhead line voltage is the same value as when not controlling

  Area D1 represents power running when traveling from D station to E station. As shown in FIG. 6 (e), the target power storage remaining amount is smaller than the current power storage remaining amount, and as shown in FIG. 6 (d), the overhead line voltage is larger than the predicted overhead line voltage, and the running state of the vehicle is Power running (other than braking). Therefore, the conditions of (c), (d), and (α) in FIG. 4 are satisfied, and a command is issued to the power storage device 104 regardless of whether the current remaining power storage amount is greater than or equal to the upper limit value of the use range or less than the upper limit value. The remaining amount of power storage is maintained without being issued. Further, the overhead line voltage has the same value as that when the control is not performed.

  Area D2 represents a coasting when traveling from D station to E station. As shown in FIG. 6 (e), the target power storage remaining amount is smaller than the current power storage remaining amount, and as shown in FIG. 6 (d), the overhead line voltage is smaller than the predicted overhead line voltage, and the running state of the vehicle is It is lameness. Therefore, the conditions of (c) or (d) and (ε) in FIG. 4 are satisfied, no command is output to the power storage device, and the remaining power storage is maintained. Further, the overhead line voltage has the same value as that when the control is not performed.

Finally, the area D3 represents braking when traveling from the D station toward the E station. As shown in FIG. 6 (e), the target power storage remaining amount is smaller than the current power storage remaining amount, and as shown in FIG. 6 (d), the overhead line voltage is larger than the predicted overhead line voltage, and the running state of the vehicle is It is braking. Furthermore, as shown in FIG. 6 (e), the current power storage remaining amount is equal to or lower than the use range upper limit value. For this reason, the conditions (c), (d), and (β) in FIG. 4 are satisfied, and since the current remaining power storage amount is less than or equal to the use range upper limit value, a limited charge command is issued to the power storage device 104. As a result, the remaining amount of power storage increases. Moreover, the increase amount of overhead wire voltage is suppressed and it becomes a stable direction as an overhead wire.
By controlling as described above, it is possible to achieve an energy-saving operation by suppressing the overhead voltage drop during powering.

[Example 2]
FIG. 7 is a schematic configuration diagram showing an entire railway vehicle control apparatus according to an embodiment of the present invention. Components common to those in FIG. 1 are denoted by the same reference numerals. The difference from the first embodiment is that the database 701, the target remaining power level database creating unit 702, the data 750 output from the database 701, and the target remaining power level database 751 generated by the target remaining power level database creating unit 702. It is.
The target remaining power database creation unit 702 will be described with reference to FIG.
Note that the processing from step 801 to 804 is the same as the processing from step 301 to step 304 in the first embodiment shown in FIG.

That is, in step 801, the substation position closest to each station position is obtained using the database of station positions and substation positions, and the process proceeds to step 802.
In step 802, the distance to the nearest substation for each station position is obtained from the combination of each obtained station position and the substation position obtained in step 801. Next, the process proceeds to step 803.
In Step 803, the resistance value in the case where current is passed from the substation to the station using the distance and overhead wire resistance obtained in Step 802 is obtained, and the process proceeds to Step 804.

  In step 804, the resistance value obtained in step 803 is compared with the internal resistance of the mounted power storage device 104. If the resistance value obtained in step 803 is small, it is more energy-saving to supply power from the overhead wire. In the position-target power storage remaining amount database, the position is the station position, and the power storage remaining amount is the lower limit value of the use range of the mounted power storage device. Moreover, the output permission information of the power storage device at the time of powering at the station is set not to be output. If the resistance value obtained in step 803 is large, it is more energy-saving to discharge power from the power storage device 104. Therefore, the position-target power storage remaining amount database includes the position of the station as the position and the remaining power storage amount. Use the upper limit of the device usage range. In addition, the output permission / prohibition information of the power storage device at the time of powering at the station is set to output, and the process proceeds to step 805.

In step 805, the remaining amount of electricity at all positions is calculated according to the following procedure based on the remaining amount of electricity stored at each station position obtained in step 804 and the data 750. It is assumed that the data 750 includes a predetermined traveling pattern.
Here, the case where a running pattern is defined as shown at the top of FIG. 9 will be described. In addition, it is set as the case where it discharges when powering both A station and B station. In this case, both the A station and the B station are the upper limit values of the use range. In this case, in the position-target power remaining amount pattern, in the section A where the powering operation is performed, the power remaining amount at the position X is obtained by the following formula 1, and (a) a curve of the remaining power amount at a certain position during power running is created. To do.
Target remaining power level = upper limit of use range-∫ (Tr (X) · V (X)) (Equation 1)
Here, Tr (X) is the tensile force (N) at the position X, and V (X) is the velocity (m / s) at the position X.

Next, in the braking section of section D, the remaining amount of electricity stored at a certain position Y during regeneration is obtained by Equation 2, and (b) a reference electricity storage remaining amount curve at a certain position during regeneration is created.
Remaining power storage = Upper limit value of usage range−∫Br (Y) · V (Y) (Equation 2)
Here, Br (Y) is the electric control force (N) at the position Y, and V (Y) is the speed (m / s) at the position Y.
Finally, in the sections B and C where coasting and constant speed running are performed, the position-target power storage residual quantity pattern is created by connecting the terminal power storage residual capacity of power running and the regenerative power storage capacity of regeneration at a straight line. To do.
What is created in this way is the position-target power remaining amount pattern shown second from the top in FIG.

FIG. 10 is a diagram for explaining the processing contents by the power accumulation command means 111.
Whether braking or non-braking is determined from the information obtained from the drive command, the magnitude relationship between the overhead wire voltage and the predicted overhead wire voltage, the magnitude relationship between the target remaining power level and the current remaining power level, and the current remaining power level and the power storage device usage range The charge / discharge command for the power storage device 104 is determined using the magnitude relationship between the upper and lower limits.
Here, the meaning of the command will be described. No command means no charging / discharging. Further, the charging command means charging within the range of the maximum charging power of the mounted power storage device 104, and the discharging command means discharging within the range of the maximum discharging power of the mounted power storage device.

The limited charging command will be described. Since the overhead charging voltage is larger than the predicted overhead wiring voltage, it is considered that there is a high possibility that another vehicle is regenerating the limited charging command. However, although it is below the upper limit of the use range, the remaining amount of electricity stored is inevitably limited because the remaining amount of stored electricity is larger than the target remaining amount of electricity. For this reason, the remaining power storage is limited by the following formula.
Remaining power storage = (Upper limit value of current range-Current remaining power level) / (Upper limit value of used range-Target remaining power level) x Normal remaining power level Note that the normal remaining power level is the maximum value that can be regenerated by a charge command. Represents this.

Next, the limited discharge command will be described. The limited discharge command is preferably discharged because the overhead wire voltage is smaller than the predicted overhead wire voltage and it is estimated that many other vehicles are more likely to be powered than expected.
However, although it is above the lower limit of the use range, the amount of discharge is inevitably limited because the current remaining amount of electricity stored is smaller than the target remaining amount of electricity. For this reason, the discharge amount is limited by the following equation.
Discharge amount = (current power storage remaining amount−lower limit of use range) / (target power storage remaining amount−lower limit value of use range) × normal discharge amount Note that the normal discharge amount is the maximum value that can be discharged by a discharge command. Represent.

FIG. 10 illustrates the control when this embodiment is used when traveling in FIG.
From the top, (a) position-speed pattern, (b) position-position created by the remaining power storage database creation means 108 -target remaining power database, (c) position-position created by the remaining power database creation means- The output propriety information of the power storage device 104 at the time of powering at the station, (d) position-overhead voltage, (e) position-vehicle power storage remaining amount, (f) position-overhead voltage are shown.
Further, the vehicle running state at each position is described as areas A1, A2, A3, A4, B1, B2, B3, B4, C1, C2, C3, C4, D1, D2, and D3. Explain for each area.

  Area A1 represents power running when traveling from A station toward B station. The target power storage remaining amount is larger than the current power storage remaining amount, the overhead line voltage is smaller than the predicted overhead line voltage, and the running state of the vehicle is power running. For this reason, since there is “no command” for the power storage device 104, the remaining power storage is maintained and the overhead line voltage is the same value as when the control is not performed.

  Next, area A2 represents lameness when traveling from A station toward B station. The target power storage remaining amount is larger than the current power storage remaining amount, the overhead line voltage is smaller than the predicted overhead line voltage, and the running state of the vehicle is coasting. For this reason, since there is “no command” for the power storage device 104, the remaining power storage is maintained and the overhead line voltage is the same value as when the control is not performed.

  Area A3 represents braking when traveling from station A toward station B. The target power storage remaining amount is larger than the current power storage remaining amount, the overhead line voltage is smaller than the predicted overhead line voltage, and the running state of the vehicle is braking. For this reason, a charge command is output to the power storage device 104, and the remaining amount of power storage increases, thereby suppressing an increase in the overhead wire voltage and making the overhead wire in a stable direction.

  Area B1 represents power running when traveling from station B toward station C. The target remaining power level is larger than the current stored power level, the overhead line voltage is smaller than the predicted overhead line voltage, and the running state of the vehicle is power running. For this reason, a discharge command is output to the power storage device 104, the remaining amount of power storage is reduced, and the amount of decrease in the overhead wire voltage is suppressed.

  Area B2 represents a lameness when traveling from station B toward station C. It represents coasting when traveling from station B to station C. The target power storage remaining amount is larger than the current power storage remaining amount, the overhead line voltage is smaller than the predicted overhead line voltage, and the running state of the vehicle is coasting. For this reason, a command is not output to the power storage device 104, the remaining power storage is maintained, and the overhead line voltage becomes the same value as when not controlled.

  Area B3 represents lameness when traveling from station B to station C as in area B2. The difference from B2 is that the overhead line voltage is larger than the predicted overhead line voltage. There is no change in processing due to this, no command is issued to the power storage device, the remaining power storage is maintained, and the overhead line voltage becomes the same value as when not controlled.

  Area B4 represents braking when traveling from station B to station C. The target remaining power level is greater than the current remaining power level, and the overhead line voltage is greater than the predicted overhead line voltage, and the running state of the vehicle is braking. For this reason, a charge command is issued to the power storage device 104, and the remaining amount of power storage increases, thereby suppressing an increase in the overhead line voltage, so that the overhead line becomes stable.

  Area C1 represents power running when traveling from station C to station D. The target power storage remaining amount is larger than the current power storage remaining amount, the overhead line voltage is larger than the predicted overhead line voltage, and the running state of the vehicle is power running. For this reason, no command is issued to the power storage device 104, the remaining power storage amount is maintained, and the overhead line voltage becomes the same value as when not controlled.

  Similarly to the area C1, the area C2 represents powering when traveling from the C station toward the D station. The difference from C2 is that the target power storage remaining amount is smaller than the current power storage remaining amount. There is no control change by this, no command is issued to the power storage device 104, and the remaining power storage is maintained. Further, the overhead line voltage has the same value as that when the control is not performed.

Area C3 represents a coasting when traveling from station C to station D. The target power storage remaining amount is smaller than the current power storage remaining amount, the overhead line voltage is larger than the predicted overhead line voltage, and the running state of the vehicle is coasting. For this reason, a command is not issued to the power storage device 104, and the remaining power storage is maintained. Further, the overhead line voltage has the same value as that when the control is not performed.
Similarly to the area C3, the area C4 represents coasting when traveling from the C station toward the D station. The difference from C3 is that the overhead line voltage is smaller than the predicted overhead line voltage. For this reason, a discharge command is issued to the power storage device 104, and the remaining power storage is reduced. Further, the amount of decrease in overhead wire voltage is suppressed.

  A section C5 represents braking when traveling from the C station toward the D station. The target power storage remaining amount is smaller than the current power storage remaining amount, the overhead line voltage is smaller than the predicted overhead line voltage, and the running state of the vehicle is braking. For this reason, no command is output to the power storage device 104 and the remaining power storage is maintained. Further, the overhead line voltage has the same value as that when the control is not performed.

  Area D1 represents power running when traveling from D station to E station. The target power storage remaining amount is smaller than the current power storage remaining amount, the overhead line voltage is larger than the predicted overhead line voltage, and the running state of the vehicle is power running. For this reason, a command is not issued to the power storage device 104, and the remaining power storage is maintained. Further, the overhead line voltage has the same value as that when the control is not performed.

  Area D2 represents power running when traveling from D station to E station. The target power storage remaining amount is smaller than the current power storage remaining amount, the overhead line voltage is smaller than the predicted overhead line voltage, and the running state of the vehicle is coasting. For this reason, a command is not issued to the power storage device 104, and the remaining power storage is maintained. Further, the overhead line voltage has the same value as that when the control is not performed.

Finally, the area D3 represents braking when traveling from the D station toward the E station. The target power storage remaining amount is smaller than the current power storage remaining amount, the overhead line voltage is larger than the predicted overhead line voltage, and the running state of the vehicle is braking. For this reason, a charge command is issued to the power storage device 104, and the remaining amount of power storage increases. Moreover, the increase amount of overhead wire voltage is suppressed and it becomes a stable direction as an overhead wire.
By controlling as described above, it is possible to achieve an energy-saving operation by suppressing the overhead voltage drop during powering.

  In addition, this invention is not limited to an above-described Example, Various modifications are included. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. Further, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. Further, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.

101: vehicle, 102: overhead wire, 103: drive control device,
104: power storage device (power storage means), 105: overhead line voltage measuring means,
106: Mascon, 107: Database, 108: Target power storage remaining amount database calculating means,
109: Predicted overhead line voltage calculating means 110: Target power storage remaining amount calculating means,
111: Power storage command means, 150: Substation data, 151: Data
152: Position-target power storage remaining amount database,
153: Output permission information of power storage device during powering at station, 154: Drive command,
155: vehicle position, 156: vehicle characteristics, 157: predicted overhead line voltage,
158: target remaining power level, 159: overhead line voltage, 160: remaining power level of the power storage means,
161: charge / discharge command, 701: database,
702: Target power storage remaining amount database creation means, 750: Data,
751: Target power storage remaining amount database

Claims (12)

In a drive control system that has power storage means and a drive device and controls the drive of a vehicle that is always connected to a power supply line,
When the vehicle accelerates from each stop position, means for determining whether to discharge from the power storage device or to supply power from the overhead line from the power supply station position in the travel region and the stop position information of the vehicle;
Means for determining the target remaining power level of the power storage means from the relationship between the overhead line resistance from the power supply station positions ahead and behind the stop position and the internal resistance of the power storage means When,
An overhead line voltage predicting means for predicting an overhead line voltage at the travel position based on the travel position of the vehicle;
An overhead wire voltage measuring means for measuring the current overhead wire voltage,
The current power remaining amount obtained from the power storage means, the magnitude relationship between the target power remaining amount at each stop position, the predicted overhead wire voltage obtained from the overhead wire voltage predicting means, and the overhead wire voltage obtained from the overhead wire voltage measuring means A power storage command means for determining whether to charge / discharge the power storage means based on the magnitude relationship and the running state of the vehicle;
A drive control system comprising:   When the overhead line voltage is larger than the predicted overhead line voltage and the running state of the vehicle is other than braking, the power storage command unit stops charging / discharging of the power storage unit. The drive control system according to claim 1.   When the overhead line voltage is equal to or lower than the predicted overhead line voltage, the target remaining power level is greater than the current stored power level, and the running state of the vehicle is braking, the power accumulation command means includes the power The drive control system according to claim 1, wherein a charge command is sent to the storage means.   When the overhead line voltage is less than or equal to the predicted overhead line voltage, the target remaining power level is less than or equal to the current remaining power level, and the running state of the vehicle is braking, the power storage command means The drive control system according to claim 1, wherein a charge / discharge command of the power storage unit is stopped.   When the overhead line voltage is greater than the predicted overhead line voltage, the target remaining power level is greater than the current remaining power level, and the running state of the vehicle is braking, the power storage command means 2. The drive control system according to claim 1, wherein control is performed so as to send a charge command to the power storage unit.   When the overhead line voltage is less than or equal to the predicted overhead line voltage, the target remaining power level is less than or equal to the current remaining power level, and the running state of the vehicle is other than braking, the power accumulation command means 2. The drive control system according to claim 1, wherein a discharge command is sent to the power storage means.   The overhead line voltage is greater than the predicted overhead line voltage, the target power storage remaining amount is less than or equal to a current power storage remaining amount, and the current power storage remaining amount is greater than an upper limit value of a use range of the power storage means; And when the running state of the vehicle is braking, the power storage command means sends a limited charge command to the power storage means so as to charge the limited power. The drive control system according to claim 1.   The overhead line voltage is less than or equal to the predicted overhead line voltage, the target power storage remaining amount is greater than the current power storage remaining amount, and the current power storage remaining amount is less than or equal to a lower limit value of a use range of the power storage means; and 2. The drive control system according to claim 1, wherein the power storage command unit stops charging / discharging of the power storage unit when the traveling state of the vehicle is other than braking.   The overhead line voltage is greater than the predicted overhead line voltage, the target electricity storage remaining amount is less than or equal to the current electricity storage remaining amount, and the current electricity storage remaining amount is less than or equal to an upper limit value of a use range of the power storage means; When the traveling state of the vehicle is braking, the power storage command unit stores power using the current power storage remaining amount, the target power storage remaining amount, and the use range upper limit value of the power storage unit. The drive control system according to claim 1, wherein the remaining amount is controlled.   The overhead line voltage is less than or equal to the predicted overhead line voltage, the target remaining power level is greater than the current power storage amount, the current power storage level is greater than the lower limit value of the usage range of the power storage means, and the vehicle running state is In the case of power running, a limited discharge command to discharge the limited power to the power storage unit using the current remaining power storage amount, the target remaining power storage amount, and the use range lower limit value of the power storage unit. The drive control system according to claim 1, wherein:   2. The drive system according to claim 1, wherein the overhead line voltage is equal to or lower than the predicted overhead line voltage, the target power storage remaining amount is greater than the current power storage remaining amount, and the current power storage remaining amount is a lower limit value of a use range of the power storage unit. A drive control system that controls the power storage means not to be charged / discharged when the running state of the vehicle is coasting.   A vehicle comprising the drive control system according to claim 1.

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