CN101088822A - Analog control method of train running in fixed blocking condition - Google Patents
Analog control method of train running in fixed blocking condition Download PDFInfo
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- CN101088822A CN101088822A CN 200710119225 CN200710119225A CN101088822A CN 101088822 A CN101088822 A CN 101088822A CN 200710119225 CN200710119225 CN 200710119225 CN 200710119225 A CN200710119225 A CN 200710119225A CN 101088822 A CN101088822 A CN 101088822A
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Abstract
The present invention provides simulation control method of train running in fixed blocking condition, and the simulation system is suitable for analyzing train running states under different conditions and dynamic characteristics of train flow under different display systems. During simulating control, each of the trains transmits its position, direction, speed and information to the dispatching center, the track line devices acquires the positions and colors of protection signal machines, and the dispatching center determines the acceleration and deceleration operation by means of the regulations the model sets and down transmits the dispatching commands to the trains through radios relays, so that the trains update the running speed according to the received dispatching commands. The present invention has high simulation degree, capacity of showing the running status of the trains, flexible regulations and easy amendment, and is suitable for simulation in different running conditions.
Description
Technical field
The present invention relates to a kind of analog control method that is applicable to train running in fixed blocking condition in the Rail Transit System, belong to computer program control technology field.
Background technology
Fixed automatic block system (FAS) uses last 100 years in the rail transit train control system, bringing into play important effect aspect raising train operational safety, the raising road.In order to improve road, the demonstration standard of fixed block system has experienced three demonstrations, four demonstrations, five demonstrations, multidisplay development.The tracking interval between the train has been shortened in the continuous development of demonstration standard, has improved the carrying capacity of track circuit.The busy trunk lines of current China railways mostly is to adopt fixed automatic block, on these main lines, because the multiple passenger and freight train of ubiquity mixes row, factors such as its weight and speed all have difference in various degree, and the situation that train operates under the ideal conditions (being that train operation is not influenced by any improper obstruction) all the time is actually rare, should be that train is followed the trail of operation under the normal circumstances.When train is followed the trail of operation, front signal shows it is the order of indication train operation, the front and back train is positioned on the different circuit plane vertical sections, their time space interval is among the dynamic change, the variation that the change of train position of moving ahead can bring signal aspect and indication, and further have influence on the operation and the manipulation of following train.
Because the complexity of automatic block district train operation, adopting computer modeling technique then is that the research train is followed the trail of the practicable method of moving with the problem of manipulation.It can check the time space interval of the train tracking operation of confirming that each section can be realized under the various different situations, can diagnose and expose simultaneously the problem that driving system exists, and propose possible countermeasure.The many train operation simulation of fixed automatic block section are challenges that relate to rail transportation system car, machine, worker, electricity, many-sided factor, and itself has surmounted train traction and calculated or signal variation itself.Simulated target is to guarantee under the safe prerequisite, seeks minimum tracking interval or higher running velocity on the one hand, to realize the carrying capacity of the block section of maximum possible; Under the existing equipment condition, optimize locomotive control on the other hand, guarantee train safe, on schedule, under the pulsation-free prerequisite, energy-saving run reduces traffic cost as much as possible, improves transportation service level.In the computer based simulator study, there are three kinds of model methods to can be used for the motion calculation of train usually, i.e. the method for key model, time-based model method and based on the model method of incident.Use key model, when track circuit length was smaller, the continuous braking curve that simulates was relatively near actual train braking situation.Time-based method is easy to design and sets up realistic model, but needs bigger calculated amount.Model based on incident can significantly reduce calculated amount, but has reduced accuracy of simulation to a certain extent.
Cellular Automation Model has obtained using widely in the research of flow of traffic as a kind of effective tool of simulation complicated nonlinear system in recent years, and the time of model, space, state are all discrete, and rule is simple, is fit to very much computer modeling.Cellular Automation Model is easier to computer operation in the non-linear behavior that keeps this complication system of flow of traffic and other physical features, can be by revising its rule flexibly to consider various actual traffic situations.Li Ke equality is applied to track traffic with the cellular automata theory first, the cellular Automation Model of railway has been proposed, successfully simulation has been carried out in the train operation of railway moving block system and inquired into, new approaches have been opened up in this research for rail transit train stream.
Summary of the invention
The present invention will solve the problems of the technologies described above, and a kind of fixed block system train operation simulation control method is provided, and it is to be based upon on the basis of cellular automata traffic model.This analog control system is used for analyzing the train operating conditions under the various conditions, and test signal control system and the performance of improving whistle control system utilize this method to can also be used to analyzing the various dynamic evolution properties of train flow under the fixed blocking condition simultaneously.
Technical scheme of the present invention: a kind of fixed block system train operation simulation control method, contain following steps;
Step 1: in the train operation simulation control method, the control center also is operational plan according to train diagram, produces traffic order, and assigns to the train that travels on the line by wireless relay apparatus;
Step 2: every row train sends to control center such as oneself position, direction and speed parameter etc.;
Step 3: the control center accepts the parameter information of train, judges the color and the position of train the place ahead protection signal machine of this section at any time, train is allowed information such as running velocity pass to train;
Step 4: train is guaranteed the operation of train as prescribed speed according to the traffic order of control center.
Under the commander of control center, train quickens and the rule of slowing down is (showing that with four fixed block systems are example) in the process of moving: when (1) be green when the color of the place ahead protection signal machine, and the train acceleration, its speed can reach interval maximum permission speed; (2) when the color of the place ahead protection signal machine was yellow green or yellow, train must reduce to specified speed before the protection signal machine; (3) when the color of the place ahead protection signal machine was redness, train must stop before the protection signal machine; (4) when the place ahead of train is a station, if the shield segment at station does not also empty, then train is according to the preceding protection signal machine color renewal speed in station, if the shield segment at station empties, then train can directly enter the station stop.
Train in the process of moving, concrete Velocity Updating rule is (showing that with four fixed blockings are example):
Condition I: train the place ahead is the protection signal machine:
1. protection signal machine color is green
v
n＝min(v
n+a，v
max)
2. protection signal machine color is a yellow green
When
v
n＝min(v
n+a，v
max)
When
v
n＝max(v
n-b，v
yg)
Otherwise
v
n＝v
n
3. protection signal machine color is yellow
When
v
n＝min(v
n+a，v
max)
When
v
n＝max(v
n-b，v
y)
Otherwise
v
n＝v
n
4. protection signal machine color is red
When
v
n＝min(v
n+a，0)
When
v
n＝max(v
n-b，v
y)
Otherwise
v
n＝v
n
v
n＝min(v
n，gap)
x
n＝x
n+v
n
Condition II: train the place ahead is the station
(1) the station shield segment does not empty, and then upgrades train speed according to protection signal machine color, and update rule is identical with condition I;
(2) the station shield segment empties, and train is then by following Policy Updates speed;
As Δ x
n＞x
c
v
n＝min(v
n+a，v
max)
As Δ x
n＜x
c
v
n＝max(v
n-b，0)
Otherwise
v
n＝v
n
v
n＝min(v
n，gap)
x
n＝x
n+v
n
In the formula: Δ x
nDistance between train and the place ahead protection signal machine
x
nThe position at train head place
v
nThe speed of train
The acceleration/accel of a train
The deceleration/decel of b train
x
c YgTrain reduces to the specified speed required separation distance before yellowish green signal
v
YgThe specified speed of train during yellowish green signal
x
c yTrain reduces to the specified speed required separation distance before yellow signal
v
yThe specified speed of train during yellow signal
x
c rTrain reduces to the specified speed required separation distance before danger signal
x
cTrain is with the maximum speed stopping distance
v
MaxThe maximum constraints speed of train
Distance between gap train and the place ahead object point
Above rule can go to realize with some machine languages commonly used, for example, and C
++Language and Matlab language.As special case, this analogy method is to be used for simulating in single line and the unidirectional Rail Transit System operation conditions of train.The above-mentioned train update rule that provides four demonstration fixed blocking signal system for other block system that shows standard, can be realized by revising above rule.
Beneficial effect of the present invention: the invention provides a kind of train running in fixed blocking condition analog control system.Its advantage is: (1) can accurately measure the train tracking interval under the various demonstration standard conditions; (2) this system is discretization on time, space and speed, and running velocity is fast, thereby is suitable for large-scale computer modeling; (3) this analogy method biofidelity height can show the operation conditions of train in real time; (4) be easy to hardware and realize that expense is low, applied range.
Description of drawings
Train whistle control system scheme drawing under Fig. 1 fixed blocking condition;
Train whistle control system scheme drawing under Fig. 2 fixed blocking condition;
Position-temporal image in Fig. 3 following train operational process;
Velocity-time relation in Fig. 4 following train operational process;
Velocity-time relation in Fig. 5 following train operational process;
Velocity-time relation in Fig. 6 following train operational process;
Velocity-time relation in Fig. 7 following train operational process;
Fig. 8 program flow diagram.
The specific embodiment
Embodiment 1:
In track traffic fixed block system train operation simulation control method, analog system comprises four parts: station, vehicle-mounted part, track traffic partial sum along the line control center.Vehicle-mounted part is for installing vehicle-mounted equipment such as velocity-measuring system, position fixing system and train detection systems ON TRAINS, track traffic part along the line is for to be installed in equipment such as track ground transaucer along the line, record and display system, and System Control Center is the control center just.Figure 1 shows that four show under the fixed blocking condition train operation simulation system schematic.Among Fig. 1, the length of supposing train is 100 meters, and the acceleration/accel of train and retro-speed are all 1 meter per second
2, the maximum speed of passenger train is 40 meter per seconds, and the maximum speed of freight train is 30 meter per seconds, and safety distance is 60 meters, and length of block section is set to 400 meters.
In the simulation process, track traffic sensor along the line is mainly finished the train information collection, and be transferred to the onboard system of train self, train is accurately measured the position at train head place by the onboard system of self, and by the station relevant data is sent to the ground maneuvers center in real time by wireless relay apparatus.The object point of train in tracking operation course determined according to the exact location and the color of train the place ahead protection signal machine in the ground maneuvers center.Calculate the speed of train driving with this object point, and control command is sent to train in real time by the station.Control the moving velocity of train at last in real time by onboard system, to guarantee train operating safety.
Experimental simulation:
In the process of simulation, adjacent two row trains keep tracking interval by signal, if the spacing between the two row trains is less, then follow-up train will meet with signal to reduce the speeds such as yellow green, yellow in the process of operation, even will meet with danger signal and stop.Fig. 4,5,6,7 is depicted as the track of train operation, position during its expression train operation and the variation relation between the time.In Fig. 4,5,6,7, transverse axis is represented the position, and the longitudinal axis is represented the time, the corresponding zero velocity of vertical curve, this just mean train this section in the period holding position constant, that is to say that train rests on certain position on the track circuit.Fig. 4 and Fig. 5 have simulated the different time of departure respectively at interval the time, the running orbit of train flow (Fig. 4 departure interval is 78 seconds, and Fig. 5 departure interval is 85 seconds).From Fig. 4, can observe some horizons significantly, four of foremosts are that remaining then is the phenomenon that is delayed the stop-go that forms owing to train owing to train is stopped (being provided with four in the simulation AT STATION to hair line) that forms AT STATION.In this and the actual traffic, the characteristics unanimity of train operation.
When moving the shuffling wagon flow on track circuit (as lorry and passenger train), train has comparatively complicated acceleration and deceleration behavior.Figure 6 shows that the operational process of passenger train after freight train, provided this raise passenger train speeds among the figure and concerned over time.When simultaneously Fig. 7 had also provided on track circuit operation train of the same type, train speed concerned over time.Can see from this figure, when moving train of the same type on the track, the signal in train its place ahead in operational process all passes through signal for green, the just regional AT STATION behavior of quickening, slowing down, and when moving mixed unit train on the circuit, the behavior of following the passenger train after lorry is comparatively complicated, in operational process, the color of its front signal machine by green by changing restricting signal into, and the phenomenon that has occurred running into danger signal three times and stopped, train presents the feature of low speed, stop-go.
Embodiment 2:
Show that as Fig. 2 the inventive point of invention mainly is the interactive process of control center for the running velocity of train.The control center upgrades principle according to the information that online train transmitted according to the train speed that sets, and calculates the speed of train, is resent to train, and train is adjusted the operation strategy of self according to the instruction of control center, has formed the process of such interaction.
In the equipment along the line of track, comprise block signal system, i.e. the update system of protection signal machine color.The color of protection signal machine is according to the current position information of train, by track circuit, discerns automatically and upgrades, and concrete update rule is as follows:
(show that with four block signal systems are example) as shown in Figure 3, when train 2 at subregion 4, then, the signal color of subregion 4 be a redness, then is respectively yellow, yellowish green and red at the signal of the block section at its rear.Block signal system is upgraded signal color along the line according to the current location of online train, and is sent to the control center, the important evidence of the train present speed being calculated as the control center.
As the computing formula among the embodiment 1, be control center's in-to-in calculating process, be the important evidence of calculating the speed of train, and train adjusted self speed according to the given train running speed information in control center.
In fixed block system, what block signal played act as: guarantee to follow the trail of operation at interval with block section between train and the train, to guarantee the traffic safety of train.For example: in Fig. 3, when train 2 was in subregion 4, the signal colour of this subregion was red, and then train 1 must stop before moving to this signal to greatest extent, followed the trail of the safety of operation to guarantee train.
Speed with calculating train 1 is example,
(1) track equipment along the line gather the location information of train 1 and train 1 the place ahead the protection signal machine color, location information and be sent to the control center, train 1 is sent to the control center by communication apparatus with self parameter information (moving maximum speed, the maximum acceleration-deceleration etc. of self as train model, institute's permission) simultaneously;
(2) control center is calculated according to the present speed of the train speed renewal principle that is proposed to train according to resulting above-mentioned information, obtains the current operation strategy that should take of train.
The control center is sent to train 1 with the result of calculation of gained, and train 1 is adjusted the running velocity of self according to the operating instruction that obtains.
As shown in Figure 8, be that the train of single line track is followed the trail of operation, the tracing process in train interval or the station is: in a time step, train is at first measured position and the speed of oneself.Then, calculate the distance of train and the place ahead object point, the place ahead object point comprises the position at the place ahead protection signal machine or website place, the place ahead.On the basis of the distance of train and the place ahead object point, according to the rule of simulation model, calculate the speed of following train, and determine that further train is in next position constantly.Below just finished the tracing process of train in a time step.
Claims (3)
1. a fixed block system train operation simulation control method is characterized in that containing following steps;
Step 1: in the train operation simulation control method, the control center also is operational plan according to train diagram, produces traffic order, and assigns to the train that travels on the line by wireless relay apparatus;
Step 2: every row train sends to control center such as oneself position, direction and speed parameter etc.;
Step 3: the control center accepts the parameter information of train, judges the color and the position of train the place ahead protection signal machine of this section at any time, train is allowed information such as running velocity pass to train;
Step 4: train is guaranteed the operation of train as prescribed speed according to the traffic order of control center.
2. a kind of fixed block system train operation simulation control method according to claim 1 is characterized in that following steps are arranged:
Step 1 is quickened:
1. protection signal machine color is green,
v
n＝min(v
n+a，v
max)；
2. protection signal machine color is a yellow green,
When
v
n＝min(v
n+a，v
max)
When
v
n＝max(v
n-b，v
yg)
Otherwise
v
n＝v
n；
3. protection signal machine color is yellow,
When
v
n＝min(v
n+a，v
max)
When
v
n＝max(v
n-b，v
y)
Otherwise
v
n＝v
n；
4. protection signal machine color is red,
When
v
n＝min(v
n+a，0)
When
v
n＝max(v
n-b，v
y)
Otherwise
v
n＝v
n；
Step 2 is slowed down:
v
n＝min(v
n，gap)；
Step 3 displacement:
x
n＝x
n+v
n；
In the formula: Δ x
nDistance between train and the place ahead protection signal machine
x
nThe position at train head place
v
nThe speed of train
The acceleration/accel of a train
The deceleration/decel of b train
x
c YgTrain reduces to the specified speed required separation distance before yellowish green signal
v
YgThe specified speed of train during yellowish green signal
x
c yTrain reduces to the specified speed required separation distance before yellow signal
v
yThe specified speed of train during yellow signal
x
c rTrain reduces to the specified speed required separation distance before danger signal
v
MaxThe maximum constraints speed of train
Distance between gap train and the place ahead object point.
3. a kind of fixed block system train operation simulation control method according to claim 1 and 2, it is characterized in that: acceleration and the rule of slowing down are: when (1) is green when the color of the place ahead protection signal machine, train quickens, and its speed can reach interval maximum permission speed; (2) when the color of the place ahead protection signal machine was yellow green or yellow, train must reduce to specified speed before the protection signal machine; (3) when the color of the place ahead protection signal machine was redness, train must stop before the protection signal machine; (4) when the place ahead of train is a station, if the shield segment at station does not also empty, then train is according to the preceding protection signal machine color renewal speed in station, if the shield segment at station empties, then train can directly enter the station stop.
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| CN 200710119225 CN101088822A (en) | 2007-07-18 | 2007-07-18 | Analog control method of train running in fixed blocking condition |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101916423A (en) * | 2010-08-18 | 2010-12-15 | 北京交通大学 | Verification and assessment method of rail transport network transport capacity |
| CN101931983A (en) * | 2010-07-22 | 2010-12-29 | 北京交通大学 | Method and device for simulating switching |
| CN102495627A (en) * | 2011-12-27 | 2012-06-13 | 中铁十局集团电务工程有限公司 | Section signal equipment simulation board |
| CN103192855A (en) * | 2013-03-25 | 2013-07-10 | 北京交通大学 | Method and system for adjusting train working diagrams on basis of platform redundancy |
| CN107239068A (en) * | 2017-05-19 | 2017-10-10 | 中国神华能源股份有限公司 | Movable block Train control method, device and system |
| CN107571890A (en) * | 2017-09-12 | 2018-01-12 | 杭州久智自动化技术有限公司 | A kind of intelligent track traffic system |
| CN109484436A (en) * | 2018-11-22 | 2019-03-19 | 中国联合网络通信集团有限公司 | A kind of train scheduling method and system |
| CN109562771A (en) * | 2017-04-17 | 2019-04-02 | 株式会社东芝 | Non-blocking is after computing system |
| CN111762230A (en) * | 2019-04-02 | 2020-10-13 | 株洲中车时代电气股份有限公司 | Locomotive signal processing system and railway locomotive |
| CN112863285A (en) * | 2021-01-21 | 2021-05-28 | 中铁七局集团电务工程有限公司 | Railway train operation scheduling simulation method and system |
| CN114212124A (en) * | 2021-11-25 | 2022-03-22 | 通号城市轨道交通技术有限公司 | Train main line tracking method and device, electronic equipment and storage medium |
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2007
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101931983A (en) * | 2010-07-22 | 2010-12-29 | 北京交通大学 | Method and device for simulating switching |
| CN101916423A (en) * | 2010-08-18 | 2010-12-15 | 北京交通大学 | Verification and assessment method of rail transport network transport capacity |
| CN102495627A (en) * | 2011-12-27 | 2012-06-13 | 中铁十局集团电务工程有限公司 | Section signal equipment simulation board |
| CN103192855A (en) * | 2013-03-25 | 2013-07-10 | 北京交通大学 | Method and system for adjusting train working diagrams on basis of platform redundancy |
| CN103192855B (en) * | 2013-03-25 | 2015-07-01 | 北京交通大学 | Method and system for adjusting train working diagrams on basis of platform redundancy |
| CN109562771A (en) * | 2017-04-17 | 2019-04-02 | 株式会社东芝 | Non-blocking is after computing system |
| CN109562771B (en) * | 2017-04-17 | 2021-02-26 | 株式会社东芝 | Non-blocking time interval calculation system |
| CN107239068B (en) * | 2017-05-19 | 2021-02-05 | 中国神华能源股份有限公司 | Mobile block train control method, device and system |
| CN107239068A (en) * | 2017-05-19 | 2017-10-10 | 中国神华能源股份有限公司 | Movable block Train control method, device and system |
| WO2019052416A1 (en) * | 2017-09-12 | 2019-03-21 | 杭州久智自动化技术有限公司 | Intelligent rail transit system |
| CN107571890B (en) * | 2017-09-12 | 2020-06-30 | 杭州久智自动化技术有限公司 | Intelligent rail transit system |
| CN107571890A (en) * | 2017-09-12 | 2018-01-12 | 杭州久智自动化技术有限公司 | A kind of intelligent track traffic system |
| CN109484436A (en) * | 2018-11-22 | 2019-03-19 | 中国联合网络通信集团有限公司 | A kind of train scheduling method and system |
| CN111762230A (en) * | 2019-04-02 | 2020-10-13 | 株洲中车时代电气股份有限公司 | Locomotive signal processing system and railway locomotive |
| CN111762230B (en) * | 2019-04-02 | 2022-01-21 | 株洲中车时代电气股份有限公司 | Locomotive signal processing system and railway locomotive |
| CN112863285A (en) * | 2021-01-21 | 2021-05-28 | 中铁七局集团电务工程有限公司 | Railway train operation scheduling simulation method and system |
| CN114212124A (en) * | 2021-11-25 | 2022-03-22 | 通号城市轨道交通技术有限公司 | Train main line tracking method and device, electronic equipment and storage medium |
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