CN104627187B - Speed measuring function test platform based on the onboard system of speed sensor velocity measurement - Google Patents

Abstract

The invention discloses a kind of speed measuring function test platform of the onboard system based on speed sensor velocity measurement, test object is the speed measuring function using the onboard system based on speed sensor velocity measurement, velocity sensor that the model that setting calculates or acceleration transducer information input will through to onboard system, can software view realize for tester onboard system Computational Method of Velocity Measurement function test.The test platform, due to bypassing filtering of testing the speed, the skidding evaluation algorithm of complexity, using the acceleration information for obtaining closer to reality vehicle as far as possible to vehicle force analysis, again by dynamic slip-based controller come simulating vehicle skidding scene, this causes the input signal of onboard system closer to real vehicles, reaches more accurate test effect.

Description

Speed measuring function test platform based on the onboard system of speed sensor velocity measurement

Technical field

The present invention relates to safety of urban transit signal field, more particularly to a kind of car based on speed sensor velocity measurement The speed measuring function test platform of loading system.

Background technology

In safety of urban transit signal field, train speed is cab signal with range measurement (range finding of referred to as testing the speed) Train automatic protection (Automatic Train Protection, the abbreviation ATP) system of safety integrity level SIL4 in system One of key technology of system.

At present, velocity sensor, the coding speed measuring equipment such as speedometer or radar meter are typically adopted in ATP system to machine Car angular speed of wheel or wheel traveling distance are measured, and these external equipments are typically mounted on train braking wheel shaft, ATP systems System by collection, compensation, analysis speed measuring equipment sensor signal, calculate wheel velocity with distance travelled.

IEEE1474.1 communication-based train controls (CBTC) performance and functional requirement standard (1474.1IEEE Standard for Communications-Based Train Control(CBTC)Performance and Functional Requirements) in have more harsh requirement to rate accuracy, and urban track traffic industry technology rule Also there is regulation to ATP function locomotive velocity measuring errors in model-ATP Product Specifications 1.0, while the two is to train position resolution (precision) requires also very clear and definite.Above-mentioned standard all ATP is tested the speed distance measurement function proposes strict requirements, it is seen that test the speed range finding work( Importance that can be in onboard system, the distance measurement function that therefore ensures to test the speed are particularly important with the measurability of algorithm and correctness.

During train traction, if the pull strength that vehicle applies is more than the maximum adhesion strength between wheel track, wheel meeting There is idle running phenomenon, during train braking, if the brake force that vehicle applies is more than the maximum adhesion strength between wheel track, car Wheel occurs skidding or locking phenomenon.The ATP system location algorithm that tests the speed should be able to accurately detect this kind of phenomenon, and can be to train speed Compensate with distance out of shape.

Wherein, Chinese patent application《Detected to dallying and skidding and the safe locomotive velocity measuring range-measurement system that compensated and Method》(application number：Line number is entered to the mode that operating speed sensor is combined with acceleration transducer in 201210475913.X) According to mutually verification, skid and judge, then compensation speed is discussed in detail with distance travelled distance measurement function of realizing testing the speed, here no longer It is described in detail.

The test or emulation for being currently based on Multi-sensor Fusion speed-measuring method is all based on greatly hardware platform, such as paper《Many biographies The research of the train speed and position measurement experiment porch of sensor information fusion》(author：Wang Shaowei, Beijing Jiaotong University's master's degree opinion Text) exploitation instrument LabVIEW is described, build to test the speed in conjunction with hardware devices such as selection industrial computer, data collecting cards and determined Position hardware experiment platform, and done data acquisition test in Railway Site, while the analysis verification stability of experiment porch.But It is to have built detection mainly for hardware sensor such as velocity sensor, optical fibre gyro, electronic compass, DVBs to put down in text Platform, then gathered data is simply filtered, can not accomplish to simulate train slipping and be tested the speed location algorithm with verifying ATP Effectiveness and correctness.

In paper《The research and emulation of ATP equipment positioning-speed-measurings》(author：Meng Qi, Southwest Jiaotong University's master's degree opinion Text) in mainly have studied speed-position detection algorithm based on velocity sensor, radar meter and analog answer device, last simple Randomly generate the train speed of fixed range by rand () function to test speed-position detection algorithm.Article is not Can analog rate sensor/radar meter various scenes verifying the location algorithm that tests the speed.

In current metro project, the location algorithm that tests the speed is typically based on carries out actual motor-car survey at test wire scene Examination, and the verification algorithm that it is critical only that of the test of location algorithm function that ATP is tested the speed treats the security reaction under abnormal scene, such as Occurs situation about sliding during train braking.Currently manufactured slide scene generally require the artificial adhesion strength for reducing track and It is, during train high-speed cruising, braking is applied to train.In IEC61133-1992 (electric propulsions-rolling stock-electric power Rolling stock and electric transmission heating power rolling stock come into operation after making before test method .1992.) in standard to coasting test Be described, general wheel track is reduced by the mixed liquor by a certain percentage of ethylene glycol and water is applied on wheel or rail surface Adhere and test idle running and skidding function.This kind of method is had high demands to test environment, and enforcement is more complicated, while there is certain danger Property, and it is unsatisfactory to test effect.

Content of the invention

The technical problem to be solved in the present invention is to provide a kind of work(that tests the speed of the onboard system based on speed sensor velocity measurement Can test platform, can software view realize for tester onboard system Computational Method of Velocity Measurement function test, can be by dynamic Slip-based controller carrys out simulating vehicle skidding scene, reaches more accurate test effect.

For solving above-mentioned technical problem, the speed measuring function of the onboard system based on speed sensor velocity measurement that the present invention is provided Test platform, test platform include traction braking position module, traction braking acceleration calculation module, wheel speed calculation module, ginseng Number setup module；

The traction braking position module, for obtaining traction braking bar position；

The traction braking acceleration calculation module, for obtaining locomotive traction braking according to traction braking bar position calculation Acceleration, and export wheel speed calculation module and the onboard system based on speed sensor velocity measurement；

The wheel speed calculation module, for according to locomotive traction braking acceleration, being calculated locomotive speed, velocity pick-up Device step-by-step counting, velocity sensor count pulsewidth, and velocity sensor step-by-step counting, velocity sensor counting pulsewidth output are arrived Onboard system based on speed sensor velocity measurement；

The parameter setting module, calculates for setting the traction braking acceleration calculation module, wheel speed calculation module When desired parameters；

The wheel speed calculation module, is calculated velocity sensor step-by-step counting, velocity sensor meter in the following manner Rapid pulse width：

V_train(n)=V_train(n-1)+a_train*T；

V_wheel(n)=σ * V_train(n)+V_train(n)；

In formula, V_train(n)For the locomotive speed in current onboard system cycle, V_train(n-1)For the upper onboard system cycle Locomotive speed, V_train(0)For initial velocity and V_train(0)=0, a_trainCalculate for the traction braking acceleration calculation module The locomotive traction braking acceleration for arriving, V_wheel(n)For current onboard system cycle locomotive wheel speed, PC_wheel(n)For velocity sensor Pile-up pulse by the current onboard system cycle is counted, PC_wheel(n-1)It was velocity sensor by the upper onboard system cycle Pile-up pulse count, PW_wheel(n)For the counting pulsewidth in velocity sensor current onboard system cycle, T is test platform and car Loading system cycle time, N rotate a circle for test wheel the pulse square wave number of velocity sensor generation, and D is test wheel wheel Footpath, σ are slip rate, and b is velocity sensor step-by-step counting channel factor, and f is that velocity sensor counts pulsewidth channel factor；

T, N, D, σ, b, f are set by the parameter setting module.

Preferably, the locomotive traction braking acceleration computing module, is calculated locomotive traction system in the following manner Dynamic acceleration：

a_train=a_f+g*i+h；

-1≤k≤1；

K is traction braking bar position, when locomotive is in on-position, -1≤k≤0；When locomotive is in traction state, 0≤k ≤1；

a_trainFor locomotive traction braking acceleration, i is the track grade of locomotive current location in track data, and g is gravity Acceleration, a_fShould there are acceleration, μ for what tractive-braking efforts were produced_tcFor coefficient of adhesion in traction, μ_brFor coefficient of adhesion in braking, m is machine Car gross mass, F_bFor locomotive datum drag, F_gFor additional resistance due to grade, F_cFor additional resistance due to curve, F_tnFor tunnel additional drag, h For locomotive traction braking acceleration channel factor；

i、μ_tc、μ_br、m、F_b、F_g、F_c、F_tn, h, set by the parameter setting module.

Preferably, the locomotive traction braking acceleration computing module, exports mould including the first acceleration transducer first Block, first the second output module of acceleration transducer, second the first output module of acceleration transducer, the second acceleration transducer Second output module；

First the first output module of acceleration transducer, for exporting the first acceleration transducer first via locomotive traction system Dynamic acceleration is to the onboard system based on speed sensor velocity measurement；

First the second output module of acceleration transducer, for exporting first the second road of acceleration transducer locomotive traction system Dynamic acceleration is to the onboard system based on speed sensor velocity measurement；

Second the first output module of acceleration transducer, for exporting the second acceleration transducer first via locomotive traction system Dynamic acceleration is to the onboard system based on speed sensor velocity measurement；

Second the second output module of acceleration transducer, for exporting second the second road of acceleration transducer locomotive traction system Dynamic acceleration is to the onboard system based on speed sensor velocity measurement；

a_train11=a_f+g*i+h₁₁；

a_train12=a_f+g*i+h₁₂；

a_train21=a_f+g*i+h₂₁；

a_train22=a_f+g*i+h₂₂；

a_train11For the first acceleration transducer first via locomotive traction braking acceleration, a_train12Pass for the first acceleration The second road of sensor locomotive traction braking acceleration, a_train21Accelerate for the braking of the second acceleration transducer first via locomotive traction Degree, a_train22For second the second road of acceleration transducer locomotive traction braking acceleration, h₁₁For the first acceleration transducer first Road locomotive traction braking acceleration channel factor, h₁₂For first the second road of acceleration transducer locomotive traction braking acceleration passage Coefficient, h₂₁For the second acceleration transducer first via locomotive traction braking acceleration channel factor, h₂₂For the second acceleration sensing The second road of device locomotive traction braking acceleration channel factor；

h₁₁、h₁₂、h₂₁、h₂₂, set by the parameter setting module.

Preferably, the locomotive wheel speed computing module, including First Speed sensor the first step-by-step counting output module, One velocity sensor the second step-by-step counting output module, second speed sensor the first step-by-step counting output module, second speed Sensor the second step-by-step counting output module；

First Speed sensor the first step-by-step counting output module, for exporting First Speed sensor first via pulsimeter Count to the onboard system based on speed sensor velocity measurement；

First Speed sensor the second step-by-step counting output module, for exporting the second road of First Speed sensor pulsimeter Count to the onboard system based on speed sensor velocity measurement；

Second speed sensor the first step-by-step counting output module, for exporting second speed sensor first via pulsimeter Count to the onboard system based on speed sensor velocity measurement；

Second speed sensor the second step-by-step counting output module, for exporting the second road of second speed sensor pulsimeter Count to the onboard system based on speed sensor velocity measurement；

PC_wheel(n)11For pile-up pulse of the First Speed sensor first via step-by-step counting by the current onboard system cycle Count, PC_wheel(n)12For pile-up pulse meter of First Speed sensor the second tunnel step-by-step counting by the current onboard system cycle Number, PC_wheel(n)21The pile-up pulse for being the step-by-step counting of the second speed sensor first via by the current onboard system cycle is counted； PC_wheel(n)22The pile-up pulse for being the second tunnel step-by-step counting of second speed sensor by the current onboard system cycle is counted；b₁₁ For First Speed sensor the first step-by-step counting channel factor, b₁₂For First Speed sensor the second step-by-step counting channel factor, b₂₁For second speed sensor the first step-by-step counting channel factor, b₂₂For second speed sensor the second step-by-step counting passage system Number；

b₁₁、b₁₂、b₂₁、b₂₂, set by the parameter setting module.

Preferably, the locomotive wheel speed computing module, including First Speed sensor first count pulsewidth output module, the One velocity sensor second counts pulsewidth output module, second speed sensor first and counts pulsewidth output module, second speed Sensor second counts pulsewidth output module；

First Speed sensor first counts pulsewidth output module, counts arteries and veins for exporting the First Speed sensor first via The wide onboard system to based on speed sensor velocity measurement；

First Speed sensor second counts pulsewidth output module, counts arteries and veins for exporting the second tunnel of First Speed sensor The wide onboard system to based on speed sensor velocity measurement；

Second speed sensor first counts pulsewidth output module, counts arteries and veins for exporting the second speed sensor first via The wide onboard system to based on speed sensor velocity measurement；

Second speed sensor second counts pulsewidth output module, counts arteries and veins for exporting the second tunnel of second speed sensor The wide onboard system to based on speed sensor velocity measurement；

PW_wheel(n)11The First Speed sensor first via for the current onboard system cycle counts pulsewidth, PW_wheel(n)12For Second tunnel of First Speed sensor in current onboard system cycle counts pulsewidth, PW_wheel(n)21For the current onboard system cycle The second speed sensor first via counts pulsewidth, PW_wheel(n)22Second speed sensor second for the current onboard system cycle Road counts pulsewidth；f₁₁For the counting pulsewidth channel factor that First Speed sensor first counts pulsewidth output module, f₁₂For first Velocity sensor second counts the counting pulsewidth channel factor of pulsewidth output module；f₂₁Arteries and veins is counted for second speed sensor first The counting pulsewidth channel factor of wide output module；f₂₂For the counting pulsewidth that second speed sensor second counts pulsewidth output module Channel factor；

f₁₁、f₁₂、f₂₁、f₂₂, set by the parameter setting module.

Preferably, test platform also includes wheel direction of rotation output module；

The parameter setting module, is additionally operable to arrange First Speed sensor place wheel direction of rotation, second speed biography Sensor place wheel direction of rotation；

Wheel direction of rotation, state is for rotating forward, reversion or unknown；

Wheel direction of rotation output module, is located according to the First Speed sensor that the parameter setting module is arranged Wheel direction of rotation, second speed sensor place wheel direction of rotation, export First Speed sensor place wheel rotation side To, second speed sensor place wheel direction of rotation to the onboard system based on speed sensor velocity measurement.

The speed measuring function test platform of the onboard system based on speed sensor velocity measurement of the present invention, test object is employing Based on the speed measuring function of the onboard system of speed sensor velocity measurement (or based on velocity sensor combine with other sensors test the speed), The velocity sensor that the model that process sets is calculated or acceleration transducer information input, can be in softwares to onboard system Aspect realizes the test of the Computational Method of Velocity Measurement function of onboard system for tester.The test platform, due to bypassing testing the speed for complexity Filtering, skidding evaluation algorithm, using the acceleration information for obtaining closer to reality vehicle as far as possible to vehicle force analysis, then lead to Cross dynamic slip-based controller and carry out simulating vehicle skidding scene, this causes the input signal of onboard system closer to real vehicles, reaches To more accurately test effect.

Description of the drawings

In order to be illustrated more clearly that technical scheme, the accompanying drawing to using required for the present invention is made simple below Introduce, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ordinary skill people For member, on the premise of not paying creative work, can be with according to these other accompanying drawings of accompanying drawings acquisition.

Fig. 1 is that the speed measuring function test platform one of the onboard system based on speed sensor velocity measurement of the present invention is implemented to illustrate It is intended to.

Specific embodiment

Below in conjunction with accompanying drawing, to the present invention in technical scheme carry out clear, complete description, it is clear that described Embodiment is a part of embodiment of the present invention, rather than whole embodiment.Embodiment in based on the present invention, this area are general All other embodiment that logical technical staff is obtained on the premise of creative work is not made, belongs to protection of the present invention Scope.

Embodiment one

Based on the speed measuring function test platform of the onboard system of speed sensor velocity measurement, as shown in figure 1, including traction braking Position module, traction braking acceleration calculation module, wheel speed calculation module, parameter setting module；

The traction braking position module, for obtaining traction braking bar position；

The traction braking acceleration calculation module, for obtaining locomotive traction braking according to traction braking bar position calculation Acceleration, and export wheel speed calculation module and the onboard system based on speed sensor velocity measurement；

The wheel speed calculation module, for according to locomotive traction braking acceleration, being calculated locomotive speed, velocity pick-up Device step-by-step counting, velocity sensor count pulsewidth, and velocity sensor step-by-step counting, velocity sensor counting pulsewidth output are arrived Onboard system based on speed sensor velocity measurement；

The parameter setting module, calculates for setting the traction braking acceleration calculation module, wheel speed calculation module When desired parameters；

The wheel speed calculation module, is calculated velocity sensor step-by-step counting, velocity sensor meter in the following manner Rapid pulse width：

V_train(n)=V_train(n-1)+a_train*T；

V_wheel(n)=σ * V_train(n)+V_train(n)；

In formula, V_train(n)For the locomotive speed in current onboard system cycle, V_train(n-1)For the upper onboard system cycle Locomotive speed, V_train(0)For initial velocity and V_train(0)=0, a_trainCalculate for the traction braking acceleration calculation module The locomotive traction braking acceleration for arriving, V_wheel(n)For current onboard system cycle locomotive wheel speed, PC_wheel(n)For velocity sensor Pile-up pulse by the current onboard system cycle is counted, PC_wheel(n-1)It was velocity sensor by the upper onboard system cycle Pile-up pulse count, PW_wheel(n)For the counting pulsewidth in velocity sensor current onboard system cycle, T is test platform and car Loading system cycle time, N rotate a circle for test wheel the pulse square wave number of velocity sensor generation, and D is test wheel wheel Footpath, σ are slip rate, and b is velocity sensor step-by-step counting channel factor, and f is that velocity sensor counts pulsewidth channel factor；

T, N, D, σ, b, f, can be set by the parameter setting module.

In locomotive traction/braking procedure, as wheel and rail are all elastomer, at roller Wheel Rail Contact, bullet is had Property deformation, this elastic deformation can make micro slip between contact surface, become creep (CREEP).Creep size can be with immeasurable Guiding principle ratio slip rate σ represents, i.e.,

V_wheel=ω * R_wheel=σ * V_train+V_train；

Wherein ω be vehicle wheel rotation angular velocity, R_wheelFor locomotive wheel radius, V_trainFor locomotive speed.

Experiment shows：Slip rate is closely related with adhesion utility, and control slip rate can reach the purpose for making full use of adhesion. Therefore, the purpose of vehicle slip whether can be accurately judged by controlling appropriate slip rate to reach test Computational Method of Velocity Measurement.

The speed measuring function test platform of the onboard system based on speed sensor velocity measurement of embodiment one, traction braking accelerate Degree computing module is calculated locomotive traction braking acceleration a_train, by a_trainIt is calculated locomotive speed；Can pass through to arrange Slip rate σ, makes onboard system according to the locomotive traction braking acceleration a for receiving_trainThe acceleration transducer velocity amplitude for obtaining, with Pile-up pulse according to velocity sensor by the current onboard system cycle counts PC_wheel(n)The velocity sensor velocity amplitude for obtaining Difference exceed tolerance limit δ, simulation is skidded, and tester can determine tolerance limit δ-value jointly with developer.

The operation result daily record of the test platform by a log collection show tools, can be collected, be based on velocity pick-up The operation result daily record of the onboard system that device tests the speed, and the judgement that performs an analysis.According to industry specifications standard and each experimental data, In normal condition, the speed that onboard system is calculated should be with the calculated reality of the locomotive wheel speed computing module of the test platform Speed (i.e. V_train) difference should within the specific limits, and in locomotive brake, if slip rate σ is more than certain value, vehicle-mounted system Unified test speed distance measurement function should be able to be judged to skid.

The speed measuring function test platform of the onboard system based on speed sensor velocity measurement of embodiment one, test object are to adopt The work(that tests the speed with the onboard system based on speed sensor velocity measurement (or based on velocity sensor combine with other sensors test the speed) Can, will through velocity sensor or acceleration transducer information input that the model that setting calculates to onboard system, can be Software view realizes the test of the Computational Method of Velocity Measurement function of onboard system for tester.The test platform, due to bypassing complexity Test the speed filtering, skidding evaluation algorithm, using the acceleration information for obtaining closer to reality vehicle as far as possible to vehicle force analysis, Again by dynamic slip-based controller come simulating vehicle skidding scene, this causes the input signal of onboard system closer to true car , reach more accurate test effect.

Embodiment two

Based on the speed measuring function test platform of the onboard system based on speed sensor velocity measurement of embodiment one, the locomotive Traction braking acceleration calculation module, is calculated locomotive traction braking acceleration in the following manner：

a_train=a_f+g*i+h；

-1≤k≤1；

K is traction braking bar position, when locomotive is in on-position, -1≤k≤0；When locomotive is in traction state, 0≤k ≤1；

a_trainFor locomotive traction braking acceleration, i is the track grade of locomotive current location in track data, and g is gravity Acceleration, a_fShould there are acceleration, μ for what tractive-braking efforts were produced_tcFor coefficient of adhesion in traction, μ_brFor coefficient of adhesion in braking, m is machine Car gross mass, F_bFor locomotive datum drag, F_gFor additional resistance due to grade, F_cFor additional resistance due to curve, F_tnFor tunnel additional drag, h For locomotive traction braking acceleration channel factor.

i、μ_tc、μ_br、m、F_b、F_g、F_c、F_tn, h, can be set by the parameter setting module.

Preferably, the locomotive traction braking acceleration computing module, exports mould including the first acceleration transducer first Block, first the second output module of acceleration transducer, second the first output module of acceleration transducer, the second acceleration transducer Second output module；

First the first output module of acceleration transducer, for exporting the first acceleration transducer first via locomotive traction system Dynamic acceleration is to the onboard system based on speed sensor velocity measurement；

First the second output module of acceleration transducer, for exporting first the second road of acceleration transducer locomotive traction system Dynamic acceleration is to the onboard system based on speed sensor velocity measurement；

Second the first output module of acceleration transducer, for exporting the second acceleration transducer first via locomotive traction system Dynamic acceleration is to the onboard system based on speed sensor velocity measurement；

Second the second output module of acceleration transducer, for exporting second the second road of acceleration transducer locomotive traction system Dynamic acceleration is to the onboard system based on speed sensor velocity measurement；

a_train11=a_f+g*i+h₁₁；

a_train12=a_f+g*i+h₁₂；

a_train21=a_f+g*i+h₂₁；

a_train22=a_f+g*i+h₂₂；

a_train11For the first acceleration transducer first via locomotive traction braking acceleration, a_train12Pass for the first acceleration The second road of sensor locomotive traction braking acceleration, a_train21Accelerate for the braking of the second acceleration transducer first via locomotive traction Degree, a_train22For second the second road of acceleration transducer locomotive traction braking acceleration, h₁₁For the first acceleration transducer first Road locomotive traction braking acceleration channel factor, h₁₂For first the second road of acceleration transducer locomotive traction braking acceleration passage Coefficient, h₂₁For the second acceleration transducer first via locomotive traction braking acceleration channel factor, h₂₂For the second acceleration sensing The second road of device locomotive traction braking acceleration channel factor；

h₁₁、h₁₂、h₂₁、h₂₂, can be set by the parameter setting module.

The traction braking position module, can directly obtain and lead according to vehicle traction braking bar (by tester's control) Draw brake bar position k；If ATO (Automatic Train Operation, train are runed automatically) pattern, then can basis The traction braking electric current conversion of interface obtains traction braking bar position k；

In Rail Transit System, the hauling capacity of a locomotive is produced by actuating unit, identical with current of traffic, is driven Train operation the external force that can be adjusted by driver/signaling system as needed；And mode of braking typically has by frictional damping, moves Three kinds of dynamic braking or electromagnetic braking, brake force are produced by the external force that driver/signaling system is adjusted as needed.Meanwhile, train Traction or braking acceleration again receive train basic resistance F_b, additional resistance due to grade F_g, additional resistance due to curve F_c, the additional resistance in tunnel Power F_tnDeng affect, and its model also have multiple.

One of which draws computation model：K is traction braking bar position, when train is in on-position, -1≤k≤0； When train is in traction state, 0≤k≤1；

When train is in traction state, the relation if traction braking bar position size and pull strength are in proportion, then Hauling capacity of a locomotive F_tcFor：

F_tc=k*mg μ_tc；

Tester can arrange coefficient of adhesion in traction μ by the parameter setting module_tcComputing formula, traction adhesion Coefficient μ_tcIt is inversely proportional to cycle speed on train (initial velocity is 0).

Therefore during locomotive traction, bonding force F suffered by locomotive_ftcFor：

F_ftc=F_tc-F_c-F_b-F_tn-F_g；

When train is in on-position, the relation if traction braking bar position size and brake force are in proportion, then machine Car brake force F_brFor：

F_br=k*mg μ_br；

Coefficient of adhesion in braking μ_brCan distinguish and dry rail level and moist rail level, tester can be by the parameter setting mould Block arranges coefficient of adhesion in braking μ_brComputing formula, similarly, coefficient of adhesion in braking μ_brShould be (initial with cycle speed on train Speed is 0) to be inversely proportional to.

Therefore during locomotive brake, bonding force F suffered by locomotive_ftcFor：

F_fbr=F_br+F_c+F_b+F_tn+F_g.

After the completion of tractive-braking efforts are calculated, what tractive-braking efforts were produced should have acceleration a_fFor：

In conjunction with vehicle place track grade data, locomotive traction braking acceleration a_trainFor：

a_train=a_f+a_grade；

Wherein, a_grade=g*i, i are the track grade of train current location in track data.

Embodiment three

Embodiment one is based on, based on the speed measuring function test platform of the onboard system of speed sensor velocity measurement, the locomotive Wheel speed calculation module, including First Speed sensor the first step-by-step counting output module, the second pulsimeter of First Speed sensor Number output module, second speed sensor the first step-by-step counting output module, the second step-by-step counting of second speed sensor output Module；

First Speed sensor the first step-by-step counting output module, for exporting First Speed sensor first via pulsimeter Count to the onboard system based on speed sensor velocity measurement；

First Speed sensor the second step-by-step counting output module, for exporting the second road of First Speed sensor pulsimeter Count to the onboard system based on speed sensor velocity measurement；

Second speed sensor the first step-by-step counting output module, for exporting second speed sensor first via pulsimeter Count to the onboard system based on speed sensor velocity measurement；

Second speed sensor the second step-by-step counting output module, for exporting the second road of second speed sensor pulsimeter Count to the onboard system based on speed sensor velocity measurement；

PC_wheel(n)11For pile-up pulse of the First Speed sensor first via step-by-step counting by the current onboard system cycle Count, PC_wheel(n)12For pile-up pulse meter of First Speed sensor the second tunnel step-by-step counting by the current onboard system cycle Number, PC_wheel(n)21The pile-up pulse for being the step-by-step counting of the second speed sensor first via by the current onboard system cycle is counted； PC_wheel(n)22The pile-up pulse for being the second tunnel step-by-step counting of second speed sensor by the current onboard system cycle is counted；b₁₁ For First Speed sensor the first step-by-step counting channel factor, b₁₂For First Speed sensor the second step-by-step counting channel factor, b₂₁For second speed sensor the first step-by-step counting channel factor, b₂₂For second speed sensor the second step-by-step counting passage system Number；

b₁₁、b₁₂、b₂₁、b₂₂, can be set by the parameter setting module.

The speed measuring function test platform of the onboard system based on speed sensor velocity measurement of embodiment three, can simulate single The two paths of signals of velocity sensor wherein all the way the skew of step-by-step counting major break down, while tester can be with developer Determine one velocity sensor two-way channel pulse count difference value Maximum tolerance, if onboard system when test skew exceedes this tolerance limit Reaction.PcTol in following formula_singleFor constant, one velocity sensor two-way channel pulse count difference value Maximum tolerance, Δ is represented pc_wheel11Monocycle impulse for First Speed sensor first via step-by-step counting is counted, Δ pc_wheel12Sense for First Speed The monocycle impulse of device the second tunnel step-by-step counting is counted.By arranging b₁₁、b₁₂、b₂₁、b₂₂, you can sensed with same analog rate The two paths of signals of device wherein all the way the skew of step-by-step counting major break down.B is for example set₁₁It is more than pcTol_single, b₁₂、b₂₁、 b₂₂For 0, then have | Δ pc_wheel11-Δpc_wheel12|=| b₁₁-b₁₂|>pcTol_single, you can to simulate First Speed sensor All the way the skew of step-by-step counting major break down.

The speed measuring function test platform of the onboard system based on speed sensor velocity measurement of embodiment three, can be with simulated dual The skew of the one of velocity sensor step-by-step counting of velocity sensor major break down, while tester can be true with developer Determine two-speed sensor pulse count difference value Maximum tolerance, test two-speed sensor pulse count difference value exceedes under tolerance limit scene The reaction of onboard system.PcTol in following formula_doubleFor constant, two-speed sensor pulse count difference value Maximum tolerance, Δ is represented pc_wheel1Monocycle impulse for First Speed sensor two-way step-by-step counting is counted, Δ pc_wheel2For second speed sensor two The monocycle impulse of road step-by-step counting is counted.By arranging b₁₁、b₁₂、b₂₁、b₂₂, you can with simulated dual velocity sensor wherein The skew of individual velocity sensor step-by-step counting major break down.B is for example set₁₁=b₁₂, and b₁₁、b₁₂It is more than pcTol_double, b₂₁ =b₂₂=0, then have | Δ pc^wheel1-Δpc_wheel2|=| b₁₁-b₂₁|>pcTol_double, you can to simulate First Speed sensor The skew of first via step-by-step counting major break down.

Example IV

Embodiment one is based on, based on the speed measuring function test platform of the onboard system of speed sensor velocity measurement, the locomotive Wheel speed calculation module, the locomotive wheel speed computing module, including First Speed sensor first count pulsewidth output module, first Velocity sensor second counts pulsewidth output module, second speed sensor first and counts pulsewidth output module, second speed biography Sensor second counts pulsewidth output module；

First Speed sensor first counts pulsewidth output module, counts arteries and veins for exporting the First Speed sensor first via The wide onboard system to based on speed sensor velocity measurement；

First Speed sensor second counts pulsewidth output module, counts arteries and veins for exporting the second tunnel of First Speed sensor The wide onboard system to based on speed sensor velocity measurement；

Second speed sensor first counts pulsewidth output module, counts arteries and veins for exporting the second speed sensor first via The wide onboard system to based on speed sensor velocity measurement；

Second speed sensor second counts pulsewidth output module, counts arteries and veins for exporting the second tunnel of second speed sensor The wide onboard system to based on speed sensor velocity measurement；

PW_wheel(n)11The First Speed sensor first via for the current onboard system cycle counts pulsewidth, PW_wheel(n)12For Second tunnel of First Speed sensor in current onboard system cycle counts pulsewidth, PW_wheel(n)21For the current onboard system cycle The second speed sensor first via counts pulsewidth, PW_wheel(n)22Second speed sensor second for the current onboard system cycle Road counts pulsewidth；f₁₁For the counting pulsewidth channel factor that First Speed sensor first counts pulsewidth output module, f₁₂For first Velocity sensor second counts the counting pulsewidth channel factor of pulsewidth output module；f₂₁Arteries and veins is counted for second speed sensor first The counting pulsewidth channel factor of wide output module；f₂₂For the counting pulsewidth that second speed sensor second counts pulsewidth output module Channel factor；

f₁₁、f₁₂、f₂₁、f₂₂, can be set by the parameter setting module.

The speed measuring function test platform of the onboard system based on speed sensor velocity measurement of example IV, can simulate single The two paths of signals of velocity sensor wherein all the way count pulsewidth skew major break down, while tester can be with developer Determine one velocity sensor two-way channel counts pulsewidth difference Maximum tolerance, if onboard system when test skew exceedes this tolerance limit Reaction.PwTol in following formula_{sin gle}For constant, one velocity sensor two-way channel counts pulsewidth difference Maximum tolerance is represented.Pass through F is set₁₁、f₁₂、f₂₁、f₂₂, you can to simulate the skew for wherein counting pulsewidth all the way of the two paths of signals of same velocity sensor Major break down.F is for example set₁₁It is more than pwTol_{sin gle}, f₁₂、f₂₁、f₂₂For 0, then have, | pw_wheel(n)11-pw_wheel(n)12|=| f₁₁- f₁₂|>pwTol_{sin gle}, you can with simulate the First Speed sensor first via count pulsewidth skew major break down.

The speed measuring function test platform of the onboard system based on speed sensor velocity measurement of example IV, can be with simulated dual The one of velocity sensor of velocity sensor count the skew of pulsewidth major break down, while tester can be true with developer Determine two-speed sensor and count pulsewidth difference Maximum tolerance, test two-speed sensor counts pulsewidth difference and exceedes under tolerance limit scene The reaction of onboard system.PwTol in following formula_doubleFor constant, represent that two-speed sensor counts pulsewidth difference Maximum tolerance, lead to Cross setting f₁₁、f₁₂、f₂₁、f₂₂, you can excessive with the skew that the one of velocity sensor of simulated dual velocity sensor counts pulsewidth Failure.F is for example set₁₁=f₁₂, and f₁₁、f₁₂It is more than pwTol_double, f₂₁=f₂₂=0, then have, | pw_wheel(n)11- pw_wheel(n)21|=| f₁₁-f₂₁|>pwTol_double, you can with simulate the skew of the counting pulsewidth of First Speed sensor die Barrier.

Embodiment five

Based on embodiment one, based on the speed measuring function test platform of the onboard system of speed sensor velocity measurement, also include car Wheel direction of rotation output module；

The parameter setting module, is additionally operable to arrange First Speed sensor place wheel direction of rotation dir_wheel1, second Velocity sensor place wheel direction of rotation dir_wheel2；

Wheel direction of rotation, state could be arranged to rotate forward, invert or indefinite；

Wheel direction of rotation output module, is located according to the First Speed sensor that the parameter setting module is arranged Wheel direction of rotation dir_wheel1, second speed sensor place wheel direction of rotation dir_wheel2, export First Speed sensor Place wheel direction of rotation, second speed sensor place wheel direction of rotation are to the vehicle-mounted system based on speed sensor velocity measurement System.

The speed measuring function test platform of the onboard system based on speed sensor velocity measurement of embodiment five, tester can lead to Cross the parameter setting module and contrary First Speed sensor place wheel direction of rotation, second speed sensor place are set Wheel direction of rotation (i.e. dir_wheel1≠dir_wheel2), the inconsistent failure of steering of both sides wheel is simulated, such that it is able to convenient There is provided both sides wheel steering conflicting scene.

The speed measuring function test platform of the onboard system based on speed sensor velocity measurement of the present invention, is directed to vehicle-mounted system System software, provides different test scenes for testing speed measuring function, can be used to verify Computational Method of Velocity Measurement, help develop improve onboard system Speed measuring function；The test platform, simple structure are motivated, operation facility, it is to avoid the danger of on-the-spot test speed measuring function Property；The test platform, can dynamic analog direct fault location, i.e., analog rate sensor or acceleration transducer in train operation Whether information failure, checking onboard system have correct security reaction.

Presently preferred embodiments of the present invention is the foregoing is only, not in order to limit the present invention, all in essence of the invention Within god and principle, any modification, equivalent substitution and improvements that is done etc. are should be included within the scope of protection of the invention.

Claims (5)

1. a kind of speed measuring function test platform of the onboard system based on speed sensor velocity measurement, it is characterised in that test platform Including traction braking position module, traction braking acceleration calculation module, wheel speed calculation module, parameter setting module；

The traction braking position module, for obtaining traction braking bar position；

The traction braking acceleration calculation module, accelerates for obtaining locomotive traction braking according to traction braking bar position calculation Degree, and export wheel speed calculation module and the onboard system based on speed sensor velocity measurement；

The wheel speed calculation module, for according to locomotive traction braking acceleration, being calculated locomotive speed, velocity sensor arteries and veins Punching is counted, velocity sensor counts pulsewidth, and velocity sensor step-by-step counting, velocity sensor are counted pulsewidth output to being based on The onboard system of speed sensor velocity measurement；

The parameter setting module, calculates when institute for setting the traction braking acceleration calculation module, wheel speed calculation module Need parameter；

The wheel speed calculation module, is calculated velocity sensor step-by-step counting, velocity sensor in the following manner and counts arteries and veins Wide：

V_train(n)=V_train(n-1)+a_train*T；

V_wheel(n)=σ * V_train(n)+V_train(n)；

${\mathrm{PC}}_{wheel\left(n\right)}=\frac{V_{wheel\left(n\right)}*T*N}{\mathrm{\π}*D}+{\mathrm{PC}}_{wheel(n-1)}+b;$

${\mathrm{PW}}_{wheel\left(n\right)}=\frac{T}{{\mathrm{PC}}_{wheel\left(n\right)}-{\mathrm{PC}}_{wheel(n-1)}}+f;$

In formula, V_train(n)For the locomotive speed in current onboard system cycle, V_train(n-1)Locomotive for the upper onboard system cycle Speed, V_train(0)For initial velocity and V_train(0)=0, a_trainCalculated for the traction braking acceleration calculation module Locomotive traction braking acceleration, V_wheel(n)For current onboard system cycle locomotive wheel speed, PC_wheel(n)For velocity sensor by The pile-up pulse in current onboard system cycle is counted, PC_wheel(n-1)For velocity sensor tiring out by the upper onboard system cycle Product step-by-step counting, PW_wheel(n)For the counting pulsewidth in velocity sensor current onboard system cycle, T is test platform and vehicle-mounted system System cycle time, N for test wheel rotate a circle velocity sensor generation pulse square wave number, D be test wheel wheel footpath, σ For slip rate, b is velocity sensor step-by-step counting channel factor, and f is that velocity sensor counts pulsewidth channel factor；

T, N, D, σ, b, f are set by the parameter setting module；

The locomotive traction braking acceleration computing module, is calculated locomotive traction braking acceleration in the following manner：

a_train=a_f+g*i+h；

$a_f=\left\{\begin{array}{c}\frac{k*{\mathrm{mg\μ}}_{tc}-F_c-F_b-F_{tn}-F_g}{m},0\≤k\≤1\\ \frac{k*{\mathrm{mg\μ}}_{br}+F_c+F_b+F_{tn}+F_g}{m},-1\≤k\≤0\end{array}\right.;$

-1≤k≤1；

K is traction braking bar position, when locomotive is in on-position, -1≤k≤0；When locomotive is in traction state, 0≤k≤1；

a_trainFor locomotive traction braking acceleration, track grades of the i for locomotive current location in track data, g are that gravity accelerates Degree, a_fShould there are acceleration, μ for what tractive-braking efforts were produced_tcFor coefficient of adhesion in traction, μ_brFor coefficient of adhesion in braking, m is that locomotive is total Quality, F_bFor locomotive datum drag, F_gFor additional resistance due to grade, F_cFor additional resistance due to curve, F_tnFor tunnel additional drag, h is machine Car traction braking acceleration channel factor；

i、μ_tc、μ_br、m、F_b、F_g、F_c、F_tn, h, set by the parameter setting module.

2. the speed measuring function test platform of the onboard system based on speed sensor velocity measurement according to claim 1,

The locomotive traction braking acceleration computing module, accelerates including first the first output module of acceleration transducer, first Degree the second output module of sensor, second the first output module of acceleration transducer, the second acceleration transducer second export mould Block；

First the first output module of acceleration transducer, adds for exporting the braking of the first acceleration transducer first via locomotive traction Speed is to the onboard system based on speed sensor velocity measurement；

First the second output module of acceleration transducer, adds for the locomotive traction braking of first the second road of acceleration transducer of output Speed is to the onboard system based on speed sensor velocity measurement；

Second the first output module of acceleration transducer, adds for exporting the braking of the second acceleration transducer first via locomotive traction Speed is to the onboard system based on speed sensor velocity measurement；

Second the second output module of acceleration transducer, adds for the locomotive traction braking of second the second road of acceleration transducer of output Speed is to the onboard system based on speed sensor velocity measurement；

a_train11=a_f+g*i+h₁₁；

a_train12=a_f+g*i+h₁₂；

a_train21=a_f+g*i+h₂₁；

a_train22=a_f+g*i+h₂₂；

a_train11For the first acceleration transducer first via locomotive traction braking acceleration, a_train12For the first acceleration transducer Second road locomotive traction braking acceleration, a_train21For the second acceleration transducer first via locomotive traction braking acceleration, a_train22For second the second road of acceleration transducer locomotive traction braking acceleration, h₁₁For the first acceleration transducer first via machine Car traction braking acceleration channel factor, h₁₂For first the second road of acceleration transducer locomotive traction braking acceleration passage system Number, h₂₁For the second acceleration transducer first via locomotive traction braking acceleration channel factor, h₂₂For the second acceleration transducer Second road locomotive traction braking acceleration channel factor；

h₁₁、h₁₂、h₂₁、h₂₂, set by the parameter setting module.

3. the speed measuring function test platform of the onboard system based on speed sensor velocity measurement according to claim 1, its are special Levy and be,

The locomotive wheel speed computing module, senses including First Speed sensor the first step-by-step counting output module, First Speed Device the second step-by-step counting output module, second speed sensor the first step-by-step counting output module, second speed sensor second Step-by-step counting output module；

First Speed sensor the first step-by-step counting output module, arrives for exporting First Speed sensor first via step-by-step counting Onboard system based on speed sensor velocity measurement；

First Speed sensor the second step-by-step counting output module, arrives for exporting the second tunnel step-by-step counting of First Speed sensor Onboard system based on speed sensor velocity measurement；

Second speed sensor the first step-by-step counting output module, arrives for exporting second speed sensor first via step-by-step counting Onboard system based on speed sensor velocity measurement；

Second speed sensor the second step-by-step counting output module, arrives for exporting the second tunnel step-by-step counting of second speed sensor Onboard system based on speed sensor velocity measurement；

${\mathrm{PC}}_{wheel\left(n\right)11}=\frac{V_{wheel\left(n\right)}*T*N}{\mathrm{\π}*D}+{\mathrm{PbC}}_{wheel(n-1)}+b_{11};$

${\mathrm{PC}}_{wheel\left(n\right)12}=\frac{V_{wheel\left(n\right)}*T*N}{\mathrm{\π}*D}+{\mathrm{PC}}_{wheel(n-1)}+b_{12};$

${\mathrm{PC}}_{wheel\left(n\right)21}=\frac{V_{wheel\left(n\right)}*T*N}{\mathrm{\π}*D}+{\mathrm{PC}}_{wheel(n-1)}+b_{21};$

${\mathrm{PC}}_{wheel\left(n22\right)}=\frac{V_{wheel\left(n\right)}*T*N}{\mathrm{\π}*D}+{\mathrm{PC}}_{wheel(n-1)}+b_{22};$

PC_wheel(n)11For pile-up pulse meter of the First Speed sensor first via step-by-step counting by the current onboard system cycle Number, PC_wheel(n)12The pile-up pulse for being the second tunnel step-by-step counting of First Speed sensor by the current onboard system cycle is counted, PC_wheel(n)21The pile-up pulse for being the step-by-step counting of the second speed sensor first via by the current onboard system cycle is counted； PC_wheel(n)22The pile-up pulse for being the second tunnel step-by-step counting of second speed sensor by the current onboard system cycle is counted；b₁₁ For First Speed sensor the first step-by-step counting channel factor, b₁₂For First Speed sensor the second step-by-step counting channel factor, b₂₁For second speed sensor the first step-by-step counting channel factor, b₂₂For second speed sensor the second step-by-step counting passage system Number；

b₁₁、b₁₂、b₂₁、b₂₂, set by the parameter setting module.

4. the speed measuring function test platform of the onboard system based on speed sensor velocity measurement according to claim 1, its are special Levy and be,

The locomotive wheel speed computing module, counts pulsewidth output module, First Speed sensing including First Speed sensor first Device second counts pulsewidth output module, second speed sensor first and counts pulsewidth output module, second speed sensor second Count pulsewidth output module；

First Speed sensor first counts pulsewidth output module, arrives for exporting First Speed sensor first via counting pulsewidth Onboard system based on speed sensor velocity measurement；

First Speed sensor second counts pulsewidth output module, arrives for exporting the second road of First Speed sensor counting pulsewidth Onboard system based on speed sensor velocity measurement；

Second speed sensor first counts pulsewidth output module, arrives for exporting second speed sensor first via counting pulsewidth Onboard system based on speed sensor velocity measurement；

Second speed sensor second counts pulsewidth output module, arrives for exporting the second road of second speed sensor counting pulsewidth Onboard system based on speed sensor velocity measurement；

${\mathrm{PW}}_{wheel\left(n\right)11}=\frac{T}{{\mathrm{PC}}_{wheel\left(n\right)}-{\mathrm{PC}}_{wheel(n-1)}}+f_{11};$

${\mathrm{PW}}_{wheel\left(n\right)12}=\frac{T}{{\mathrm{PC}}_{wheel\left(n\right)}-{\mathrm{PC}}_{wheel(n-1)}}+f_{12};$

${\mathrm{PW}}_{wheel\left(n\right)21}=\frac{T}{{\mathrm{PC}}_{wheel\left(n\right)}-{\mathrm{PC}}_{wheel(n-1)}}+f_{21};$

${\mathrm{PW}}_{wheel\left(n\right)22}=\frac{T}{{\mathrm{PC}}_{wheel\left(n\right)}-{\mathrm{PC}}_{wheel(n-1)}}+f_{22};$

PW_wheel(n)11The First Speed sensor first via for the current onboard system cycle counts pulsewidth, PW_wheel(n)12For current Second tunnel of First Speed sensor in onboard system cycle counts pulsewidth, PW_wheel(n)21For the current onboard system cycle second The velocity sensor first via counts pulsewidth, PW_wheel(n)22Count on the second tunnel of second speed sensor for the current onboard system cycle Rapid pulse width；f₁₁For the counting pulsewidth channel factor that First Speed sensor first counts pulsewidth output module, f₁₂For First Speed Sensor second counts the counting pulsewidth channel factor of pulsewidth output module；f₂₁Pulsewidth is counted for second speed sensor first defeated Go out the counting pulsewidth channel factor of module；f₂₂For the counting pulsewidth passage that second speed sensor second counts pulsewidth output module Coefficient；

f₁₁、f₁₂、f₂₁、f₂₂, set by the parameter setting module.

5. the speed measuring function test platform of the onboard system based on speed sensor velocity measurement according to claim 1, its are special Levy and be,

Test platform also includes wheel direction of rotation output module；

The parameter setting module, is additionally operable to arrange First Speed sensor place wheel direction of rotation, second speed sensor Place wheel direction of rotation；

Wheel direction of rotation, state is for rotating forward, reversion or unknown；

Wheel direction of rotation output module, according to the First Speed sensor place wheel that the parameter setting module is arranged Direction of rotation, second speed sensor place wheel direction of rotation, output First Speed sensor place wheel direction of rotation, the Two velocity sensor places wheel direction of rotation are to the onboard system based on speed sensor velocity measurement.