JP2006193066A - Vehicle body inclination system and solenoid valve controlling method in air spring type vehicle body inclination system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To lengthen a maintenance period by reducing the number of times of operations of each solenoid valve in an air spring type vehicle body inclination system. <P>SOLUTION: In this controlling method, this system is provided with the plurality of solenoid valves 110A to 110C of the same capacity, and the number of the solenoid valves simultaneously opening/closing-controlled according to the size of a deviation between a target inclined angle and an actual inclined angle is changed to be increased/decreased. At a fine adjusting stage for opening/closing-controlling the only one solenoid valve, the solenoid valve is switched to another solenoid valve in order for every stop of the operation of the solenoid valve in operation. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a vehicle body tilt system for a railway vehicle and an electromagnetic valve control method in an air spring type vehicle body tilt system.

  In general, an air spring type vehicle body tilting system for a railway vehicle includes, as shown in FIG. 8, left and right air springs 2 and 3 that absorb vibrations of a carriage 1, and an air tank 4 that supplies air to the air springs 2 and 3. , Vehicle height sensors 5 and 6 for detecting the height of the air springs 2 and 3, electromagnetic valve devices 7 and 8 for controlling the flow rate of air supplied to the air springs 2 and 3, and a compressor for filling the air tank 4 with air 9 and a vehicle body tilt control device 10 (hereinafter referred to as a “control device”) that controls the electromagnetic valve devices 7 and 8 based on the detected values of the vehicle height sensors 5 and 6 and vehicle speed / position information. Yes.

  The control device 10 obtains a deviation between the detected values of the vehicle height sensors 5 and 6 and the inclination angle command value calculated from the vehicle speed / position information, and drives the electromagnetic valve devices 7 and 8 according to this deviation. The solenoid valve devices 7 and 8 have large, medium and small solenoid valves having different capacities, and control the flow rate of air supplied from the air tank 4 to the air springs 2 and 3 by switching these solenoid valves based on a command from the control device 10. The inclination of the vehicle body 11 is adjusted by adjusting the height of the air springs 2 and 3.

  The detection values of the vehicle height sensors 5 and 6 that detect the height of the air springs 2 and 3 are fed back to the control device 10 by transmission. That is, when the deviation between the detected values of the vehicle height sensors 5 and 6 with respect to the tilt angle command value is large, the solenoid valve having a large capacity is controlled, and when the deviation becomes small, the solenoid valve is gradually switched to a solenoid valve having a small capacity.

  A curve database is downloaded to the control device 10 in advance, and as shown in FIG. 9, the curve (main curve) Rr for performing vehicle body tilt, the entrance relaxation curve Rin, the exit relaxation curve Rout, and the angle to be tilted by each curve Rr. It is databased. The controller 10 tilts the vehicle body 11 to a target inclination angle while passing through the entrance relaxation curve Rin, and performs control to maintain the inclination angle in the main curve Rr. Then, control is performed to gradually return to the horizontal while passing through the curve Rr and passing through the exit relaxation curve Rout, and the detected values of the vehicle height sensors 5 and 6 are always compared with the inclination angle command value by the control device 10 during that time. .

  This vehicle body tilt angle control will be described in more detail. A system in which three normally closed solenoid valves are relayed before air is supplied to the air springs 2 and 3 to reliably shut off the air supply when an abnormality is detected, and to supply air via the normal height adjustment valve devices 7 and 8 The shut-off valves in the regulating valve devices 7 and 8 are normally open so that the air circuit can be switched reliably. This makes it possible to safely interrupt control even if a failure mode such as a solenoid valve or the like overlaps with another failure.

  The vehicle height sensors 7 and 8 for sensing the height of the air springs 2 and 3 are of a built-in height adjustment valve type and are arranged in a double system for important parts. In addition, it is a resolver type and is characterized by a non-contact and robust construction. The vehicle height sensors 7 and 8 have an abnormality detection function, and a redundant system is secured as a system that shifts to another system when an abnormality is detected.

  However, in such a conventional air spring type vehicle body tilt system, the vehicle body tilt angle control is performed by simple proportional control, so that the solenoid valve device gradually shifts from a large capacity solenoid valve to a small capacity solenoid valve control. However, minute adjustments are almost done with small solenoid valves. In a static state (stationary state), the system stabilizes relatively quickly, and the vehicle body does not become unstable and the solenoid valve does not operate unnecessarily. However, in reality, there are vehicle running vibrations, air spring swings, and disturbance factors (passenger movement, track conditions, etc.), so most conditions from the entrance relaxation curve to this curve and exit relaxation curve can be fine-tuned. Only the solenoid valve with a small capacity operates.

  Maintenance of the solenoid valve device is performed at regular intervals, and the solenoid valve with a large number of operations is replaced, but if there is an extreme difference in the number of operations of large, medium and small solenoid valves, the solenoid valve with an extremely large number of operations Therefore, there is a problem that the replacement cycle must be made in accordance with the frequency of replacement. In order to solve this problem, it is desirable to reduce the number of operations of the solenoid valve or to equalize the number of operations of large, medium and small solenoid valves. Since the solenoid valve is controlled by the relay board in the control device, there is a similar request for relay maintenance.

  Therefore, an object of the present invention is to provide a vehicle body tilt system that can extend a maintenance cycle.

  A first feature of the present invention is an electromagnetic valve control method in an air spring type vehicle body tilt system including a plurality of solenoid valves having the same capacity, and according to the magnitude of a deviation between a target tilt angle and an actual tilt angle. At the same time, in the fine adjustment stage where the number of solenoid valves to be controlled for opening / closing is increased / decreased and only one solenoid valve is controlled to open / close, the solenoid valve to be operated next is stopped every time the solenoid valve operating in accordance with a predetermined sequence is stopped. It is to open and close to control.

  According to a second aspect of the present invention, there is provided a solenoid valve control method for an air spring type vehicle body tilt system including a plurality of solenoid valves having different capacities, in accordance with the magnitude of deviation between a target tilt angle and an actual tilt angle. At the same time, by changing the combination of solenoid valves that are controlled to open and close, and in the fine adjustment stage that controls the opening and closing of only one solenoid valve, the solenoid valve to be operated next is switched every time the operating solenoid valve is stopped according to a predetermined sequence. Open / close control.

  According to a third aspect of the present invention, there is provided a solenoid valve control method for an air spring type vehicle body tilting system including a plurality of solenoid valves having different capacities, based on a distance on a running track and a traveling speed. The inclination angle required for the main curve to enter from now is obtained, the required air supply amount Y for the air spring necessary to reach the inclination angle is obtained, the distance of the inlet relaxation curve leading to the main curve and the travel of the vehicle Air required for supplying the required air supply amount Y for each combination of a plurality of types of solenoid valves is obtained from the speed to obtain a time T required to enter the main curve through the inlet relaxation curve. The required air supply time is the longest among the combinations of solenoid valves that can obtain the required supply time and can supply the air spring with more air than the required air supply amount within the time T required to pass the inlet relaxation curve. Selects a combination of the solenoid valve is to supply air by a required amount of air to the air spring in combination of the selected solenoid valve.

  Here, the relationship between the air pressure of the air source and the air flow rate is registered in a database for each of the plurality of solenoid valves, and when calculating the required air supply time for each combination of the plurality of types of solenoid valves, The required air supply time required to supply air by the required air supply amount Y after measuring the air pressure and referring to the database to correct the air flow rate corresponding to the air pressure. Can be requested.

  According to a fourth aspect of the present invention, there are provided a plurality of vehicle body tilting devices that tilt the vehicle body, a tilt angle detecting device that detects an actual tilt angle of the vehicle body, and the vehicle body tilting device based on a deviation between a target tilt angle and an actual tilt angle. A vehicle body tilt control device that controls the number of operations of the plurality of vehicle body tilt devices to be equal to each other.

  ADVANTAGE OF THE INVENTION According to this invention, the vehicle body tilt system which can extend a maintenance period can be provided.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  (First Embodiment) An air spring type vehicle body tilting system according to a first embodiment of the present invention will be described with reference to FIG. The schematic configuration of the air spring type vehicle body tilting system of the first embodiment is the same as that of the conventional example shown in FIG. 8, and the electromagnetic valve devices 7 and 8 have electromagnetic valves with large, medium and small capacities. . However, in this embodiment, the electromagnetic valve devices 7 and 8 are configured by three electromagnetic valves having the same capacity, and the number of electromagnetic valves to be controlled is changed according to the control deviation. Air is sent to the spring, and the number of open solenoid valves is reduced as the deviation becomes smaller. After fine adjustment is started by opening and closing one solenoid valve, the solenoid valves are operated sequentially, that is, rotated. The number of times is made uniform.

  As shown in FIG. 1, a train operation control device 20 is mounted for each train formation, and this train operation control device 20 includes a central device 21 and a terminal device 22 for each vehicle. This train operation control device 20 has a dual system of 1 system and 2 system for redundancy. The central device 21 receives a new ATC signal including a distance from the new ATC 31 from the central control room, and receives a vehicle body tilt angle signal from the yaw rate gyro 32.

  Each vehicle carriage 1 is equipped with left and right solenoid valve devices 7 and 8, air springs 2 and 3, and vehicle height sensors 5 and 6 that also have limit switches. The vehicle body inclination control device (control device) 10 that controls the electromagnetic valve devices 7 and 8 in response to signals from the vehicle height sensors 5 and 6 is further provided, and the air tank 4 that stores the compressed air supplied to the air springs 2 and 3. A compressor 9 for supplying compressed air to the air tank 4 is provided. These air springs 2 and 3, air tank 4, solenoid valve devices 7 and 8, and compressor 9 constitute a vehicle body tilting device.

  For redundancy, the control device 10 includes a command unit 101 that instructs vehicle height command values for the first and second systems, and a control unit 102 that controls the electromagnetic valve devices 7 and 8. Further, a horizontal direction acceleration signal from the vehicle accelerometer 12 is input to the control device 10. Each of the solenoid valve devices 7 and 8 includes three solenoid valves 110A, 110B, and 110C having the same capacity and their driving units 111.

  Next, an electromagnetic valve control method executed in the air spring type vehicle body tilt system having the above configuration will be described. The control device 10 feeds back the detected values of the left and right vehicle height sensors 5 and 6 during normal traveling traveling on a straight track, obtains a deviation between the left and right vehicle heights, and moves the right or right so that the deviation becomes zero. The left and right solenoid valve devices 7 and 8 are operated to adjust the air flow rate to the left air springs 2 and 3.

  The control device 10 also receives the distance signal from the new ATC 31 and the speed signal of the host vehicle, and detects that the vehicle has entered the entrance relaxation curve Rin shown in FIG. The left and right solenoid valve devices 7 and 8 are operated so as to tilt the vehicle body 11 to the target tilt angle. Usually, the maximum inclination angle of the vehicle body is 1 °.

  To adjust the air flow rate for the left and right air springs 2 and 3, the process according to the flowchart of FIG. 2 is executed at a predetermined cycle. That is, when the air flow rate is greater than a certain set value α, the three solenoid valves 110A, 110B, 110B, 110B, 110B, 110B, 110B, 110B, Simultaneously open and close the 110C3 body (steps S1 to S3), and simultaneously open and close two solenoid valves 110B and 110C of equal capacity when the air flow rate is smaller than the set value α and larger than the set value β (α> β). Control (steps S4 to S6). If the control air flow rate becomes smaller than the set value β, the process branches to NO in step S4, and the solenoid valves 110A, 110B and 110C are separated in order of C → closed → A → closed → B → closed → C. Is controlled to open and close (steps S7 to S14).

  In the control for passing the curve Rr and returning the vehicle body to the horizontal, the distance of the exit relaxation curve Rout and the vehicle speed are obtained, the time Tout required to pass the exit relaxation curve Rout is calculated, and this transit time is calculated. A control pattern that can be returned to horizontal within Tout is determined, and thereby air in the air spring 2 or 3 is released.

  According to the present embodiment, the solenoid valve devices 7 and 8 have three equal capacities when the control air flow rate is very small and not more than the set value β, that is, in the control mode in which the opening / closing control of each valve is repeated most frequently. By sequentially opening and closing the solenoid valves 110A, 110B, and 110C, the number of operations of these three solenoid valves can be equalized, resulting in a longer maintenance cycle.

  (Second Embodiment) An air spring type vehicle body tilt system according to a second embodiment of the present invention will be described with reference to FIGS. The configuration of the air spring type vehicle body tilt system of the second embodiment is the same as that of the first embodiment shown in FIG. 1, but the electromagnetic valve devices 7 and 8 are electromagnetic valves 110A having large, medium, and small capacities. (Large), 110B (medium), and 110C (small). The feature of the electromagnetic valve control method of the present embodiment is that these small, medium and small capacity solenoid valves are operated in sequence in the minute air flow rate control, but the large capacity solenoid valve 110A is short in order to flow the same air flow rate. The solenoid valve 110B in capacity has a medium time and the solenoid valve 110C having a small capacity is opened for a long time to control the flow of the same air flow, and the operation times of a plurality of solenoid valves having different capacities are equalized. There is to do.

  That is, as shown in the table of FIG. 3, the solenoid valves 110A, 110B, and 110C have three types of large, medium, and small capacities, and large, medium, small, large, medium, and small combinations of these capacities as air flow control patterns. Are divided into seven patterns of large, medium small, medium and small, and the air flow rate command value α is compared with the set values α1 to α6, and the solenoid valves 110A, 110B and 110C are individually or 2 in any of these control patterns. Simultaneously open and close more than one type. For example, if the air flow rate command value α is α2 ≧ α> α3, the control pattern is “large” and “small”, and the air is controlled until the specified vehicle height is reached by simultaneously opening and closing the large and small solenoid valves 110A and 110C. Supply air to the spring. On the other hand, when the air flow rate command value α is a fine adjustment pattern of α6 or less (α ≦ α6), the large, medium, and small solenoid valves 110A to 110C are sequentially controlled to open and close. Is rotated to equalize the number of operations of the solenoid valves 110A to 110C. However, in this fine adjustment pattern, if the air pressure is uniform, the air flow rate is represented by the product of the flow rate of each solenoid valve and the operation time, so the operation time required to supply the same amount of air to the air spring is The electromagnetic valve 110A having a large capacity is short and the electromagnetic valve 110C having a small capacity is long.

  FIG. 4 shows a flowchart of the electromagnetic valve control method in the air spring type vehicle body tilt system according to the present embodiment. In the solenoid valve device 10, if the entrance relaxation curve is entered, the specified inclination angle value of the main curve Rr for the corresponding distance is read from the database, and based on this, the air supply amount necessary for tilting the vehicle body on the entrance relaxation curve Rin is read. Is calculated, the air flow rate command value α is obtained, and the opening / closing control of the corresponding one or more solenoid valves is performed with reference to the table (steps S21 to S23). When the inclination angle of the vehicle body 11 approaches a predetermined value, the process shifts to a fine adjustment pattern (branch to NO in step S21).

  In this fine adjustment pattern, first, the electromagnetic valve 110C having a small capacity is controlled to be opened and closed to adjust the air flow rate, and the vehicle body 11 is controlled to incline to a predetermined inclination angle (steps S24 to S26). If the fine adjustment in the solenoid valve 110C is temporarily stopped and then the control with the fine adjustment pattern is necessary again, the process branches to YES in step S27, and the solenoid valve 110A having a large capacity is opened and closed for a short time. A necessary supply amount of air is controlled and supplied to the air spring (steps S27 to S29).

  After the fine adjustment control with the large capacity electromagnetic valve 110A is stopped, if the control with the fine adjustment pattern becomes necessary again, the process branches to NO in step S27, and the medium capacity electromagnetic valve 110B is turned on. The air supply is supplied to the air spring by opening / closing control for a medium time (steps S27, S30, S31).

  In the control for passing the curve Rr and returning the vehicle body to the horizontal, the distance of the exit relaxation curve Rout and the vehicle speed are obtained, the time Tout required to pass the exit relaxation curve Rout is calculated, and this transit time is calculated. A control pattern that can be returned to horizontal within Tout is determined, and thereby air in the air spring 2 or 3 is released.

  According to the present embodiment, the number of opening / closing operations of each solenoid valve can be equalized only by changing the control program using a plurality of types of solenoid valves having large, medium, and small capacities as in the prior art. Can be lengthened.

  (Third Embodiment) Next, an electromagnetic valve control method in an air spring type vehicle body tilting system according to a third embodiment of the present invention will be described with reference to FIGS. The configuration of the air spring type vehicle body tilting system of the third embodiment is the same as that of the first embodiment shown in FIG. 1, but the electromagnetic valve devices 7 and 8 are electromagnetic valves 110A having large, medium and small capacities with different capacities. (Large), 110B (medium), and 110C (small).

  The electromagnetic valve control method according to the present embodiment is characterized by calculating a time T required to enter the curve from the distance of the entrance relaxation curve in the curve database and the traveling speed of the vehicle, and reaching the target inclination angle within the time T. As a control pattern, it is possible to increase the open time of each solenoid valve by selecting and controlling the solenoid valve to be operated under the precondition that the solenoid valve with small capacity is controlled to open and close. The number of operations is reduced, and the maintenance cycle is extended.

  In the present embodiment, the solenoid valves 110A, 110B, and 110C have three types of large, medium, and small capacities, and these capacities are combined as an air flow rate control pattern, and large, medium, small, large, medium, large, small, medium, small Divide into 7 patterns, large, medium and small. And the inclination with respect to time of the air supply amount in each control pattern when the air pressure is uniform as shown in FIG. 5 is registered in the database of the electromagnetic valve device 10. Now, calculate the time T from the distance of the entrance relaxation curve in the curve database and the travel speed of the vehicle until it enters the curve, and also calculate the air supply amount Y required to realize the tilt angle command value, Among the control patterns that can reach the target inclination angle within the time T, the control pattern for opening / closing the solenoid valve having the smallest capacity is selected.

  That is, as shown in the flow chart of FIG. 6, first, the required time T for passing through the entrance relaxation curve and the air supply amount Y required to incline to the target inclination angle are calculated (step S51). As control patterns capable of supplying Y to the air spring, the operation times T1 to T7 required until the air supply amount becomes Y are obtained for the control patterns of the solenoid valves 110A, 110A, 110B, and 110C individually or in combination. Here, the control pattern of “large, medium and small” is T1 time, the control pattern of “large and medium” is T2 time, the control pattern of “large and small” is T3, the control pattern of “medium and small” is T4 time, and the control pattern of “large” Is T5 time, "medium" control pattern is T6 time, and "small" control pattern is T7 time (step S52).

  Then, T is compared with each of T1 to T7, and a control pattern that can reach the target inclination angle within the range of the entrance relaxation curve Rin passage time T is searched (steps S53, S55, S57, S59, S61). In this example, it is from T1 to T4. Then, the control pattern that provides the operation time closest to the T time within the T time is determined. In this example, the control pattern is “small”, and the operation time in this case is T4. Therefore, the electromagnetic valve device 10 determines this control pattern “medium / small”, thereby supplying air from the air spring, and inclining the vehicle body 11 to a predetermined inclination angle before entering the main curve Rr (steps S59, S60). ).

  In the control for passing the curve Rr and returning the vehicle body to the horizontal, the distance of the exit relaxation curve Rout and the vehicle speed are obtained, the time Tout required to pass the exit relaxation curve Rout is calculated, and this transit time is calculated. A control pattern that can be returned to horizontal within Tout is determined, and thereby air in the air spring 2 or 3 is released.

  According to the present embodiment, the time T required to enter the main curve is calculated from the distance of the entrance relaxation curve and the traveling speed of the vehicle, and the electromagnetic capacity having the smallest capacity is obtained as a control pattern that can reach the target inclination angle within the time T. Since the solenoid valve to be operated is selected and controlled to open / close under the precondition that the valve or the solenoid valve group is controlled to open / close, the opening time of each solenoid valve can be increased, resulting in the number of operations of each solenoid valve. As a result, the maintenance cycle can be lengthened.

  Note that the air flow rate of the solenoid valves 110A, 110B, and 110C having large, medium, and small capacities varies depending on the MR pressure even when the valve opening is the same. Therefore, the air flow rate-MR pressure characteristics as shown in FIG. 7 are registered in the database, and the MR pressure is first measured at the time of control in the solenoid valve device 10, and each of the solenoid valves 110A, 110B, 110C is measured based on the measured values. Determine the exact air flow. And at the time calculation of T1-T7 of FIG.6 S52, calculation is performed using this exact air flow rate. As a result, even when it is necessary to strictly control the time, as in the case of the present embodiment, it is possible to accurately predict the time required to reach the tilt angle, and definitely take the latest time within the time T. The opening and closing control of the solenoid valve group can be performed so as to reach the target inclination angle.

  In all the above embodiments, the three solenoid valve groups 110A to 110C are used. However, the present invention is not limited to this, and the same control is possible when more solenoid valve groups are controlled. It is.

1 is a block diagram of an air spring type vehicle body tilt system according to a first embodiment of the present invention. The flowchart of the solenoid valve control method in the air spring type vehicle body tilt system of the said embodiment. The table which shows a response | compatibility with the air flow rate command value employ | adopted in the air spring type vehicle body tilt system of the 2nd Embodiment of this invention, and the combination of the 1 or several electromagnetic valve which carries out opening / closing control simultaneously corresponding to it. The flowchart of the solenoid valve control method in the air spring type vehicle body tilt system of the said embodiment. The graph which shows the air supply amount characteristic by the combination of the 1 or several solenoid valve which controls opening / closing simultaneously in the air spring type vehicle body tilt system of the 3rd Embodiment of this invention. The flowchart of the solenoid valve control method in the air spring type vehicle body tilt system of the said embodiment. The characteristic graph which shows the correspondence of the air pressure and air flow rate of the large, middle, and small solenoid valves employed in the above embodiment. The block diagram of the air spring type vehicle body tilting system of a prior art example. Explanatory drawing which shows the relationship between the main curve which needs the vehicle body inclination control in a railway track, its entrance relaxation curve, and an exit relaxation curve.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Bogie 2,3 Air spring 4 Air tank 5,6 Vehicle height sensor 7,8 Solenoid valve device 9 Compressor 10 Car body tilt control device 11 Car body 12 Accelerometer 20 Train operation control device 21 Central device 22 Terminal device 31 New ATC
32 Yaw rate gyro 101 Command unit 102 Control unit 110A to 110C Solenoid valve 111 Drive unit

Claims (5)

  A solenoid valve control method in an air spring type vehicle body tilt system having a plurality of solenoid valves having the same capacity, wherein the number of solenoid valves that are controlled to open and close simultaneously according to the difference between the target tilt angle and the actual tilt angle is determined. In the fine adjustment stage in which only one solenoid valve is controlled to open / close, and to open / close control, the solenoid valve to be operated next is switched every time the operating solenoid valve is stopped according to a predetermined sequence. Control method for an air spring type vehicle body tilting system.   A solenoid valve control method in an air spring type vehicle body tilt system having a plurality of solenoid valves having different capacities, and comprising a combination of solenoid valves that are controlled to open and close simultaneously according to the magnitude of deviation between a target tilt angle and an actual tilt angle. In the fine adjustment stage in which only one solenoid valve is controlled to be opened and closed, the solenoid valve to be operated next is switched and controlled to open / close whenever the solenoid valve is operating according to a predetermined sequence. An electromagnetic valve control method in an air spring type vehicle body tilt system. An electromagnetic valve control method in an air spring type vehicle body tilting system having a plurality of electromagnetic valves with different capacities,
Based on the distance on the running track and the running speed, find the inclination angle required for this curve to enter from now on,
Obtain the required air supply amount Y for the air spring necessary to reach the tilt angle,
From the distance of the entrance relaxation curve connected to the main curve and the traveling speed of the vehicle, a time T required to enter the main curve through the entrance relaxation curve is obtained,
For each combination of a plurality of types of solenoid valves, obtain the required air supply time required for supplying air by the required air supply amount Y,
Select a combination of solenoid valves having the longest time required for air supply from among combinations of solenoid valves that can supply the air spring with the air more than the required air supply amount within the time T required to pass through the inlet relaxation curve. And
A method for controlling an electromagnetic valve in an air spring type vehicle body tilting system, wherein air is supplied to the air spring by a required amount of air by a combination of the selected electromagnetic valves. For each of the plurality of solenoid valves, the relationship between the air pressure of the air source and the air flow rate is registered in the database,
When calculating the required air supply time for each combination of the plurality of types of solenoid valves, the air pressure of the air source is measured, and the air flow rate by each solenoid valve is referred to the database and corrected to correspond to the air pressure. 4. The method for controlling an electromagnetic valve in an air spring type vehicle body tilting system according to claim 3, wherein a required air supply time required to supply air by the required air supply amount Y is obtained. A plurality of vehicle body tilting devices for tilting the vehicle body;
An inclination angle detection device for detecting the actual inclination angle of the vehicle body;
A vehicle body tilt control device that controls the vehicle body tilt device based on a deviation between the target tilt angle and the actual tilt angle;
The vehicle body tilt control apparatus controls the vehicle body tilt system so that the number of operations of the plurality of vehicle body tilt apparatuses is equal.

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