CN101544237B - Train controller - Google Patents
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- CN101544237B CN101544237B CN2009100064746A CN200910006474A CN101544237B CN 101544237 B CN101544237 B CN 101544237B CN 2009100064746 A CN2009100064746 A CN 2009100064746A CN 200910006474 A CN200910006474 A CN 200910006474A CN 101544237 B CN101544237 B CN 101544237B
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- 238000012937 correction Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
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Abstract
The present invention provides a train control method which has the advantages of no requirement of adding the safe clearance distance, capability of reducing the number of ground devices and excellent seating effect. The train controller which controls the train through transmitting information to a ground train control part comprises an in-train control part which is provided with an in-train storing part that pre-stores the likely-changing maximum wheel diameter and the least wheel diameter of the wheel diameter and a speed protection curve. The current position information and speed information of the vehicle are generated based on the maximum wheel diameter, the detected rotating number of wheel and the position information of vehicle received from the ground devices. A corresponding speed protection curve is extracted from the in-train storing part based on the current position information and the stop position target information received from the ground train control part. The brake output is outputted based on the extracted speed protection curve and the generated current position information and speed information.
Description
Technical field
The light weight track traffic), AGT (Automated Guideway Transit: guiding rail railway) wait urban traffic etc., the train controller of mobile train in orbit the present invention relates to railway and single track, LRT (Light Rail Transit:.
Background technology
Provide the boundary that Vehicular system can advance (following be stop position target information) from ground system; have and surpass the speed protection curve that this boundary is not then advanced; contrast and carry out speed control at position and speed protection curve to be no more than this boundary etc. with oneself; by carrying out realizing safety guard-safeguard with the cooresponding speed control in position of oneself; in such Train Control method; in order to calculate self-position, many employings are carried out the method that integration is tried to achieve self-position to the revolution of wheel.In the past, the wheel diameter that uses initial value or use the measured value that obtains by periodic inspection to set, calculate self-position, but owing to wearing and tearing and passenger's boarding makes the wheel diameter change, so on the self-position that calculates error takes place, this error is remarkable in utilizing the single track of rubber tire, new traffic system.Therefore, the ground installation (patent documentation 1) that separates transponder beacon (transponder) that certain intervals is provided with delivering position information etc. for the correction calculation error.
[patent documentation 1] TOHKEMY 2001-106070 communique
At the wheel diameter of change by passenger's boarding and expansion etc. under the situation of+side change, actual train position is compared with the train position of Vehicular system identification and is positioned at the direct of travel side, even stop to control the possibility that also exists above the stop position target by speed protection curve.Therefore, will with ground installation the maximum distance error of distance may take place with the nearest location correction in the front of stop position target, as the safe clearance distance, and be set between the starting point of stop position target and speed protection curve.Because when this safe clearance distance is big, problems such as the expansion of generation train interval, station parking difficulty are so need be provided with the location correction ground installation appending from the near distance of stop position target in order to avoid these problems.
In addition, under the situation that does not unexpectedly obtain the control information that transmits with ground installation by location correction, owing under the safe clearance distance of setting, can not guarantee safety,, two location correction ground installations need be set so consider and meet accident.
Summary of the invention
The object of the present invention is to provide a kind of Train Control method that need not append the safe clearance distance and can reduce the safety of feeling good that quantity is set, takes of ground installation.
The present invention is in order to solve above-mentioned problem, train controller of the present invention, itself and ground Train Control portion transmission information are controlled train, it is the stop position target information that described ground Train Control portion generates the limit positions that train can advance, described train controller comprises car inner control portion, described car inner control portion has and stores the maximum wheel diameter that wheel diameter may change and the car stored portion of minimum wheel diameter and speed protection curve in advance, the location information of the vehicle that receives based on the revolution of described maximum wheel diameter and detected wheel and from ground installation, generate the present location information of vehicle, based on described present location information and the stop position target information that receives from described ground Train Control portion, extract cooresponding described speed protection curve out from described car stored portion, based on the described speed protection curve that is drawn out of and the described present location information and the velocity information of generation, output brake output, has the revolution that detects described wheel and the speed test section that generates the velocity information of vehicle, the present location information of described vehicle is the location information by the vehicle that will receive from ground installation, generates with the value addition of the integrated value of the revolution of described wheel and described maximum wheel diameter being multiplied each other and generating.
Can provide a kind of and need not append the safe clearance distance, and can reduce the Train Control method of the safety of feeling good that quantity is set, takes of ground installation.
Description of drawings
Fig. 1 is the figure of a configuration example of the expression total system of realizing the Train Control method that the present invention relates to.
Fig. 2 is the figure of an embodiment of the expression car inner controller of realizing the Train Control method that the present invention relates to.
Fig. 3 is the figure of an embodiment of car inner control portion of the car inner controller of presentation graphs 2.
Fig. 4 is the figure of the example of DB in the car of presentation graphs 3 car inner control portions.
Fig. 5 is the figure of an embodiment of On-line Control duct portion of the car inner control portion of presentation graphs 3.
Fig. 6 is the figure of skeleton diagram of processing of train length's calculating part of the online location management portion of presentation graphs 5.
Nomenclature:
101 vehicles
102 ground installations
103 ground train controllers
104 transceivers
105 speed protection curve
106 delivery units
107 control LAN
108 stop position target informations
201 car inner control portions
202 speed test sections
203 drive divisions
204, communication unit in 205 cars
206 acceptance divisions
207 receiving and transmitting parts
208MMI portion
301 online location management portions
302 protection curve generating units
303 drg control parts
DB in 304 cars
401 wheel diameter tables
402 speed protection curve table
Position, 501 front calculating part
502 train length's calculating parts
601 speed limit zone
The specific embodiment
Principal character of the present invention is the variation according to prediction such as experiment value or empirical value wheel diameter, and the wheel diameter of obtainable maximum is used as the wheel diameter stable state.Thus, the change of wheel diameter is always in a direction, and actual position is compared forward with the position that Vehicular system is grasped, so do not need to append the safe clearance distance.In addition, in this case, owing to the location correction of being undertaken by ground installation, become and be used to prevent to be parked in than the more close preceding processing of stop position target, even do not need multiple conversion so under the situation that unexpectedly can not obtain, be in secure side yet, can reduce the quantity that is provided with of ground installation.
Below, with reference to accompanying drawing embodiments of the invention are described.Fig. 1 represents to be used to realize the configuration example of the total system of Train Control method of the present invention.
Total system is made of with LAN107 train controller, ground installation 102, ground train controller 103, transceiver 104, delivery unit 106 and the control of train 101.
Ground train controller 103, delivery unit 106 by toroid winding, LCX (Leaky Coaxial Cable) etc., receive the information of ID etc. of particular vehicle or the location information that vehicle 101 calculates self from vehicle 101, grasp vehicle 101 at line position.Ground train controller 103, being distributed as basic calculation with vehicle 101 online, to be used to avoid the limit positions of advancing of each vehicle 101 of colliding, derailing be stop position target information 108, by transceiver 104 and delivery unit 106 to vehicle 101 transmission information.Vehicle 101, based on the stop position target information 108 that sends from ground train controller 103, it is speed protection curve 105 that generation is no more than stop position target continue to advance needed and the cooresponding upper limit speed of location information, and the control self speed makes and is no more than speed protection curve 105.By the ground installation 102 that transponder beacon etc. is realized, have the place that self is provided with as information, when vehicle 101 during, transmit these location informations to vehicle 101 by ground installation 102.
Fig. 2 represents a configuration example of the train controller of vehicle 101.The train controller of vehicle 101, be the device of controlling train with ground train controller 103 transmission information, vehicle 101 is made of communication unit 205, acceptance division 206, transmission acceptance division 207 and MMI (man machine interface) portion 208 in communication unit 204, the car in car inner control portion 201, speed test section 202, drive division 203, the car.
The train detection of car inner control portion 201 in order in ground train controller 103, to implement, will with self ID or method described later calculate self location information by send acceptance division 207 and Che Nei communication unit 205 earthward train controller 103 transmit.Send acceptance division 207 and carry out the modulation of data-signal, communication unit 205 is to be used for the antenna that communicates with delivery unit 106 in the car.
In addition, car inner control portion 201 is basic formation speed protection curve with the stop position target information 108 that sends from ground train controller 103, sends to drive division 203 self speed is slowed down to be no more than the instruction of speed protection curve.And then, also carry out the processing that the revolution of the velocity information of or the vehicle 101 that calculate detected according to the speed test section by realizations such as speed power generation machines 202 and wheel calculates the location information of self.
Particularly, car inner control portion 201, the location information of the vehicle that receives based on the revolution of maximum wheel diameter and detected wheel with from ground installation, generate the present location information and the velocity information of vehicle, the stop position target information that receives from Train Control portion based on this present location information and ground, DB extracts cooresponding speed protection curve out in the car, based on the speed protection curve that is drawn out of and the present location information and the velocity information of generation, output brake output.
Fig. 3 represents the structure of car inner control portion 201.Car inner control portion 201 constitutes by online location management portion 301, protection curve generating unit 302, drg control part 303 with as DB304 in the car of car stored portion.
Protection curve generating unit 302, will by send stop position target information 108 that acceptance division 207 sends by ground train controller 103 and in the car DB304 extract the cooresponding speed protection in the present position curve 105 that sends from online location management portion 301 out, send to drg control part 303.
Fig. 4 represents the structure as DB304 in the car of car stored portion.The speed that DB304 sets up related and storage by the stop position target information of the wheel diameter table 401 that stores maximum wheel diameter that wheel diameter may change and minimum wheel diameter in advance and the present position of speed being protected curve 105 and vehicle and vehicle in the car is protected curve table 402 and is constituted.
Maxim that wheel diameter table 401 storage cart wheel diameter may change and minimum value (being respectively maximum wheel diameter, minimum wheel diameter).These values are that the basis is predetermined with the statistical value of the wheel diameter that obtains according to experiment or the wheel diameter that rule of thumb obtains.Speed is protected curve table 402 and is stored the location information of present vehicle, protects curves 105 with stop position target information 108 cooresponding speed.Because speed protection curve 105 is determined uniquely according to the location information of present vehicle and the relation of stop position information 108 and vehicle performance, so the preliminary evaluation speed that concerns according to present position information and stop position target information 108 is protected curve 105, and be stored in the speed protection curve table 402.
In online location management portion 301, calculate vehicle 101 at line position.In Fig. 5, be illustrated in the structure of line position management department 301.Online location management portion 301 is made of position, front calculating part 501 and train length's calculating part 502.
In the position calculation that the is in advance portion 501, according to the revolution of the wheel that transmits by speed test section 202 and the wheel diameter table 401 of DB304 is extracted out in the car maximum wheel diameter and minimum wheel diameter, revolution is carried out integration and tries to achieve operating range, calculate the position, front of vehicle 101.At this moment, operating range is to be starting point with the location information that transmitted by at the moment ground installation 102, is undertaken by the revolution to after this wheel that the principal value of integral addition tries to achieve.The information of ground installation 102 is by transmitting to online location management portion 301 as communication unit 204 in the car of antenna with as the acceptance division 206 of demodulation section.Because the operating range that calculates is corresponding with the position that the position is set that has wheel, so with it and overhanging (overhang) addition till from the wheel to the front and try to achieve the position, front.The integrated value of maximum wheel diameter Rmax, wheel revolutions is Nr, the overhanging D of being if make, and then can represent the position, front with following formula.
Position, front=Rmax π Nr+D
Though calculated the position, front in the present embodiment, this is because speed protection curve 105 is the higher limits with the cooresponding speed in position, front, by different as the train position of system's GPRS with the position of speed protection curve 105 cooresponding trains.
Position, front calculating part 501, when transmitting the location information of ground installation 102 by acceptance division 206, the location information of abandoning calculating so far adopts the location information of ground installation 102 and the new value of overhanging addition as the position, front.
In train length's calculating part 502, tail behind the imagination growth train is handled.Fig. 6 represents to increase tail behind the train and makes the concept map of the processing that train length increases.According to the present invention, owing to use the maximum wheel diameter to calculate the position, front, the actual position of vehicle 101 is compared with respect to the direct of travel continued presence in the front with the grasp position of online location management portion 301.Therefore, under the situation of the speed limit zone 601 that has bending etc., front in speed limit zone 601, formation speed protection curve 105 makes speed is slowed down, but end in speed limit zone 601, be positioned at than the more close front of actual position then allow again and quicken if judge place by restricted areas, produce the possibility of running counter to speed limit.
At this, in train length's calculating part 502, with the actual location information that obtains the back tail of vehicle 101 of the corresponding calculating of operating range of the location information of coming to receive, the distance of itself and this position, front is managed as train length since at the moment ground installation 102.If it is X that order comes the operating range of the location information that free ground installation 102 at the moment receives, make the maximum wheel diameter is Rmax, make that minimum wheel diameter is Rmin, then can enough following formulas represent to obtain the distance error of the back tail of vehicle 101.
Distance error=X (Rmax-Rmin)/Rmax
By being worth with train length's addition tail behind the imagination growth vehicle, the operation that can observe speed limit zone 601.
Promptly, based on maximum wheel diameter and minimum wheel diameter, calculate the maximum distance error of operating range with the operating range of reality of the grasp of ground Train Control portion, with above-mentioned maximum distance error and the train length's addition that calculates, by use addition train length carry out Train Control, can imagination increase tail behind the vehicle, the operation that can observe speed limit zone 601.The rear end addition of maximum distance error that calculates at this moment, and train.
In addition, the maximum distance error of calculating is reset to 0 under the situation that receives location information from ground installation, and train length adopts predetermined train length.
In the present embodiment, though represented by ID, the location information transmission of train controller 103 earthward from vehicle 101, carry out the example of train detection, but only carry out in the method for train detection in ground side such as rail returns, cancellation can be implemented too from the transmission of the ID of car inner control portion 201, location information etc.
According to the present invention, because the change of wheel diameter often becomes minus side, actual position is compared with the position that Vehicular system is grasped becomes the front, so do not need to append the safe clearance distance.In addition, owing to the location correction of being undertaken by ground installation, become to be used to prevent to stop at and handle,, can reduce the quantity that is provided with of ground installation so do not need multiple conversion even under the situation that unexpectedly can not obtain, also be in secure side than the more close fwd of stop position target information.
Even also can guarantee safety in present situation because two ground installations are set, if so detect two miss (lost) (from taking defeat of ground installation) then carry out based on accident brake stop to handle, but in this case, have that the caused sensation of taking worsens and numerous and diverse (confirm to stop reason with ground, determined can set out behind the position etc.) handled that set out again is the problems such as time of departure again of the length of cause to be stopped by accident brake.
Even and do not need emergency braking under the situation about missing in the present invention yet, can stop lentamente by speed protection curve, the sensation of taking is worsened.In addition, even stop at the front owing to missing, also can upgrade curve when opening the place ahead route, can make sets out again becomes easy.That is, can not continue operation, improve so can expect operation factor owing to when missing, do not need basically promptly to stop in the present invention yet.
And then, with respect to results of regular determination wheel diameter in the past, in Vehicular system, reset, according to the present invention, do not need to change the wheel diameter of having set, also can expect the raising of maintainability.
Claims (6)
1. train controller, itself and ground Train Control portion transmission information are controlled train, and it is the stop position target information that described ground Train Control portion generates the limit positions that train can advance, and described train controller is characterised in that:
Comprise car inner control portion, described car inner control portion has and stores the maximum wheel diameter that wheel diameter may change and the car stored portion of minimum wheel diameter and speed protection curve in advance, the location information of the vehicle that receives based on the revolution of described maximum wheel diameter and detected wheel and from ground installation, generate the present location information of vehicle, based on described present location information and the stop position target information that receives from described ground Train Control portion, extract cooresponding described speed protection curve out from described car stored portion, based on the described speed protection curve that is drawn out of and the described present location information and the velocity information of generation, output brake output
Have the revolution that detects described wheel and the speed test section that generates the velocity information of vehicle,
The present location information of described vehicle is the location information by the vehicle that will receive from ground installation, generates with the value addition of the integrated value of the revolution of described wheel and described maximum wheel diameter being multiplied each other and generating.
2. train controller as claimed in claim 1 is characterized in that:
The position that described car stored portion is present with described speed protection curve, vehicle and the stop position target information of vehicle are set up related the storage.
3. train controller as claimed in claim 1 is characterized in that:
Described car inner control portion has the drg control part of the transmission of the described drg output of control,
Described drg control part, according to the described speed protection curve that is drawn out of and the described present location information and the velocity information of generation, speed and described present velocity information with the cooresponding described speed protection curve of described present location information are compared, send the output of described drg, make the value of described present velocity information be no more than described speed protection curve.
4. train controller as claimed in claim 1 is characterized in that:
Described car inner control portion, based on described maximum wheel diameter and described minimum wheel diameter, calculate the maximum distance error between operating range that described ground Train Control portion grasped and the actual operating range, with described maximum distance error and the train length's addition that calculates, the train length after the use addition carries out Train Control.
5. train controller as claimed in claim 4 is characterized in that:
The described maximum distance error that calculates and the rear end addition of described train.
6. as claim 4 or 5 described train controllers, it is characterized in that:
Receiving under the situation of location information from ground installation, the described maximum distance error that calculates is reset to 0, and described train length uses the train length that is predetermined.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2008074834A JP4645667B2 (en) | 2008-03-24 | 2008-03-24 | Train control device |
| JP2008074834 | 2008-03-24 | ||
| JP2008-074834 | 2008-03-24 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101544237A CN101544237A (en) | 2009-09-30 |
| CN101544237B true CN101544237B (en) | 2011-11-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100064746A Expired - Fee Related CN101544237B (en) | 2008-03-24 | 2009-02-18 | Train controller |
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| Country | Link |
|---|---|
| JP (1) | JP4645667B2 (en) |
| CN (1) | CN101544237B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5904740B2 (en) | 2011-09-30 | 2016-04-20 | 日本信号株式会社 | Train control system |
| JP5859365B2 (en) | 2012-03-30 | 2016-02-10 | 日本信号株式会社 | Train control device |
| WO2018034001A1 (en) * | 2016-08-19 | 2018-02-22 | 三菱電機株式会社 | Wireless train control system and train position correction method |
| JP6765525B2 (en) * | 2017-06-09 | 2020-10-07 | 株式会社日立製作所 | Train security system, train security control method and train on-board equipment |
| CN107323434B (en) * | 2017-07-10 | 2020-06-09 | 杭州中车车辆有限公司 | Maintenance system for bogie of straddle monorail train |
| CN109309531B (en) * | 2017-07-28 | 2021-03-26 | 比亚迪股份有限公司 | Train and wireless communication system and device thereof |
| KR102002803B1 (en) * | 2018-12-27 | 2019-07-23 | 주식회사 썬에이치에스티 | System and method of safety accident control using UWB based real time location |
| CN112455506B (en) * | 2020-11-30 | 2022-06-24 | 株洲中车时代电气股份有限公司 | Multi-dimensional self-calibration method and system for accurately positioning train running position |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002284011A (en) * | 2001-03-26 | 2002-10-03 | Hitachi Ltd | Digital automatic train control |
| JP2006232211A (en) * | 2005-02-28 | 2006-09-07 | East Japan Railway Co | Train length calculating method, and train controlling system |
| JP2007181285A (en) * | 2005-12-27 | 2007-07-12 | Mitsubishi Electric Corp | Automatic train controller |
| CN101176070A (en) * | 2005-05-12 | 2008-05-07 | 西门子公司 | Train control system |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3186947B2 (en) * | 1995-04-27 | 2001-07-11 | 三菱電機株式会社 | Automatic train driving device |
| JP3552869B2 (en) * | 1997-02-17 | 2004-08-11 | 東芝トランスポートエンジニアリング株式会社 | Odometer correction device |
| JP4324121B2 (en) * | 2005-02-24 | 2009-09-02 | 株式会社日立製作所 | Travel distance calculation system, travel distance calculation method, and travel distance calculation device |
-
2008
- 2008-03-24 JP JP2008074834A patent/JP4645667B2/en not_active Expired - Fee Related
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2009
- 2009-02-18 CN CN2009100064746A patent/CN101544237B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002284011A (en) * | 2001-03-26 | 2002-10-03 | Hitachi Ltd | Digital automatic train control |
| JP2006232211A (en) * | 2005-02-28 | 2006-09-07 | East Japan Railway Co | Train length calculating method, and train controlling system |
| CN101176070A (en) * | 2005-05-12 | 2008-05-07 | 西门子公司 | Train control system |
| JP2007181285A (en) * | 2005-12-27 | 2007-07-12 | Mitsubishi Electric Corp | Automatic train controller |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4645667B2 (en) | 2011-03-09 |
| CN101544237A (en) | 2009-09-30 |
| JP2009232574A (en) | 2009-10-08 |
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