CN101356089A - System, method and computer software code for optimizing train operations considering rail car parameters - Google Patents

Abstract

A method for improving train performance, the method including determining a rail car parameter for at least one rail car to be included in a train, and creating a train trip plan based on the rail car parameter in accordance with one or more operational criteria for the train.

Description

System, method and computer software code in view of rail compartment parameter optimization train running

The application is based on the provisional application of submitting on May 19th, 2006 number 60/802,147, and is the part continuation application of the U. S. application submitted on March 20th, 2006 number 11/385,354, at this its full content is incorporated herein by reference.

Technical field

The field of the invention relates to rail transportation (rail transportation), and relates more particularly to discern rail compartment (rail car) parameter for the usefulness of improving train (train) operation.

Background of invention

Locomotive (locomotive) is the complication system with a plurality of subsystems, and wherein each subsystem all interdepends with other subsystem.The operator usually goes up on the locomotive the normal operation with the load of the freight car of guaranteeing locomotive and being associated.Except that guaranteeing the normal operation of locomotive, the operator also is responsible for determining the running velocity of train and be responsible in train various power being restricted to acceptable value that wherein locomotive is the part of described train.In order to carry out this function, the operator must have the rich experiences of operating locomotive and various trains on the landform specifying usually.May act with assignable running velocity that train changes along the position of track in order to abide by, this knowledge is essential.In addition, the operator is responsible for also guaranteeing that trying hard to keep in the train is held within the acceptable restriction.

Railway station (rail yard) is the hinge (hub) of rail transportation system.Many services are carried out in the railway station, for example goods is initiated (origination), exchanges and is stopped, locomotive deposit and safeguard, the assembling of new train and inspection, train be through the maintenance of factory (facility), the inspection and the maintenance in rail compartment, and the rail compartment is deposited.The resource such as personnel, equipment and space is fought in the difference service of railway station in different factories, manage whole railway station so effectively and be exactly very complicated operations.

Assembling new train is usually directed to subscribe to the number of times of given destination and prime power (motive power) that given train can be used assembles according to carrying capacity (trainload).Typically when the assembling train, the placement of rail compartment in train can be finished randomly.More specifically, not to carry out the compartment according to the order that can make the train running optimum to be provided with.Understand such as carriage weight, load, axletree to, laterally and/or under the situation of the information the vertical power, can improve the optimization of train stroke.Such information can help to optimize some aspect of train running, such as but not limited to the fuel/speed-optimization that is used to quicken, slow down, the improved train of distributed-power or non-distributed dynamical train handled, and/or improved discharging.

Exist now improving the train fitting process and improving the engine operating parameter to reduce fuel cost and the lasting demand of striding road transfer time (over-road transit time).When assembling train, use rail compartment parameter in this disclosed a kind of method.

Summary of the invention

Exemplary embodiment of the present invention discloses a kind of system, method and the computer software code of rail compartment parameter for the usefulness of improving train running that be used to discern.For this reason, a kind of method that is used for improving the train performance is included as the step that at least one rail compartment that will be contained in train defines rail compartment parameter.Another step comprises at least one operational norm according to train, creates the plan of train stroke according to rail compartment parameter.

In another exemplary embodiment, disclose a kind of that in treater, use, in order to improve the computer software code of train performance.Described computer software code comprises the rail compartment CALCULATION OF PARAMETERS machine software module at least one the rail compartment that is used for definite described train.Another computer software module is used for creating the plan of train stroke according at least one operational norm of described train according to described rail compartment parameter.

A kind of system that improves the train performance by definite rail compartment parameter is also disclosed.This system comprises rail compartment parameter measurement system.Central controller is also disclosed.Further comprise communication network, it realizes the communication between described measuring system and the described central controller.Rail compartment parameter is measured and be provided for described central controller, and this central controller is that all rail compartments in the train determine that train forms profile (make upprofile) and/or determine the stroke plan for the train task according to described rail compartment parameter then.

Accompanying drawing describes in detail

Below with reference to specific embodiment of the present invention illustrated in the accompanying drawings the present invention who as above briefly describes is carried out more detailed description.Be understandable that these accompanying drawings are only described exemplary embodiments of the present invention, therefore can not be regarded as restriction, will use additional feature and details to be described and to explain by utilizing accompanying drawing below of the present invention to scope of the present invention, wherein:

Fig. 1 has described the example illustration of diagram of circuit of the present invention;

Fig. 2 has described the simplified model of the train that can adopt;

Fig. 3 has described the exemplary embodiment of element of the present invention;

Fig. 4 has described the exemplary embodiment that fuel expends (fuel use)/running time diagram of curves;

Fig. 5 has described the exemplary embodiment that segmentation is decomposed has been carried out in the stroke plan;

Fig. 6 has described the exemplary embodiment of segmentation example;

Fig. 7 has described exemplary process diagram of the present invention;

Fig. 8 has described the example illustration of the dynamic display that uses for the operator;

Fig. 9 has described another example illustration of the dynamic display that uses for the operator;

Figure 10 has described another example illustration of the dynamic display that uses for the operator;

Figure 11 has described schematically showing of system that the rail compartment parameter that is used to improve train running is discerned automatically; With

Figure 12 has described and has been used to illustrate that automatic identification is used to improve the diagram of circuit of step of the rail compartment parameter of train running.

Detailed description of the present invention

Exemplary embodiment of the present invention is by being provided for identifying rail compartment parameter for improvement The system of the usefulness of train running, method and computer software code, thus solved in this area Problem. It will be recognized by those skilled in the art (the bag of the equipment such as data handling system Draw together CPU, memory, I/O, program storage, connection bus and other suitable assemblies), Can be programmed or otherwise be designed to promote the method for exemplary embodiment of the present Implement. Such system will comprise carrying out the suitable program dress of exemplary embodiment of the present Put.

In general, technique effect is identification rail compartment parameter and uses these parameter improvement trains Operation. The present invention can be at the executable instruction of computer of being carried out by computer (program mould for example Piece) describes in the general environment. Usually, program module can comprise execution particular task or realization The routine of particular abstract data type, program, object, assembly, data structure etc. For example, energy Enough with different language the software program of supporting exemplary embodiment of the present is encoded, to use In different computing platforms. Yet, should be appreciated that also can to use the computer of other types soft The part technology realizes supporting the principle of exemplary embodiment of the present.

In addition, those of skill in the art recognize that the present invention can use other departments of computer science Under unified central planning putting implemented, comprise hand-held device, multicomputer system, based on microprocessor or can The consumption electronic product of programming, microcomputer, mainframe computer etc. The present invention also can Implement in the DCE, in this environment by be coupled the far away of (link) by communication network The journey treating apparatus is executed the task. In DCE, program module can be positioned at and comprise and depositing The local and remote computer-readable storage medium of storage device is among these two.

And, the manufacturing article (for example prerecorded disk or other similar computer programs) that use with data processing system can comprise storage medium and the program control unit that writes down thereon, and described program control unit is used for the directs data disposal system to promote the realization of method of the present invention.Such equipment and manufacturing article also fall within the spirit and scope of the present invention.

In whole file, all used term " locomotive crew (locomotive consist) ".As used herein, locomotive crew can be described to have one or more locomotives in succession, and these locomotives are joined together so that motorized motions (motoring) and/or braking potential to be provided.Locomotive is joined together, and this is in does not have railway carriage between the locomotive.Train can have an above locomotive crew in it is formed.Especially, a pilot set can be arranged and more than one long-range group, for example another long-range group of group in the middle of the compartment line and train end.Each locomotive crew can have first locomotive (first locomotive) and pull locomotive (trail locomotive) (one or more).Although first locomotive is counted as pilot engine usually, one of ordinary skill in the art will be easy to recognize that first locomotive in many locomotive crews can be positioned at physics physically and pull the position.Although locomotive is formed the locomotive that is counted as usually in succession, but one of ordinary skill in the art will be easy to recognize, even when at least one compartment separates with locomotive, for example be configured for distributed-power when operation (wherein throttle and brake command are relayed to long-range train by radio link or physical cables from pilot engine) when locomotive crew, the locomotive cohort also can be thought one group.For this reason, when in same train a plurality of locomotive being discussed, term " locomotive crew " should not be considered limiting factor.

With reference now to accompanying drawing,, embodiments of the invention is described.The present invention can realize in many ways, comprises as system's (comprising computer processing system), method (comprising computer implemented method), equipment, computer-readable medium, computer program, graphic user interface (comprising the web network gateway) or positively is installed in data structure in the computer-readable memory.Some embodiment of the present invention will be discussed below.

Fig. 1 has described the example illustration of the diagram of circuit of exemplary embodiment of the present invention.As shown in the figure, input is exclusively used in onboard or plans from remote location (for example the control center 10) instruction of stroke.Such input information includes but not limited to: train location, group is described (for example model locomotive), railroad traction is described, the locomotive traction conveying function, engine fuel consumption as the function of horsepower output, cooling characteristics, the stroke route of plan is (as the effective track grade and the curvature of the function of road sign (milepost), or " effective gradient " composition of the curvature of standard railroad convention is followed in reflection), by the train that the compartment is formed and load is represented with effective drag coefficient, desired travel parameters includes but not limited to: time of origin and position, final position, the running time of expectation, staff (user and/or operator) sign, staff change shifts expiration time and route.

Can adopt multiple mode that these data are offered locomotive 42, such as but not limited to: operator via airborne telltale manually with this quantitative data input to locomotive 42, the memory storage (for example hardware card and/or usb driver) that will comprise these data inserts the socket (receptacle) on the locomotive, and via radio communication from the center or position, roadside (wayside) 41 for example track signal send (signalling) device and/or roadside device (wayside means) (as shown in Figure 3) to locomotive 42 transmission information.Locomotive 42 and train 31 load characteristics are (for example, towing) also can be (for example with route, along with the situation in rail (rail) and rail compartment, highly, temperature on every side) and change, and can adopt above-mentioned any one method as required and/or upgrade described plan to reflect such variation by the situation of collecting locomotive/train in real time automatically.This for example comprises, by on the monitoring locomotive (one or more) 42 or outside device detect the variation of locomotive or train characteristic.

The track signal system determines the train speed of allowing.Exist the track signal system and the working rule of a lot of types that join with each signal correction.For example, some signals have single lamp (ON/OFF), and some signals have the single camera lens with multiple color, and some signals have a plurality of lamps and color.It is unimpeded that these signals can indicate track and train can advance with the permissible speed of maximum.They can also indicate needs to slow down or stop.This deceleration may need to finish at once, or finish (for example, before next signal or crossing) in a certain position.

By various means signal condition is sent to train and/or operator.There is circuit in some systems in track, and the inductive pick-up coil is arranged on locomotive.Other system has wireless communication system.Signal system also may need the operator to check signal intuitively and take adequate measures.

Signal sending system can be adjusted locomotive speed with the cab signal system docking and according to input and suitable working rule.For needing the operator to check the signal system of signal condition intuitively, operator's screen will present the appropriate signals option for input to the operator according to the position of train.The type of working rule and signal system as the function of position, can be stored in the vehicle-mounted data storehouse 63.

According to the authority data that is input in the exemplary embodiment of the present invention, calculate the minimized optimal plan of discharging (it obeys the speed limit constraint along the route with expectation starting and ending time) fuel is expended and/or produces with generation stroke profile (profile) 12.Described profile comprises that optimal velocity and power (retaining) that train is followed are provided with, it is represented as the function of distance and/or time, and such train running restriction, include but not limited to: highest gear power and brake setting, with as the speed limit of the function of position and the discharging of desired fuel that expends and generation.In the exemplary embodiment, be used to keep off that the value of setting is selected changes decision approximately to obtain a throttle in per 10 to 30 seconds.One of ordinary skill in the art will be easy to recognize, if desired and/or expectation follow optimum velocity profile, throttle changes decision can be taken place longer or shorter the duration.In a broad sense, concerning one of ordinary skill in the art, it is apparent that these profiles do not provide power setting for train at train rank, group rank and/or single other arbitrary number of level of train level.Power comprises B.P., driving power and air brake power.In another preferred embodiment, it is optimum continuous power setting that exemplary embodiment of the present invention can be selected to be confirmed as with regard to selected profile, rather than at traditional discrete power retaining operation down is set.Like this, for example, if optimum profile is specified 6.8 retaining setting rather than at retaining 7 times operations is set, then locomotive 42 can move at 6.8 times.Allow such middle power setting can bring additional efficiency interests as describing below.

Summarize as following, the program that is used to calculate optimal profile can be to be used to calculate drive any several different methods of train 31 with the power sequence that minimizes the fuel of obeying locomotive operation and time schedule constraint and/or discharging.In some cases, because the similarity of train configuration, route and environmental aspect, needed optimal profile may be enough approaching with a previous profile of determining.In these cases, in data bank 63, search drive track and to attempt following it be enough.When the plan of previous calculating was all improper, the method that is used to calculate a new plan included but not limited to, utilized the Differential Equation Model of approximate train movement physical property to guide the calculating of optimal profile.This setting comprises selects quantitative objective function, and normally the weighted sum (integration) with specific consumption of fuel and the corresponding model variable of discharging generation adds in order to punish the item that excessive throttle changes.

Optimum control formula is established to minimize quantitative objective function, and its constraint of obeying includes but not limited to that speed limit is provided with minimum and maximum power (throttle).According to planned target any time, can set up this problem neatly with the fuel that minimizes the constraint of obeying discharging and speed limit or minimize obedience fuel and expend discharging with the constraint of the time of advent.Also can set up such target, for example, under the situation of the constraint that not total discharging or fuel is not expended, minimize the target of overall travel time, will allow at task or the such constraint of needs is relaxed herein.

Exemplary equation and objective function given in whole file all are used to minimize railroad fuel consumption.These equations and function only as an example, other equations and objective function can be used to the operating parameter optimizing consumption of fuel or be used for optimizing other locomotive/trains.

On the mathematics, problem to be separated can be stated more accurately.Basic physical property is represented as:

$\frac{\mathrm{dx}}{\mathrm{dt}}=v;$ x(0)＝0.0；x(T _f)＝D

$\frac{\mathrm{dv}}{\mathrm{dt}}=T_e(u,v)-G_a\left(x\right)-R\left(v\right);$ v(0)＝0.0；v(T _f)＝0.0

X is the position of train herein, and v is a train speed, and t be the time (unit be respectively mile, mph. and depend on the circumstances minute or hour), and u is retaining (throttle) order input.In addition, the distance that D indicates to travel, T _fBe through distance D desired time of advent, T along track _eBe the tractive force that locomotive crew produces, G _aBe to depend on that train length, train are formed and the terrestrial attraction of train landform of living in, R is the gradeability that locomotive crew and train combination depend on net velocity.Initial and final velocity also can be designated, yet under situation about being without loss of generality, at this it is set as zero (train all is in and stops) when beginning and finish.At last, model is easy to be modified to and comprises other important dynamics characteristics (dynamics), for example the throttle u tractive force that changes and cause thus or the hysteresis between the braking force.Utilize this model, set up the optimal control formula to minimize the quantitative objective function, the constraint of its obedience includes but not limited to: speed limit is provided with minimum and maximum power (throttle).According to planned target any time, the problem of can setting up neatly to be to minimize the fuel of the constraint of obeying discharging and speed limit, perhaps minimizes obedience fuel and expends discharging with the constraint of the time of advent.

Also can set up such target, for example, minimize overall travel time not total discharging or fuel not being expended under the situation about retraining, allow at this task herein or need such constraint to relax.All these TEMPEST performance measurement can both be expressed as following every arbitrary linear combination:

-minimize total consumption of fuel

-minimize running time

-minimize retaining to handle (jockeying) (piecewise constant input)

-minimize retaining to handle (input continuously)

With with cooresponding the fuel item F that replaces in (1) of quantity discharged.For example, for discharging

-minimize total discharging consumption.E is the quantity discharged (unit is gram every horse power hour (gm/hphr)) of each retaining (or power setting) in this formula.In addition can based on fuel and the weighted sum of discharging realize minimizing.

Therefore, employed and representational objective function is usually:

$\underset{u\left(t\right)}{\min }{\mathrm{\α}}_1\underset{0}{\overset{T_f}{\∫}}F\left(u\left(t\right)\right)\mathrm{dt}+{\mathrm{\α}}_3{T}_f+{\mathrm{\α}}_2\underset{0}{\overset{T_f}{\∫}}{(\mathrm{du}/\mathrm{dt})}^2\mathrm{dt}---\left(\mathrm{OP}\right)$

The coefficient of linear combination depends on the importance (weight) of giving each.Notice that in equation (OP), u (t) is the optimization variable that continuous gear is put.Discrete if desired retaining, for example, for older locomotive, the separating of equation (OP) by discretization, this can cause lower saving of fuel.Seek the minimum time and separate (α ₁Be made as 0, α ₂Be made as 0 or relatively little value) be utilized for attainable running time and seek lower limit (T _f=T _Fmin).In this case, u (t) and Tf these two all be to optimize variable.Preferred embodiment is at α ₃Be made as under 0 the situation equation (OP) is found the solution to obtain T _f＞T _FminVarious T _fValue.Under this latter's situation, T _fBeing taken as constraint treats.

For those people who separates who is familiar with such optimal problem, be necessary additional constraint, for example, along the speed limit in path:

0≤v≤SL(x)

Perhaps when minimum time during as target, the terminal point constraint must keep, and the total fuel that is for example consumed must be less than the fuel in the fuel tank, for example via:

$0<\underset{0}{\overset{T_f}{\&Integral;}}F\left(u\left(t\right)\right)\mathrm{dt}\&le;W_F$

W herein _FBe T _fRemaining fuel in the moment fuel tank.One of ordinary skill in the art will be easy to recognize equation (OP) also can adopt other forms represent and also above-mentioned introduction be for the exemplary equation of using in the exemplary embodiment of the present.

The discharging that relates in the context of exemplary embodiment of the present can refer to the accumulation discharging by the various forms generation.For example, emission request can be set the maxim of oxides of nitrogen (NOx) discharging, hydro-carbon (HC) discharging, carbonoxide (COx) discharging and/or particulate matter (PM) discharging.Other emission limit set can comprise the maxim of Electromagnetic Launching, for example to the restriction by the output of radio frequency (RF) power on each frequency of locomotive emission (is metric unit with the watt).Also having a kind of form of export is the noise that locomotive produces, and is metric unit with decibel (dB) usually.Emission request can be based on the time in the time in one day, 1 year, and/or the variation of atmospheric conditions (for example weather or airborne pollution level) and changing.Known, discharging adjustment can change in whole railway system scope geographically.For example, operation area (for example city or state) can have the emissions object of appointment, and contiguous zone can have different emissions objects, for example allows than the anti-emission carburetor amount for given levels of emissions or collects than high cost.Therefore, the discharging profile that can work out the specific geographical area is adjusted the maximum discharge value of discharging to comprise each that be contained in the profile, to satisfy the required predetermined emissions object in this zone.Typically, for locomotive, these discharging parameters are determined by power (retaining), ambient condition, engine control etc.

By design, each locomotive all must be obeyed the EPA standard with regard to braking specific discharging, thereby when optimizing discharging in exemplary embodiment of the present invention, this can be that task is always discharged, to its current not existential specification.Federal EPA requirement is all obeyed in operation always.If the common-denominator target during the stroke task is an emission abatement, then Zui You control formula, equation (OP) will be modified to consider the trip target.Crucial alerting ability during optimization is provided with is that any or all stroke target can both change according to geographic area or task.For example, for the train of high priority, minimum time can be the unique target on the route, and reason is that it is that high priority is current.In another example, discharging output can change from the state to the state along the train route of being planned.

In order to solve the optimization problem that causes thus, in the exemplary embodiment, the present invention is converted to the equivalent static mathematical programming problem with N decision variable to the dynamic optimal control problem in time domain, and wherein digital N depends on that carrying out throttle regulates the frequency at place and the time length of stroke with braking.For the representative type problem, this N can be in thousand.For example in one exemplary embodiment, suppose that train travels on the track section of southwestern 172 miles of the U.S..Utilize exemplary embodiment of the present invention, the stroke of determining and following when relatively using exemplary embodiment of the present with at stroke be under the situation about determining by the operator, during actual actuator throttle/speed history, saving that can realization example 7.6% on spent fuel.Because compare, by utilizing optimization that exemplary embodiment of the present realizes to produce not only to have less towing loss but also have seldom or do not have the driving strategy of brake loss, so realized the increase of saving with operator's stroke plan.

In order to make optimization described above be easy to handle calculating, can adopt the simplified model of train, example is as shown in Figure 2 and equation discussed above.The more detailed model that has the optimal power sequence that is produced by driving, just produced the crucial refinement of optimizing profile, with test whether violate other heat, electricity with the constraint of machinery, thereby produce profile with the correction of adjusting the distance with the immediate speed of operation, described operation can (just be satisfied additional implicit constraint, for example to the thermal limit of power and electricity restriction between locomotive power and compartment in the train) and realize under the situation of not damaging locomotive or train equipment.

Refer back to Fig. 1,, just produce power command 14 to begin plan in case stroke begins 12.Operation setting according to an exemplary embodiment of the present invention, an order is used for making locomotive to follow the power command 16 of optimization to obtain optimum speed.Exemplary embodiment of the present obtains actual speed and power information 18 from the locomotive crew of train.Owing to inevitably being similar in the model that uses for optimization, being corrected to the closed loop of optimizing power and calculating obtained to follow the tracks of the optimal velocity of expectation.The correction of such train running restriction can automatically perform or be carried out by the operator who has the final control of train always.

In some cases, the model that uses in optimization can be obviously different with the train of reality.This can include but not limited to because of a lot of reasons takes place, the collecting (pickup) or distribute (setout) of extra goods, and the locomotive of et out of order and initial data base 63 or operator import the mistake in the data in route.Owing to these reasons, a supervisory system is suitable, and the real-time train data of this system's utilization are estimated locomotive and/or train parameter 20 in real time.When stroke is created at first, then the parameter of estimating is compared 22 with employed hypothesis parameter then.If from the enough big saving of new generation in the works, according to any difference of default and estimated valve, stroke can be replanned 24.

The other reasons that stroke can be replanned comprises the indication from remote location, and for example scheduling and/or operator ask to change target with consistent with overall more exercise program target.Quan Ju exercise program target can include but not limited to more: other train time schedules, permission waste gas are from tunnel dissipation, attended operation etc.Another reason can be owing to the fault of vehicle-mounted part.According to the order of severity of destroying, the strategy that is used to replan can be grouped into to be increased and main adjustment, discusses in more detail as following.Generally speaking, " newly " plan must draw from the separating of above-mentioned optimization problem equation (OP), but as described herein, usually can find numerical solution faster.

In service, locomotive 42 is monitored control system efficient and upgrade the stroke plan continuously according to measured practical efficiency continuously, just upgrades when such renewal can improve the stroke performance.The calculating of replanning can all be carried out in locomotive (one or more) or completely or partially transfer to remote location and carry out, and for example scheduling or roadside treatment facility wherein utilize wireless technology that plan is sent to locomotive 42.The all right formation efficiency trend of exemplary embodiment of the present invention, described efficient trend can be used to produce locomotive fleet (fleet) data about the efficient transfer function.When determining initial stroke plan, fleet's range data can be used, and when considering the position of a plurality of trains, described fleet range data can be used to the optimization of network range and weigh.For example, running time fuel shown in Figure 4 expends the balance curve and has reflected the performance of the train on particular course at that time, and it is to upgrade according to the ensemble average value of collecting for a plurality of similar trains on the same route.Like this, the central dispatching facility of collecting the such curve of Fig. 4 from a plurality of locomotives can utilize this information to coordinate the motion of overall train better, thus fuel expend or loading and unloading capacity aspect obtain the advantage of system scope.

A lot of incidents in the day-to-day operation can both cause producing or revise the needs of current executive plan, wherein for when train not on time with another train generation plan meet or through and its need remedy the time time, desired is the stroke target that keeps identical.Utilize speed, the power and bit of locomotive reality to put, between (prediction) time of advent of the time of advent of planning and current estimation, compare 25.According to the difference of time, and the difference of (detected by scheduling or operator or change) parameter is come plan for adjustment 26.Can follow railroad and carry out this adjustment automatically, perhaps propose to select the best way of the plan that comes back to common decision by operator on the car and dispatcher artificially about should how to handle this requirement that departs from plan.No matter plan when to be updated still under the identical situation of original object (such as but not limited to the time of advent) maintenance, in additional variation can be included in simultaneously, for example new following speed limit changes, and it can influence the feasibility of once recovering original scheme.Under such situation, if can not keep original stroke plan, perhaps in other words train can not satisfy original stroke planned target, then as discussed herein, can provide other stroke plan (one or more) to give operator and/or remote facility, perhaps scheduling.

When changing original object, hope also can replan.Replanning like this can manually be finished by operator or dispatcher's judgement in the fixing time that preplans, perhaps when automatically being finished above predefined restriction (for example train running restriction) time.For example, if the execution of current planning is more late than assign thresholds (for example 30 minutes), exemplary embodiment so of the present invention can as above-mentioned be that cost is replanned stroke how long can remedy (just the minimum time that will walk maybe can save maximum fuel) to adapt to delay or alert operator and dispatcher altogether in the scope of time-constrain described to increase fuel.Other triggerings that can also be used to replan according to the situation prediction of fuel that is consumed or power pack, include but not limited to the time of advent, because of the temporary transient running of breakdown of equipment and/or equipment unusual (for example, too hot or cold operation too) and the loss of horsepower that causes, and/or detect mistake always is set, these all are in the train load of hypothesis.In other words, if change subduing of the performance of locomotive reflected current stroke, then these can be included in the optimization in employed model and/or the equation.

The variation of planned target also may be due to the needs that incident is coordinated, and the plan of one of them train takes into account another row train and satisfies the ability of target and arbitration (arbitration) at different brackets, for example needs the operation department.For example,, can further optimize and meet and the coordination of process to the communication of train by train.Like this, as an example, if train know it arrival meet and/or the position of process on fallen behind, then can notify late train (and/or scheduling) from the communication of other trains.The operator can will be input in the exemplary embodiment of the present invention about late information then, and wherein exemplary embodiment will recomputate the stroke plan of train.Exemplary embodiment of the present invention also can be used at high-grade or network level, with allow scheduling determine may not satisfy predetermined meet and/or situation that the elapsed time retrains under which train should slow down or quicken.As described herein, this is to transmit data by train to scheduling to finish with the priority ranking of distinguishing every row train and should how changing its planned target.According to circumstances, can make a choice according to the benefit of time schedule or conservation of fuel.

To any manual or automatically actuated replanning, exemplary embodiment of the present invention can provide an above stroke plan to the operator.In one exemplary embodiment, the present invention will provide different profiles to the operator, to allow the operator to select the time of advent and to understand corresponding fuel and/or the discharging influence.For similar consideration, such information can also be provided for scheduling, as simple list or conduct a plurality of balance curves as shown in Figure 4 of replaceable scheme.

The key that exemplary embodiment of the present invention can be learnt and adapt in train and the power pack changes, and it can be merged in current planning and/or in the future in the works.For example, one of above-mentioned triggering is a loss of horsepower.Increase horse-power-hour when as time passes, perhaps after loss horsepower or when the beginning stroke, utilize conversion logic to determine when and reach required horsepower.This information can be stored in the locomotive data storehouse 61, to be used for optimizing following stroke or current stroke under the situation that loss of horsepower takes place once more.

Fig. 3 has described the exemplary embodiment of element of the part that can be example system.The locator element 30 of the position that is used for definite train 31 is provided.Locator element 30 can be GPS sensor or sensing system, is used for determining the position of train 31.The example of such other system can include but not limited to: the roadside device, for example radio frequency automatic equipment identification (RFAEI) label, scheduling and/or video are determined.Another system can comprise on the locomotive revolution counter (one or more) and from the distance calculation of R point.As discussed previously, can also provide wireless communication system 47 with consider between the train and/or with the communicating by letter of remote location (for example scheduling).Information about traveling-position can also be transmitted from other trains.

Also providing orbital characteristics to describe element 33, in order to the information about track to be provided, mainly is the gradient, height above sea level and curvature information.Orbital characteristics is described element 33 can comprise track integrity data storehouse 36 on the car.Sensor 38 is used for measuring by the speed of the throttle setting of the tractive force 40 of locomotive crew's 42 towings, locomotive crew 42, locomotive crew's 42 configuration informations, locomotive crew 42, configuration of locomotives, locomotive ability etc. separately separately.In the exemplary embodiment, locomotive crew's 42 configuration informations can be loaded under the situation of not using sensor 38, but import by aforesaid other modes.In addition, also can consider the situation of locomotive in the locomotive crew.For example, if a locomotive in the group can not operate on the power retaining rank 5, then when optimizing the stroke plan, use this information.

Also can be used to determine the time of advent that train 31 is suitable from the information of locator element.For example, if train 31 moves and its back does not have train to the destination along track 34, and the train fixing arrival deadline that do not have to observe, locator element (include but not limited to radio frequency automatic equipment identification (RF AEI) label, scheduling and/or video determine) can be used for the definite position of accurate measurement train 31 so.In addition, can be used for adjusting train speed from the input of these signal sending systems.The car that utilization is discussed below get on the right track data bank and locator element (for example GPS), exemplary embodiment of the present invention can be adjusted operator interface therewith with reflected signal transmission system state in given locomotive position.Can indicate in signal condition under the situation of the restricted speed in front, planner (planner) can select to reduce the speed of train with saving fuel consumption.

Can also be used to according to the target that changes one's plans of the distance with the destination from the information of locator element 30.For example, owing to, on the early part of circuit, can take " faster " time target to avoid contingent statistically after a while delay along the inevitable uncertainty of circuit about stopping up.If by chance do not occur postponing at individual other stroke, the target of aft section that then can revise stroke to be utilizing the built-in slack time of early stage accumulation, thereby compensates some fuel efficiencies.About the emission limit set target, for example, can quote similar strategy near the urban district.

As the example of taking precautions against strategy, if stroke is planned from New York to Chicago, system can be chosen in the beginning of stroke or in the centre of stroke or at the end of stroke train be moved more slowly.Because it is known that unknown constraint (such as but not limited to weather condition, track maintenance etc.) can progressively manifest during stroke and become,, exemplary embodiment of the present invention runs slowly at the end of stroke with consideration so will optimizing the stroke plan.Consider that as another kind if be known in crowded traditionally area, then plan can selectedly be developed at these and have more alerting abilitys around crowded traditionally area.Therefore, exemplary embodiment of the present invention also can take into account weighting/punishment in the future and/or based on the experience in known/past as the function of time/distance and considers.One of ordinary skill in the art will be easy to recognize and such consider the plan of other trains on weather condition, track condition, the track etc. and replan, can any time during stroke consider that wherein the stroke plan is correspondingly adjusted.

Fig. 3 also discloses other elements of a part that can be used as exemplary embodiment of the present.Provide to operate and be used for receiving the information processing device 44 of describing element 33 and sensor 38 from locator element 30, orbital characteristics.Algorithm 46 moves in treater 44.Algorithm 46 is used for according to the parameter that relates to aforesaid locomotive 42, train 31, track 34 and task object, the stroke plan that comes calculation optimization.In the exemplary embodiment, the model of the train behavior of moving along track 34 according to train 31 is set up the stroke plan, wherein model separating as the nonlinear differential equation that draws from the physical property with the simplification hypothesis that provides this algorithm.Algorithm 46 can use the information of describing element 33 and/or sensor 38 from locator element 30, orbital characteristics to create such stroke plan, described stroke plan minimize locomotive crew 42 consumption of fuel, minimize locomotive crew 42 discharging, set up the desired travel time and/or guarantee staff's operating time suitable in locomotive crew 42.In the exemplary embodiment, actuator or controller component 51 are also provided.As discussed herein, controller component 51 is used for when train is followed the stroke plan train being controlled.In the exemplary embodiment that here further describes, controller component 51 is spontaneously made the train running decision-making.In another exemplary embodiment, the operator can devote oneself to guide train to follow the stroke counter row of rowing.

The requirement of exemplary embodiment of the present invention is can the initial creation plan and any plan of carrying out of the quick modification that can be in operation.Because the complexity of planning optimization algorithm, thus when relate to grow apart from the time, this comprises the establishment original plan.When the total length of stroke profile surpassed to set a distance, algorithm 46 can be used for cutting apart task, and wherein task can be cut apart by the road point.Although only described single kind of algorithm 46, one of ordinary skill in the art will be easy to recognize the algorithm that can utilize more than one, and wherein these algorithms can be combined.The road point can comprise the physical slot that train 31 is stopped, such as but not limited to: meet or the predetermined by-track that appears on the monorail railway of the current train of process train afterwards with opposing train, perhaps at the station by-track of collecting and distribute the compartment (yard siding) or manufacturing district, and the control position of plan.At such road point, can require train 31 to arrive preposition and stop or moving with the speed in the stated limit at preset time.From arriving road point to being called as length of the halt from the period of open circuit point.

In the exemplary embodiment, the present invention can adopt special-purpose system approach to resolve into less section than long stroke.Each section can be a little arbitrarily on length, but all is chosen in the physical slot of for example stopping or the obvious speed restriction being arranged usually, or at the crucial road sign of qualification with other route joints.Providing subregion or the section selected by this way, is each section establishment driving profile of track according to the running time that is considered independent variable, as shown in Figure 4.The fuel that is associated with each section expends/and the balance of running time can be calculated before train 31 arrives these track sections.Can create the total kilometrage plan according to the driving profile of creating for each section.Exemplary embodiment of the present invention in all sections of stroke with the mode of the optimum running time that distributes, to satisfy the desired total kilometrage time and to make the total consumption of fuel on all sections as far as possible little.Exemplary 3 section strokes are open and description hereinafter in Fig. 6.Yet one of ordinary skill in the art will recognize that although described section, the stroke plan can comprise the single section of representing complete stroke.

Fig. 4 described fuel and expended/exemplary embodiment of running time diagram of curves.As previously mentioned, when calculating optimum stroke profile, create such curve 50 for the different running time of each section.That is to say that for given running time 51, spent fuel 52 is the results as the detailed driving profile of above-mentioned calculating.In case, just determine power/speed plan according to previous separating to each section of calculating for each section has distributed running time.If between section, speed is existed any road point restriction, such as but not limited to, the variation of speed limit then during creating optimum stroke profile, matches them.If speed limit only changes in single section, then only need to expend/running time curve 50 for the section that changes recomputates fuel.So just reduced and to have recomputated the more parts of stroke or the time of section.If significant the variation takes place along circuit in locomotive crew or train, for example because the collecting or distribute of the loss of locomotive or compartment, so just must recomputate all subsequently the driving profile of section with the new example of establishment curve 50.These new curves 50 will be used with new time schedule target to plan remaining stroke then.

In case created the stroke plan as described above, the trajectory that speed and power are adjusted the distance just is used to arrive the destination in the travel time that requires with minimum fuel and/or discharging.Exist in order to carry out the several different methods of stroke plan.As following more detailed description, in the exemplary embodiment, under training mode, show that to the operator information follows for the operator, thereby obtain power demand and the speed determined according to optimum stroke plan.Under this pattern, operation information is the suggestion operations condition that the operator should use.In another exemplary embodiment, realize quickening and keeping constant speed.Yet when train 31 must slow down, the operator was responsible for using brake system 52.In another exemplary embodiment of the present invention, provide as required to be used to the order that drives and brake, to follow desired speed-apart from route.

Utilize feedback control strategy that correction to the power control sequence in the profile is provided, thereby proofread and correct such incident, such as but not limited to, because of against the wind and/or the train load variations that fluctuates and cause with the wind.When comparing with the calculated hypothesis of optimizing of stroke, another such error can cause by the error of train parameter, such as but not limited to, train quality and/or gradeability.The error of the third type may take place because of the information that is included in the track database 36.Another possible error can comprise the performance difference that is removed the not modeling that dispensing (thermalderation) and/or other factors cause by locomotive engine, traction motor pyrolysis.Feedback control strategy will compare as the speed in the optimal profile of the actual speed of the function of position and expectation.According to this difference, add correction, so that actual speed is approached to optimal profile to the optimal power profile.In order to ensure stable adjusting, the algorithm that can afford redress, described backoff algorithm filters in the power correction feedback speed to guarantee the stability of closed performance.Compensation can comprise that the standard power that the technical personnel in Control System Design field uses compensates to satisfy performance objective.

Exemplary embodiment of the present invention allows the simplest and therefore the fastest means to adapt to the variation of stroke target, and this is convention in railway operation, rather than exception.In the exemplary embodiment, for the stroke of the fuel optimum determining (wherein along route the station to be arranged) from point A to point B, and just be remaining stroke new trip more, in case stroke has begun, suboptimal decomposition method can be used for seeking optimum stroke profile.Utilize modeling method, method of calculating can find has the stroke plan of specifying running time and initial and final velocity, to satisfy speed limit and performance of locomotive constraint all when the station.Although ensuing description at be optimize fuel to expend, also can apply it to other factors of optimization, such as but not limited to discharging, time schedule, staff's comfortable and load effect.This method can be used in the initial stage of exploitation stroke plan, and the more important thing is the object variations after adaptation starts stroke.

As discussed herein, exemplary embodiment of the present invention can adopt graphic setting in as shown in Figure 5 the exemplary process diagram, and as example, has described 3 section examples in detail in Fig. 6.As shown, stroke can be broken down into two or more sections: T1, T2 and T3.Although as discussed here, also can be used as single section to stroke.As discussed herein, the existence of section boundaries may not can cause the section that equates.Replace, section uses border nature or the task special use.Be the optimum stroke plan of each section preliminary evaluation.If the relation that fuel expends with travel time is the stroke target that will satisfy, then set up the relation curve of fuel and travel time for each section.As discussed herein, curve can be based on other factors, and wherein said factor is the target that the stroke plan will be satisfied.When travel time is the parameter that will determine, when satisfying the total kilometrage time-constrain, calculate the travel time of each section.Fig. 6 shows the speed limit of exemplary 200 miles strokes 97 of 3 sections.Further show 200 miles slope change on the stroke 98.The fuel of each section that also shows the expression stroke expends the combination Figure 99 with the relation curve of running time.

Utilize previously described optimal control setting, this method of calculating can find has the stroke plan of specifying running time and initial and final velocity, so that satisfy all speed limits and the constraint of locomotive ability when the station.Although ensuing detailed description at be optimize fuel to expend, also can use it for other factors as described herein of optimizing, such as but not limited to discharging.Crucial alerting ability is to adapt to expectation length of the halt AT STATION and consider arriving and leave the constraint of a position the earliest, and this is for example entering or time by by-track is harsh in service may the needs of monorail.

Exemplary embodiment of the present invention obtains from distance D ₀To D _M, in time T, travel, M-1 intermediate station arranged at D ₁..., D _M-1The stroke of fuel optimum, and retrained by following formula at the arrival and the time departure at these stations:

t _min(i)≤t _arr(D _i)≤t _max(i)-Δt _i

t _arr(D _i)+Δt _i≤t _dep(D _i)≤t _max(i)i＝1，...，M-1

Wherein, t _Arr(D _i), t _Dep(D _i) and Δ t _iBe respectively i arrival of standing, leave and minimum standing time.Supposing that the fuel optimality means minimizes standing time so t _Dep(D _i)=t _Arr(D _i)+Δ t _iSecond inequality above having eliminated.Suppose for each i=1 ..., M is from D _I-1To D _iRunning time is t (T _Min(i)≤t≤T _Max(i)) the optimum stroke of fuel is known.Allow F _i(t) expression and the cooresponding consumption of fuel of the trip.If from D _J-1To D _jRunning time by T _jExpression is so at D _iThe time of advent provide by following formula:

$t_{\mathrm{arr}}\left(D_i\right)=\underset{j=1}{\overset{i}{\mathrm{\&Sigma;}}}(T_j+{\mathrm{\&Delta;t}}_{j-1})$

Δ t wherein ₀Be defined as 0.From D ₀To D _MRunning time is that the optimum stroke of the fuel of T is by seeking T _i(i=1 ..., M) obtain, it minimizes

$\underset{i=1}{\overset{M}{\mathrm{\&Sigma;}}}{F}_i\left(T_i\right)$ T _min(i)≤T _i≤T _max(i)

Obey

$t_{\min }\left(i\right)\&le;\underset{j=1}{\overset{i}{\mathrm{\&Sigma;}}}(T_j+{\mathrm{\&Delta;t}}_{j-1})\&le;t_{\max }\left(i\right)-{\mathrm{\&Delta;t}}_i$ i＝1，...，M-1

$\underset{j=1}{\overset{M}{\mathrm{\&Sigma;}}}(T_j+{\mathrm{\&Delta;t}}_{j-1})=T$

In case stroke is underway, problem be exactly along with the carrying out of stroke for remaining stroke (originally in time T from D ₀To D _M) redefine the solution of fuel optimum, but at this, ELIMINATION OF ITS INTERFERENCE is followed the solution of fuel optimum.Suppose that current distance and speed are respectively x and v, wherein D _I-1＜x≤D _iAnd, supposed that the current time since stroke begins is t _ActSo, keep original arrival D _MThe fuel optimal solution of the remaining stroke time, from x to DM be by finding

T _j, j=i+1 ..., M obtains, and it minimizes

${\tilde{F}}_i({\tilde{T}}_i,x,v)+\underset{j=i+1}{\overset{M}{\mathrm{\&Sigma;}}}{F}_j\left(T_j\right)$

Obey

$t_{\min }\left(i\right)\&le;t_{\mathrm{act}}+{\tilde{T}}_i\&le;t_{\max }\left(i\right)-{\mathrm{\&Delta;t}}_i$

$t_{\min }\left(k\right)\&le;t_{\mathrm{act}}+{\tilde{T}}_i+\underset{j=i+1}{\overset{k}{\mathrm{\&Sigma;}}}(T_j+{\mathrm{\&Delta;t}}_{j-1})\&le;t_{\max }\left(k\right)-{\mathrm{\&Delta;t}}_k$ k＝i+1，...，M-1

$t_{\mathrm{act}}+{\tilde{T}}_i+\underset{j=i+1}{\overset{M}{\mathrm{\&Sigma;}}}(T_j+\mathrm{\&Delta;}{t}_{j-1})=T$

Here, Be to have rate of onset v, in time t, advance to the consumption of fuel of the optimum stroke of Di from x at x.

As mentioned above, realize that the illustrative methods replan more efficiently is to set up optimal solution for the stroke of the container freight station to container freight station that divides section.For from D _I-1To D _i, running time is T _iStroke, select one group of intermediate point D _Ij, j=1 ..., N _i-1.If D _I0=D _I-1And $D_{{\mathrm{iN}}_i}=D_i.$ So, from D _I-1To D _iThe fuel of optimum stroke expend and be represented as

$F_i\left(t\right)=\underset{j=1}{\overset{N_i}{\mathrm{\&Sigma;}}}{f}_{\mathrm{ij}}(t_{\mathrm{ij}}-t_{i,j-1},v_{i,j-1},v_{\mathrm{ij}})$

Herein, f _Ij(t, v _{I, j-1}, v _Ij) in time t, travel, have at first and final velocity V _{I, j-1}And V _IjFrom D _{I, j-1}To D _IjThe fuel of optimum stroke expend.In addition, t _IjBe and distance D _IjTime in the cooresponding optimum stroke.By definition, $t_{{\mathrm{iN}}_i}-{\mathrm{<figure-callout\; id="0"\; label="t\; i"\; filenames="A20078000118500461.png,A20078000118500471.png"\; state="\{\{state\}\}">t</figure-callout>}}_i=T_i.$ Because train is parked in D _I0With

So $v_{i0}=v_{i{N}_i}=0.$

Above-mentioned expression formula makes function F _i(t) can be by at first determining function f _Ij() (1≤j≤N _i) obtain τ then _Ij, 1≤j≤N _iAnd v _Ij, 1≤j＜N _iAnd determined that replacedly it minimizes

$F_i\left(t\right)=\underset{j=1}{\overset{N_i}{\mathrm{\&Sigma;}}}{f}_{\mathrm{ij}}({\mathrm{\&tau;}}_{\mathrm{ij}},v_{i,j-1},v_{\mathrm{ij}})$

Obey

$\underset{j=1}{\overset{N_i}{\mathrm{\&Sigma;}}}{\mathrm{\&tau;}}_{\mathrm{ij}}=T_i$

v _min(i，j)≤v _ij≤v _max(i，j)j＝1，...，N _i-1

$v_{i0}=v_{{\mathrm{iN}}_i}=0$

By selecting D _Ij(for example) at constraint of velocity or engagement point, v _Max(i, j)-v _Min(i j) can be minimized, and need know f thereby minimize _IjThe scope of ().

According to above-mentioned division, replan method than above-mentioned simpler suboptimum and be used for being limited to train and being positioned at range points D replanning _Ij, 1≤i≤M, 1≤j≤N _iTime.At a D _Ij, from D _IjTo D _MNew optimum stroke can be by finding τ _Ik, j＜k≤N _i, v _Ik, j＜k＜N _i, and τ _Mn, i＜m≤M, 1≤n≤N _m, v _Mn, i＜m≤M, 1≤n＜N _mAnd be determined, it minimizes

$\underset{k=j+1}{\overset{N_i}{\mathrm{\&Sigma;}}}{f}_{\mathrm{ik}}({\mathrm{\&tau;}}_{\mathrm{ik}},v_{i,k-1},v_{\mathrm{ik}})+\underset{m=i+1}{\overset{M}{\mathrm{\&Sigma;}}}\underset{n=1}{\overset{N_m}{\mathrm{\&Sigma;}}}{f}_{\mathrm{mn}}({\mathrm{\&tau;}}_{\mathrm{mn}},v_{m,n-1},v_{\mathrm{mn}})$

Obey

$t_{\min }\left(i\right)\&le;t_{\mathrm{act}}+\underset{k=j+1}{\overset{N_i}{\mathrm{\&Sigma;}}}{\mathrm{\&tau;}}_{\mathrm{ik}}\&le;t_{\max }\left(i\right)-{\mathrm{\&Delta;t}}_i$

$t_{\min }\left(n\right)\&le;t_{\mathrm{act}}+\underset{k=j+1}{\overset{N_i}{\mathrm{\&Sigma;}}}{\mathrm{\&tau;}}_{\mathrm{ik}}+\underset{m=i+1}{\overset{n}{\mathrm{\&Sigma;}}}(T_m+{\mathrm{\&Delta;t}}_{m-1})\&le;t_{\max }\left(n\right)-{\mathrm{\&Delta;t}}_n$ n＝i+1，...，M-1

$t_{\mathrm{act}}+\underset{k=j+1}{\overset{N_i}{\mathrm{\&Sigma;}}}{\mathrm{\&tau;}}_{\mathrm{ik}}+\underset{m=i+1}{\overset{M}{\mathrm{\&Sigma;}}}(T_m+{\mathrm{\&Delta;t}}_{m-1})=T$

Herein

$T_m=\underset{n=1}{\overset{N_m}{\mathrm{\&Sigma;}}}{\mathrm{\&tau;}}_{\mathrm{mn}}$

By waiting for T _m, i＜m≤M recomputates, up to arriving range points D _i, can further be simplified.Like this, at D _I-1And D _iBetween some D _Ij, top minimizing only need be at τ _Ik, j＜k≤N _i, v _Ik, j＜k＜N _iLast execution.Increase T as required _i, to adapt to than from D _I-1To D _IjThe longer any actual driving time of planned time.If possible, subsequently by recomputating T _m, i＜m≤M is at range points D _iCompensate this increase.

About top disclosed closed-loop structure, train 31 is moved to the required total input energy of a B from an A form by the summation of four components, particularly be that the kinetic energy between an A and the some B is poor; Potential energy difference between some A and the B; Owing to the degradation of energy that rubs and other gradeabilitys losses cause; And owing to the energy that uses braking to consume.Suppose that beginning and end speed equate (for instance, static), first component is zero.And second component does not rely on and drives strategy.Therefore, this is enough to make that latter two component sum minimizes.

Follow the constant speed profile and minimize gradeability (drag) loss.When not needing braking to keep constant speed, follow the constant speed profile and also minimize the gross energy input.Yet, brake if desired and keep constant speed, owing to need to replenish the energy that consumes because of braking, brake activation is to keep the very total institute's energy requirement of most probable increase of constant speed just.Have such possibility, if the brake loss that the additional brake loss is offset more than total minimizing of the gradeability loss that is caused by braking, then by reducing velocity variations, in fact some braking can reduce gross energy and use.

Finish according to the collection of above-mentioned incident replan after, can follow new optimum retaining/speed plan by using closed loop control described here.Yet, in some cases, may have insufficient time to and carry out above-mentioned section resolution plan, especially in the time must considering the critical speed restriction, need an alternative.Exemplary embodiment of the present invention uses the algorithm that is called as " intelligent cruise control " to realize this alternative.The intelligent cruise control algorithm is a kind of like this high efficiency method, in order to produce the suboptimum scheme that is used for driving the energy efficient (thereby fuel-efficient) of train 31 on known landform under steam.The position of train 31 along track 34 always known in this algorithm supposition, and knows the gradient and the curvature of track to the position.The method depends on the particle model of train 31 motion, and its parameter can be estimated adaptively according to the on-line measurement of aforesaid train movement.

The intelligent cruise control algorithm has three main portions: particularly be the speed limit profile of revising, it is as the energy efficient guiding that is reduced to the center with speed limit; Desirable throttle or dynamic brake are provided with profile, and it attempts keeping balance minimizing between velocity variations and the braking; Be used to make up next two parts to produce the mechanism of retaining order, it utilizes velocity feedback loop to come the mismatch of compensating Modeling parameter when comparing with actual parameter.In an embodiment of the present invention, intelligent cruise control can adapt to the strategy that does not carry out effectively braking (active braking) (just actuator is signaled and supposed provides requisite braking), perhaps adapts to the variant of effectively braking.

For the cruising control algorithm of not controlling dynamic brake, these three exemplary parts are: the speed limit profile of modification, and it is as the energy efficient guiding that is reduced to the center with speed limit; Notification signal when should brake activation in order to the notifying operation person; Desirable throttle profile, it attempts keeping balance minimizing between velocity variations and the notifying operation person brake activation; Adopt feedback loop to come the mechanism of the mismatch of compensation model parameter and actual parameter.

Exemplary embodiment of the present invention also comprises the method for the key parameter value that is used for discerning train 31.For example, for estimating the train quality, can use Kalman's (Kalman) filter and recurrent least square method to detect the error that to pass in time and engender.

Fig. 7 has described exemplary process diagram of the present invention.As previously discussed, remote facility is for example dispatched 60 (disclosed as Fig. 3) information can be provided.As shown, such information is provided for execution control element 62.Be provided for carry out control element 62 also have locomotive modeling information database 63, from the information of track database 36, such as but not limited to, the train parameter of track grade information and speed limiting information, estimation, such as but not limited to, train weight and drag coefficient, and from the consumption of fuel counting rate meter of specific consumption of fuel estimator 64.Carry out control element 62 and provide information to planner 12, this is disclosed in Fig. 1 in more detail.In case calculated the stroke plan, this plan just is provided for and drives consulting device (advisor), actuator or controller component 51.The stroke plan also is provided for carries out control element 62, and it can compare stroke when being provided with other new datas of box lunch.

As discussed above, drive consulting device 51 retaining power can be set automatically, perhaps retaining setting of establishing in advance or optimum continuous retaining power.Except providing the speed command, also provide telltale 68, so that the operator can check the content that planner is recommended to locomotive 31.The operator also can use control panel 69.By control panel 69, the operator can determine whether use the retaining power of being advised.For this reason, the operator can limited target or the power of suggestion.Just, at any time, what power setting operation the operator always will have final authority with to locomotive crew.This is included in stroke plan suggestion and makes under the situation that train 31 slows down, and whether determines brake activation.For example, if in the operation of the area of dark, perhaps the information from the roadside device can not adopt electric mode to transmit information to train, but the operator checks optical signal from the roadside device, and then the operator is according to being included in the information in the track database and coming input command from the optical signal of roadside device.How to move according to train 31, will offer specific consumption of fuel estimator 64 about the information of fuel measurement.Owing to can not in locomotive crew, obtain direct measurement usually to fuel flow, therefore be to utilize the physical model of calibration (for example those are developing in the optimal plan employed) to realize at the fuel of stroke internal consumption and to all relevant information of subsequently the prediction of optimal plan in the future up to now.For example, such prediction can include, but are not limited to: the employed fuel that uses measured gross horsepower and known fuel characteristic to obtain accumulating.

Train 31 also has positioner equipment 30, GPS sensor for example, as discussed above.Information is provided for train parameter estimator 65.Such information can include but not limited to: any variation of GPS sensing data, traction/braking force data, braking mode data, speed and speed data.About the information of the gradient and speed limiting information, be provided for execution control element 62 with train weight and drag coefficient information.

Exemplary embodiment of the present invention it is also conceivable that in whole optimization plan and closed loop control execution uses continually varying power.In conventional locomotive, power usually is quantized into 8 discrete levels.Modern locomotive can realize the continuous variation of horsepower, and this can be incorporated in the aforesaid optimization method.Utilize continuous power, locomotive 42 can further be optimized condition of service, for example, by minimizing assistant load and power delivery loss, and the engine horsepower zone of fine setting optimum efficiency, perhaps is fine-tuning to the point of the discharging allowance (margin) of increase.Example includes but not limited to: minimizes the cooling system loss, adjusts alternating current generator (alternator) voltage, adjusts engine speed, and the number that reduces axle drive shaft (axles).In addition, the performance requriements that locomotive 42 can use the track database 36 on the car and predict minimizes assistant load and power delivery loss, so that the optimum efficiency of target consumption of fuel/discharging to be provided.Example includes but not limited to reduce the number of the axle drive shaft on the landform of plane, and before entering the tunnel cooler car engine in advance.

Exemplary embodiment of the present invention can also use the track database 36 on the car and the performance of prediction to adjust the performance of locomotive, for example to guarantee having enough speed during near mountain and/or tunnel when train.For example, this can be expressed as the constraint of velocity at ad-hoc location, and it becomes solving equation formula (OP) and a part that the optimal plan created generates.In addition, exemplary embodiment of the present invention can be incorporated the rule that train is handled into, for example but be not restricted to tractive force ramp rate, maximum braking force ramp rate.These can directly incorporate the formula that is used for optimizing the stroke profile into, perhaps replacedly incorporate in the closed-loop regulator, and described closed-loop regulator is used for the power controlling utilization to obtain target velocity.

In a preferred embodiment, the present invention only is installed on the pilot engine of train group.Even exemplary embodiment of the present invention do not rely on data or with the mutual action of other locomotives, it also can with group manager (as at U.S. Patent number 6,691,957 and number of patent application 10/429,596 (had by the cessionary, and the two all being introduced into as a reference at this) are disclosed), optimizer is functional combines to raise the efficiency for functional and/or group.Do not get rid of the mutual action with a plurality of trains yet, as the described herein by shown in the scheduling example that two " independent optimization " trains are arbitrated.

Train with distributed power system can be with different mode operations.Pattern is that all locomotives in the train move under identical retaining order.Therefore, if pilot engine is order motorized motions-N8, then all unit in the train will be produced motorized motions-N8 power by order.Another operation mode is " independence " control.Under this pattern, a plurality of locomotives or the locomotive crew that are distributed in the whole train can move under different motorized motions or B.P..For example, when train attained the top of the hill, pilot engine (on the descending on mountain) can be placed in braking, and can be in motorized motions in train centre or terminal locomotive (on the upward slope on the mountain).Do like this is in order to minimize the tension force on the mechanical coupler that connects rail compartment and locomotive.Traditionally, the operation distributed power system needs the operator to come each remote locomotive of manual command or locomotive crew via the telltale in the pilot engine under " independence " pattern.Use is based on the track database on the planning model of physical property, train configuration information, the car, working rule, position determination system, real-time closed-loop power/control of braking and the sensor feedback on the car, and distributed power system will automatically be operated by this system under " independence " pattern.

When moving with distributed-power, the operator in the pilot engine can control the operating function of the remote locomotive in long-range group by control system (for example distributed-power control element).Like this, when moving with distributed-power, the operator can order the operation (perhaps a group can be in motorized motions, and other are in braking) under difference retaining power grade of each locomotive crew, and wherein the independent locomotive of each in locomotive crew moves under identical retaining power.In the exemplary embodiment, exemplary embodiment of the present is mounted aboard, preferably communicate with the distributed-power control element, when the retaining power grade of remote locomotive group is contemplated to be the grade that the stroke plan of optimization recommended, exemplary embodiment of the present invention will transmit this power setting for execution to the remote locomotive group.Discuss as following, this is suitable for for braking is same.

Exemplary embodiment of the present invention can be used for wherein the not locomotive crew of adjacency (for example having one or more locomotive in front, other centre and back at train) of locomotive.Such configuration is called as distributed-power, and wherein the connection of the standard between the locomotive is replaced externally to be coupled locomotive by radio link or relief cable.When moving with distributed-power, the operator in the pilot engine can control the operating function of the remote locomotive in the group by control system (for example distributed-power control element).Especially, when moving with distributed-power, the operator can order the operation under difference retaining power grade of each locomotive crew (perhaps one group is in motorized motions, and other be in braking), wherein each individuality in the locomotive crew all moves under identical retaining power.

In the exemplary embodiment, exemplary embodiment of the present invention is mounted aboard, preferably communicate with the distributed-power control element, when the retaining power grade of remote locomotive group be supposed to be optimum stroke plan recommended grade the time, exemplary embodiment of the present invention will transmit this power setting for execution to the remote locomotive group.As described below, this is suitable for for braking is same.When moving with distributed-power, aforesaid optimization problem can be enhanced to allow additional degrees of freedom, and this is because each remote unit can be with respect to guidance unit by independent control.Its value is that additional object or the constraint relevant with train internal force can be merged in the performance function, supposes that the model of reflection train internal force also is included in.Therefore, exemplary embodiment of the present invention can comprise uses the heavy wool gate control, manages power and consumption of fuel and discharging in the train better.

In utilizing the train of group manager, the pilot engine in the locomotive crew can move under the retaining power setting different with other locomotives in this group.Other locomotives in the group move under identical retaining power setting.Exemplary embodiment of the present invention can be used in combination with group manager, with the retaining power setting of the locomotive in the command group.Like this, according to exemplary embodiment of the present invention, because group manager is two groups with locomotive crew's composition: pilot engine and trail the unit, pilot engine will be moved under a certain retaining power by order, and trail locomotive is ordered at another and is determined to move under the retaining power.In one exemplary embodiment, the distributed-power control element can be to accommodate this operated system and/or equipment.

Similarly, when the group optimizer was used for locomotive crew, exemplary embodiment of the present invention can be used in combination to determine the retaining power of each locomotive in the locomotive crew with the group optimizer.For example, suppose that it is 4 that the retaining power setting with locomotive crew is recommended in the stroke plan.According to the position of train, the group optimizer will obtain this information, determine the retaining power setting of each locomotive in the group then.In this implementation, improved the efficient that the retaining power setting is set via the communication channel in the train.In addition, as discussed above, the implementation of this configuration can utilize dcs to carry out.

In addition, as discussed previously, for the train group project of being concerned about when basis is about to occur is used braking, exemplary embodiment of the present invention can be used to continuous correction and replan, described project for example but be not restricted to railway connections, slope change, near by-track, near car depot station (depot yard) and near bunker station, wherein each locomotive in the group all may need different brakings to select.For example, if train is crossed hill, pilot engine may must enter braking mode so, and the remote locomotive that does not reach the top of the hill may keep the motorized motions state.

Fig. 8, Fig. 9 and Figure 10 have described the example illustration of the dynamic display that uses for the operator.Provide as Fig. 8, stroke profile 72 is provided.In this profile, provide the position 73 of locomotive.Information the compartment number 106 in train length 105 and train also is provided.Key element 107, curvature (curve) and the roadside key element 108 (position 109 and the train speed 110 that comprise bridge) of relevant track grade also are provided.Along route where telltale 68 allows operators to check such information and watches train to be in.The information of time, signal 114, rapid change 116, terrestrial reference 118 and the destination 120 of the position such as crossing 112 also is provided about distance and/or estimation arrival.The time of advent, management tool 125 also was provided, and determined the conservation of fuel of realizing to allow the user during stroke.The operator can change the time of advent 127 and observe this how to influence conservation of fuel.As discussed in this, those skilled in the art will recognize that conservation of fuel only is the illustrative example that can utilize the target that management tool checks.For this reason, depend on the parameter of being checked, can utilize other parameters of discussing at this are checked and estimated to operator's appreciiable management tool.The operator also is provided to operate train information how long about the staff.In the exemplary embodiment, time and range information can be expressed as time and/or the distance before particular event and/or the position, and perhaps it can provide total elapsed time.

As shown in Figure 9, exemplary display provides the information about group data 130, incident and position Figure 132, time of advent management tool 134 and action key 136.In this telltale, also provide similar information as discussed above.This telltale 68 also provides action key 138, replans to allow the operator, and removes exemplary embodiment of the present 140.

Figure 10 has described another exemplary embodiment of telltale.Comprise air-lock state 72, have that numeral embeds the analog rate meter 74 of (inset) and be appreciiable about the typical data of the modern locomotive of the information of the tractive force of ft lbf (, being traction amperes (traction amps)) form perhaps for the DC locomotive.Indicating device 74 is provided, and is the accelerometer figure of the reading of unit the calculated current optimal velocity that just is being performed to be shown and to be used for replenishing with mph/ minute.The important new bit that is used for the optimal plan execution comprises the banded Figure 76 that rolls in the center of screen, the relation (comparing with the current history of these variablees) of optimal velocity shown in the figure and retaining setting and distance.In this exemplary embodiment, use locator element to obtain the position of train.As shown, can by the identification train apart from its final destination how far have, absolute location, initial destination, intermediate point and/or operator's input provides described position.

Strip chart provides following the prediction of the required velocity variations of optimal plan, and this is useful in manually controlling, and monitors the relation of plan and actual conditions during automatic guidance.As in this discussion, for example when in training mode following time, the operator can follow retaining or the speed by the exemplary embodiment of the present suggestion.Vertical bar has provided the figure of desired retaining and actual retaining, they also digitally be presented at bar chart below.As discussed above, when utilizing continuously retaining power, this telltale will only be rounded to immediate discrete equivalence value, and this telltale can be that simulation shows, so that display simulation equivalence value or percentage or true horse power/tractive force.

Key message about stroke state is displayed on the screen, and the current gradient 88 that train runs into is shown, and the described gradient refers to pilot engine, the gradient that runs into along other positions of train or the average gradient of whole train length.The fuel 92 that expends in the distance 90 of travelling up to now in the works, accumulation, the plan next stop are also disclosed where or from time of advent 96 of the distance 94 of the next stop, current and prediction, to expeced time of the next stop.Telltale 68 also shows the most-likely time of the possible destination that the plan according to available calculating obtains.Arrive evening if desired, execution is replanned.The increment planning data is illustrated in before the current optimal plan or the state of fuel afterwards and time schedule.Negative number representation is compared less or time of fuel early with plan, it is more or the time is later that positive number represents to compare with plan fuel, and usually balance in the opposite direction (slowing down makes train arrive evening with fuel saving, and vice versa).

These show that 68 provide him the snapshots in time (snapshot) with respect to the driving plan present position of current formulation to the operator always.This telltale only for illustration purposes, reason is also to exist other modes that much are used for this information being shown/sending to operator and/or scheduling.For this reason, disclosed information can be mixed so that the demonstration different with disclosed demonstration to be provided mutually above.

Other features that can be included in the exemplary embodiment of the present include but not limited to: consider to produce data logging daily record and report.This information can be stored aboard, and can be downloaded to the car external system sometime.Described download can take place by manual and/or transmission over radio.This information also can be checked via engine display by the operator.Described data can include but not limited to such information, the train stroke of the time of for example operator input, system's operation, the fuel of saving, the fuel imbalance in train in the locomotive scope, off the course, system diagnostics problem (if for example GPS sensor et out of order).

Because the stroke plan must be considered the staff's that allows operating time, so exemplary embodiment of the present invention can take into account such information when planning stroke.For example, if the maximum time that the staff can work is 8 hours, stroke should be formed and comprise the stop position that replaces the work at present personnel for new staff so.The stop position of appointment can include but not limited to like this: railway station, meet/and through position or the like.If along with the carrying out of stroke, travel time may exceed, exemplary embodiment of the present invention can the person of being operated cover (override), to meet the standard of being determined by the operator.Finally, no matter the operating conditions of train (stretching (stretch) situation or the like such as but not limited to high capacity, low speed, train) how, the operator keeps the speed of train and/or the control of condition of service.

Utilize exemplary embodiment of the present invention, train can move under a plurality of operations.In a kind of operating concept, exemplary embodiment of the present invention can be provided for controlling the order of propelling, dynamic brake.So the operator handles every other train function.In another operating concept, exemplary embodiment of the present invention can provide the order that only is used to control propelling.So the operator handles dynamic brake and every other train function.In another operating concept, exemplary embodiment of the present invention can comprise the order that is used to control propelling, dynamic brake and air-lock effect.So the operator handles every other train function.

Exemplary embodiment of the present invention also can be used by the action of the project of being concerned about that is about to occur being taked to operator's notice.Particularly, the prediction logic of exemplary embodiment of the present invention, for the continuous correction of the stroke plan of optimizing and replan, track database, the crossing that can the notifying operation person be about to occur, signal, slope change, brake, by-track, railway station, bunker station or the like.This notice can take place in the mode that can hear and/or by operator interface therewith.

Especially, use is based on the track database on the planning model of physical property, train configuration information, the car, working rule, position determination system, real-time closed-loop power/control of braking and the sensor feedback on the car, and this system will present and/or notifies required action to the operator.This notice can be visual and/or can hear.Example comprises that notice needs the operator to start the crossing of locomotive loudspeaker and/or bell, and notice does not need the operator to start " noiseless " crossing of locomotive loudspeaker or bell.

In another exemplary embodiment, use track database, the working rule on the car, position determination system, real-time closed-loop power/control of braking and sensor feedback on the planning model based on physical property discussed above, train configuration information, the car, as shown in Figure 9, exemplary embodiment of the present invention can provide such information (for example scale on the telltale) to the operator, and described information allows the operator to check when train will arrive diverse location.This system will allow the operator to adjust stroke plan (the target time of advent).This information (time of advent of actual estimated or the information needed that draws outside car) also can be transmitted to the control center, adjusts target time of advent to allow scheduler or dispatching system.This permission system adjusts apace suitable objective function (for example weigh speed and fuel expends) and optimizes.

Generally speaking, can improve train running according to understanding to the rail compartment parameter in the rail compartment that constitutes train.These parameters can comprise type and characteristic, speed limit, axial load, friction force, air draught (wind resistance), wheel axial load, radial weight and the lateral load of weight about rail, wheel shaft quantity, coupler.Independent compartment parameter and then can influence the train load-carrying capacity.For example, one group of light-duty load compartment that is positioned at train central authorities can cause bigger derailed possibility with the heavy load compartment that is positioned at the back when quickening with curve or drawing.In addition, the understanding to total compartment load allows the relation of speed and train consumption of fuel and train discharging is optimized.Equally, also can cause faster scheduling to the understanding of rail compartment parameter from the railway station.

In a further exemplary embodiment, the information about cargo data also can be included as rail compartment parameter.This information can comprise the quantity and the type of goods.For example, suppose that the compartment is delivering liquid.If this compartment is not filled, then the motion of liquid may influence the total power that can carry on wheel and coupler.This information can be used for further optimizing train running.Similarly, suppose that the compartment is delivering hazardous material.Owing to may require a certain speed limit constraint, so this information can be used for further optimizing train running.When cargo data was unavailable, sensor can be used for detecting the variation of load, for example the load variations that is realized by the delivery compartment of part full of liquid.Be in operation, train is decelerated and axial load changes measured.In a further exemplary embodiment, hump (for example being present in the hump yard (hump yard)) is introduced into the path in compartment, and wherein axial load changes measured.Displacement (displacement) and its understanding that how to influence axial load to liquid can be considered into, to guarantee setting up maximum the acceleration and the restriction of slowing down by train optimizer disclosed above.

In a further exemplary embodiment, utilize the sensor axial load, the accident of axial load changes can illustrate that unexpected goods moves.Utilize signature analysis (signature analysis) system, distinguish moving of liquid displacement and restraint of loads (cargo) (such as but not limited to loosening box).Characteristic analysis system can detect to having high frequency spectrum, and the liquid sport is shown as the frequency spectrum of broad.

Automatically providing compartment characteristic that train forms and manifest (manifest) can advantageously reduce station (yard) is provided with the time and allows the overall railway station network optimization, wherein can weigh being provided with on the time, wherein the compartment is arranged in the mode of optimum and often must be resequenced, thereby has increased the station time.Can to always being set, weigh the time with respect to the train running time.Provide the compartment characteristic to allow to produce the train manifest, described train manifest has the details about staff, scheduling and discharged problem and compartment characteristic.Provide the compartment characteristic to allow the load characteristic of railway carriage to be formulated as weight, resistance, curve performance, the train that allows and do not have a DP is handled optimised, permission is assembled together the compartment in train and makes the station in order to improve the network traffic ability, for cause to the understanding of compartment load and performance, by adjusting the train processing parameter (such as acceleration/accel, deceleration/decel and speed) to allow to reduce the possibility of overstepping the limit, allow the compartment performance to be transfused to be used for train speed/fuel optimization and/or to improve discharging as limiting factor, this can realize the one man operation, and allows the optimization of cruising control.

Disclose rail compartment characteristic description system and method at this, it determines the compartment parameter automatically, such as weight, load, wheel axial force, transverse force and vertical power.Can be during the composition of train in railway station (for example hump yard) on the way and/or rail compartment parameter is provided on by-track.Rail compartment parameter can be used for the train manifest and characterize and can be coupled to the fuel/speed-optimization of railway efficient instrument (such as cruise control) to allow the train of acceleration and/or improved discharging, deceleration, the improved DP of having or non-DP train is handled.Rail compartment parameter can allow by considering that train handles the relation that train fuel and speed are optimized in constraint (for example with regard to DP and non-DP operation, it can limited speed, acceleration/accel and deceleration/decel).Rail compartment parameter can allow to determine to stride the road train and pay balance between (delivery) time and the station train makeup time (makeuptime), so that improve total dilivery of freight efficient.Rail compartment parameter can be used to provide train manifest data, and it comprises compartment performance response weight, laterally, axially reaches the power in vertical axis load and compartment.As the described herein, the compartment parameter is determined and can be automatically performed.

The compartment of some type may be subjected to the influence of wind and/or air resistance.For example, unloaded timber delivery compartment has bigger surface, and the sail that influences carriage movements can be served as in described surface.In one aspect, measured rail compartment parameter can comprise the windage factor of determining the rail compartment.Therefore, car types and corresponding windage factor and/or windage measurement parameter can for example be comprised in the take off data via the visible observation device (visual observer) in the other compartment of track during the measurement collection process.

In exemplary embodiment shown in Figure 1, can obtain the rail compartment parameter in rail compartment 200 in railway station 205, when crossing (traverse) predetermined rail portion 216 (such as straight part or sweep), can measure parameter there such as carriage weight and vehicle wheel forces.Rail compartment parameter measurement system 215 (or measuring system) is provided and can comprises car upper sensor 220 and/or car outer sensor 225, force gauge for example, and it is used to measure the power in track, wheel, overarm (suspension) and/or its combination.Other sensors can comprise deflection (deflection) detector, spring, laser measuring apparatus (laser gauge) or the like.Measuring system 215 can comprise the data collection module 230 that is used to collect take off data and can be via transceiver 235 and central controller 240 (such as the compartment dispatching system, train composition/manifest system) communicates, and take off data can be provided to network scheduling system and train speed/fuel efficiency optimization system.Measuring system can also provide metrical information and communicates with it to portable data collector unit 245, locomotive 250 via locomotive transceiver 255, roadside electronic unit 260 and car outer sensor 255.Information can be shared together by these systems in communication network, wherein these elements can communicate with one another with exchange message.This type of communication can provide by wireless coupling mode (for example via radio frequency (RF) and infrared communication), perhaps can provide by hardwired fashion (for example the hardwired between rail compartment and the locomotive 250 connects).

In another embodiment, measuring system 215 can be implemented in outside the railway station, for example on the by-track away from the railway station.Therefore, take off data can be acquired after train leaves railway station 205, and take off data can be fed to network 265 and central controller 240 after train is assembled in the station, to be used for further action.

In one aspect of the invention, central controller 240 can comprise treater 270, is used to handle the take off data that offers train and optimizes factor so that acceleration/deceleration to be provided, thereby guarantee that the train operating parameter takes these restrictions into account.Optimizing under the situation about forming in the compartment, the given other parameter that is used to optimize, acceleration/deceleration can be increased to reduce mission time.Under the situation of distributed-power (DP) train, owing to the take off data that the rail compartment for train provides, the tractive force that normally reduces (TE) of the trailing unit of train can be complementary with the unit, front better.

In a further exemplary embodiment, provide characteristic analysis system 300.This system 300 can be the part of controller 240 or communicate with it.As discussed above, this characteristic analysis system 300 can be used for distinguishing liquid displacement and mobile restraint of loads.

In addition, by current data and the previous data of measuring are compared, the previous take off data that obtains can be used for determining improper compartment performance, such as may be owing to the high wheel friction force of bearing problem.This permission was safeguarded before the compartment is coupled to train.

Advantageously, the ability of the power setting of the locomotive that this system can provide ability that station train makeup time and train running time relation are weighed, optimize train (for example DP train), according to measure or the compartment load of prediction at the ability in the more compartments of given locomotive power increase, optimize the ability that fuel/speed is provided with, and provide the compartment diagnosis, for example excessive friction, wheel flat spot (flat spot) or the like.

In one aspect of the invention, the car upper sensor can comprise weight sensor, such as scale on the rail compartment or spring deflection sensor.Car outer sensor 225 can comprise the force indicator (force gauge) that is positioned on the track 210 that travels in the rail compartment thereon.In one aspect of the invention, when in orbit with known friction load (deceleration) or apply that power (acceleration) comes the compartment is quickened or when slowing down (for example by utilizing the accelerometer on the rail compartment to determine), can measure weight.

For crooked rail measure portion, car upper sensor 220 can comprise in order to detect the force detector of vehicle wheel forces, for example vertical, axial and/or horizontal force indicator.In another embodiment, car upper sensor 220 can be included in deflection (motion) sensor (for example, be used at observation speed when curve is advanced minimizing) of monitoring wheel around (go around) when curve is advanced; And can comprise the thermal transmitter that is used for when curve is advanced, detecting the heat that is dissipated.Car outer sensor 225 can comprise and is used for detecting being positioned at the force indicator on the rail 210 and/or being positioned at force indicator on the switch (switch) that travels in the rail compartment thereon of rail deflection.

For straight rail measure portion, car upper sensor 220 can comprise in order to detect the force detector of vehicle wheel forces, for example vertical, axial and/or horizontal force indicator or accelerometer.Car outer sensor 225 can comprise the deflection/accelerometer of the force indicator that is positioned on the rail, rail and/or be positioned at force indicator on the switch.In another embodiment, car upper sensor 220 can comprise deflection (motion) sensor (minimizing by observation speed when being scheduled to straightaway is calculated) of monitoring wheel when advancing on straight rail, and can comprise the thermal transmitter that is used for detecting the heat that is dissipated when straightaway.

Data gathering can be carried out or can be in long-range execution, for example by utilizing portable data collector unit 245 by data gathering system on the car 230.Network 265 can comprise one or more of following type network: wired, wireless, real-time, batch data transmission, storage and forwarding, data push away (but when data time spent), data and draw (in real time or request action prompting lingeringly) and/or manual entry.

In other embodiments, electronics (electronic) and hardware (hard) by being coupled to central controller 240 (for example station/dispatching system), have the electronics that manually is coupled device (linkage), have reader (readout) and the electronics of the manual entry of another system, be coupled to the machinery (mechanical) and the hardware of station/dispatching system, have the machinery that manually is coupled device, have reader and/or, can provide from the data of the take off data of this system and read the machinery of the manual entry of other system.The rail compartment sign of using for system can the artificially or is imported into this system via the rail compartment recognizer 280 that can comprise electronic tag, radio frequency (RF) label and/or bar code.

In other exemplary embodiments, the measuring system configuration can comprise: use the artificial station scheduling of electronic data typing (data entry), use the artificial station scheduling of artificial data typing, use the electronics station scheduling of artificial data typing, use the electronics station scheduling of electronic data typing, artificial manifest is formed, electronic manifest is formed, use is from the artificial network system of the data of artificial station system-computed handbook (manual)/search/electronics, use is from the artificial network system of the data of electronics station system-computed handbook/search/electronics, use is from the electronic network system of the data of artificial station system-computed handbook/search/electronics, use is from the electronic network system of the data of electronics station system-computed handbook/search/electronics, use is from the artificial stroke optimizer of the data of artificial station system-computed handbook/search/electronics, use is from the artificial stroke optimizer of the data of electronics station system-computed handbook/search/electronics, use is from the electronic journey optimizer of the data of the handbook of artificial station system-computed/search/electronics, use is from the electronic journey optimizer of the data of electronics station system-computed handbook/search/electronics, use is from the artificial stroke optimizer of the data of the handbook on road/by-track/switch system-computed handbook/search/electronics, use is from the artificial stroke optimizer of the data of the electronic machine on road/by-track/switch system-computed handbook/search/electronics, use is from the electronic journey optimizer of the data of the handbook on road/by-track/switch system-computed handbook/search/electronics, and/or uses the electronic journey optimizer from the data of the electronic machine on road/by-track/switch system-computed handbook/search/electronics.

The operation that the take off data that is obtained by system can be used for controlling train with restriction operating parameter, equalization operation parameter, relax parameter limit, the Cheng Qian of being expert at/for be provided with optimize operating parameter, in real time optimize operating parameter, optimize whole stroke operating parameter, optimize partial journey operating parameter, use single input to optimize operating parameter, use a plurality of quantitative data input groups to optimize operating parameters and/or optimize diagnosis and the compartment is safeguarded.

Be used for to comprise roadside electronic unit 260, compartment electronic machine (such as data collection module 230), locomotive 250 and/or central controller 240 (such as station system or dispatching system) to data storage to the data source of system.The data sink that is used to receive take off data can comprise off-line main frame, online locomotive system, online station system, off-line station system, on-line scheduling system, off-line dispatching system, online roadside device, off-line roadside device, online network optimization device, offline network optimizer and/or bill system.

Can be used to handle take off data with the optimization technique that produces the operating parameter of optimizing can comprise lax (relaxation) method of approaching one by one, sequential Taylor (Taylor) progression, neural network, conversion, based on the look-up table of experience, based on the technology and/or Kalman (Kalman) filtering of first mechanics principle.

In the exemplary embodiment, provide remote location, such as but not limited to regional and/or national center 310, it safeguards national (national) data bank 320 of rail compartment information.This national data bank 320 can be as the resource of train construction.It also can be used for model analysis.Because the information type that is provided, this data bank 320 also can be used by government organs and solve transportation request and/or safety problem.Transmit between himself and the controller 240 from the information of national data bank.When slave controller 240 obtained new information, the information in the national data bank 320 was updated.Communication between controller 248 and the national data bank 320 can be protected, such as but not limited to encrypting and/or authentication technique.In a further exemplary embodiment, can have a plurality of regional data storehouse, it communicates each other, as top disclosed communicate about national data bank and controller 240.In example embodiment, network 265 can be protected and avoid attack in the dark from the external agent, and wherein communication takes place by this network.

Fig. 2 has described the diagram of circuit that the step that is used to discern the rail compartment parameter that is used to improve train running is shown.Those skilled in the art will recognize at an easy rate that these steps in the diagram of circuit 330 can carry out automatically and/or spontaneously.These steps comprise the rail compartment parameter (step 335) in the rail compartment of determining train, and according at least one operational norm of described train, create train stroke plan (step 340) according to described rail compartment parameter.Extra step comprises according at least one rail compartment parameter locatees the railcar railway carriage or compartment in train.In addition, as discussed above, can determine the order of rail compartment in train according to rail compartment parameter.As discussed above equally, these steps (step 335 and/or 334) can realize by use a computer software code and/or another treater realization technology.

In a further exemplary embodiment, roadside automatic equipment identification (AEI) label reader as the part of rail categorizing system is used for reading information (being generally manifest information) from the rail compartment.The rail categorizing system need possess the failure-free manifest to finish the task in classification and forwarding rail compartment.Most systems is obtained these manifests via company's net from data bank.After building train, the compartment tabulation in this train is uploaded in the data bank by station personnel and/or AEI system.Therefore, when train process AEI label reader (in case after common permutation train warp), can read information from rolling stock.In the exemplary embodiment, the information that reads is sent to locomotive, more specifically is sent to the stroke optimizer, and wherein information is used for upgrading the stroke plan and/or is used for creating following stroke plan.When intended destination increases and/or reduce the rail compartment, can lastest imformation.

Though described the present invention with reference to exemplary embodiment, but those skill in the art will appreciate that, under the situation that does not depart from spirit and scope of the invention, can make various changes, omission and/or increase, and can replace element of the present invention with equivalent.In addition, under the situation that does not depart from scope of the present invention, can much revise to adapt to particular case or material instruction of the present invention.Therefore, purpose is that the present invention is not restricted to the specific embodiment that disclosed conduct is used for carrying out anticipated optimal set pattern of the present invention, but the present invention will comprise all embodiment that fall in the claims scope.In addition, unless spell out, any order or importance are not represented in any use of first, second grade of term, but are used for an element and another element are differentiated.

Claims (36)

1. method that is used to improve the train performance, described method comprises:

A) define rail compartment parameter at least one rail compartment that will be comprised in the train; And

B) according at least one operational norm of train, create the plan of train stroke according to rail compartment parameter.

2. method according to claim 1, wherein rail compartment parameter comprises at least one in weight, axial load, friction force, air draught, wheel axial load, radial weight and the lateral load.

3. method according to claim 1 further comprises according at least one rail compartment parameter and determines the position of rail compartment in train.

4. method according to claim 1, further comprise according at least one rail compartment parameter come optimal speed to the consumption of fuel of train and speed in the discharging output of train at least one.

5. method according to claim 1 further comprises rail compartment supplemental characteristic is sent to central remote database.

6. method according to claim 5 further comprises protecting and goes to and communicating by letter from described central remote database.

7. method according to claim 2 comprises that further whether the variation of determining axial load is to be caused by in the restraint of loads of liquid displacement and displacement at least one.

8. method according to claim 1 comprises that further the station according to rail compartment parameter minimizing train is provided with the time.

9. method according to claim 1 further comprises according in weight, resistance and the curve performance at least one and determines the load characteristic in the rail compartment in the train.

10. method according to claim 1 further comprises according to rail compartment parameter and optimizes at least one operating characteristic in distributed-power train and the non-distributed dynamical train.

11. method according to claim 1 further comprises a plurality of rails compartment is provided, and wherein arranges the order in rail compartment based on rail compartment parameter in train.

12. method according to claim 1 further comprises according to the stroke plan of being created and operates train.

13. method according to claim 1, the step of wherein definite rail compartment parameter further comprises by passing through planned orbit partly comes to determine rail compartment parameter.

14. method according to claim 1 further comprises by reading the information that is comprised on the identification label that invests the rail compartment and determines rail compartment data.

15. one kind that in treater, use, in order to improve the computer software code of train performance, described computer software code comprises:

A) be used for determining the rail compartment CALCULATION OF PARAMETERS machine software module at least one rail compartment of train; With

B) be used at least one operational norm, create the computer software module of train stroke plan according to rail compartment parameter according to train.

16. computer software code according to claim 15, wherein rail compartment parameter comprises at least one in weight, axial load, friction force, air draught, wheel axial load, radial weight and the lateral load.

17. computer software code according to claim 15 also comprises the computer software module that is used for determining according at least one rail compartment parameter the position of rail compartment in train.

18. computer software code according to claim 15 also comprises being used for coming optimal speed to the consumption of fuel of train and speed at least one the computer software module to the discharging output of train according to rail compartment parameter.

19. computer software code according to claim 15 also comprises the computer software module that is used for rail compartment supplemental characteristic is sent to central remote database.

20. computer software code according to claim 19 also comprises being used to protect the computer software module of going to from described central remote database of communicating by letter.

21. computer software code according to claim 16 comprises that also whether the variation that is used for determining axial load is at least one computer software module that causes by the restraint of loads of liquid displacement in the rail compartment and displacement.

22. computer software code according to claim 15 comprises that also at least one that be used for according to weight, resistance and curve performance determine the computer software module of the load characteristic in the compartment in the train.

23. computer software code according to claim 15 also comprises at least one the computer software module of operating characteristic that is used for optimizing according to rail compartment parameter distributed-power train and non-distributed dynamical train.

24. computer software code according to claim 15 comprises also a plurality of rails compartment is provided that wherein computer software module is determined the order of rail compartment in train according to rail compartment parameter.

25. computer software code according to claim 15 also comprises the computer software module that is used for operating according to the stroke plan of being created train.

26. computer software code according to claim 15 also comprises being used for determining rail compartment data computing machine software module by reading the information that is comprised on the identification label that invests the rail compartment.

27. one kind by determining that rail compartment parameter improves the system of train performance, described system comprises:

A) rail compartment parameter measurement system;

B) central controller;

C) communication network is used to allow the communication between measuring system and the central controller;

D) wherein rail compartment parameter is measured and be provided for central controller, described central controller according to rail compartment parameter determine the train in all rail compartments in the train form profile and at the stroke of train task calculated at least one.

28. system according to claim 27, wherein said parameter measurement system also comprises and is used for determining the car upper sensor of rail compartment parameter and at least one of car outer sensor.

29. system according to claim 27, wherein said car upper sensor and car outer sensor are determined at least one in weight, axial load, friction force, air draught, wheel axial load, radial weight and the lateral load.

30. system according to claim 27 also comprises at least one in remote data base and the portable data collector unit.

31. system according to claim 27, wherein said communication network provides the communication between in measuring system, central controller, remote data base, portable data collector unit, roadside device, car outer sensor and the locomotive at least two.

32. system according to claim 30, wherein said communication network is the guarded communication network.

33. system according to claim 27, wherein said central controller also comprises treater.

34. system according to claim 30, wherein said remote data base comprises the rail compartment parameter in a plurality of rails compartment.

35. system according to claim 27 also comprises:

A) invest the identification marking in rail compartment;

B) identification tag reader, described identification tag reader are placed near institute position, rail compartment track part thereon so that communicate by letter with described mark with from described mark collection information;

C) wherein central controller is communicated by letter with identification tag reader, and the information that is associated with identification marking is used to determine the characteristic in rail compartment.

36. system according to claim 35, wherein the information that is associated with identification marking is provided for the stroke optimizer for the usefulness of determining the stroke plan.

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