CN109625027A - A kind of Train Group work organization and operation control system - Google Patents
A kind of Train Group work organization and operation control system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
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Abstract
The present invention provides a kind of Train Group work organization and operation control systems, the control system is made of scheduling organized layer and execution control layer, the scheduling organized layer and the execution control layer realize data connection, wherein, the scheduling organized layer, for determining that Train Group enters the station or the planning in outbound space-time path；The execution control layer controls the target position of Train Group, the locking of target velocity and track switch for the traffic order based on the scheduling organized layer.Train Group work organization proposed by the present invention and operation control system improve work organization's efficiency out of the station, can control vehicle with lesser interval time and carry out operation out of the station.
Description
Technical field
The present invention relates to technical field of rail traffic, and in particular to a kind of Train Group work organization and operation control system.
Background technique
In order to guarantee transportation safety, improve conevying efficiency, it is one studied that vehicles while passing station, which is scheduled and is controlled,
Important content.Currently, it is most commonly seen solution that train, which passes in and out station by one dispatch control of centre punch and control,.Such as Fig. 1
It is shown, under this framework, it is generally divided into 3 levels, i.e. central dispatching layer, station control layer, vehicle-mounted control layer.In center tune
It spends in layer, is provided with central dispatching module and Central Control Module connected to it；It is equipped with and is sequentially connected in control layer AT STATION
Making station control module, station control module, ground base equipment, wherein making station control module and station control module difference
It is connect with central dispatching module and Central Control Module；Vehicle-mounted control module and nothing connected to it are equipped in vehicle-mounted control layer
Line communication module, wherein wireless communication module is connect with making station control module and station control module.Pair of this dispatch control
As if using one whole train as an individual individual, such as using entire train as an individual, in dispatch control its
Occupy a running number, a plan line.Although this dispatch control is widely used, but be limited to single-row column
Vehicle.And Separation control need to be carried out with complete route, train in/out station tracking interval is excessive.Fixed blocking sending and receiving vehicle ability
It is usually spaced within 10 minutes, quasi-moving block is 3 minutes, and movable block is 1.5 minutes, and current art is difficult between further compressing
Every the time.And current train scheduling and control are managed collectively by center, and system hierarchy is complicated, and reliability needs further
It improves, for central apparatus once breaking down, coverage is wider.
With the development of train information technology, has developed a kind of virtual link is realized using virtual coupled mode at present
Train, this train has been abandoned to be realized between each column train by the way of physical connection instead front and back train using hitch
There is no physical connection between car body.Virtual coupled is a kind of new Train Control Technology, refer to more rail transit train car bodies it
Between not against physical connection, but mode by wireless communication is virtual coupled to form Train Group together, with identical speed pole
The form of small interval synthetic operation.This void is although readily applicable to using above-mentioned dispatch control method according to above-mentioned framework
The train of quasi- coupled modes, but can not effectively play virtual coupled advantage.
Due to the particularity of its medium, Train Group linearly runs in the form of queue rail vehicle transportation in section.In vehicle
It stands, by facilities such as platform, track switches, coupling Train Group can be realized enter the station decoupling and outbound coupling operation.Generally, in section
Train is usually tracked control with occlusion, i.e., with signal or voucher, guarantee train according to forward train and following train it
Between must keep certain distance (space interval system) run technical method.Under which preceding control train according to block section into
Row tracking, tracking interval is relatively large, by control level, more to influence control efficiency lower.Generally, train passes in and out station
Route is relied primarily on to be protected.When the outbound occupancy throat point of train, other trains be both needed to platform wait front truck into
Road is clear out；Train enters the station when occupying throat point, other trains then need to wait front truck route clear out in throat foreign side, this control
Mode seriously affects train in/out station efficiency, if station yard is complicated, train disengaging station efficiency can be further decreased.
Summary of the invention
For the above-mentioned technical problems in the prior art, the invention proposes a kind of efficient Train Group operation controls
System, improve Train Group passes through efficiency.For this purpose, the present invention provides a kind of Train Group work organizations and operation control system
System.
A kind of Train Group work organization and operation control system, the control system is by scheduling organized layer and executes control layer
Composition, the scheduling organized layer and the execution control layer realize data connection, wherein
The scheduling organized layer, for determining that Train Group enters the station or the planning in outbound space-time path；
The execution control layer, for based on it is described scheduling organized layer traffic order, control Train Group target position,
The locking of target velocity and track switch.
Further,
The scheduling organized layer includes path planning scheduler module；The execution control layer includes on-board running control module
With track switch intelligent control module；
The path planning scheduler module, for formulating, Train Group enters the station or outbound space-time path planning, formation are dispatched
Instruction；
The on-board running control module for receiving the dispatch command of the path planning scheduler module, and is based on institute
It states space-time path planning and determines the Train Group target position of train and target velocity in the process out of the station, the operation of train is carried out
Control, and send lock request；
The track switch intelligent control module is realized for receiving the lock request of the on-board running control module to road
The locking of trouble.
Further, the path planning scheduler module includes parameter determination unit, plans setup unit, scheduling unit,
Wherein,
Parameter determination unit, for determining one or more of following parameter: enter the station or outbound topological network in area
When section, the travel speed of each section starting point track switch place permission, most fast stroke of the train between two adjacent sections starting point track switches
Between, continuous train fortune required between locking or discontinuous locking train in the conversion time of each section import track switch, section
Row interval, train length；
Plan setup unit, each column in the parametric programming Train Group determined for determination unit based on the parameter
Vehicle enter the station or outbound work network in time of each section starting track switch, each train outbound sequencing；
Scheduling unit, for planning that setup unit determines as a result, sending dispatch command to train based on described.
Further,
The path planning scheduler module further includes monitoring unit,
The monitoring unit, for monitoring train and/or switch status.
Further,
On-board running control module, including information acquisition unit, acceleration determination unit, track switch control unit, distance are sentenced
Disconnected unit, setup unit, wherein
Information acquisition unit, for acquiring the running state informations such as train speed position；
Acceleration determination unit, for determining acceleration of the train in section and/or station operational process；
Track switch control unit, receive enter the station or the instruction of outbound programming dispatching after, track switch in train path sends control
System instruction；
Distance Judgment unit judges distance of the train away from dynamic disorder point in Train Group, and the distance results of judgement is sent out
Give the setup unit；
Setup unit determines the target position of train and mesh in Train Group based on the distance of the Distance Judgment unit judges
Mark speed.
Further,
The acceleration determination unit is also used to calculate train acceleration according to tight preceding train speed and range information,
Or according to the difference of target position and target velocity and present speed and target velocity, the difference of current location and target position
Value, determines the acceleration of train in Train Group.
Further,
The track switch intelligent control module, including switch status acquisition unit, track switch intelligent control unit, track switch interlocking are anti-
Protect unit, wherein
Switch status acquisition unit, for acquiring switch status；
Track switch intelligent control unit controls switch locking, and switch status is sent to for receiving track switch lock request
On-board running control module.
Further,
The track switch intelligent control module further includes track switch interlocking protective unit,
The track switch interlocks protective unit, for ensureing track switch and train interlock safety relationship.
Train group control system proposed by the present invention improves work organization's efficiency out of the station, can control vehicle with smaller
Interval time carry out operation out of the station.Other features and advantages of the present invention will be illustrated in the following description, also, portion
Divide ground as will become apparent from the description, or understand through the implementation of the invention.The objectives and other advantages of the invention can
It is achieved and obtained by structure pointed in the specification, claims and drawings.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 shows the train work tissue of three-tier architecture according to prior art and the schematic diagram of operation control system；
Fig. 2 shows the branch and bound method flow diagrams that train in/out station space-time plan model solves；
Fig. 3 shows multiple agent framework Train Group control flow schematic diagram out of the station；
Fig. 4 shows shuttle train synthetic operation control positional diagram；
Fig. 5 shows train running of section state transition diagram；
Fig. 6 shows Train Group work organization and operation control system configuration diagram；
Fig. 7 shows path planning scheduler module and constitutes schematic diagram；
Fig. 8 shows on-board running control module and constitutes schematic diagram；
Fig. 9 shows track switch intelligent control module and constitutes schematic diagram；
Figure 10 shows Train Group work flow schematic diagram out of the station.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical solution in the embodiment of the present invention clearly and completely illustrated.Obviously, described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
It can be realized by work organization and operation control in the present invention to the work organization out of the station of Train Group, out of the station
Control and section synthetic operation control.The path that wherein work organization's realization enters the station to Train Group and Train Group is outbound carries out space-time
Planning, with plan in time train enter each section time, spatially arrange section go the operation for meeting Train Group to want
It asks, realizes that the operation to Train Group during out of the station controls eventually by operation control.Section synthetic operation control, passes through root
It is final to realize Train Group synthetic operation so as to adjust speed according to the acceleration of adjacent train operating status adjustment train.
The optimization of job out of the station to Train Group can be realized in the present invention by work organization, it is out of the station to improve Train Group
Efficiency.Wherein work organization realizes that path out of the station to Train Group and that Train Group is outbound carries out space-time planning, in time
Planning train enters the time of each section, spatially section is arranged to go the job requirements for meeting Train Group, final to realize to column
High-efficiency tissue during vehicle group is out of the station.
In work organization out of the station, space-time route design device, such as scheduling organization server out of the station (are specifically as follows
" parameter determination unit ") data such as the quantity of section, origin number in topological network out of the station, each section starting point road are obtained in real time
Most fast journey time between two adjacent sections starting point track switches of travel speed, train that Cha Chu allows, each section entrance driveway
The parameters such as conversion time, the train length of trouble.Determine that each train to be entered in Train Group according to the above-mentioned parameter of acquisition
Section, into the time of the section and the sequence of operation and the operation deadline of entire Train Group.
In the present invention, such as planning setup unit determines optimization aim by space-time path scheduling planning model, that is, exists
In the case where starting time of operation out of the station as reference point using first bus in Train Group, the operation so that entire Train Group completion is entered the station
Activity duration reach most short, determine time and sequencing of train in/out station etc..For the when dead circuit for work organization of entering the station
Diameter scheduling planning model construction is as follows:
Min Z=Y (1)
Wherein, the correlated inputs parameter and its meaning of model are as follows:
N --- plan carries out the Train Group set of operation out of the station, N={ 1,2 ..., n }；
Q --- after the completion of Train Group operation out of the station, train Position Number set in Train Group, Q={ 1,2 ..., n }；
H --- the set of section in operation topological network out of the station, H={ 1,2 ..., h }；
N --- plan carries out the train quantity in working train group out of the station, n ∈ N；
H --- the number of sections in operation topological network out of the station.The starting point of section s is secure parking point after track switch,
Terminal is secure parking point after next track switch, h ∈ H；
I, j --- plan carries out the train number in working train group out of the station, i ∈ N, j ∈ N；
S, r --- the section origin number in operation topological network out of the station, s ∈ H, r ∈ H；
Q --- Train Group enter the station operation start before or outbound operation after the completion of, train Position Number in Train Group；This
Place's agreement is numbered since position on current of traffic is near preceding train along train operation opposite direction, is compiled near preceding train
Number be 1, secondary forward train number be 2, and so on, last train number be n, q ∈ Q；
ω --- runing time interval between the train of front and back, unit s；
vi,s--- train i is run to the actual travel speed at s starting point track switch, unit m/s；
Ts--- any train is since section s starting point track switch (rear secure parking point), operation to next section r starting point
Track switch (secure parking point later), required most fast journey time, unit s；
πs--- section import track switch conversion time, unit s；
li--- train i length, unit m；
η --- the tailstock goes out clear safe amplification coefficient (> 0)；
oi,s--- section s (starting point) whether be train i the section that sets out, 0-1 shape parameter；
di,s--- section s (starting point) whether be train i target zone, 0-1 shape parameter；
λi--- train i is run to from its current (decision moment) position due to differences in spatial location and is originated section starting
Time of node, or since operation needs, from current time (decision moment) to estimated arrival originate section start node when
Between；
--- whether section s belongs to the path of train i, 0-1 shape parameter；
--- in the path of train i, whether section s subsequent is that (whether section r subsequent is area to section r
S), 0-1 shape parameter, 0 indicates no to section, and 1 expression is；
--- train i (in the path of train j), whether section k subsequent is section s, 0-1 shape parameter, 0
Indicate no, 1 expression is.
M --- it indicates a great positive number, as variable bound item, can use 106；
According to above-mentioned space-time path planning model, the time of the section that each train to be entered and entrance is determined.
In above-mentioned model, formula (1) indicates that the target of space-time path planning model out of the station is that the activity duration out of the station is most short；
S.t. indicate that the constraint condition of model, formula (2)-formula (8) are model constraint.
Formula (2) is front and back Train Schedule spacing constraint: for any section, front truck and subsequent train enter the section
The time interval of start node, not less than the minimum interval between train；Formula (3) is the successive pass that front and back train enters section
System's constraint: the Train Group sequence of operation and with train at specific section by the relationship between sequence；Formula (4) is the fortune of train section
Row time-constrain: being limited by switch section speed limit, train acceleration and deceleration performance, train section runing time, not less than pressing
The shortest operation time when according to train maximum machine performance and maximum section limiting operation；Formula (5) is respectively to arrange in Train Group formation
Truck position unique constraint: for each train in Train Group, the position in operation formation is unique；It (6) is Train Group formation
Middle each position train unique constraint: for each position in operation formation, can only also there be a train；Formula (7) is Train Group
Operation deadline constraint out of the station: Train Group enters the station the operation deadline, is no earlier than entering the station the operation deadline for each train；
Formula (8) is to constrain the departure time of every train: every train needs before entering the section that sets out by certain operation or preparation
Time just can enter it and set out the stage.
Above-mentioned train enters the station in the scheduling planning model of operation process space-time path, and model becomes by the decision that operation is exported
Amount and its meaning are as follows:
ti,s--- the time of operation is started as 0 point with working train group's head vehicle, train i headstock enters work network out of the station
Time (the unit s) of s section start node in network.To any train i and any section s, there are the variables；
--- in the outbound working scene of train, which is decision variable, for indicating that train i is completed in operation
Afterwards, whether the Position Number in Train Group is q.0-1 shape parameter, 0 indicates no, and 1 expression is.Any train i and position are compiled
There are the variables by number k.It enters the station in working scene in train, which is input parameter, and train i is in Train Group before expression is entered the station
Position Number whether be q.
--- train j whether train i the label for advancing into section s.Value is 1 expression train j prior to column
Vehicle i enters section s starting track switch,Value enters section s starting track switch in train i after indicating train j for 0.To any column
There are the variables with any train i (i ≠ j) by vehicle j.
Y --- the entire Train Group operation deadline out of the station.
Train in/out station operation process space-time path scheduling planning model leads to according to each parameter value of previously given parameter
It crosses simplex method and carries out calculating solution, so that obtaining in meeting constraint formula (2)-formula (8) in the case where constraint condition so that formula
(1) the above-mentioned decision variable value that optimization aim is set up in.
It enters the station and outbound high-efficient homework space-time path optimization model to solve above-mentioned virtual coupled Train Group, utilizes divide herein
Branch delimits method, automatically determines the time t that each train in virtual coupled Train Group enters sectioni,s, train work sequenceAnd
The operation deadline Y out of the station of entire Train Group, can indicate decision variable with XIt is constituted
Vector.The intelligent solution algorithm of model is as shown in Figure 2.
In branch and bound method, input basic parameter value (other known variables in addition to decision variable) first, just
Beginningization Train Group enters the station and (m is one very big just to the target function value Z=-m in outbound high-efficient homework space-time path optimization model
Number can use 106), decision variable X=X0(X0In each variable-value be 0) (step S1 in Fig. 2).
Then, by integer type (type containing 0-1) decision variable in modelLoosen Integer constrained characteristic, forms intelligent decision mould
The relaxation problem of type, the integer type variable of relaxed constraints are known as slack variable (step S2 in Fig. 2).Using the relaxation problem as working as
Preceding problem solves current problem optimal solution (step S3 in Fig. 2) using traditional simplex method, obtains current optimal solution X*(institute
Have the current value set of decision variable) and corresponding current goal functional value Z*(step S4 in Fig. 2), if current optimal solution X*
In, all slack variable values are all integer, then start demarcation process: judgement is current to solve corresponding target function value Z*Whether it is greater than
Z, if it is greater than then archetype target function value Z=Z*, archetype optimal solution X=X* (step Y1-Y2 in Fig. 2), if
No more than then judging whether problem set to be processed is empty；If there is slack variable value is not that integer then starts branching process
(step N1-N2 in Fig. 2): constructing branch problem using branch's principle, topic branch problem set to be processed will be branched into, to from
1 branch problem is taken out in reason branch problem set, continues with simplex method Solve problems.
Demarcation process: in current optimal solution, if all slack variables are all integer, current goal functional value Z is compared*With
Size relation between the target function value Z of intelligent decision making model, if Z*> Z (step Y1 in Fig. 2), i.e. intelligent decision making model
Objective function is optimized, then using current goal functional value and current optimal solution as the target function value of intelligent decision making model
(Z=Z is enabled with optimal solution*, X=X*) (step Y2 in Fig. 2).
Branching process: branch principle building screen question (step N1 in Fig. 2) is utilized；In current optimal solution, if it exists
Slack variable is non-integer, is to choose the slack variable x=b that some value is non-integer in the variable of non-integer (x takes from value
Arbitrarily), enable [b] and [b]+1 respectively be separately added on the basis of current problem near the left and right side integer of b
X≤[b] and x >=[b]+1 is constrained, constructs step N2 in two screen question Fig. 2 respectively).
After the completion of demarcation process, judge whether screen question set to be processed is sky, if it is empty, then completes to calculate,
Export the target function value Z and optimal solution X (step Y3 in Fig. 2) of the intelligent decision making model of intelligent decision making model；Otherwise, to from
It selects a screen question as current problem in the screen question set of reason, re-uses simplex method and solve its optimal solution,
It repeats above-mentioned judgement and branch or delimits process, until screen question collection to be processed is combined into sky, export solving result (in Fig. 2
Step N3).
After the completion of branch, two screen questions are added to screen question set to be processed, are asked from branch to be processed
A screen question is selected in topic set, simplex method is re-used and solves its optimal solution, repeats above-mentioned judgement and branch or fixed
Boundary's process, up to entrance demarcation process and screen question collection to be processed is combined into sky, exports solving result.
Train Group synthetic operation is controlled in order to realize, the present invention also provides a kind of Train Group Operation control sides out of the station
Method and section synthetic operation control method.
Train in/out station is controlled to realize, the present invention provides a kind of Train Group job control methods out of the station.It is based on
This, the present invention designs Train Group job control method efficiently out of the station according to MAS control theory.Train Group efficiently into
In outbound job control method, by control object --- train regards the intelligent body with movement properties as.
In the present invention train enters the station identical with the outbound job control method of train, so indicating train with " out of the station "
Enter the station and/or train be outbound, without be merely representative of train enter the station it is outbound with train.
Train intelligent body is before starting operation out of the station, by controlling equipment (such as rule in path planning scheduler module
Draw setup unit), such as scheduling organization server out of the station is according to previously described Train Group work organization side efficiently out of the station
Method carries out decision rule to the space-time planning path of every train, and decision rule result is informed train intelligent body.Train intelligence
Body is received according to the decision rule received, is in advance in the process of running that this lock closes, while running to track switch request
Switch status is detected in journey, i.e. whether detection track switch is successfully completed locking.If train it is nearest from front be not this Che Chenggong
When the track switch of locking or the distance of train are more than safe distance, then the target velocity of Train Control be current interval length divided by
The planning journey time of current session (is calculated, if column by previously described Train Group work organization's method efficiently out of the station
The time that vehicle i enters section s is ti,s, the time into subsequent section r is ti,r, then planning journey time of the train i in section s
For ti,r-ti,s), otherwise, the static tracking point that train controls front track switch (secure parking point later) position as operation, or
It is used as dynamic tracing point at distance by tracking after the train vehicle of front, carries out Train Detection and Identification, to ensure the safe operation of train,
Shown in specific control flow Fig. 3.It is as shown in Figure 3:
Step 1: each train Agent is requested to scheduling organization server out of the station sending train in/out station in Train Group；
Step 2: scheduling organization server out of the station is that Train Group plans space-time path；
It is requested step 3: train Agent sends switch locking to track switch according to space-time path planning；
Step 4: track switch is monitored its locking states；
Step 5: train Agent judges whether train is less than safe distance away from dynamic disorder point, execute in a case of yes
6th step；
Step 6: judging that the barrier point in train path is track switch or train, barrier point is if it is train, then by train
Target position be limited at the tracking distance away from nearest train (i.e. as the train of barrier point) tail portion certain distance (such as away from
At the tracking distance of 0.5-1.5 times of vehicle commander of nearest last vehicle of train), the target velocity of train is limited to nearest train (i.e.
Train as barrier point) speed is identical；Barrier point becomes barrier point if it is track switch, the i.e. failed locking of track switch, then will
The target position of train is limited to the position of nearest unlatched track switch (i.e. as the track switch of barrier point), by the target velocity of train
It is limited to 0；
Step 7: updating train Agent control input (for example, control acceleration)；
Step 8: train continues to run；
Step 9: judging whether to fulfil assignment, terminates if completing, second step is gone to if not completing.
In above-mentioned 5th step, if train is not less than safe distance away from dynamic disorder point, by the target position of train
It is limited at the safe distance apart from dynamic disorder point, the target velocity of train is set as current session length divided by working as proparea
The planning journey time (i.e. the target velocity of train=current session length/current session planning journey time) of section, then
Continue to execute above-mentioned 8th step.
In the present invention, during train operation, after dynamic target position and dynamic object speed is arranged for it, as more
The control target of intelligent body, target position and target velocity can change with train operation state.Before train operation
Side there are failed locking track switches and other trains, therefore can by train operation ahead recently failed locking track switch or other
Train regards the dynamic disorder point of train operation as.When train is greater than safe distance at a distance from front dynamic disorder point, train
Dynamic target position be after preceding object point at safe distance, dynamic object speed is current interval length divided by current session
Planning journey time；When train is less than safe distance at a distance from front dynamic disorder point, if dynamic disorder point in front is
Track switch, then the dynamic target position of train is front track switch (secure parking point later) position, and dynamic object speed is 0, if preceding
Square dynamic disorder point be other trains, then the dynamic target position of train be front train (i.e. as the train of barrier point) after chase after
At track distance, dynamic object speed is front train (i.e. as the train of barrier point) speed.
In the present invention, by the acceleration of train in/out station in control Train Group (it should be noted that adding in the present invention
Speed also includes deceleration, that is, includes realizing the acceleration accelerated and realizing the acceleration to slow down) it realizes to train in/out station
The final control of target velocity, Acceleration Control mode are as follows:
In above-mentioned train in/out station operation MAS control equation, each symbol physical meaning is as follows:
I --- indicate train number；
ai--- the control acceleration of train i, unit m/s2(meter per second2)；
Max () --- it indicates to take the maximum value between the two or more persons；
Min () --- it indicates to take the minimum value between the two or more persons；
xi--- the physical location of train i, unit m (rice)；
vi--- the actual speed of train i, unit m/s (meter per second)；
xo,i--- the dynamic target position of train i, unit m；
vo,i--- the dynamic object speed of train i, unit m/s；
--- Train Control position deviation, train i position xiWith its dynamic target position xo,The difference of i,
--- Train Control velocity deviation, train i speed of service viWith its dynamic object speed vo,iDifference,
aacc_max--- the maximum drive acceleration of train, unit m/s2；
abreak_c--- the service braking acceleration of train, unit m/s2；
--- Train Control power reaches control position deviation when maximum.
During train operation, under different train operation states and environment, according to above-mentioned MAS control mould
Type calculates the acceleration of train, so that train is constantly updated itself speed and position, on the one hand guarantees Train Group operation out of the station
On the other hand safety in operation in the process also makes Train Group efficiently swimmingly complete operation out of the station.
The present invention also provides a kind of Train Group section synthetic operation control methods.In embodiments of the present invention, multiple row vehicle
Between no longer realize physical connection using the equipment such as hitch, but use the communications such as truck traffic make multiple row vehicle it
Between realize it is virtual coupled.In virtual coupled system, realize that physics connects using equipment such as hitches due to no between each train
It connects, but uses radio connection, so in the operational process of train, the distance between train or relative position meeting
It changes.As Fig. 4 schematically illustrates the location diagram in the Collaborative Control of virtual coupled system between multiple trains.
The present invention is controlled for virtual coupled multiple row vehicle collaboration, according to the context of multiple row truck position, by continuous multiple row
Vehicle regards virtual coupled Train Group together as；Certain train in Train Group is controlled, which can be considered as to control train, root
According to control train status and its operating status of adjacent train, the control acceleration of the control train is determined, so as to adjust control
The speed of train processed.
Train i-1, train i ... train N as shown in figure 4, multiple trains include train 1 ..., wherein train 1 can be used as neck
Airline.The embodiment of the present invention carries out exemplary theory by taking front and back in multiple trains adjacent two train train i and train i-1 as an example
It is bright.
The train i and train i-1 as tight preceding train adjacent thereto as control train has a certain distance.Figure
In, xiAnd xi-1Respectively indicate the location of train i and train i-1 headstock, viWith vi-1Then respectively indicate train i and its train
I-1 current travel speed；D(vi,vi-1) it be train i in travel speed is vi, train i-1 travel speed be vi-1When, two vehicles
Between the ideal spacing that needs to keep, the speed of the ideal controlled separation train influences.In the operational process of train, train
Distance D (v between i and train i-1i,vi-1) it is ideal distance, when keeping ideal spacing operation between two vehicles, Neng Goubao
Demonstrate,prove the efficient operation of train and the safety problems such as will not collide.
Wherein, above-mentioned ideal space D (vi,vi-1) also with safe spacing d0, train length L, train i service braking distance
Sci(vi), the emergency stopping distance Su of train i-1i-1(vi-1) related.And the service braking distance Sc of train ii(vi) depend on
The present speed v of train ii, can be obtained by inquiry true train parameter；The emergency stopping distance Su of train i-1i-1(vi-1) take
Certainly in the present speed v of train i-1i-1, can be obtained by inquiry true train parameter.
Above-mentioned ideal space D (vi,vi-1) formula specific as follows:
D(vi,vi-1)=d0+L+Sci(vi)-Sui-1(vi-1) (1)
In above-mentioned formula (1), d0In the case of for the train emergency braking before tight, control train takes service braking, and two
The safe spacing retained between train head and the tight preceding train tailstock is controlled after person's parking.The safe spacing d0Made by driver
Brake reaction time, signal are handled in train apparatus out and the influence of transmission delay and control train speed is specifically pacified
Full spacing d0=(brake reaction time+signal processing and transmission delay) × control train speed × safety coefficient, wherein described
Safety coefficient is between 1-2.
The embodiment of the present invention based on virtual coupled more train systems in the process of running, based on control train and it is tight before
The distance between train relationship and length velocity relation are divided into different operating statuses, are accelerated or are subtracted by the speed to train
The control means such as speed are finally reached control train and tight forefront speed so that train is converted in different operating statuses
Spend consistent, stable distance balance movement state.Such as the following table shows 9 kinds of operating statuses.
As shown above, control train (practical spacing and ideal between train i) and tight preceding train (train i-1) are based on
Space D (vi,vi-1) relationship, length velocity relation, set 9 seed types for the operating status of train.In actual moving process,
It can be controlled by the speed to control train, such as realize the acceleration or deceleration of speed by acceleration, so that control
Train enters another operating status from an operating status, and those skilled in the art are should well know that acceleration brief acceleration is
Positive number, and deceleration is negative when slowing down.Wherein, in operating status 5, the distance between control train and tight preceding train are
Ideal space D (vi,vi-1), both the speed of service it is also identical, that is, both enter a stable operating status.If column
All trains (except navigator's train) are near the state 5 of stable operation in vehicle group, then entire Train Group can realize height
Effect safe operation.
In the operational process of train, due to some odjective causes, need to be adjusted speed and train spacing, in turn
So that control train is converted in above-mentioned operating status, the variation between steady-state operating condition and irregular operation state is realized.
As Fig. 5 shows the flow diagram that control train is converted between different operating statuses.
As shown in figure 5, the spacing in operating status 6, between train i (control train) and train i-1 (train before tight)
For ideal space D (vi,vi-1), and the speed v of train i at this timeiSpeed v less than train i-1i-1, before this length velocity relation makes
The distance relation of two vehicles is by x afterwardsi=xi-1-D(vi,vi-1) become xi<xi-1-D(vi,vi-1).At this point, train i enters operating status
3, in operating status 3, train i accelerates, and accelerates to vi=vi-1Afterwards, operating status 2 is entered.In operating status 2, train i
Continue to accelerate, enters operating status 1.In operating status 1, vi> vi-1, train i enters deceleration at this time, finally makes xi=
xi-1-D(vi,vi-1)、vi=vi-1, enter steady operational status 5.Two trains of front and back maintain ideal space D (v at this timei,
vi-1), both speed it is consistent, i.e. two vehicles are in stable highly effective and safe operating status.
As shown in figure 5, the safety in operating status 5, between train i (control train) and train i-1 (train before tight)
Spacing is ideal space D (vi,vi-1), and the speed v of train i at this timeiSpeed v greater than train i-1i-1, this length velocity relation makes
The distance relation of two vehicles is obtained by xi=xi-1-D(vi,vi-1) become xi> xi-1-D(vi,vi-1).At this point, train i enters operation shape
State 7, in operating status 7, train i slows down, and decelerates to vi=vi-1Afterwards, train enters operating status 8.In operating status 8,
Train i continues to slow down, and enters operating status 9.In operating status 9, vi<vi-1, train i enters acceleration at this time, finally makes
xi=xi-1-D(vi,vi-1)、vi=vi-1, enter steady operational status 5.Front and back train maintains ideal space D (v at this timei,
vi-1), the relative velocity of two vehicles it is consistent, i.e. two vehicles are in stable highly effective and safe operating status.
Under steady operational status, two vehicle relative velocity of front and back is consistent and certain ideal spacing, such as train is kept to be in
Run-stopping status or high-speed stable running state.
But due to certain odjective causes, such as train departure, the odjective causes such as parking or route speed limit of arriving at a station, place
Need to break aforementioned stable operating status in the train of steady operational status.Therefore, train i (control train) will be transported from stablizing
Row state enters other irregular operation states.Illustratively, when train i is in steady operational status 5, front train will
It arrives at a station, train i-1 slows down at this time, speed vi-1It reduces, this leads to train i speed viGreater than tight preceding train speed vi-1,
Train i, which enters from operating status 5, at this time enters operating status 4, and further enters operating status 7；When train is outbound,
Train i-1 speed vi-1It improves, leads to train i speed viLess than train i-1 speed vi-1, at this point, train enters from operating status 5
Operating status 6, and further into operating status 3.Illustratively, in train high-speed cruising, track circuit in order,
Speed can be improved in train i, and train enters operating status 3 from operating status 5 at this time；If line conditions are poor, train i is needed to drop
Speed passes through, and train enters operating status 7 from operating status 5 at this time.
After train i enters above-mentioned operating status 3 or operating status 7, shown in table and Fig. 5 as above, plus-minus can be continued through
The control mode of speed carries out the change of operating status and reaches steady operational status.
It, can be by being rationally applied to the control force (the priming power, system that control on train in above-mentioned listed 9 kinds of operating statuses
The resultant force of power and resistance etc.), so that its is carried out acceleration or deceleration, so that control train is turned between different operating statuses
It changes, is finally all transformed into steady operational status 5, i.e., all trains in Train Group guarantee to close between each train in high-speed cruising
Suitable safe spacing and stopped with all trains in identical speed high speed tracking operation or Train Group.
In order to judge various operating statuses described in train, to carry out Collaborative Control, and then the safe operation of train is realized,
In the operational process of train, tight preceding train can in real time be sent the information such as its location information, velocity information, acceleration information
Give control train.Optionally, control train can also by detection device active real-time detection tightly before the position of train, speed,
The information such as acceleration, or the information such as position, the speed, acceleration of tight preceding train are obtained by train control system.
For train after a kind of operating status, train i can realize the acceleration and deceleration of speed by certain acceleration
Control mode realizes the conversion between different operating statuses.In acceleration and deceleration, based between control train and tight preceding train
Redundancy distance △ xiAnd relative velocityDynamic adjusts the acceleration a of itselfi。
In the embodiment of the present invention, the acceleration difference △ a of control train before being calculated by the following formulai:
Wherein:
I=2,3 ..., N；
Max () indicates to take the maximum value between the two or more persons；
(i > 1 controls train) is speed of the train i relative to train i-1,
△xi(i > 1 controls train) is D (v after train i and train i-1i,vi-1) position range difference, be train i with
The redundancy distance allowed between train i-1, wherein △ xi=xi-(xi-1-D(vi,vi-1))；Train keeps managing in the process of running
Think space D (vi,vi-1), but in practice, there can be the ideal space D (v of deviationi,vi-1) redundancy distance △ xi, in other words,
△xiFor D (v after the position train i and train i-1i,vi-1) position distance；As Fig. 4 show control train and it is tight before train
Distance is greater than ideal space D (vi,vi-1) schematic diagram, i.e., at this time redundancy distance be negative, as can be seen from the figure front and back column
Actual range (the x of vehiclei-1-xi) it is D (vi,vi-1)-△xi；
xiPosition, v for train i headstockiSpeed, a for train iiThe control that (i > 0, non-pilotage people) is train i accelerates
Degree,(i > 0, non-pilotage people) is the actual acceleration of train i-1；
aacc_maxFor the maximum drive acceleration of train, those skilled in the art drive acceleration when should well know that driving
For positive number；
abreak_cFor the service braking acceleration of train, those skilled in the art are should well know that braking acceleration when braking
For negative；
xmReach range deviation when maximum for Train Control power, value is between 90m-120m.
And for navigator's train in train, headstock position, car speed, vehicle actual acceleration are respectively x1、v1、
In the embodiment of the present invention, for the Collaborative Control of multiple row vehicle, consider it is tight before the current headstock position of train, speed,
The information such as acceleration, so that control train highly effective and safe follows tight preceding train operation.
After obtaining the acceleration difference between control train by above-mentioned formula (2), train i according to the acceleration of train i-1,
The acceleration of train i is adjusted, and then changes the operating status of train, shown in the control acceleration such as formula (3) of train i.
Acceleration and deceleration adjustment through the embodiment of the present invention, realizes Collaborative Control using virtual coupled multiple row vehicle, steady in train operation
It is greatly improved in terms of qualitative, comfortableness and security.
In the embodiment of the present invention, illustrated for following front truck as control train using rear car, but not
It is limited to the mode that rear car follows tight preceding train.On the contrary, front truck is adjusted equally as control train with rear car operating status
Suitable for the present invention.
The multiple row vehicle identical and adjacent for traffic direction on same route of the embodiment of the present invention is unified as a whole
Tissue, train are no longer independent individuals but establish internal correlation relationship, have broken the concept of block section, Train Control effect
Rate is improved；Rear car is determined by front truck acceleration parameter, front and back vehicle speed difference parameter, front and back vehicle redundancy distance parameter
Acceleration tracked between two adjacent trains so that virtual coupled Train Control is more safe and reliable, in multiple row vehicle spacing into
One step reduces；Physical connection is not used between train, flexibility greatly promotes.
It should be understood that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations.Front and back two
Do not necessarily imply that it must is a kind of sequence successively executed between a step, as long as being able to solve technical problem of the invention
, and do not necessarily implied that between former and later two steps and centainly eliminate other steps unlisted in invention.It should
Understand that the term used in this way is interchangeable under appropriate circumstances, this is only to describe in embodiments herein to same alike result
Object in description used differentiation mode.Similarly, not necessarily meaning is a kind of direct between each unit of system
Electrical connection, specification indicate be only logical relation.
The present invention also provides a kind of Train Group work organization and operation control systems, as shown in fig. 6, proposed by the invention
Train Group work organization and operation control system framework two-tier system is reduced to by traditional three-tier architecture, which only includes
It dispatches organized layer and executes control layer.
Scheduling organized layer is made of path planning scheduler module, and path planning scheduler module includes parameter determination unit, rule
Setup unit, scheduling unit, monitoring unit and communication unit are drawn, as shown in Figure 7.Path planning scheduler module is mainly responsible for as column
Vehicle formulates operational plan, calculates Train Group and passes in and out station optimal scheduling scheme, and send traffic order to train, arranges in the present invention
The planning in vehicle group space-time path out of the station, train group control out of the station by the scheduling organized layer path planning scheduler module
It is planned.Wherein,
Parameter determination unit, for determining following parameter: permitting at the section, each section starting point track switch in outbound topological network
Perhaps most fast journey time of the travel speed, train between two adjacent sections starting point track switches, each section import track switch turn
Change time, Train Interval required between continuous locking or discontinuous locking train in section, train length；
Plan setup unit, each column in the parametric programming Train Group determined for determination unit based on the parameter
Vehicle enters in outbound work network the outbound sequencing of the time of each section starting track switch, each train；
Scheduling unit, (such as each train enters the result for being determined based on the planning setup unit in Train Group
Time, the outbound sequencing of each train etc. of each section starting track switch in outbound work network), scheduling, which is sent, to train refers to
It enables；
Monitoring unit, for monitoring train and switch status, such as the travel speed of monitoring train, acceleration, traveling area
The locking states etc. of interval, working line between section, train etc. and monitoring track switch；
Communication unit is carried out wireless communication for path planning scheduler module with other modules.
Control layer is executed to be made of on-board running control module and track switch intelligent control module.On-board running control module,
Including information acquisition unit, acceleration determination unit, track switch control unit, Distance Judgment unit, setup unit and wireless communication
Unit, as shown in Figure 8.On-board running control module is mainly responsible for the traffic order for receiving scheduling this upper layer of organized layer, and base
The target position of train and target velocity control train during the space-time path planning determines that Train Group is out of the station
System sends lock request to track switch, and calculates dynamic right of way for respective train and (i.e. in train operation, be with train itself
Point, calculating terminal is the range to preceding object point), train traffic safety is ensured, in section by running according to adjacent train
State adjusts the acceleration of train, final to realize Train Group synthetic operation so as to adjust speed.Wherein,
Information acquisition unit, for acquiring the running state informations such as train speed position；
Acceleration determination unit, for determining acceleration of the train in section and/or station operational process.In train position
When section, train acceleration is calculated according to tight preceding train speed and range information；When train is located at station, according to target
The difference of position and target velocity and present speed and target velocity, the difference of current location and target position, determine train
The acceleration of train in group；
Track switch control unit, receive enter the station or the instruction of outbound programming dispatching after, track switch in train path sends control
System instruction；
Distance Judgment unit judges distance of the train away from dynamic disorder point in Train Group, and the distance results of judgement is sent out
Give the setup unit；
Setup unit determines the target position of train and mesh in Train Group based on the distance of the Distance Judgment unit judges
Mark speed；
Wireless communication unit is communicated for on-board running control module with other modules.
Track switch intelligent control module, including switch status acquisition unit, track switch intelligent control unit, track switch interlocking protection list
Member and communication unit, such as Fig. 9 mainly complete locking track switch according to train requests, and realize track switch interlock safety safeguard function.Its
In:
Switch status acquisition unit is acquired for switch status；
Track switch intelligent control unit receives track switch lock request from track switch control unit, controls switch locking, and by track switch
State is sent to on-board running control module；
Track switch interlocks protective unit, for ensureing track switch and train interlock safety relationship；
Communication unit is communicated for track switch intelligent control module with other modules.
In the present invention, between all modules can direct communication, on-board running control module passes through network (such as channel radio
Communication network) RX path programming dispatching module send enter the station or the data such as outbound space-time path, controlling planning out of the station,
Data execute the control of train operation based on the received.
In Train Group operation process out of the station, Train Group proposed by the invention work organization efficiently out of the station and control
System, Each performs its own functions according to the predetermined division of labor for each comprising modules, common to complete Train Group operation out of the station, enters the station as Figure 10 is shown
Operation basic procedure and outbound operation basic procedure.
As shown in Figure 10, in the work flow that enters the station, firstly, Train Group issues job request out of the station, path planning scheduling
Module is constrained by interval between above-mentioned front and back train, is being considered after receiving Train Group job request out of the station
There are in the case where certain safe clearance between different train space-times path, efficiently passed in and out using Train Group proposed by the invention
It stands work organization's method, the space-time path (by way of track switch and time) of the every train of automatic decision is sent in the form of traffic order
Return train；Then, each train is asked according to traffic order to locking is sent by activity duration sequence by way of track switch intelligent control module
It asks, each track switch intelligent control module successively according to locking respond request, allows same column car weight in path to answer locking track switch, and will lock
It closes request response results and feeds back to train；Finally, each train relies on on-board running control module in Train Group, institute of the present invention is utilized
The Train Group of proposition job control method efficiently out of the station, control self-operating speed and with front dynamic disorder point spacing, it is complete
At operation of entering the station.
In outbound work flow, firstly, the train that dispersion rests in each platform sends outbound request；Path planning scheduling
Module is the train departure group decision sequence of operation and planning space-time path (track switch and time including approach), by dead circuit when train
Diameter sends back the on-board running control module of train as traffic order；The on-board running control module of each train is based on the received
Traffic order sends lock request: on-board running control module traversal by activity duration sequence to approach track switch intelligent control module
All track switches passed through on path successively send switch locking request；Each track switch receives the switch locking request, allows road
Diameter same column car weight answers locking track switch, and lock request response results are fed back to the on-board running control module of train；Finally,
Each train controls the speed of service of itself and the spacing with front dynamic disorder point by on-board running control module in Train Group,
It is finally completed outbound operation.
It is of the invention to enter the station work flow and outbound work flow ensure that the operating efficiency and peace of entire process out of the station
Quan Xing.
Although the present invention is described in detail referring to the foregoing embodiments, those skilled in the art should manage
Solution: it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of technical characteristic into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The spirit and scope of scheme.
Claims (8)
1. a kind of Train Group work organization and operation control system, the control system is by scheduling organized layer and executes control layer group
At the scheduling organized layer and the execution control layer realize data connection, wherein
The scheduling organized layer, for determining that Train Group enters the station or the planning in outbound space-time path；
The execution control layer controls target position, the target of Train Group for the traffic order based on the scheduling organized layer
The locking of speed and track switch.
2. control system according to claim 1, wherein
The scheduling organized layer includes path planning scheduler module；The execution control layer includes on-board running control module and road
Trouble intelligent control module；
The path planning scheduler module enters the station or outbound space-time path planning for formulating Train Group, forms dispatch command；
The on-board running control module, for receiving the dispatch command of the path planning scheduler module, and based on it is described when
Empty path planning determines the Train Group target position of train and target velocity in the process out of the station, controls to the operation of train
System, and send lock request；
The track switch intelligent control module is realized for receiving the lock request of the on-board running control module to track switch
Locking.
3. control system according to claim 2, wherein
The path planning scheduler module includes parameter determination unit, planning setup unit, scheduling unit, wherein
Parameter determination unit, for determining one or more of following parameter: entering the station or the section in outbound topological network, each
It is the most fast journey time between two adjacent sections starting point track switches of travel speed, train that allows at section starting point track switch, each
In the conversion time of section import track switch, section between train operation required between continuous locking or discontinuous locking train
Every, train length；
Plan setup unit, for determination unit based on the parameter determine the parametric programming Train Group in each train into
Enter enter the station or outbound work network in time of each section starting track switch, each train outbound sequencing；
Scheduling unit, for planning that setup unit determines as a result, sending dispatch command to train based on described.
4. control system according to claim 3, wherein
The path planning scheduler module further includes monitoring unit,
The monitoring unit, for monitoring train and/or switch status.
5. control system according to claim 2, wherein
On-board running control module, including information acquisition unit, acceleration determination unit, track switch control unit, Distance Judgment list
Member, setup unit, wherein
Information acquisition unit, for acquiring the running state informations such as train speed position；
Acceleration determination unit, for determining acceleration of the train in section and/or station operational process；
Track switch control unit, receive enter the station or the instruction of outbound programming dispatching after, track switch in train path sends control and refers to
It enables；
Distance Judgment unit judges distance of the train away from dynamic disorder point in Train Group, and the distance results of judgement is sent to
The setup unit；
Setup unit determines the target position of train and target speed in Train Group based on the distance of the Distance Judgment unit judges
Degree.
6. control system according to claim 5, wherein
The acceleration determination unit is also used to calculate train acceleration or root according to tight preceding train speed and range information
According to the difference of target position and target velocity and present speed and target velocity, the difference of current location and target position, really
Determine the acceleration of train in Train Group.
7. control system according to claim 2, wherein
The track switch intelligent control module, including switch status acquisition unit, track switch intelligent control unit, track switch interlocking protection list
Member, wherein
Switch status acquisition unit, for acquiring switch status；
Track switch intelligent control unit controls switch locking for receiving track switch lock request, and switch status is sent to vehicle-mounted
Operation control module.
8. control system according to claim 7, wherein
The track switch intelligent control module further includes track switch interlocking protective unit,
The track switch interlocks protective unit, for ensureing track switch and train interlock safety relationship.
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