Steering control system, steering system, car, steering control method and recording medium
A steering control system includes: a deviation amount detection unit configured to detect a deviation amount of a car that travels on a track, from a reference traveling path of the car in a width direction of the track; a roll or lateral direction vibration amount detection unit configured to detect a roll or lateral direction vibration amount of the car; and a feedback control unit configured to perform feedback control of steering of the car so as to reduce the deviation amount and the roll or lateral direction vibration amount. The feedback control unit is configured to output a steering command value in which a specified frequency to be reduced is suppressed.
1. A steering control system comprising:
a deviation amount detection unit configured to detect a deviation amount of a car that travels on a track, from a reference traveling path of the car in a width direction of the track;
a roll or lateral direction vibration amount detection unit configured to detect a roll or lateral direction vibration amount of the car;
a feedback control unit configured to perform feedback control of steering of the car so as to reduce the deviation amount and the roll or lateral direction vibration amount,
wherein the feedback control unit is configured to output a steering command value in which a specified frequency to be reduced is suppressed;
a storage unit configured to store steering pattern information indicating a steering command value for each traveling position of the car;
a traveling position detection unit configured to detect a traveling position of the car;
a feedforward control unit configured to output, based on the steering pattern information, the steering command value associated with the traveling position detected by the traveling position detection unit; and
a load detection unit configured to detect a load of the car,
wherein the storage unit is configured to store steering pattern information for each load of the car, and
wherein the feedforward control unit is configured to output the steering command value associated with the detected traveling position of the car, based on the steering pattern information corresponding to the load detected by the load detection unit.
2. The steering control system according to claim 1 , wherein the feedback control unit is configured to apply a frequency filter to remove or reduce the specified frequency to be reduced.
3. The steering control system according to claim 2 , wherein the feedback control unit is configured to apply the frequency filter, to remove or reduce a vibration of a predetermined frequency determined as a frequency that easily affects ride comfort.
4. The steering control system according to claim 2 , wherein the feedback control unit is configured to apply the frequency filter to remove or reduce a vibration of a natural frequency of the car.
5. The steering control system according to claim 1 , wherein the feedback control unit is configured to specify the frequency to be reduced by calculating a natural frequency of the car.
6. A steering control system comprising:
a deviation amount detection unit configured to detect a deviation amount of a car that travels on a track, from a reference traveling path of the car in a width direction of the track;
a roll or lateral direction vibration amount detection unit configured to detect a roll or lateral direction vibration amount of the car; and
a feedback control unit configured to perform feedback control of steering of the car so as to reduce the deviation amount and the roll or lateral direction vibration amount,
wherein the feedback control unit is configured to output a steering command value in which a specified frequency to be reduced is suppressed, and
wherein the frequency to be reduced is specified by simulation using a car including an undercarriage, an air spring, and a car body.
7. The steering control system according to claim 1 , wherein the frequency to be reduced is a frequency that easily affects ride comfort of the car.
8. The steering control system according to claim 1 , wherein the frequency to be reduced is a natural frequency of the car.
9. A steering system comprising a car and a car control device, wherein the car comprises:
a deviation amount detection unit configured to detect a deviation amount of the car that travels on a track, from a reference traveling path of the car in a width direction of the track;
a roll or lateral direction vibration amount detection unit configured to detect a roll or lateral direction vibration amount of the car;
a traveling position detection unit configured to detect a traveling position of the car; and
a load detection unit configured to detect a load of the car,
wherein the car control device comprises:
a feedback control unit configured to perform feedback control of steering of the car so as to reduce the deviation amount and the roll or lateral direction vibration amount;
a storage unit configured to store steering pattern information indicating a steering command value for each traveling position of the car; and
a feedforward control unit configured to output, based on the steering pattern information, the steering command value associated with the traveling position detected by the traveling position detection unit, and
wherein the feedback control unit is configured to output a steering command value in which a specified frequency to be reduced is suppressed,
wherein the storage unit is configured to store steering pattern information for each load of the car, and
wherein the feedforward control unit is configured to output the steering command value associated with the detected traveling position of the car, based on the steering pattern information corresponding to the load detected by the load detection unit.