CN103529703B - Method for the Speed limit curve of train automatic controlling system - Google Patents

Abstract

A kind of method that the invention discloses Speed limit curve for train automatic controlling system；Comprise the following steps: step 1, create track civil engineering data file；Step 2, civil engineering speed limit is reduced certain value by the mileage at straightway, and civil engineering speed limit is reduced certain value by the mileage at curved section, obtains maximum speed limit；Step 3, emulation tool reads civil engineering data and maximum speed limit, carries out simulation calculation；Step 4, the repeatedly maximum speed limit of amendment, until verifying by the hypervelocity of emulation tool；Step 5, calculates the Speed limit curve of vehicle-mounted train automatic protection ATP；Step 6, calculates the Speed limit curve of ATO ATO；Step 7, carries out safety verification by vehicle-mounted train automatic protection ATP with ATO ATO Speed limit curve input emulation tool, revises maximum speed limit as occurred potential safety hazard to need repeatedly, until by checking.The present invention is based on entire flow, it is to avoid the confusion between artificial and computer program Aided Design.

Description

Method for the Speed limit curve of train automatic controlling system

Technical field

The invention belongs to safety of urban transit signal field, specifically one is applied to train auto-matic control The Speed limit curve method of system (ATC).

Background technology

In safety of urban transit signal field, vehicle-mounted train automatic protection ATP, ATO ATO The speed limit that system speed to be ensured is corresponding less than current mileage value all the time.Speed limit is divided according to different operational modes For different brackets, meet different operation demands respectively.It is bent that speed limit-mileage (band direction) data constitute speed limit Line.The design of these Speed limit curves to consider following restriction conditions:

1) safety assumes one: the design of Speed limit curve to guarantee by vehicle control syetem these Speed limit curves Protection, wait in the case of least favorable train traction is out of control, before brake hard comes into force, speed not over The safety speed-limit of civil engineering, in case the accidents such as anti-avulsion rail.

2) safety assumes two: in the signal protection mode being separated out protection section by fixed blocking, speed limit Curve train to be guaranteed in the case of least favorable will not overshoot protection section, to prevent the accidents such as collision.

3) safety assumes three: the design of Speed limit curve to guarantee by vehicle control syetem these Speed limit curves Protection, wait in the case of least favorable train traction is out of control, after taking brake hard, train is at parking line Stop before the end, line terminal, to prevent the accidents such as collision.

4) efficiency assumes one: between the design client to be met (metro operation business) of Speed limit curve is to train minimum Every different requirements.

5) efficiency assumes two: the design client to be met (metro operation business) of Speed limit curve is to when running between station The different requirements divided.

6) cost assumption: the design of Speed limit curve to reduce under same or like efficiency of operation as far as possible Train energy consumption, to reach energy-conservation purpose.

At present, the method for Speed limit curve to manually adjust, is imitated by urban rail signal manufacturer even with some Really calculate instrument, also fail to implementation method intelligent, procedure and optimization completely.This manually adjust It is main method, safety easily occurs mistake；Method has randomness, lacks tight quantitative Analyze；Operationally there is no effective flow process due to artificial and emulation tool combination, therefore can not be according to tool The design parameter of civil engineering data, vehicle and Signal Products of body project, the concrete overspeed protection of control system are calculated Method is come for design.And the main defect of prior art also resides in, common method can not system combine with Upper 6 restriction conditions, in conditions above a few of the Speed limit curve result therefore designed still have further The space improved and optimizated.

Summary of the invention

The technical problem to be solved is to provide a kind of Speed limit curve for train automatic controlling system Method, it may ensure that while safety and efficiency, it is to avoid traction braking switching frequently.

In order to solve above technical problem, the invention provides a kind of speed limit for train automatic controlling system The method of curve；Comprise the following steps: step 1, create track civil engineering data file；Step 2, at straight line Civil engineering speed limit is reduced certain value by the mileage of section, and civil engineering speed limit is reduced certain value by the mileage at curved section, To maximum speed limit；Step 3, emulation tool reads civil engineering data and maximum speed limit, carries out simulation calculation；Step 4, the maximum speed limit of amendment repeatedly, until verifying by the hypervelocity of emulation tool；Step 5, calculates vehicle-mounted train The Speed limit curve of automatic protection ATP；Step 6, calculates the Speed limit curve of ATO ATO；Step 7, Vehicle-mounted train automatic protection ATP is carried out safety with ATO ATO Speed limit curve input emulation tool Checking, revises maximum speed limit as occurred potential safety hazard to need repeatedly, until by checking.

The beneficial effects of the present invention is: the method for Speed limit curve is based on entire flow, it is to avoid artificial with meter Confusion between calculation machine program Aided Design；The design of Speed limit curve, while ensureing safety and efficiency, keeps away Exempt from traction braking switching frequently；The method of Speed limit curve based on while specification flow process again for detailed programs, The tightest accurate but also flexible；The method of Speed limit curve has considered safety, efficiency and energy conservation object.

Vehicle-mounted train automatic protection ATP1 Speed limit curve is on the basis of maximum speed limit, by entity platform region Speed limit is set as the speed limit of requirement；

Less speed is directly merged into more than or equal to the speed difference set in certain distance D；

Choosing of family of power and influence's distance D merged is determined whether according to practical situation；

The minima computing formula of distance D is:

$D_{\min }=\frac{v_2^2-v_1^2}{{2\mathrm{\α}}_{\mathrm{zcc}}}+v_2\·T+\frac{v_2^2-v_2^2}{{2\mathrm{\α}}_{\mathrm{sb}}}.$

Emulation tool completes inaccessible calculating after emulating, on the basis of ATP1 Speed limit curve, it is considered to signal Machine speed limit length obtains vehicle-mounted train automatic protection ATP2 Speed limit curve.

Whole block section between a length of adjacent signals machine of described semaphore speed limit, if current block section Speed limit before is higher, the safe stopping distance calculated with higher speed limit from current block section front position Crossed current block section, then the semaphore speed limit length of current session to be extended remaining to previous section Amount.

Accompanying drawing explanation

With detailed description of the invention, the present invention is described in further detail below in conjunction with the accompanying drawings.

Fig. 1 is the vehicle-mounted train automatic protection ATP Speed limit curve diagram sample generated in the present invention.

Fig. 2 is the method flow diagram of the present invention.

Fig. 3 is the speed of service-mileage chart sectional drawing between the station that in the present invention, emulation tool generates.

Fig. 4 is the energy consumption figure of the operation of the corresponding diagram 3 that emulation tool generates in the present invention.

Detailed description of the invention

In order to realize being applied to the Speed limit curve design of train automatic controlling system (ATC), it is to avoid Speed limit curve Disappearance is had, it is impossible to meet the requirement of client, and carry at aspects such as operation security, efficiency of operation and operation costs A whole set of design cycle gone out and solution.

The present invention provides the Speed limit curve method being applied to train automatic controlling system (ATC).Design speed limit is bent Before line, need to research and develop a kind of civil engineering data that can read circuit, to train operation after input Speed limit curve The processes such as traction, coasting and braking carry out analogue simulation, carry out Block design and performance evaluation on this basis Emulation tool.The relevant place described in following methods step is provided explanation by this method operation principle.Such as Fig. 2 Shown in.

Method step 1: create the civil engineering data file arranged based on orbit plane figure, comprise civil engineering speed limit, The mileage of the curved section in circuit, radius and curvature, the gradient in circuit, track switch, gate position etc. are whole Civil engineering information.

Method step 2: civil engineering speed limit is reduced 5km/h by the mileage at straightway, at the mileage of curved section by soil Build speed limit and reduce 10km/h, obtain maximum speed limit.

Method step 3: emulation tool reads civil engineering data and maximum speed limit, carries out simulation calculation.

Emulation tool is pre-designed a kind of vehicle mathematical model, it is possible to the reflection traction of city rail vehicle, system The characteristic such as dynamic, it is also possible to the reflection gradient, datum drag, the impact of additional drag, according to the car being pre-configured with Parameter and simulation step length set in advance (taking the cycle the same with train automatic controlling system ATC), emulation Instrument is with the control algolithm close to ATO ATO, under the civil engineering data read and maximum speed limit, At given route, automatically calculate in the All Time run between train station, the speed in each cycle, mileage The data such as position, energy consumption.

Emulation tool, can be according to the safety arrestment of the Appendix D recommendation of IEEE1474.1 while simulation calculation Modelling verification, the speed in each cycle, it is considered to the maximum range rate error of train automatic controlling system ATC system, Whether the parameters such as hypervelocity feasible value, it is considered to the gradient of current location, can exceed civil engineering speed limit in the case of least favorable. If it occur that hypervelocity is it is necessary to manual amendment, the maximum speed limit near reduction.

Method step 4: manual amendment's maximum speed limit, until (this is one by the hypervelocity checking of emulation tool Iterative process).

Method step 5: design the Speed limit curve of vehicle-mounted train automatic protection (ATP).

Vehicle-mounted train automatic protection ATP1 Speed limit curve is the vehicle-mounted train automatic protection under Different Moving Block Modes The calculating basis of ATP overspeed protection curve.Vehicle-mounted train automatic protection ATP1 Speed limit curve is in maximum speed limit On the basis of, the speed limit in entity platform region is set as the speed limit of customer requirement.To big in certain distance D In or directly merge into less speed equal to the speed difference of 5km/h.The choosing of family of power and influence's distance D whether merged Take, be considered as practical situation, ensureing on the premise of efficiency of operation, eliminate unnecessary or be beyond one's reach and lead Draw acceleration and braking procedure.Its minima computing formula is

$D_{\min }=\frac{v_2^2-v_1^2}{{2\mathrm{\α}}_{\mathrm{zcc}}}+v_2\·T+\frac{v_2^2-v_2^2}{{2\mathrm{\α}}_{\mathrm{sb}}}$

Such as, in the middle of the speed limit section of two 70km/h (19.44m/s), has a 75km/h (20.83m/s) Speed limit section.Vehicle is 0.27m/s/s at the acceleration (Normal acceleration) of 70km/h, conventional system Dynamic rate is-0.8m/s/s, and driver's response time is 6 seconds, then family of power and influence's distance should be greater than

$D_{\min }=\frac{v_2^2-v_1^2}{{2\mathrm{\α}}_{\mathrm{zcc}}}+v_2\·T+\frac{v_2^2-v_2^2}{{2\mathrm{\α}}_{\mathrm{sb}}}$

$=\frac{{20.83}^2-19.44^2}{2\×0.27}+20.83\×6+\frac{{19.44}^2-{20.83}^2}{-2\×0.8}=263.6m$

In view of uncertain impacts such as ramp acceleration, reserve suitable surplus, the limit of 75km/h under this situation If speed section is less than D=300m, merged.

Vehicle-mounted train automatic protection ATP2 Speed limit curve is the vehicle-mounted train automatic protection under fixed blocking pattern The calculating basis of ATP overspeed protection curve.Emulation tool can be automatically performed Block design after emulating, and determines Whole positions of semaphore.Owing to running under fixed blocking pattern, ATP2 Speed limit curve limits at ATP1 On the basis of speed curve, mainly consider semaphore speed limit.

Whole block section between a length of adjacent signals machine of semaphore speed limit, if before current block section Speed limit higher, the safe stopping distance calculated with higher speed limit from current block section front position is crossed Current block section, then the semaphore speed limit of current session to extend suitable surplus to keep away to previous section Exempt from this situation.

Semaphore speed limit is in the following several ways:

1), when home signal is as points protection semaphore, the length of the protection section that enters the station is inadequate, be again Calculate speed limit.Emulation tool has automatically generated when arranging semaphore.

2) for promoting minimum operation interval (headway).

Emulation tool can calculate the minimum operation interval headway of all positions automatically, generates figure for analyzing.

The length of block section is more than safe stopping distance

$S=\frac{v^2}{2\mathrm{\α}}$

The most normally drive through the time of block section at least about

$t=\frac{S}{v}=\frac{v}{2\mathrm{\α}}$

Under fixed blocking pattern, train is at least spaced a block section, by reducing speed limit v, can contract Short safe stopping distance, reduces the length of block section, shortens and follows the trail of the most close rear car arrival front truck herein Time needed for position, promote minimum operation interval.

This letter can be set when the minimum operation interval headway that emulation tool calculates is unsatisfactory for demand Number machine speed limit, manually adjusts semaphore spacing, cuts the peak value of low minimum operation interval headway curve, directly After verifying to emulation tool, headway meets customer need.

Vehicle-mounted train automatic protection ATP1/ATP2 curve also to do following special modification:

When main track is in antiposition when track switch, speed limit reduces to some value.The determination of this value has with track switch model Close, client provide.Require to subtract 5km/h according to the speed limit that track switch model is corresponding.

The parking line end, the length of zero-speed section of line terminal.Meet following 2 points:

A) should ensure that train applies service braking and stops before zero-speed initial point, any one on service braking curve The out of control acceleration of point occurs the least favorable parking spot of brake hard before the parking line end, line terminal.And Stay suitable surplus.If civil engineering condition can not meet such length, the speed limit before zero-speed region should be reduced, directly To meeting.

B) after the initial point of zero-speed section is located at the position of terminus exit signal, i.e. platform 6 meters.According to Practical situation, it is considered to enter the station position error, driver is directed at the factors such as the minimum speed requirement of platform, this distance Can be with proper extension.

Above 2 is the severeest safety it is assumed that in specific design, should give according to the practical situation of circuit With consideration, situation unappeasable to line condition, discussion should be studied specially, it is impossible to as generally Rule is lumped together.

Method step 6: the Speed limit curve of design ATO ATO.

For reasons of operation (timetable recovers, and the off-peak hours are energy-conservation), ATO ATO abides by The rate curve kept can change.Train automatic controlling system ATC system can support multiple Operation class, Energy-conservation from accelerating, commonly using, the design of concrete ATO ATO curve is for project.

In Fig. 1, abscissa, in units of rice, represents the mileage of a certain track；Vertical coordinate is with kilometer/Shi Weidan Position, represents the speed limit of this mileage.ATP Speed limit curve under A curve is fixed blocking pattern in figure, part B For the ATP Speed limit curve under Different Moving Block Modes, lap display A.

In Fig. 3, abscissa, in units of rice, represents the mileage of a certain track；Vertical coordinate is with kilometer/Shi Weidan Position, represents speed.In figure, B lines represent that speed limit, A and C lines represent the operation rail of headstock and the tailstock respectively Mark.

In Fig. 4, abscissa represents mileage.Vertical coordinate represents the energy consumption of train when running to this position.A is for leading Drawing energy consumption, C is braking energy consumption.

In this method, the design of ATO ATO Speed limit curve will combine the genetic algorithm meter of emulation tool Calculate and manually adjust.

First basic principle be described:

The most no matter being divided into how many kinds of ATO ATO Speed limit curve, acceleration curve ATO to be provided is Short hourage, and energy-conservation curve provides the method for operation that ATO ATO is the most energy-conservation.

2. the change step of ATO ATO rate curve suggestion is 5km/h, and either heredity is calculated Method still manually adjusts can be followed.

3. ATO ATO curve " to smooth ", disappears than vehicle-mounted train automatic protection ATP curve Go some speed limits that the speed limit quantity at adjacent two stations is reduced.

4. operation grade is 2%-3% to the amplification of suggestion hourage between energy saving direction, Mei Sheng first order station.

5. being energy-conservation and relatively low minimum operation interval headway, high regime should be near a upper station, low speed Section should be near the next stop.

Below as a example by 5 kinds of operation grades, genetic algorithm is described:

Interval command speed x_iWith { x_i1,x_i2,...,x_ik,...,x_inRepresent, x_ikRepresent the speed of velocity variations point k, The speed value of each point is P₁～P₅Scope, the resolution of speed is 5km/h

The set of one group of train command speed curve

X={ (x₁₁,x₁₂,...,x_1n),(x₂₁,x₂₂,...,x_2n),...,(x_m1,x_m2,...,x_mn) following two constraints to be met:

1. couple x_i∈ X, remembers v_kFor x_ikCorresponding speed, d_kFor x_ikCorresponding place on line.

$a_k=\frac{v_{k+1}^2-v_k^2}{2(d_{k+1}-d_k)}$

$t_k=\frac{v_{k+1}-v_k}{a_k}$

$J_k=\frac{a_k}{t_k}\≤J=0.75m/s^3$ k∈{1,2,...,n-1}

This is to make speed limit change meet the restriction of impact value J becoming accelerator.

2. the train interval operation time is not more than T

x_ik∈S_k={ v_{k_5},v_{k_5}+1,...,v_{k_1}}

v_{k_5}For putting P corresponding to k on circuit₅Speed, v_{k_1}For putting P corresponding to k on circuit₁Speed, S_k For circuit in the floating number set of speed desirable for a k.

One chromosome x_i={x_i1,x_i2,...,x_ik,...,x_inIt is a feasible solution

Population Size m=100

If X is train speed collection of curves, the rate curve set of algorithm original state as initial population, At Population Size it is

In the initial population of m, the value of i-th chromosome is

x_i=R (X) i=1,2 ..., m

R (X) is to take the element (being herein a train command speed curve) in set X at random

Individuality in population is selected the superior and eliminated the inferior by the operation that selects of train running speed curve, and fitness is higher Individual inheritance higher to follow-on probability.Each individuality is copied to follow-on probability P (x_i) it is

$P\left(x_i\right)=\frac{f\left(x_i\right)}{\underset{i=1}{\overset{m}{\mathrm{\Σ}}}f\left(x_i\right)}$

f(x_i) it is individual x_iFitness function value

$f\left(x_i\right)=\left\{\begin{array}{cc}{C}_{\max }-f_1\left(x_i\right)& f_1\left(x_i\right)<C_{\max }\\ 0& \mathrm{else}\end{array}\right.$

Wherein f₁(x_i) it is the traction energy consumption run along command speed of train, by OPSim according to traction (or system Dynamic) power F is multiplied by range ability S and calculates.C_maxFor the biggest normal number.

The crossover process of train running speed curve is replaced restructuring the individual portion gene of 2 parents And produce new individuality.

The front rate curve of the operation that intersects is x₁, x₂, x₁Front k item and x₂Rear n-k item produces new individualx₂Before K item and x₁Rear n-k item produces new individual。

In order to improve the local search ability of algorithm, and maintain the multiformity of population, prevent precocious existing As, need with certain probability, gene to be made a variation in population.

If the most individual x of train operation curve_iGene strand be x_i={x_i1,x_i2,...,x_ik,...,x_in}

Taking a random gene location is k=R (N) N={1,2 ..., n}

With random site k for variation, the gene after variation is the random number of span

Individuality after variation $x_i^{\&Prime;}=\{x_{i1},x_{i2},...,x_{\mathrm{ik}}^{\&Prime;},...,x_{\mathrm{in}}\}$

The probability of genovariation is 0.01

The end condition of algorithm is that genetic algebra reaches 30

Method step 7: ATP Yu the ATO Speed limit curve designed input emulation tool is carried out least favorable feelings The safety verification of condition, as occurred, potential safety hazard needs manual amendment, until (this is an iteration by checking Process).

This method it is a technical advantage that:

1. the method for Speed limit curve is based on entire flow, it is to avoid between artificial and computer program Aided Design Confusion.

2. the design of Speed limit curve is while ensureing safety and efficiency, it is to avoid traction braking switching frequently.

3. the method for Speed limit curve based on while specification flow process again for detailed programs, not only tight accurately but also clever Live.

The design of Speed limit curve is combined with the hypervelocity of control system, super preventing mechanism, as crossed trouble section Protection, if processed by control system during track switch antiposition, then avoids the need in the design of speed limit data considering. As in the parameter configuration and algorithm of emulation tool, place sentences specific algorithm and the phase of each project of ATC system Pass data are foundation, in conjunction with actually reaching optimal effectiveness.

The method of Speed limit curve has considered safety, efficiency and energy conservation object, it is possible at utmost meet visitor The requirement at family.

The present invention is not limited to embodiment discussed above.Description to detailed description of the invention is intended to above In order to describe and the technical method that the present invention relates to be described.Obvious conversion based on present invention enlightenment or Replacement should also be as being considered within protection scope of the present invention.Above detailed description of the invention is used for disclosing this Bright optimal implementation, so that those of ordinary skill in the art can apply the multiple enforcement of the present invention Mode and multiple alternative reach the purpose of the present invention.

Claims (4)

1. the method for the Speed limit curve of train automatic controlling system；It is characterized in that, including following Step:

First, a kind of civil engineering data that can read circuit are researched and developed, to train operation after input Speed limit curve Traction, coasting and braking procedure carry out analogue simulation, carry out Block design and performance evaluation on this basis Emulation tool；

Step 1, creates track civil engineering data file；

Step 2, civil engineering speed limit is reduced certain value by the mileage at straightway, and civil engineering is limited by the mileage at curved section The low certain value of prompt drop, obtains maximum speed limit；

Step 3, emulation tool reads civil engineering data and maximum speed limit, carries out simulation calculation；

Described emulation tool, can be according to the safety of the Appendix D recommendation of IEEE1474.1 while simulation calculation Brake model is verified, the speed in each cycle, it is considered to the maximum of train automatic controlling system ATC system tests the speed Whether error, hypervelocity feasible value parameter, it is considered to the gradient of current location, can exceed civil engineering in the case of least favorable Speed limit, if it occur that the maximum speed limit that hypervelocity is it is necessary to carry out manual amendment, near reduction；

Step 4, the repeatedly maximum speed limit of amendment, until verifying by the hypervelocity of emulation tool；

Step 5, calculates the Speed limit curve of vehicle-mounted train automatic protection ATP；

Vehicle-mounted train automatic protection ATP1 Speed limit curve is the vehicle-mounted train automatic protection under Different Moving Block Modes The calculating basis of ATP overspeed protection curve, vehicle-mounted train automatic protection ATP1 Speed limit curve is in maximum speed limit On the basis of, the speed limit in entity platform region is set as the speed limit of customer requirement；

Step 6, calculates the Speed limit curve of ATO ATO；

ATO ATO Speed limit curve combines the genetic algorithm of emulation tool and calculates and manually adjust and obtain；

Step 7, by vehicle-mounted train automatic protection ATP and ATO ATO Speed limit curve input emulation work Tool carries out safety verification, revises maximum speed limit as occurred potential safety hazard to need repeatedly, until by checking.

2. the method for the Speed limit curve for train automatic controlling system as claimed in claim 1, its feature It is: directly merge into less speed to time in certain distance D more than or equal to the speed difference set；

According to practical situation selected distance D, the minima computing formula of distance D is:

$D_{min}=\frac{v_2^2-v_1^2}{2a_{acc}}+v_2\&CenterDot;T+\frac{v_3^2-v_2^2}{2a_{sb}}.$

3. the method for the Speed limit curve for train automatic controlling system as claimed in claim 2, its feature It is: emulation tool completes inaccessible calculating after emulating, on the basis of ATP1 Speed limit curve, it is considered to letter Number machine speed limit length obtains vehicle-mounted train automatic protection ATP2 Speed limit curve.

4. the method for the Speed limit curve for train automatic controlling system as claimed in claim 3, its feature It is: whole block section between a length of adjacent signals machine of described semaphore speed limit, if current block section Speed limit before Duan is higher, the safety arrestment calculated with higher speed limit from current block section front position away from From having crossed current block section, then the semaphore speed limit length of current session to be extended to previous section Surplus.