CN102285364B - Distributed train concurrent dispatching method based on train priorities - Google Patents
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- CN102285364B CN102285364B CN 201110111180 CN201110111180A CN102285364B CN 102285364 B CN102285364 B CN 102285364B CN 201110111180 CN201110111180 CN 201110111180 CN 201110111180 A CN201110111180 A CN 201110111180A CN 102285364 B CN102285364 B CN 102285364B
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Abstract
The invention discloses a distributed train concurrent dispatching method based on train priorities, which comprises signal machine dispatching, switch machine dispatching and track circuit dispatching. By correlating trains with priorities, the distributed train concurrent dispatching method based on the train priorities solves the concurrent conflict of a system. The method for determining the priorities views track sections and the like occupied and obtained by the trains during running as limited resources and therefore the trains are endowed with different static priorities according to the importance of the resources owned by the trains in a line and in combination with requirements on real time. In combination with dynamic properties, dynamic priorities are determined by comprehensively considering relevant factors according to a running plan to realize the dynamic allocation of the resources and the concurrent running of the trains.
Description
Technical field
The invention belongs to train scheduling and control technology field, relate to a kind of dispatching method of train, be specifically related to a kind of distributing train concurrent scheduling method based on train priority.
Background technology
Railway is because large, the cheap and comparatively safe advantage of its freight volume becomes the preferential mode of transportation of selecting of people gradually in recent years.Therefore, under the prerequisite that guarantees train operating safety, how to improve speed and the efficient of train, become the focus of research.As ensureing the AT STATION critical system of interior safe operation of train, the station interlocking system always is the focus that the researchist pays close attention to.Computer technology has been introduced into since the railway interlocking system before 30 years, is bringing into play huge effect aspect the guarantee safe train operation.Full-separate railway interlocking system emphasizes equipment in the dispersion of physical location, and by the network interconnection, interlock program is comprised in each equipment between the equipment, and system is carrying out needing in real time correct each equipment state of understanding when route is handled.Therefore, train can cause the conflict that the concurrent and asynchronous execution of many discrete events produces and obscures in full-separate railway interlocking system during concurrent running, affects the safety and reliability of train operation.
Summary of the invention
The purpose of this invention is to provide a kind of distributing train concurrent scheduling method based on train priority, solved existing train in full-separate railway interlocking system during concurrent running, can cause the conflict that the concurrent and asynchronous execution of many discrete events produces and obscure, affect the problem of the safety and reliability of train operation.
The technical solution adopted in the present invention is that a kind of distributing train concurrent scheduling method based on train priority comprises signal scheduling, switch machine scheduling and track circuit scheduling.
Characteristics of the present invention also are,
Signal scheduling wherein, specifically implement according to following steps:
Step 1: signal gathers the train application on the train rail, according to this locality storage data and Train Dynamic priority method of calculating, calculates the dynamic priority of each train;
Step 2: according to priority size ordering, select the train of priority maximum to judge the number of processes of this route whether greater than N: if then warn deadlock to each train; Otherwise inquiry route table if there is a suitable route, then sends solicitation message to the equipment on the route;
Step 3: wait for the response message of application equipment, relatively whether the static priority of other trains is greater than processing train: if exist, decline this application; If there is no, execution in step 4 then;
Step 4: the response message that has judged whether to receive all devices: if then send locking message; Otherwise behind certain hour, repeating step 1 is to step 6;
Step 5: judge whether locking message communicates by letter successfully: if signal is open, train sails into; Otherwise, forward step 2 to;
Step 6: signal is open, and train sails into.
Train Dynamic priority method of calculating in the step 1 in the signal scheduling wherein, specifically implement according to following steps: be divided into static priority and dynamic priority, static priority refers to priority and determines along with determining of train task, before the train task finishes, continue constant, determine that by type Si under the emergency state Ai of the shared track circuit significance level Zi of train, task, the train their weights separately are w
1, w
2, w
3, and w
1+ w
2+ w
3=1, p
s=w
1Zi+w
2Ai+w
3Si; Dynamic priority refers to that its value is not changeless in the train driving process, with the priority of its follow-up train on the circuit, the variation that the train remaining runtime can affect its value, p
d=k
1p
s+ k
2G (d)+k
3p
s(q, Q), wherein: Ps is the static priority of train; Pd is the dynamic priority of train; G (d) is the function of weighing the train delays time; p
s(q, Q) is the static priority with q train on the circuit.
Switch machine scheduling wherein, specifically implement according to following steps:
Step 1: switch machine receives the information that signal sends;
Step 2: according to the message that step 1 is received, judge type of message: if locking message then forwards step 5 to; If reservation message is then done following operation: judge whether it is many solicitation message: if then select the processing that begins of priority maximum, for other then transmission refuse information; If not, directly process this message, idle message of return signal machine;
Step 3: switch machine is replied idle message according to the judged result that obtains of step 2;
Step 4: wait for locking message, if during receive other route application with the priority ratio of handling route last time: if equate and claimed condition consistent, then handle application, simultaneously idle message of return signal machine; If new solicitation message priority is larger, then abandon the route of last time, select this route, simultaneously idle message of return signal machine; If new solicitation message priority is less then refuse new application, busy message of return signal machine;
Step 5: after switch machine is received locking message, transformation condition;
Step 6: switch machine locking self, while return signal machine is locking message.
Track circuit scheduling wherein, specifically implement according to following steps:
When track circuit is idle: after the track circuit under the idle condition is received the reservation message of signal, at first the priority according to each message sorts, select larger the handling of priority, and the locking message of wait this application, if locking message is arranged, track circuit just oneself state is set to locking states, simultaneously, track circuit is replied locking message to signal, and signal is revised the state of this section track circuit in the interlocking table; When track circuit is had much to do: then directly refuse the route application.
The invention has the beneficial effects as follows,
1. by solved the concurrency conflict problem of system to the train associated priority.Definite method of priority is regarded limited resources as with occupying in the train travelling process and obtaining orbital segment etc., thereby it is different mainly to have had the significance level of resource according to train in the circuit, and gives its different static priority in conjunction with requirement of real-time.In conjunction with dynamic characteristics, consider related factors according to operational plan and determine dynamic priority, realize the dynamic assignment of resource and the concurrent running of train.
2. the work-based logic of each key equipment in this system being designed, all is that the equipment itself is realized to all methods of control actv., thereby has guaranteed modularization and the dispersing characteristic of equipment.
3. signal calculates its dynamic priority to the route application of receiving and sorts according to its size.Signal sends message and divides two classes: predetermined message and lockout message.After equipment is received predetermined message, there is a surge time, seizes with the application that has higher priority.
4. can switch machine and track circuit carry out the ordering of priority size for predetermined message, and then judge and satisfy this message.During waiting for lockout message, do not wait until lockout message or the application of higher priority is arranged, can abandon this predetermined message.
Description of drawings
Fig. 1 is the signal processing logic diagram of circuit that the present invention is based on the distributing train concurrent scheduling method of train priority;
Fig. 2 is the switch machine processing logic diagram of circuit that the present invention is based on the distributing train concurrent scheduling method of train priority;
Fig. 3 is the track circuit processing logic diagram of circuit that the present invention is based on the distributing train concurrent scheduling method of train priority;
Fig. 4 is the concurrent example that travels of distributing train concurrent scheduling method the first train that the present invention is based on train priority;
Fig. 5 is the concurrent example that travels of distributing train concurrent scheduling method the second train that the present invention is based on train priority.
The specific embodiment
The present invention is described in detail below in conjunction with the drawings and specific embodiments.
The present invention is based on the distributing train concurrent scheduling method of train priority, comprise signal scheduling, switch machine scheduling and track circuit scheduling.
(1) working process of signal, as shown in Figure 1, specifically implement according to following steps:
Step 1: signal gathers a plurality of train applications on the train rail, according to this locality storage data and Train Dynamic priority method of calculating, calculates the dynamic priority of each train;
Train Dynamic priority method of calculating wherein is divided into static priority and dynamic priority,
Static priority refers to priority to be determined along with determining of train task, continues constant before the train task finishes.Its influence factor relies on the zone that type under the train, train travel, the emergency state of task etc.
Static task priority ps determines that by type (Si) under the emergency state (Ai) of the shared track circuit significance level (Zi) of train, task, the train their weights separately are w among the present invention
1, w
2, w
3, its weights size is determined according to above-mentioned three factor significance levels, and w
1+ w
2+ w
3=1.So ps can represent with formula 1.
p
s＝w
1Zi+w
2Ai+w
3Si (1)
Dynamic priority refers to that its value is not changeless in the train driving process, all can affect the variation of its value with the priority of its follow-up train on the circuit, train remaining runtime etc.As in train travelling process, As time goes on, its delay time can be longer, thereby the urgency of task improving, and the priority of corresponding train is also improving.So the train wait time is longer, the dynamic priority of train is also higher.The dynamic priority algorithm computing formula:
p
d＝k
1p
s+k
2g(d)+k
3p
s(q，Q) (2)
Wherein: ps is the static priority of train; G (d) weighs the function of train delays time; p
s(q, Q) is with the static priority of q train on the circuit; Consider that this factor is for fear of the train beginning of formation with low priority, causes deadlock; In addition, when the train that is compared was not queue heads, dynamic priority did not have this in calculating, i.e. p
d=p
s+ g (d).As shown in Figure 4, the static priority of train T2 is greater than train T1, if do not consider p
s(q, Q) item, train T2 will bump against train T1 and cause the accident; The size of the value of k1, k2 and k3 is specifically calculated according to concrete station, so that priority difference is to controlling effectively.
Step 2: according to priority size ordering, select the train of priority maximum to judge that whether number of processes to this route is greater than N to each train;
A. if then warn deadlock;
B. otherwise inquiry route table if there is a suitable route, then sends solicitation message to the equipment on the route;
Step 3: wait for the response message of application equipment, relatively whether the static priority of other trains greater than processing train,
If a. exist, decline this application (static priority is large, shows that this train is more urgent, applies for neighbours' signal so let it be, to finish operation task);
B. if there is no, execution in step 4 then;
Step 4: the response message that has judged whether to receive all devices;
A. if then send locking message;
B. otherwise, behind certain hour, repeat 1 to 6 step;
Step 5: judge whether locking message communicates by letter successfully;
A. if, signal is open, train sails into;
B. otherwise, forward a step of step 2 to;
Step 6: signal is open, and train sails into.
(2) working process of switch machine, as shown in Figure 2, specifically implement according to following steps:
Step 1: switch machine receives the information that signal sends;
Step 2: according to the message that step 1 is received, judge type of message:
A. if locking message then forwards step 5 to;
B. if reservation message is then done following operation: judge whether it is many solicitation message;
If so, then select the processing that begins of priority maximum, for other then transmission refuse information;
If not, directly process this message, idle message of return signal machine;
Step 3: switch machine is replied idle message according to the judged result that obtains of step 2;
Step 4: wait for locking message, if during receive other route application with the priority ratio of handling route last time;
If a. equate and claimed condition consistent, then handle application, simultaneously idle message of return signal machine;
If b. new solicitation message priority is larger, then abandon the route of last time, select this route, simultaneously idle message of return signal machine;
If c. new solicitation message priority is less then refuse new application, busy message of return signal machine;
Step 5: after switch machine is received locking message, transformation condition;
Step 6: switch machine locking self, while return signal machine is locking message.
(3) working process of track circuit, as shown in Figure 3, specifically implement according to following steps:
When track circuit is idle: after the track circuit under the idle condition is received the reservation message of signal, at first the priority according to each message sorts, select larger the handling of priority, and the locking message of wait this application, if locking message is arranged, track circuit just oneself state is set to locking states.Simultaneously, track circuit is replied locking message to signal, and signal is revised the state of this section track circuit in the interlocking table.
When track circuit is had much to do: if track circuit is in busy condition, then directly refuse the route application.
Below the present invention will be described from the principle aspect:
Full-separate railway interlocking system is by three large key equipments: signal lamp, switch machine and rail return form.Each equipment can be directly and other devices communicatings.Signal lamp has four kinds of states: green, yellow, red and locking redness, and red expression signal lamp does not have the locked application status that can accept route, and locking is red to represent that signal lamp is in the route application process; Switch machine has three kinds of states: normotopia, antiposition and lock-out state, lock-out state represent that this switch machine is scheduled; There are busy and idle two states in the track circuit road.Each equipment has four functional modules and a local storage.Four functional modules are respectively computing module, communication module, control module and monitoring module.Wherein computing module is responsible for Intelligent treatment work, is similar to the CPU of computing machine; Communication module is responsible for machine (or assembly) outside contact, messaging; Control module is responsible for controlling mechanical treatment and the action of this machine, such as change state, locking and releasing arrangement; Monitoring module is born the condition monitoring of this machine and overall system, in time finds and gets rid of unusually, prevents that firmly unsafe condition from appearring in this machine and system; Communication module is so that can intercom mutually between each equipment.These modules are separate on function, but can mutually cooperate by interface.The needed all information of the in store equipment of local storage operation is such as the real-time status of interlocking equipment table, equipment etc.This paper considers in train operation, when detect might with same highway section on other trains when colliding, need to adopt certain dispatching algorithm re-start Train Dispatching.For avoiding collision, normal time slice wheel algorithm and the priority algorithm of adopting of vehicle operating scheduling.The former is used for highway communication, replaces according to red, green light that to command travelling and stopping of vehicular traffic, amber light be traffic lights surge time to pedestrian or chaufeur when replacing such as cross roads; The latter generally is used for the railway system, is higher than express train such as the priority of motor-car, and the priority of express train is higher than ordinary passenger express train train again, and the train that priority is relatively high is obtained the right to use in this highway section.
But the train operation situation comprises the time-division of stopping, average running speed etc., because a variety of causes, train operation reality often can not conform to time-table, needs interim adjust operation plan to finish the transportation burden of reservation.Therefore, it is scheduling problem that this paper adjusts the problem merger with train operation, occupies and obtains the orbital segment significance level according to the velocity magnitude of train, institute, and the dynamic priority of train is determined in the integrated operation plan, and has set up corresponding math modeling.Realize the dynamic assignment of resource and the concurrent running of train.
Among the present invention, the priority of train is made following regulation:
1. generally speaking, determine its priority according to type of train under the train;
2. under special circumstances, determine priority by the emergency state;
3. in the identical situation of priority, obey the principle of " First Come First Served ";
4. local computing priority;
5. priority difference is to controlling effectively.
In the distributing railway interlocking system, signal is based on the scheduling train of time-table the time, and when new application arrived, signal will in the situation that does not affect the application that has been guaranteed the off period, dynamically determine the real-time of this application.Namely must carry out feasibility analysis before the application beginning is processed, can judgement satisfy the demand of this application, if the feasibility analysis success just can accept this new application, lines up it in priority query; Otherwise this task is not received.The application treating process of signal can be regarded as the scheduling of task.Because signal is the major equipment that route is processed, the quality of its algorithm and control policy has directly determined security row and the reliability of train operation.Because the independent operation in whole dispersant system of on-site signal equipment, autonomous receipt message, processing messages also send message, when the concurrent application route of train, signal should satisfy following condition:
1. can accept many route applications, and have the ability to calculate their dynamic priority;
2. when signal is handled the route application, can reject the route application of higher static priority;
3. can communicate by letter with other associated device, and operational order is carried out join operation, intelligence is made the signal control decision;
4. open like clockwork or the closing signal machine;
5. behind signal at stop, without again handling, must not automatically repeat open.
According to above-mentioned condition, signal is when receiving the train application, go out the dynamic priority of train according to the dynamic calculation of train operation situation, then the application of receiving is sorted according to the priority size, select the highest route inspection to be satisfied, if so, signal is given each equipment sending message simultaneously according to the route relevant information of its preservation, and message content comprises that the priority of finishing the needed equipment state of this route and train of its preservation etc. then.Otherwise, the application of refusal train.
Then, signal is waited for the acknowledge signal of other equipment, after all conditions satisfied, signal sent locking message and makes each equipment oneself locking, and signal turns green after the lock information feedback by the time, train sails the station into, in a single day train sails route into, and signal should cut out immediately, and namely signal changes closed condition automatically over to, until after train rolled this route fully away from, signal is automatic unlocking.Signal sends message to divide two classes is respectively reservation message and locking message herein, so that after equipment is received reservation message, there is a surge time, seizes with the application that has higher priority.And then the route of signal is handled process can design the train concurrent running time, as shown in Figure 1.
Embodiment
The below utilizes described train priority method of calculating and each functions of the equipments logic, carries out modeling and analysis as an example of the concurrent situation of train shown in Figure 4 example.Suppose that train 1 and train 2 reference positions are AT STATION on the throat track on both sides.At first, calculate the train static priority.Because the significance level of track is the same, therefore suppose Z1=Z2=2; Because train 1 and train 2 all will enter the station, and suppose that train 1 is more urgent than train 2, so A1=4, A2=1; The affiliated the same S1=S2=1 of type.The weights size is w1=0.2, w2=w3=0.4.Therefore, the train 1 before entering the station and train 2 local definite its static priority sizes are respectively:
ps1＝0.2*2+0.4*4+0.4*1＝2.4 (3)
Ps2＝0.2*2+0.4*1+0.4*1＝1.2 (4)
Secondly, after two trains all sent the application of entering the station to signal, signal determined the state of equipment on route scope and the route, because the different routes that have respectively two signals to process of two route applications, the common facilities on the route is switch machine P1 and P2.According to the control logic of switch machine, they at first will detect the type of receiving message when processing concurrent route application, directly with the equipment locking, respond locking message for locking message; To sort through the priority size for reservation message, and then judge the requirement that to satisfy this message.If can satisfy, then reserve this application, if during waiting for locking message, the application of higher priority is arranged or do not wait until locking message, then abandon this route reservation message.Release adopts train to cross the method for automatic unlocking.Calculate the size of the dynamic priority of two trains according to formula 1, as follows respectively:
Pd1＝2.4+0+0＝2.4 (5)
Pd2＝1.2+0+0＝1.2 (6)
So switch machine is handled first the route application of train 1, and according to its order conversion oneself state.
Then, consider situation shown in Figure 5, according to the computing formula of priority, on the train 1 reference position throat track AT STATION, therefore train 2 supposes its Z1=3, Z2=1 on the arterial highway; Will pass through the station by train 2, train 1 is interior the stop AT STATION, so A1=1, A2=4; The same S1=S2=1 of institute's transporting cargo type.The weights size is w1=0.2, w2=w3=0.4.Therefore, the train 1 before entering the station and train 2 local definite its static priority sizes are respectively:
Ps1＝0.2*3+0.4*1+0.4*1＝1.4 (7)
Ps2＝0.2*1+0.4*1+0.4*4＝2.2 (8)
After two trains all sent the application of entering the station to signal, signal is according to the size of the dynamic priority of formula 1 calculating two trains, and was as follows respectively:
Pd1＝1.4+0+2.2＝32.6 (9)
Pd2＝2.2+0＝2.2 (10)
Therefore, control logic according to signal, to the application of receiving according to the ordering of priority size, selects the highest route inspection can be satisfied all conditions satisfied after, it is green that signal turns, train sails the station into, in a single day train sails route into, and signal should cut out immediately, and namely signal changes the red state of locking automatically over to, until after train rolled this route fully away from, signal is automatic unlocking.Train 1 enters the station first, simultaneously the application of train 2 is declined, and allows train 2 enter the station by applying for other signal.Also train 2 uses the route that comprises platform T2 to pass through the station.
When departures, train 2 uses signal SHR2 by station, the same Z1=Z2=1 of track significance level of train 1 and train 2 during departures; Will pass through the station by train 2, train 1 is interior A1=1, the A2=4 of stopping AT STATION; The same S1=S2=1 of type.The weights size is w1=0.2, W2=w3=0.4.Train 1 before entering the station and train 2 local definite its static priority sizes are as follows:
Ps1＝0.2*1+0.4*1+0.4*1＝1.0 (11)
Ps2＝0.2*1+0.4*4+0.4*1＝2.2 (12)
After two trains all sent the application of entering the station to signal, signal is according to the size of the dynamic priority of formula 2 calculating two trains, and was as follows respectively:
Pd1＝1.0+0+1.0 (13)
Pd2＝2.2+0＝2.2 (14)
Thus, the priority of train 1 is less than the priority of train 2, so that train 1 stops AT STATION and train 2 passes through the station.
By the method concurrent problem in the distributing railway interlocking system is studied, by distributing train concurrent scheduling is explored, found a feasible solution, thereby so that achievement in research to the actual development of following this system with use certain contribution is arranged.
Claims (3)
1. the distributing train concurrent scheduling method based on train priority is characterized in that, comprises signal scheduling, switch machine scheduling and track circuit scheduling; Described signal scheduling, specifically implement according to following steps:
Step 1: signal gathers the train application on the train rail, according to this locality storage data and Train Dynamic priority method of calculating, calculates the dynamic priority of each train;
Step 2: according to priority size ordering, select the train of priority maximum to judge the number of processes of this route whether greater than N: if then warn deadlock to each train; Otherwise inquiry route table if there is a suitable route, then sends solicitation message to the equipment on the route;
Step 3: wait for the response message of application equipment, relatively whether the static priority of other trains is greater than processing train: if exist, decline this application; If there is no, execution in step 4 then;
Step 4: the response message that has judged whether to receive all devices: if then send locking message; Otherwise behind certain hour, repeating step 1 is to step 6;
Step 5: judge whether locking message communicates by letter successfully: if signal is open, train sails into; Otherwise, forward step 2 to;
Step 6: signal is open, and train sails into;
Train Dynamic priority method of calculating in the described step 1, specifically implement according to following steps: be divided into static priority and dynamic priority, static priority refers to priority and determines along with determining of train task, before the train task finishes, continue constant, determine that by type Si under the emergency state Ai of the shared track circuit significance level Zi of train, task, the train their weights separately are w
1, w
2, w
3, and w
1+ w
2+ w
3=1, p
s=w
1Zi+w
2Ai+w
3Si; Dynamic priority refers to that its value is not changeless in the train driving process, with the priority of its follow-up train on the circuit, the variation that the train remaining runtime can affect its value, p
d=k
1p
s+ k
2G (d)+k
3p
s(q, Q), wherein: Ps is the static priority of train; Pd is the dynamic priority of train; G(d) be the function of weighing the train delays time; p
s(q, Q) is the static priority with q train on the circuit; The size of the value of k1, k2 and k3 is specifically calculated according to concrete station, so that priority difference is to controlling effectively.
2. the distributing train concurrent scheduling method based on train priority according to claim 1 is characterized in that, described switch machine scheduling is specifically implemented according to following steps:
Step 1: switch machine receives the message that signal sends;
Step 2: according to the message that step 1 is received, judge type of message: if locking message then forwards step 5 to; If reservation message is then done following operation: judge whether it is many solicitation message: if then select the processing that begins of priority maximum, for other then transmission refuse information; If not, directly process this message, idle message of return signal machine;
Step 3: switch machine is replied idle message according to the judged result that obtains of step 2;
Step 4: wait for locking message, if during receive other route application with the priority ratio of handling route last time: if equate and claimed condition consistent, then handle application, simultaneously idle message of return signal machine; If new solicitation message priority is larger, then abandon the route of last time, select this route, simultaneously idle message of return signal machine; If new solicitation message priority is less then refuse new application, busy message of return signal machine;
Step 5: after switch machine is received locking message, transformation condition;
Step 6: switch machine locking self, while return signal machine is locking message.
3. the distributing train concurrent scheduling method based on train priority according to claim 1 is characterized in that, described track circuit scheduling is specifically implemented according to following steps:
When track circuit is idle: after the track circuit under the idle condition is received the reservation message of signal, at first the priority according to each message sorts, select larger the handling of priority, and the locking message of wait this application, if locking message is arranged, track circuit just oneself state is set to locking states, simultaneously, track circuit is replied locking message to signal, and signal is revised the state of this section track circuit in the interlocking table; When track circuit is had much to do: then directly refuse the route application.
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| KR20190049824A (en) * | 2016-09-09 | 2019-05-09 | 후아웨이 테크놀러지 컴퍼니 리미티드 | Method and apparatus for managing vehicle passport, and terminal |
| CN106494469B (en) * | 2016-10-27 | 2018-06-19 | 上海电气泰雷兹交通自动化系统有限公司 | A kind of speed car crosses the method for avoidance automatically |
| CN107571889B (en) * | 2017-09-11 | 2019-12-20 | 湖南中车时代通信信号有限公司 | Line resource controller |
| CN108082216B (en) * | 2017-11-13 | 2020-04-21 | 北京全路通信信号研究设计院集团有限公司 | Method and device for route unlocking in computer interlocking and computer storage medium |
| CN111791923B (en) * | 2020-05-21 | 2021-06-29 | 北京交通大学 | Energy-saving-oriented single-track railway train scheduling method and system |
| CN114312915A (en) * | 2021-12-15 | 2022-04-12 | 中国铁路南宁局集团有限公司 | Shunting construction safety protection method for railway special line |
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