CN102167065A - Train stopping control method and system - Google Patents

Train stopping control method and system Download PDF

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Publication number
CN102167065A
CN102167065A CN2011100811116A CN201110081111A CN102167065A CN 102167065 A CN102167065 A CN 102167065A CN 2011100811116 A CN2011100811116 A CN 2011100811116A CN 201110081111 A CN201110081111 A CN 201110081111A CN 102167065 A CN102167065 A CN 102167065A
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Prior art keywords
train
speed
station
distance
synchronous points
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CN2011100811116A
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Chinese (zh)
Inventor
卓开阔
王佳
田元
王永宁
张佩竹
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Beijing Holding Magnetic Suspension Techn Development Co., Ltd.
Beijing Quanlu Communication Signals Research and Design Institute Co., Ltd.
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Beijing Quanlu Communication Signals Research And Design Institute Co Ltd
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Priority to CN2011100811116A priority Critical patent/CN102167065A/en
Publication of CN102167065A publication Critical patent/CN102167065A/en
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Abstract

The invention discloses a train stopping control method and system. The method comprises the following steps: adjusting the speed of a train to arrive at a station to a station entrance speed which is obtained by an automatic train protection curve and an in-station limit speed; when the train arrives at the station, determining the current distance between the train and an operation parking spot according to a received pulse signal sent by positioning synchronization points preset on a track; calculating a recommending speed corresponding to the current distance through a train control algorithm according to the current distance between the train and the operation parking spot, and adjusting the current speed of the train; and exerting a recommended brake gear on the train to reduce the speed and stop the train when the train passes through the last positioning locating synchronization point. According to the technical scheme provided by the invention, the influence caused by low speed measurement resolution is reduced; and the train can accurately stop in the station under various speed measurement resolutions.

Description

A kind of train parking control method and system
Technical field
The present invention relates to train automatic control technology field, particularly relate to a kind of train parking control method and system.
Background technology
Along with the appearance of ATC (Automatic Train Control, train automatic guidance) system, train has been realized automatic protection, automatic steering, monitoring automatically.Wherein, ATO (Automatic Train Operation, the train automatic steering) system is the important subsystem of ATC system, it can finish the controllable function of train door contact interrupter and auto-speed adjustment (comprise traction, cruise, coasting, braking and parking control), realizes the automatic guidance of main track, the line of turning back etc.For an ATC system, can realize that the accurate parking in train AT STATION directly has influence on the reliability of total system.
In the prior art, several representative type schemes such as stage speed control, FUZZY ALGORITHMS FOR CONTROL or PID (Proportion IntegrationDifferentiation, proportion integration differentiation) control algorithm all can realize the accurate parking that train is interior AT STATION.
Such scheme can realize that the prerequisite that train accurately stops is: in the driving process of train, the resolution that tests the speed of train will reach certain requirement.Yet in actual applications, because a variety of causes can cause locomotive velocity measuring resolution can't reach requirement, for example: in the magnetic suspension circuit,, can cause the resolution that tests the speed of train can be lower because there is erratic situation in the laying of sleeper distance.At this moment, there is certain deviation in the resolution that tests the speed of train, can't reach requirement, and the scheme that prior art provided can't realize the accurate parking of train so.
Summary of the invention
For solving the problems of the technologies described above, the embodiment of the invention provides a kind of train parking control method and system, being implemented under the various resolution that test the speed, and the accurate parking of train in AT STATION, technical scheme is as follows:
A kind of train parking control method comprises:
The speed that train is entered the station is adjusted into entrance to the station speed; Described entrance to the station speed is obtained by speed limit in train automatic protection curve and the station;
After train entered the station, the impulse singla that the default location synchronous points in orbit that receives according to the train signal check implement sends was determined train and the current distance of runing point station;
According to the current distance of described train, utilize the car controlling algorithm to calculate and the cooresponding advisory speed of current distance, and the present speed of train is adjusted with the operation point station;
After train is through last location synchronous points, train is applied the braking gear of recommendation, to realize ramp to stop.
Accordingly, the present invention also provides a kind of train Stop Control System, comprising:
First speed adjusting module, the speed that is used for train is entered the station is adjusted into entrance to the station speed; Described entrance to the station speed is obtained by speed limit in train automatic protection curve and the station;
The positioning correcting module is used for after train enters the station, and the impulse singla that the default location synchronous points in orbit that receives according to the train signal check implement sends is determined train and the current distance of runing point station;
Second speed adjusting module is used for utilizing the car controlling algorithm to calculate and the cooresponding advisory speed of current distance, and the present speed of train being adjusted according to the current distance of described train with the operation point station;
A brake module is used for train being applied the braking gear of recommendation, to realize ramp to stop after train is through last location synchronous points.
In the technical scheme that the embodiment of the invention provided, after train entered the station, the signal by default a plurality of location synchronous points in orbit sends positioned train and operation point station distance, and calculates the train advisory speed according to current distance.After train is through last location synchronous points, make the speed adjusted of train to controlled range, the position of train also is believable, stops by the braking force of implementing recommendation then.In this programme, realize the distance location by the location synchronous points, and constantly adjust the speed of train, after adjusting to speed in the controlled scope, again by once braking realization parking, with the low influence that brings of this resolution that reduces to test the speed, can be implemented under the various resolution that test the speed the accurate parking that train is interior AT STATION.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, to do simple the introduction to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the diagram of circuit of a kind of train parking of embodiment of the invention control method;
Fig. 2 is the location synchronous points track laying scheme drawing in a kind of train parking of embodiment of the invention control method;
Fig. 3 is second kind of diagram of circuit of a kind of train parking of embodiment of the invention control method;
Fig. 4 is the structural representation of a kind of train Stop Control System of the embodiment of the invention;
Fig. 5 is second kind of structural representation of a kind of train Stop Control System of the embodiment of the invention;
Fig. 6 is the third structural representation of a kind of train Stop Control System of the embodiment of the invention.
The specific embodiment
The train that prior art the provided scheme of accurately stopping, higher to the resolution requirement that tests the speed of train, be not suitable for the lower situation of the resolution that tests the speed.A kind of train parking control method provided by the present invention and system, the mode of utilizing the location synchronous points and once braking is implemented under the various resolution that test the speed, the accurate parking that train is interior AT STATION.
At first a kind of train parking control method is described, this method comprises:
The speed that train is entered the station is adjusted into entrance to the station speed; Described entrance to the station speed is obtained by speed limit in train automatic protection curve and the station;
After train entered the station, the impulse singla that the default location synchronous points in orbit that receives according to the train signal check implement sends was determined train and the current distance of runing point station;
According to the current distance of described train, utilize the car controlling algorithm to calculate and the cooresponding advisory speed of current distance, and the present speed of train is adjusted with the operation point station;
After train is through last location synchronous points, train is applied the braking gear of recommendation, to realize ramp to stop.
In the embodiment of the invention, after train entered the station, the signal by default a plurality of location synchronous points in orbit sends positioned train and operation point station distance, and calculates the train advisory speed according to current distance.After train is through last location synchronous points, make the speed adjusted of train to controlled range, the position of train also is believable, stops by the braking force of implementing recommendation then.In this programme, realize the distance location by the location synchronous points, and constantly adjust the speed of train, after adjusting to speed in the controlled scope, again by once braking realization parking, with the low influence that brings of this resolution that reduces to test the speed, can be implemented under the various resolution that test the speed the accurate parking that train is interior AT STATION.
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that is obtained under the creative work prerequisite.
As shown in Figure 1, a kind of train parking control method comprises:
S101, the speed that train is entered the station is adjusted into entrance to the station speed;
Train is in the automatic steering process, the basic thought of the car controlling model that is adopted is: under the premise that security is guaranteed, utilize a certain car controlling algorithm, the ATO subsystem is in conjunction with the line information in the fixed data storehouse with from ATP (Automatic Train Protection, the train automatic protection) speed-limiting messages, calculate an only car controlling curve, according to the actual speed of train and the deviation situation of the cooresponding advisory speed of control curve, determine corresponding car controlling strategy: traction, braking or coasting then.Wherein, the car controlling curve can be train and the distance of operation point station and the corresponding relation curve of advisory speed.The car controlling model is the deviation of present speed and the advisory speed of car controlling curve of monitoring train in real time, and according to the scope and the trend of deviation, by adjusting the output of car controlling gear, the present speed of adjustment train makes the present speed of train in deviation range.
Wherein, in the driving process of train, basic car controlling strategy specifically can comprise following main points:
1) when train when the actual speed of current track is lower than speed limit, and guarantee that train nextly also can be lower than speed limit when interval sailing into, can export the traction gear;
2) when next interval speed limit was lower than present speed, train need shift to an earlier date calculated braking distance, and at suitable distance output braking gear, guaranteed safe deceleration;
3) when train is about to stop, need reasonably braking gear of output, guarantee that train stops standard and comes to a complete stop;
4) reached ceiling speed at train, when perhaps train speed was slow being about to stop, exportable coasting was to reduce expenditure of energy.
In the present embodiment, adopt gradual stage by stage parking strategy, the train process is divided into three phases, wherein, F/s is that train enters before the station; Subordinate phase is that train receives location synchronous points impulse singla, locatees train and operation point station distance, and adjusts the process of train speed; Phase III is that train speed is controlled, the position is credible, adopts the once process of braking.
In F/s, before train is about to enter the station, the present speed of train is adjusted into entrance to the station speed; Wherein, entrance to the station speed is configurable parameter, can obtain according to speed limit in the station and ATP protection curve.Speed adjustment before entering the station is when utilizing the car controlling strategy, mainly based on FUZZY ALGORITHMS FOR CONTROL.Wherein, the cooresponding controller of FUZZY ALGORITHMS FOR CONTROL is the fuzzy controller of the single output of two inputs, the two-way input is respectively the present speed and the acceleration/accel of train, be output as the control command acceleration/accel of train, learn the gear that should take this moment by the control command acceleration/accel, and then the speed of train is adjusted.
Need to prove, do not belong to emphasis of the present invention owing to how to adjust train speed, and those skilled in the art are known, so be not introduced at this according to FUZZY ALGORITHMS FOR CONTROL.
In this stage, entrance to the station speed is adjusted as target velocity, made train carry out the station, prevent that train from entering the zone, station and the accuracy that unexpected acceleration influence is stopped occurring with the speed that allows.
S102, after train entered the station, the impulse singla that the default location synchronous points in orbit that receives according to the train signal check implement sends was determined train and the current distance of runing point station;
After the speed adjustment through F/s, when train entered the station, the deviation of the present speed of train and the entrance velocity at station was in the deviation range that allows.In subordinate phase, the signal detection apparatus that is provided with ON TRAINS receives the impulse singla of locating synchronous points, impulse singla according to the location synchronous points, present speed to train is adjusted, make before entering the phase III, the present speed of train is in controlled scope, and actual position also is believable.
In the practical application, at least 4 location synchronous points have been laid on the inner orbit of station in advance, the location synchronous points adopts the mode of intersection synchronous points, concrete quantity determines according to the distance of entrance to the station with the operation point station, and when engineering design, be provided with, for example: as shown in Figure 2, can set be spaced apart 24 meters of adjacent positioned synchronous points, physical location is stored in the train data storehouse.
Wherein, the impulse singla that the default location synchronous points in orbit that receives according to the train signal check implement sends is determined train and the current distance of runing point station, as shown in Figure 3, is specifically as follows:
S102a, the impulse singla that the location synchronous points that is received according to the train signal check implement sends is determined described location synchronous points and the distance of runing point station;
S102b according to the location opportunity to described location synchronous points, calculates the compensated distance of train;
S102c in conjunction with distance and the described compensated distance of described location synchronous points with the operation point station, determines train and the current distance of runing point station.
When train head through the location synchronous points (but perhaps with the location synchronous points distance in the signal range of receiving) time, when the prelocalization synchronous points can provide an impulse singla, the signal detection apparatus of train can detect described impulse singla, according to described impulse singla, determine then when the distance of prelocalization synchronous points with the operation point station.Because train receives, analyze the required certain hour of impulse singla, thus when train during, need to calculate to working as the train driving distance of prelocalization synchronous points in time for positioning through this location synchronous points, with it as compensated distance.And the distance that will locate synchronous points and operation point station deducts distance behind the described compensated distance as the current distance of train and point station, the absolute fix of realization train.The account form of compensated distance can for: can write down an operating range when receiving location synchronous points impulse singla, can write down an operating range when realizing the location then, two range differences are the compensated distance amount.
Wherein, the signal detection apparatus of train can be vehicle-mounted receiving wire, those skilled in the art as can be known, described signal detection apparatus is not limited to vehicle-mounted receiving wire.
Need to prove that train during synchronous points, because the setting accuracy of location synchronous points in the cm magnitude, therefore can be obtained train absolute location at that time by the mode of synchronous points location, realizes that train stops accurate judgement through the location.In addition, in order to judge the position of location synchronous points effectively, can increase anticipation function in advance, promptly in the place ahead of location synchronous points beacon or other mandatory signs are set, will help accurately obtaining location synchronous points signal more, the final realization accurately stopped.
S103 according to the current distance of described train with the operation point station, utilizes the car controlling algorithm to calculate and the cooresponding advisory speed of current distance, and the present speed of train is adjusted;
Train according to the distance of train with the operation point station, utilizes car controlling algorithm calculated recommendation curve in real time in operational process, this recommendation curve is train and the corresponding relation curve of runing point station current distance and advisory speed.In recommending curve, determine train and the pairing advisory speed of operation point station current distance.After advisory speed is determined, adopt FUZZY ALGORITHMS FOR CONTROL, the present speed of train is adjusted, guaranteeing deviation between train present speed and the advisory speed in the error allowed band, adjustment process can for:
If present speed is greater than advisory speed, and exceed the error limit that allows, then train has been applied corresponding braking gear;
If the deviation of present speed and advisory speed is in the permissible error scope, train carries out coasting.
Because in subordinate phase, consider comfort level and practical operation situation, the present speed of suppose train can be implemented coasting less than advisory speed and when having exceeded the error limit that allows, rather than the traction processing.
Be understandable that, in the subordinate phase, the quantity of the location synchronous points on the track in the station is generally a plurality of, so train is every through a location synchronous points, the capital receive the impulse singla of location synchronous points of process, train can be determined when train is located synchronous points through each and the distance of point station, thereby repeatedly regulate the speed according to received impulse singla.
In this stage, focus guarantees that train deceleration braking force output smoothing is stable in the station on the comfort level of train; Simultaneously, through after the subordinate phase, the present speed of train is in controlled range, and the position is believable.
S104 after train is through last location synchronous points, applies default braking gear to train, to realize ramp to stop.
After the signal detection apparatus of train is located synchronous points through last, can think that train enters the phase III, the present speed of train is in controlled scope at this moment, and the position of train also is believable.Certainly, the inlet of phase III can be determined according to actual conditions, such as: the actual track road conditions in the distance of entrance to the station and point station, the station, station, the vehicle commander of train etc.
When entering the phase III, speed-controllable, the position of train are credible, at this moment, can brake processing to train according to the braking force of recommending, to realize ramp to stop.The braking force of being recommended can enter the speed of phase III and utilize the resulting deceleration/decel of Newton's law to determine with the distance of point station according to train.The braking force of described recommendation is a controllable parameter value, and according to the empirical value that actual conditions obtain, under the different situations, pairing braking force may be different.
In the phase III, have only deceleration, do not have the acceleration situation.Preferential according to the braking force of being recommended to train deceleration, in the process according to the gear output of the real-time meticulous adjustment car controlling of the present speed of real response.
In this programme, realize the distance location by the location synchronous points, and constantly adjust the speed of train, after adjusting to speed in the controlled scope, again by once braking realization parking, with the low influence that brings of this resolution that reduces to test the speed, can be implemented under the various resolution that test the speed the accurate parking that train is interior AT STATION.
Be understandable that train in the car controlling process, owing to the influence of time delay characteristic, will cause the controllability variation of train as an inertia delayed time system, following problem can occur:
When 1) drawing: present speed has but still continued acceleration near speed limit situation may occur, will cause the train hypervelocity;
2) glancing impact: when deceleration control was carried out in plan, the deceleration control order of output can't come into force in the scheduled time, caused the train hypervelocity, thereby touched the service braking curve; The correction mechanism that shutdown phase is carried out can't correctly come into force, and causes very standard of train;
In order to solve the car controlling latency issue, can sample rate compensate and compensated distance mechanism, basic thought is: the car controlling gear of buffer memory car controlling module output is come in a pre-defined gear pond, and in the car controlling process, utilize the speed that the time-delay of these gear preliminary evaluations produced and the influence of distance, to select suitable output gear, and then guarantee that influence is minimum, realize accurately stopping.Wherein, be to cooperate velocity compensation and compensated distance mechanism, need measure the actual time delay parameter of train, obtain different gears speed and the producible time-delay influence of distance in the train debug phase.
Need to prove, distinguish acceleration and deceleration time delay characteristic, will make that the car controlling process of ATO is more reasonable, meticulousr, help realizing the accurate parking of train the influence of car controlling:
1) the acceleration phase distance affects is little, and the speed influence is bigger:
When train quickens, can adjust according to the adjustment of the fuzzy table of FUZZY ALGORITHMS FOR CONTROL; The compensation that gathers way, embodiment can for: according to the variation tendency of the data-speculative speed in the gear pond or the output in accumulative total gear pond.
Need emphasis to consider compensated distance when 2) slowing down:
Suppose that new gear can directly not offset the effect of old gear, but after a constant time lag, come into force, then can estimate distance travelled (complementary range) when the deceleration gear comes into force, and join in the car controlling process as the Security Target distance according to the gear of buffer memory in the gear pond.
Wherein, with the low gear time-delay, parameter is different at a high speed: for high gear, time-delay is less during electric braking; For low gear, time-delay is bigger during air brake.
So, in this stage, train applied default braking gear after, can also adjust gear output in real time according to the feedback speed of train real response in conjunction with each default car controlling gear to the time-delay influence that train speed and distance are produced.Be understandable that, in the speed adjustment process of subordinate phase, also can consider latency issue, make the meticulous of family followed in the adjustment of speed, help realizing the accurate parking of train.
Need to prove that in the scheme provided by the present invention, some key control parameters can be adjusted according to actual conditions, make the car controlling process have good self application.Wherein, these key parameters can comprise: (1) stage is distinguished, and restrains slower parameter, and the parameter of converges faster is applicable to the different car controlling stages, thus make car controlling adjusting control flexibly and fast; (2) vehicle commander, train delay parameter, speed adjustment cycle, threshold speed setting range (velocity deviation allowed band), entrance to the station speed, phase III entrance velocity and compensated distance deviation etc.These parameters can be divided into artificial adjustment and automatic compensation dual mode: (1) system self-align parameter closely links to each other with vehicle performance, owing to reasons such as service wears, vehicle performance may change, for example: compensated distance deviation, delay parameter etc., system can write down the performance parameter value in per stage of statistics, after surpassing certain limit with the currency deviation, upgrade correlation parameter automatically; (2) the artificial parameter of adjusting is revised according to test result in debug process by the tester, and such parameter only influences the car controlling effect, can be along with vehicle performance does not change and changes, for example: speed adjustment cycle, threshold speed setting range etc.
By the adjustment to some key control parameter, train parking control method provided by the present invention goes for different circuits and operation demand, possesses wider range of use.
Corresponding to top method embodiment, the embodiment of the invention also provides a kind of train Stop Control System, and as shown in Figure 4, this system comprises:
First speed adjusting module 110, the speed that is used for train is entered the station is adjusted into entrance to the station speed; Described entrance to the station speed is obtained by speed limit in train automatic protection curve and the station;
Positioning correcting module 120 is used for after train enters the station, and the impulse singla that the default location synchronous points in orbit that receives according to the train signal check implement sends is determined train and the current distance of runing point station;
Second speed adjusting module 130 is used for utilizing the car controlling algorithm to calculate and the cooresponding advisory speed of current distance, and the present speed of train being adjusted according to the current distance of described train with the operation point station;
A brake module 140 is used for train being applied the braking gear of recommendation, to realize ramp to stop after train is through last location synchronous points.
As shown in Figure 5, described positioning correcting module 120 specifically comprises:
The first positioning correcting submodule 121 is used for the impulse singla according to the received location synchronous points transmission of train signal check implement, determines described location synchronous points and the distance of runing point station;
Compensated distance submodule 122 is used for calculating the compensated distance of train according to the location opportunity to described location synchronous points;
The second positioning correcting submodule 123 is used for determining train and the current distance of runing point station in conjunction with the distance and the described compensated distance of described location synchronous points with the operation point station.
As shown in Figure 6, described second speed adjusting module 130 specifically comprises:
Advisory speed is determined submodule 131, is used in conjunction with car controlling algorithm calculated recommendation curve, obtains train and the pairing advisory speed of operation point station current distance; Described recommendation curve is: train and the corresponding relation curve of runing point station distance and advisory speed;
Speed governing submodule 132 is used for according to described advisory speed, adopts FUZZY ALGORITHMS FOR CONTROL, and the present speed of train is adjusted, and concrete configuration is:
If present speed is greater than advisory speed, and exceed the error limit that allows, then train has been applied corresponding braking gear;
If the deviation of present speed and advisory speed is in the permissible error scope, train carries out coasting.
Further, this system also comprises:
The real-time speed regulating module is used for influencing to train speed with apart from the time-delay that is produced in conjunction with each default car controlling gear, adjusts gear output in real time according to the feedback speed of train real response.
For device or system embodiment, because it is substantially corresponding to method embodiment, so relevant part gets final product referring to the part explanation of method embodiment.Device described above or system embodiment only are schematic, wherein said unit as the separating component explanation can or can not be physically to separate also, the parts that show as the unit can be or can not be physical locations also, promptly can be positioned at a place, perhaps also can be distributed on a plurality of network elements.Can select wherein some or all of module to realize the purpose of present embodiment scheme according to the actual needs.Those of ordinary skills promptly can understand and implement under the situation of not paying creative work.
In addition, institute's descriptive system, the scheme drawing of apparatus and method and different embodiment, in the scope that does not exceed the application, can with other system, module, technology or method in conjunction with or integrated.Another point, the shown or coupling each other discussed or directly to be coupled or to communicate to connect can be by some interfaces, the indirect coupling of device or unit or communicate to connect can be electrically, machinery or other form.
The above only is the specific embodiment of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.

Claims (8)

1. train parking control method is characterized in that this method comprises:
The speed that train is entered the station is adjusted into entrance to the station speed; Described entrance to the station speed is obtained by speed limit in train automatic protection curve and the station;
After train entered the station, the impulse singla that the default location synchronous points in orbit that receives according to the train signal check implement sends was determined train and the current distance of runing point station;
According to the current distance of described train, utilize the car controlling algorithm to calculate and the cooresponding advisory speed of current distance, and the present speed of train is adjusted with the operation point station;
After train is through last location synchronous points, train is applied the braking gear of recommendation, to realize ramp to stop.
2. method according to claim 1 is characterized in that, the impulse singla that the described default location synchronous points in orbit that receives according to the train signal check implement sends is determined train and the current distance of runing point station, comprising:
The impulse singla that the location synchronous points that is received according to the train signal check implement sends is determined described location synchronous points and the distance of runing point station;
According to location opportunity, calculate the compensated distance of train to described location synchronous points;
In conjunction with distance and the described compensated distance of described location synchronous points, determine train and the current distance of runing point station with the operation point station.
3. method according to claim 1 is characterized in that, the described car controlling algorithm that utilizes calculates and the cooresponding advisory speed of current distance, and the present speed of train is adjusted, and comprising:
In conjunction with car controlling algorithm calculated recommendation curve, obtain train and the pairing advisory speed of operation point station current distance; Described recommendation curve is: train and the corresponding relation curve of runing point station distance and advisory speed;
According to described advisory speed, adopt FUZZY ALGORITHMS FOR CONTROL, the present speed of train is adjusted, comprising:
If present speed is greater than advisory speed, and exceed the error limit that allows, then train has been applied corresponding braking gear;
If the deviation of present speed and advisory speed is in the permissible error scope, train carries out coasting.
4. method according to claim 1 is characterized in that, train is applied the braking gear of recommendation after, also comprise:
To train speed with apart from the time-delay influence that is produced, adjust gear output in real time in conjunction with each default car controlling gear according to the feedback speed of train real response.
5. a train Stop Control System is characterized in that, this system comprises:
First speed adjusting module, the speed that is used for train is entered the station is adjusted into entrance to the station speed; Described entrance to the station speed is obtained by speed limit in train automatic protection curve and the station;
The positioning correcting module is used for after train enters the station, and the impulse singla that the default location synchronous points in orbit that receives according to the train signal check implement sends is determined train and the current distance of runing point station;
Second speed adjusting module is used for utilizing the car controlling algorithm to calculate and the cooresponding advisory speed of current distance, and the present speed of train being adjusted according to the current distance of described train with the operation point station;
A brake module is used for train being applied the braking gear of recommendation, to realize ramp to stop after train is through last location synchronous points.
6. system according to claim 5 is characterized in that, described positioning correcting module comprises:
The first positioning correcting submodule according to the impulse singla that the received location synchronous points of train signal check implement sends, is determined described location synchronous points and the distance of runing point station;
The compensated distance submodule is used for calculating the compensated distance of train according to the location opportunity to described location synchronous points;
The second positioning correcting submodule is used for determining train and the current distance of runing point station in conjunction with the distance and the described compensated distance of described location synchronous points with the operation point station.
7. system according to claim 5 is characterized in that, described second speed adjusting module specifically comprises:
Advisory speed is determined submodule, is used in conjunction with car controlling algorithm calculated recommendation curve, obtains train and the pairing advisory speed of operation point station current distance; Described recommendation curve is: train and the corresponding relation curve of runing point station distance and advisory speed;
The speed governing submodule is used for according to described advisory speed, adopts FUZZY ALGORITHMS FOR CONTROL, and the present speed of train is adjusted, and concrete configuration is:
If present speed is greater than advisory speed, and exceed the error limit that allows, then train has been applied corresponding braking gear;
If the deviation of present speed and advisory speed is in the permissible error scope, train carries out coasting.
8. system according to claim 5 is characterized in that, this system also comprises:
The real-time speed regulating module is used for influencing to train speed with apart from the time-delay that is produced in conjunction with each default car controlling gear, adjusts gear output in real time according to the feedback speed of train real response.
CN2011100811116A 2011-03-31 2011-03-31 Train stopping control method and system Pending CN102167065A (en)

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CN103754201A (en) * 2014-01-24 2014-04-30 浙江众合机电股份有限公司 Brake control method of automatic vehicle-mounted train protection system
CN104875772A (en) * 2015-05-29 2015-09-02 南京南车浦镇城轨车辆有限责任公司 Test train fixed-point parking early warning braking device
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CN112874576A (en) * 2019-11-29 2021-06-01 比亚迪股份有限公司 Automatic train parameter adjusting method and vehicle-mounted controller
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CN113548090A (en) * 2021-09-23 2021-10-26 北京和利时系统工程有限公司 Method and device for adjusting accurate parking control parameters of train automatic driving
CN114590292A (en) * 2022-01-21 2022-06-07 北京全路通信信号研究设计院集团有限公司 Photoelectric automatic synchronous control method and system for rail train and tunnel
CN115158409A (en) * 2022-06-30 2022-10-11 通号城市轨道交通技术有限公司 Train turning back control method and system
CN108791312B (en) * 2018-06-08 2024-03-15 中铁第四勘察设计院集团有限公司 Intelligent rail train side intelligent parking system and method

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TWI548545B (en) * 2012-03-30 2016-09-11 日本信號股份有限公司 Apparatus for controlling train
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CN107531260A (en) * 2015-03-04 2018-01-02 通用电气公司 For controlling Vehicular system to realize the system and method for different target during stroke
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CN107884747A (en) * 2016-12-27 2018-04-06 比亚迪股份有限公司 The alignment system and method for monorail train
CN107878510B (en) * 2016-12-29 2019-04-19 比亚迪股份有限公司 Automatic train control method and device, vehicle-mounted ATO
CN107878510A (en) * 2016-12-29 2018-04-06 比亚迪股份有限公司 Automatic train control method and device, vehicle-mounted ATO
CN107163959A (en) * 2017-05-31 2017-09-15 上海应用技术大学 A kind of Precise Position System of coke-oven locomotive
CN110027590B (en) * 2018-01-12 2020-05-26 株洲中车时代电气股份有限公司 Traction brake coordination control method and system in process of brake fade of train
CN110027590A (en) * 2018-01-12 2019-07-19 株洲中车时代电气股份有限公司 A kind of train braking process of extinction traction braking matches combination control method and system
CN110116721B (en) * 2018-02-06 2021-08-20 株洲中车时代电气股份有限公司 Train speed limit control method and management system for rail transit
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CN108693883A (en) * 2018-06-06 2018-10-23 西安智加科技有限公司 A kind of the high-precision parking method and system of Vehicular automatic driving
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CN111025339A (en) * 2018-10-09 2020-04-17 百度在线网络技术(北京)有限公司 Method, device, equipment and computer readable storage medium for determining positioning delay
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