CN109878538A - A kind of heavy loading locomotive intelligence stucco control system and control method - Google Patents
A kind of heavy loading locomotive intelligence stucco control system and control method Download PDFInfo
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- CN109878538A CN109878538A CN201910220029.3A CN201910220029A CN109878538A CN 109878538 A CN109878538 A CN 109878538A CN 201910220029 A CN201910220029 A CN 201910220029A CN 109878538 A CN109878538 A CN 109878538A
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Abstract
The invention discloses a kind of heavy loading locomotive intelligence stucco control system and control methods, intelligent stucco control system includes two patterns paste stucco system module, traction idle running reduction of speed module and stucco comprehensive judgement module, wherein: the input of the two patterns paste stucco system module is locomotive speed, creep speed and wheel rim acceleration, is exported as stucco propensity value；The input of the traction idle running reduction of speed module is locomotive speed, traction state, idler signal and torque instruction, is exported as the signal to reduce the speed that dallies；The input of the stucco comprehensive judgement module is that Value Data is inclined in locomotive speed, idle running signal to reduce the speed and stucco, is exported as stucco signal, for controlling sand spraying device.Operating condition and the adaptable strong feature of the running environment present invention for heavy loading locomotive complexity are more timely, more accurate and reliable than traditional stucco method stucco control signal.
Description
Technical field
The present invention relates to a kind of heavy loading locomotive intelligence stucco control system and control methods.
Background technique
In heavy loading locomotive operational process, the formation of tractive force and brake force is dependent on the adhesion between wheel track.Wheel track is viscous
Performance influenced by factors, such as ice, snow, rain, leaf, grease etc., these factors can make the adhesion between wheel track anxious
Play decline.In wheel track drying, clean situation, the adhesion strength between wheel track can guarantee the hair of the hauling capacity of a locomotive and brake force
It waves, and in the case where rail level is wet and slippery or has pollutant, heavy loading locomotive tractive force generally can not be met and wanted with what brake force played
It asks, needs to spray the adhesion between sand grains raising wheel track between wheel track, reliability, timeliness and the accuracy of stucco are to improvement wheel track
Between adhesion it is extremely important.
Most of stucco controls are main at present is realized by two ways: 1 trainman manually controls stucco；2 traction controls
System processed automatically controls stucco.Driver manually controls stucco due to being manually performed, it is thus possible to it will cause stucco not in time, or
Person continues the wasting situation of stucco after tacky state recovery.Since the response time of pull-in control system is Millisecond,
Therefore quick, accurate stucco may be implemented.
The automatic stucco method of pull-in control system mainly has at present:
1) the stucco method based on wheel plus/minus threshold speed.
Stucco is determined whether by wheel plus/minus threshold speed, starts to spread after wheel plus/minus speed is more than certain threshold value
Sand.This method be easy by locomotive vibration, route is unstable situations such as influenced.
2) based on the stucco method of creep threshold speed.
It carries out judging whether stucco using creep speed, when creep speed is more than that certain value then starts stucco movement.Due to
During locomotive operation, creep speed obtains indirectly, when dallying or slide simultaneously if there is all wheels, creep speed
Deviation will occur in degree, influence the accuracy of stucco judgement.
3) the signal stucco method that dallies/slide is utilized.
Judgement stucco is carried out by dallying/sliding signal, this needs by idle running or slide the accuracy of signal, if empty
Turn/slide the inaccuracy that signal judgement inaccuracy or deterministic process have delay that can all cause stucco.
4) the stucco method based on analytic hierarchy process (AHP).
By analytic hierarchy process (AHP), judgement is weighted using creep speed, speed, wheel rim acceleration, this method is established
In the accuracy of model and weight, since locomotive operation environment is complicated and changeable, wheel rail adhesion state model can not be established accurately,
The effect of good stucco may be not achieved in different operation conditions.
Aiming at the problem that existing stucco control method, the present invention combines two fuzzy systems to have Uncertainty Management ability
By force, it does not need control system accurate model, be easy to the features such as incorporating expertise, devise a kind of heavy loading locomotive intelligence stucco control
Method processed.Using locomotive speed, creep speed, wheel rim acceleration as the input of two Oriented Fuzzy Control Systems, pass through fuzzy system
Reasoning obtains stucco propensity value.Locomotive sand-spraying signal is obtained in combination with traction idle running signal to reduce the speed comprehensive judgement, is automatically controlled
Stucco system carries out stucco.
Summary of the invention
In order to overcome the disadvantages mentioned above of the prior art, the invention proposes a kind of heavy loading locomotive intelligence stucco control system and
Control method.
The technical solution adopted by the present invention to solve the technical problems is: a kind of heavy loading locomotive intelligence stucco control system,
Including two patterns paste stucco system module, traction idle running reduction of speed module and stucco comprehensive judgement module, in which: the two patterns paste
The input of stucco system module is locomotive speed, creep speed and wheel rim acceleration, is exported as stucco propensity value；The traction is empty
The input for turning reduction of speed module is locomotive speed, traction state, idler signal and torque instruction, is exported as the signal to reduce the speed that dallies；Institute
The input for stating stucco comprehensive judgement module is that Value Data is inclined in locomotive speed, idle running signal to reduce the speed and stucco, is exported as stucco letter
Number, for controlling sand spraying device.
The present invention also provides a kind of heavy loading locomotive intelligence stucco control method, the stucco comprehensive judgement module is sentenced
Disconnected process is as follows:
Whether step 1 judges locomotive speed v in low velocity threshold vminWith High Speed Threshold vmaxBetween, if then continuing next
Step, otherwise EP (end of program)；
Step 2 judges whether stucco propensity value H is greater than given threshold HoIf then exporting stucco signal, otherwise carry out down
One step；
Step 3 judges whether traction idle running signal to reduce the speed is 1, if then carrying out otherwise EP (end of program) in next step；
Step 4, output stucco signal, EP (end of program).
Compared with prior art, the positive effect of the present invention is: the present invention is based on two fuzzy systems to design intelligent stucco
Controller chooses the input of locomotive speed, creep speed, wheel rim acceleration as two fuzzy systems, exports as stucco tendency
Value.If stucco propensity value is greater than the set value, and locomotive speed is sentenced within the scope of regulation stucco in conjunction with idle running signal to reduce the speed synthesis
Surely stucco signal is exported, the automatic stucco control of heavy loading locomotive is completed.Technical effect specific manifestation of the invention is as follows:
1) the intelligent stucco control method based on two fuzzy systems that the invention proposes a kind of.Due to two fuzzy systems
Have the characteristics that not need that control system accurate model, Uncertainty Management ability are strong, are easy to incorporate expertise and experience, because
This this method is more stronger than conventional method for the operating condition of heavy loading locomotive complexity and the adaptability of running environment.
2) the comprehensive traction idle running reduction of speed operating condition of the present invention judges stucco, is generally overloaded with locomotive and runs on long steep grade, such as
Adhesion between fruit wheel track is poor, even if hauling capacity of a locomotive instruction value is very big, since the limitation of adhesion strength can be used, entire train may
Continuous reduction of speed.Such case has to stucco, avoids the occurrence of slope and stops accident.The present invention is by the independent judgement stucco of this operating condition.
3) present invention controls signal as stucco using locomotive speed, creep speed, wheel rim acceleration, idle running signal to reduce the speed
Judgment basis, it is more reliable than traditional stucco method.
4) two patterns paste stucco system and traction idle running deceleration system output are carried out comprehensive judgement and spread to export by the present invention
Sand controls signal, in time, accurately than traditional stucco method.
Detailed description of the invention
Examples of the present invention will be described by way of reference to the accompanying drawings, in which:
Fig. 1 is intelligent stucco control system architecture figure；
Fig. 2 is locomotive speed linguistic variable membership function；
Fig. 3 is creep speed linguistic variable membership function；
Fig. 4 is wheel rim acceleration linguistic variable membership function；
Fig. 5 is output language variable membership function；
Fig. 6 is traction idle running reduction of speed decision flow chart；
Fig. 7 is that comprehensive stucco judges process.
Specific embodiment
Input of the present invention according to locomotive speed, creep speed and wheel rim acceleration as two fuzzy systems, establishes one
A fuzzy stucco control system exports stucco propensity value by the Fuzzy control system, sentences in conjunction with idle running signal to reduce the speed synthesis
Determine stucco signal.
Intelligent stucco Control system architecture is as shown in Figure 1, comprising:
Two patterns paste stucco system module: according to input locomotive speed, creep speed and wheel rim acceleration information, obtaining and spread
Sand propensity value.
Traction idle running reduction of speed module: it according to input locomotive speed, traction state, idler signal and torque instruction data, obtains
Traction idle running signal to reduce the speed out.
Stucco comprehensive judgement module: Value Data is inclined to according to input locomotive speed, traction idle running signal to reduce the speed, stucco, is obtained
Stucco signal out controls sand spraying device.
1 two patterns paste stucco system module
Inaccurate, uncertain information can be effectively treated in fuzzy control, since the subordinating degree function of pattern paste is accurate
, the information such as complicated locomotive operation environment and data interference cannot be better solved, and two patterns paste is true by a pattern dextrin
Subordinating degree function be again divided into fuzzy set, to subordinating degree function with bigger freedom degree, and describe it is non-linear, not really
There is better effect, therefore using two fuzzy systems to design intelligent stucco control method can in terms of qualitative, complex system
Effectively improve the reliability and accuracy of stucco movement.
The design of two pattern of step 1 paste stucco system model.
The input variable of 1.1 design two patterns paste stucco systems
(a) locomotive speed
During locomotive operation, it is difficult to obtain the correct velocity of locomotive, generally estimates locomotive speed according to following methods:
When locomotive is in traction state, locomotive speed are as follows:
vt=min (v1,v2,…,vn) (1)
When locomotive is in on-position, locomotive speed are as follows:
vt=max (v1,v2,…,vn) (2)
In above formula, viIt is each axis wheel to revolving speed, n is the number of axle of locomotive (heavy loading locomotive is usually 6 axis, 8 axis, 12 axis).
(b) creep speed
During locomotive operation, the sliding of very little can be generated between wheel and rail, this phenomenon is referred to as creep, compacted
Slip velocity degree is expressed as follows:
In above formula, ω is angular speed of wheel, and r is radius of wheel, vsIt is creep speed.
(c) wheel rim acceleration
It takes turns as follows to the formula of rotary motion:
In above formula, J is rotary inertia, and T is pull-up torque, TLIt is load torque, FμIt is the adhesion strength between wheel track.
Then wheel rim acceleration are as follows:
Stucco system is pasted using two patterns, is included the following steps:
The fuzzy division of 1.2 input variables
According to expertise and practice data, input variable locomotive speed, creep speed, wheel rim acceleration are designed
Fuzzy Linguistic Variable.
Locomotive speed vt:
Fuzzy subset be small (S), in (M), big (B), domain is chosen for [0,120] km/h, and two types of linguistic variable are subordinate to
Function is as shown in Figure 2.
Creep speed vs:
Fuzzy subset be small (S), in (M), big (B), domain is chosen for [0,20] km/h, and two types of linguistic variable are subordinate to letter
It counts as shown in Figure 3.
Wheel rim acceleration | As|:
Fuzzy subset be small (S), in (M), big (B), domain is chosen for [0,5] m/s2, two types of linguistic variable are subordinate to letter
It counts as shown in Figure 4.
1.3 determine output variable and its fuzzy division: determining that stucco propensity value is the output variable of two fuzzy systems, just
In determining stucco signal in comprehensive judgement module.In order to simplify operation, output variable is divided into minimum (NS), it is secondary small (NM),
In (M), secondary big (PM), maximum (PB) five fuzzy subsets close, and the range of output variable is between 0~1, membership function such as Fig. 5
It is shown.Two fuzzy systems export stucco propensity value and provide signal criterion for stucco comprehensive judgement module；The mould of stucco propensity value
It pastes linguistic variable and subordinating degree function is mainly empirically determined, as system operation acquires after a certain amount of data root again
According to actual conditions dynamic regulation.Fuzzy Linguistic Variable designs more, and it is more accurate to control, but computation complexity is higher, therefore
It needs to comprehensively consider computational accuracy and complexity.
1.4 building fuzzy inference rule libraries: according to existing locomotive speed, creep speed, wheel rim acceleration offline number
According to establishing two fuzzy systems inference rule libraries in conjunction with expertise and experience.Locomotive speed is bigger, and stucco is to improvement wheel track
The effect of adhesion is smaller, and stucco tendency is smaller；Creep speed and wheel rim acceleration are the degree for measuring wheel pair idling/slide, compacted
Slip velocity degree and wheel rim acceleration are bigger, that is, represent that the degree that dallies/slide is bigger, and stucco tendency is bigger.It is total to design fuzzy rule
27 are specific as follows:
If vt is S and vs is S and As is S then output is NS else
If vt is S and vs is S and As is M then output is NM else
If vt is S and vs is S and As is B then output is PM else
If vt is M and vs is S and As is S then output is NS else
If vt is M and vs is S and As is M then output is NM else
If vt is M and vs is S and As is B then output is PM else
If vt is B and vs is S and As is S then output is NS else
If vt is B and vs is S and As is M then output is NS else
If vt is B and vs is S and As is B then output is NS else
If vt is S and vs is M and As is S then output is M else
If vt is S and vs is M and As is M then output is M else
If vt is S and vs is M and As is B then output is PB else
If vt is M and vs is M and As is S then output is M else
If vt is M and vs is M and As is M then output is M else
If vt is M and vs is M and As is B then output is PM else
If vt is B and vs is M and As is S then output is NS else
If vt is B and vs is M and As is M then output is NS else
If vt is B and vs is M and As is B then output is NS else
If vt is S and vs is B and As is S then output is PM else
If vt is S and vs is B and As is M then output is PB else
If vt is S and vs is B and As is B then output is PB else
If vt is M and vs is B and As is S then output is PM else
If vt is M and vs is B and As is M then output is PM else
If vt is M and vs is B and As is B then output is PB else
If vt is B and vs is B and As is S then output is NS else
If vt is B and vs is B and As is M then output is NS else
If vt is B and vs is B and As is B then output is NS else
The on-line operation of two pattern of step 2 paste stucco system
Acquisition locomotive operation related data in real time, is calculated locomotive speed, creep speed, wheel rim acceleration information, defeated
Enter into two patterns paste stucco system model, using single-point fuzzification method, then carries out two type fuzzy reasonings, then carry out drop type
Fuzzy processing is conciliate in operation, and finally output obtains stucco propensity value, and stucco propensity value is greater than the set value, and exports stucco signal.
Fuzzy system on-line operation method include: blurring, fuzzy reasoning, drop type calculate reconciliation fuzzy method, specifically
It is as follows:
(1) it is blurred
By DUAL PROBLEMS OF VECTOR MAPPING at a two type fuzzy form of section, using single-point fuzzification method, the mould of three input variables
It is gelatinized as follows:
(2) fuzzy reasoning
Input function is section type-2 fuzzy sets:
Output is then are as follows:
In above formula,It is Fuzzy Rule Sets.
(3) drop type calculates
Number of fuzzy rules N=27, if the bound of the excitation degree of membership of kth rule is respectivelyWithfk , corresponding rule
Then output is yk, center collection drop type method is as follows:
Gather by y in sectionlAnd yrThe two endpoint values determine:
(4) defuzzification
Defuzzification output are as follows:
2 traction idle running reduction of speed determination modules
Using traction state, pull-up torque, locomotive speed and idler signal as the input of system, signal to reduce the speed conduct of dallying
The output of system.
Traction idle running reduction of speed judges process as shown in fig. 6, judging that process is as follows:
Step 1: acquisition traction state, pull-up torque, locomotive speed and idler signal；
Step 2: judging whether it is traction and idling conditions, if then continuing in next step, otherwise idle running reduction of speed is drawn in output
Signal is 0, EP (end of program)；
Step 3: judging whether pull-up torque instruction is greater than threshold value (by maintaining locomotive to travel at the uniform speed required pull-up torque
Determine), if then continuing in next step, otherwise output traction idle running signal to reduce the speed is 0, EP (end of program)；
Step 4: judge whether to meet locomotive speed v (i) > v (i+1), if then exporting traction idle running signal to reduce the speed is 1,
EP (end of program)；Otherwise output traction idle running signal to reduce the speed is 0, EP (end of program).
3 stucco comprehensive judgement modules
The input of stucco comprehensive judgement module is idle running signal to reduce the speed, locomotive speed, stucco propensity value, is exported as stucco letter
Number.If locomotive speed is in low velocity threshold vmin(taking 5km/h) and High Speed Threshold vmaxIt, then will idle running reduction of speed letter between (taking 80km/h)
Number and stucco be inclined to comprehensive judgement, export stucco signal.
Stucco comprehensive judgement process is as follows:
Step 1: judging locomotive speed v in low velocity threshold vminWith High Speed Threshold vmaxBetween, it is no if then continuing in next step
Then EP (end of program)；
Step 2: judging whether stucco propensity value H is greater than given threshold Ho(chosen according to working line, value 0.5~
Between 0.6), if then exporting stucco signal, otherwise carry out in next step；
Step 3: judging whether traction idle running signal to reduce the speed is 1, if then carrying out otherwise EP (end of program) in next step；
Step 4: output stucco signal procedure terminates.
Stucco comprehensive descision process is as shown in Figure 7.
Claims (10)
1. a kind of heavy loading locomotive intelligence stucco control system, it is characterised in that: empty including two patterns paste stucco system module, traction
Turn reduction of speed module and stucco comprehensive judgement module, in which: the input of two pattern paste stucco system module is locomotive speed, compacted
Slip velocity degree and wheel rim acceleration export as stucco propensity value；The input of the traction idle running reduction of speed module is locomotive speed, traction
State, idler signal and torque instruction export as the signal to reduce the speed that dallies；The input of the stucco comprehensive judgement module is locomotive speed
Value Data is inclined in degree, idle running signal to reduce the speed and stucco, is exported as stucco signal, for controlling sand spraying device.
2. a kind of heavy loading locomotive intelligence stucco control system according to claim 1, it is characterised in that: the two patterns paste
Stucco system module obtains locomotive speed, creep speed and the wheel rim acceleration information inputted in real time using single-point fuzzification method
To its linguistic variable, recycles fuzzy inference rule to make inferences operation and obtain output language variable, then carry out drop type operation
Reconciliation Fuzzy processing obtains stucco propensity value.
3. a kind of heavy loading locomotive intelligence stucco control system according to claim 2, it is characterised in that: become to the input
Amount carries out following fuzzy design:
(1) locomotive speed: according to expertise and practice data, by locomotive speed be divided into small (S), in (M), big (B)
Three fuzzy subsets, domain is [0,120] km/h, and determines two π membership functions of its linguistic variable；
(2) creep speed: according to expertise and practice data, by creep speed be divided into small (S), in (M), big (B)
Three fuzzy subsets, domain is [0,20] km/h, and determines two π membership functions of its linguistic variable；
(3) wheel rim acceleration: according to expertise and practice data, by locomotive speed be divided into small (S), in (M), big
(B) three fuzzy subsets, domain are [0,5] m/s2, and determine two π membership functions of its linguistic variable.
4. a kind of heavy loading locomotive intelligence stucco control system according to claim 2, it is characterised in that: to the output language
Say that variable partitions are minimum (NS), it is secondary small (NM), in (M), secondary big (PM), maximum (PB) five fuzzy subsets close, range 0~
Between 1, membership function is determined according to expertise and practice data.
5. a kind of heavy loading locomotive intelligence stucco control system according to claim 2, it is characterised in that: the fuzzy reasoning
Rule according to existing locomotive speed, creep speed, wheel rim acceleration off-line data, obtained in conjunction with expertise and experience.
6. a kind of heavy loading locomotive intelligence stucco control system according to claim 1, it is characterised in that: the locomotive speed
Evaluation method it is as follows:
When locomotive is in traction state, locomotive speed are as follows:
vt=min (v1,v2,…,vn)
When locomotive is in on-position, locomotive speed are as follows:
vt=max (v1,v2,…,vn)
In formula, viIt is each axis wheel to revolving speed, n is the number of axle of locomotive.
7. a kind of heavy loading locomotive intelligence stucco control system according to claim 1, it is characterised in that: the creep speed
Calculation method it is as follows:
In formula, ω is angular speed of wheel, and r is radius of wheel, vsIt is creep speed.
8. a kind of heavy loading locomotive intelligence stucco control system according to claim 1, it is characterised in that: the wheel rim accelerates
The calculation method of degree is as follows:
(1) it takes turns as follows to the formula of rotary motion:
In formula, T is pull-up torque, TLIt is load torque, FμIt is the adhesion strength between wheel track.
(2) wheel rim acceleration are as follows:
9. a kind of stucco control method using heavy loading locomotive intelligence stucco control system described in claim 1, feature exist
In: the process that the stucco comprehensive judgement module is judged is as follows:
Whether step 1 judges locomotive speed v in low velocity threshold vminWith High Speed Threshold vmaxBetween, it is no if then continuing in next step
Then EP (end of program)；
Step 2 judges whether stucco propensity value H is greater than given threshold HoIf then exporting stucco signal, otherwise carry out in next step；
Step 3 judges whether traction idle running signal to reduce the speed is 1, if then carrying out otherwise EP (end of program) in next step；
Step 4, output stucco signal, EP (end of program).
10. stucco control method according to claim 9, it is characterised in that: the traction idle running reduction of speed module is sentenced
Disconnected process is as follows:
Step 1, acquisition traction state, pull-up torque, locomotive speed and idler signal；
Step 2 judges whether it is traction and idling conditions, if then continuing in next step, otherwise idle running signal to reduce the speed is drawn in output
It is 0, EP (end of program)；
Step 3 judges whether pull-up torque instruction is greater than given threshold, if then continuing in next step, otherwise output traction idle running
Signal to reduce the speed is 0, EP (end of program)；
Step 4 judges whether to meet locomotive speed v (i) > v (i+1), if then exporting traction idle running signal to reduce the speed is 1, program
Terminate；Otherwise output traction idle running signal to reduce the speed is 0, EP (end of program).
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| CN111257592B (en) * | 2020-03-05 | 2022-04-12 | 广东零偏科技有限公司 | Static discrimination method for detection device |
| CN112967420A (en) * | 2021-04-01 | 2021-06-15 | 华东交通大学 | Interval two-type based heavy-duty train operation process monitoring method and system |
| CN112967420B (en) * | 2021-04-01 | 2022-09-30 | 华东交通大学 | Interval two-type based heavy-duty train operation process monitoring method and system |
| CN113859275A (en) * | 2021-10-26 | 2021-12-31 | 中车大连电力牵引研发中心有限公司 | Sand spraying control method for railway vehicle |
| CN113859275B (en) * | 2021-10-26 | 2022-09-09 | 中车大连电力牵引研发中心有限公司 | Sand spreading control method for railway vehicle |
| CN113942399A (en) * | 2021-11-24 | 2022-01-18 | 中车大连机车车辆有限公司 | Control method for inhibiting low-speed idling of locomotive |
| CN113942399B (en) * | 2021-11-24 | 2023-08-04 | 中车大连机车车辆有限公司 | Control method for inhibiting locomotive from idling at low speed |
| CN114136572A (en) * | 2021-11-29 | 2022-03-04 | 中车青岛四方机车车辆股份有限公司 | Test vibration tool, vehicle equipment fatigue test device and method |
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