CN104859686B - Intermittent train control system and its control method under CBTC fault modes - Google Patents
Intermittent train control system and its control method under CBTC fault modes Download PDFInfo
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- CN104859686B CN104859686B CN201510267742.5A CN201510267742A CN104859686B CN 104859686 B CN104859686 B CN 104859686B CN 201510267742 A CN201510267742 A CN 201510267742A CN 104859686 B CN104859686 B CN 104859686B
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Abstract
The invention discloses the intermittent train control system under a kind of CBTC fault modes and its control method, including：ATS systems for sending various control commands；And for monitoring the axle counting system of train position；And for receiving the interlock system from ATS system control commands, trackside ATO；And for setting up the trackside ATP of train mobile authorization；And for sending the trackside radio station of the trackside ATP mobile authorization information；And for receiving the vehicle radio station of the trackside station information；And for collecting the target controller of trackside equipment status information；Especially also include semaphore, semaphore beacon, advance notice beacon and the On-board ATC containing database.The present invention has point type ATC automatic Pilots, while the function such as there is double red light protection, overspeed protection, train precisely to stop.
Description
Technical field
The present invention relates to train auto-matic control technical field, the point type train control under a kind of CBTC fault modes is particularly related to
System and its control method processed.
Background technology
It is based on radio CBTC system (CBTC, Communication-based Train Control)
The movable block standard of signal system technology forefront.In international standard IEEE1474.2, CBTC features are described as " disobeying
Rely the high-precision train positioning in track circuit, the data communication of continuous, the two-way car of Large Copacity ground, and vehicle-mounted and trackside are performed
A kind of automatic train control system of security function ".It will be appreciated, however, that because this technology uses two-way train-ground communication, one
Denier wireless network is disturbed or zone controller, car antenna break down, and serious operation will be caused to interrupt.In addition, working as
When the vehicle without mobile unit such as ATP disabled vehicles, engineering truck need to be run on the line, also security protection is provided without method.Therefore be
Guarantee signal system efficiently, safety, orderly function, each national city is generally superimposed the system of backup mode using CBTC systems
Formula, and it is at most interlocking standing service or conventional port ATP schemes that backup mode, which is used,.But, above-mentioned two kinds of schemes are present
Following shortcoming：
1）Standing service：Efficiency is too low, it is difficult to meets the shorter running interval needed for large passenger flow, and does not possess train hypervelocity
Protection.
2）Conventional port ATP schemes：
A) European beacon is used, trackside to vehicle-mounted transmission contains much information, and design is complicated, needs to equip European beacon reading on car
Antenna.
B) circuit need to increase axle-counting points nearly 80%, as minizone protection.Trouble point is more and cost of equipment is high.
C), it is necessary to the border of fixed blocking when its parameter of the train of different batches buying changes（Such as semaphore and
Axle-counting points）Position translation, Late reformation cost is very high.
3）Two kinds of schemes can not realize point type ATC automatic Pilots, it is necessary to manually or under ATP protection be driven by driver is pure
Train.Driving efficiency and driver's horizontal correlation are very big.
The content of the invention
In order to solve the above technical problems, the present invention provide a kind of intermittent train control system under CBTC fault modes and its
Control method.
The intermittent train control system includes：ATS systems for sending various control commands；And for monitoring row
The axle counting system of truck position；And for receiving the interlock system from ATS system control commands, trackside ATO；And for building
The trackside ATP of vertical train mobile authorization；And for sending the trackside radio station of the trackside ATP mobile authorization information；And use
In the vehicle radio station for receiving the trackside station information；And for collecting the target controller of trackside equipment status information；Especially
It also includes semaphore, semaphore beacon, advance notice beacon and the On-board ATC containing database.
Preferably, the beacon antenna for detecting semaphore beacon, predicting beacon is further comprised.
Preferably, some fixed beacons for being used for train precise positioning and wheel to calibration, and the fixation are further comprised
Beacon interval distance is less than 150 meters.
Preferably, the On-board ATC can read fixed beacon information and correct train certainly when by the fixed beacon
Body calculates the displacement error added up during position.
The control method of intermittent train control system under the CBTC fault modes is：When CBTC mode failures evens, by
The axle counting system detection train position simultaneously informs ATS systems, and the control that the interlock system is sent according to the ATS systems is ordered
The order driving semaphore, semaphore beacon and advance notice beacon.
Preferably, when being not detected by the advance notice beacon, the On-board ATC can trigger service braking.
Preferably, when being not detected by the semaphore beacon, the On-board ATC can trigger brake hard.
Technical solution of the present invention is in active beacon（Predict beacon and semaphore beacon）With On-board ATC database phase interworking
Under conjunction, point type ATC automatic Pilots are realized, while the function such as there is double red light protection, overspeed protection, train can precisely stop, together
When have system architecture simple, debugging short time limit and the low advantage of cost.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, makes required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, it can also obtain other according to these accompanying drawings
Accompanying drawing, wherein：
Fig. 1 is the CBTC system architecture schematic diagrams that the present invention possesses point type ATC；
Fig. 2 is arrangement schematic diagram of the main track of the present invention without track switch regional signal machine and beacon；
Fig. 3 is Fig. 2 main track braking curve model schematic；
Fig. 4 is that beacon of the present invention in single switch zones arranges schematic diagram；
Fig. 5 is that beacon of the present invention in many switch zones arranges schematic diagram；
Fig. 6 is Fig. 4, Fig. 5 in switch area braking curve model schematic；
Fig. 7 is the schematic flow sheet that present invention train when without switch zones reads beacon；
Fig. 8 is the schematic flow sheet that train of the present invention in switch zones reads beacon.
Embodiment
The technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described implementation
Example is only a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, this area is common
All other embodiment that technical staff is obtained under the premise of creative work is not made, also belongs to the model that the present invention is protected
Enclose.
Present invention ATS described below is Automatic Train Supervision（Automatic train monitoring）, it is described
ATO is Automatic Train Operation（ATO）, described ATP be Automatic Train
Protection（Train automatic protection）.
Fig. 1 is the CBTC system architecture schematic diagrams that the present invention possesses point type ATC functions.Under CBTC patterns, ATS systems
101, by trackside ATO102, the control such as route request command, track switch conversion command are sent to trackside ATP103 and interlock system 104
System order, target controller 113 is by the status information of the trackside equipment of collection（Such as switch status, semaphore state）It is sent to
Interlock system 104, interlock system 104 can carry out security logic computing, and route is handled in the case of interlock condition is met, and will letter
Breath informs trackside ATP103, and trackside ATP103, according to train position, trackside state and the route handled, is every train generation movement
Authorize, and send it to by trackside radio station 111 vehicle radio station 112 of train, the On-board ATC 109 containing database is by root
Automatic Train is controlled to run according to mobile authorization.It should be noted that, train is under CBTC patterns in normal course of operation, train
Any dynamic beaconing read will be ignored（Semaphore beacon 107 and advance notice beacon 108）Information.In whole process, by rail
Other ATP103 ensures the safe operation interval between multiple row CBTC trains in route.
But when trackside ATP103, trackside ATO102 break down or train-ground communication is interrupted, system will be automatically switched to
Backup mode, i.e. ATS systems 101 directly communicate with interlock system 104.ATS systems 101 send route request command, track switch control
Interlock system 104, the trackside equipment state that interlock system 104 is collected according to target controller 113 are given in system order etc.（Such as track switch
State, semaphore state etc.）, security logic computing is carried out, route is handled after interlock condition is met.On-board ATC 109 and trackside
After ATP wireless communication interruptions, train will run supreme one known mobile authorization limitation point, and using service braking parking,
Then, train operator switches to limitation pilot steering（RM）Pattern, then point type ATP patterns can after train reads semaphore beacon
With, when train read advance notice beacon 108 after, then can be exchanged into point type ATO patterns automation driving.In whole process, interlocking system
System 104 ensures the safety in the following workshop of backup mode by semaphore 106 and advance notice beacon 108 and semaphore beacon 107
Interval.It should be noted that, when CBTC patterns break down, the position of train will be gathered and be accused by axle counting system 105
Know interlock system 104, interlock system 104 carries out interlock logic calculating with other information accordingly, to protect train operation.
In addition, the precise positioning and wheel to realize train can completely lay some fixed beacons 200, and adjacent 2 to calibration
Distance is typically smaller than 150 meters between individual fixed beacon（Depending on train length）.No matter under CBTC patterns or point type ATC patterns
Under, the displacement that On-board ATC 109 adds up during it can correct train itself calculating position in time after fixed beacon 200
Error, so as to allow train precise positioning.
Fig. 2 is arrangement schematic diagram of the main track of the present invention without track switch regional signal machine and beacon, and it uses classical signal principle,
To ensure to keep double red light personal distance between train.When the section of front at least two is idle, and route has been authorized, then signal
Machine S1 is shown as green light, S1 beacons S1-A and corresponding advance notice beacon S1-B meetings " excitation ".When train T1 is by S1-B, control
The database of its On-board ATC 109, if detecting after S1-B, train T1 can allow its mobile authorization to extend to semaphore S2.And if arranging
When car is operated between S1-B and S1-A, semaphore becomes red light suddenly because of certain reason, then S1-A losss of excitation, train overshoot S1 semaphores
When, brake hard can be produced, and the distance between S1 and S2 is designed as the distance more than brake hard, to ensure traffic safety.When
Train by S2 by after S1 semaphores and when predicting beacon S2-B, if semaphore S2 red lights cause S2-B " loss of excitation ", train
Can be because S2-B can not be detected, and maintain mobile authorization constant to S2, while train will be slowed down using service braking and be stopped to S2
Before semaphore.Afterwards, if S2 returns to permission state again（Green light）, then S2-A excitations, driver's RM patterns（Limit pilot steering mould
Formula）Drive train to lead to after overexcited S2-A, mobile authorization will be regained, switch to point type ATO patterns and continue to move ahead.And
Before, if S2-B does not have loss of excitation, when train T1 passes through, mobile authorization may extend to S3 semaphores.By that analogy, point type is realized
ATO or point type ATP.
Fig. 3 is Fig. 2 main track braking curve model schematic.As can be seen that predicting beacon to semaphore from diagram
Distance should be greater than train should by predicting position of the after-applied service braking of beacon after the distance after parking, and train are stopped
Close to semaphore, but corresponding semaphore beacon will not be read, so that facilitate driver to see that semaphore is changed into after permission, it is low
Speed drives train by corresponding semaphore beacon to obtain the mobile authorization of extension.In addition, the distance palpus between two frame semaphores
Semaphore is overshooted more than train maximum speed and occurs the distance of brake hard, so that it is guaranteed that its safety.
Fig. 4 is that beacon of the present invention in single switch zones arranges schematic diagram.When semaphore is green light, show front track switch
For directly to beacon S-B1 excitations.Train operation is simultaneously detected after advance notice beacon S-B1, and semaphore is passed through with normal speed.Work as letter
When number machine is amber light, track switch is reverse, beacon S-B2 excitations.Train can take service braking and in semaphore after S-B2
Front reduction gear is to 25km/h（This numerical value depends on track switch model）, to ensure that train turnout passing speed meets design requirement.
Fig. 5 is that beacon of the present invention in many switch zones arranges schematic diagram.When track switch 1 is in positioning, semaphore S is green light
When, S-A1 and S-B1 excitations, by directly passing through semaphore S and track switch 1 to speed after train detection to beacon.When track switch 1 is in antiposition,
Track switch 3 is in positioning, when semaphore S is amber light, beacon S-A2 excitations, predicts beacon S-B2 excitations, when train passes through S-B2, applies
Service braking and in semaphore S front reduction gears to 25km/h（This numerical value depends on track switch model）, signal is then passed through with this speed
Machine S, antiposition track switch 1 and normal switch 3.When track switch 1 is in antiposition, track switch 3 is in antiposition, and semaphore S shows amber light, beacon S-A3
Excitation, predicts beacon S-B2 excitations, when train passes through S-B2, applies service braking and in semaphore S front reduction gears to 25km/h（This
Numerical value depends on track switch model）, semaphore S, antiposition track switch 1 and antiposition track switch 3 are then passed through with this speed.
Fig. 6 be Fig. 4, Fig. 5 in switch area braking curve model schematic, for points protection semaphore, have 2 advance notices
Beacon is associated with, during S-A1 excitations, S-B1 excitations.S-A2 or during S-A3 (if any) excitation, S-B2 excitations.Work as protection
When semaphore shows green light, the braking curve of train is referring to Fig. 3.And guard signal machine is when being shown as amber light, train braking curve
See Fig. 6.Wherein, the distance of advance notice beacon to semaphore beacon should be greater than, when train starts to apply service braking, decelerating to
Position during semaphore Beacon Point is just read after 25km/h.So that it is guaranteed that the switch crossing speed of train safety.
It should be noted that under any circumstance, when semaphore is guiding or red light phase, believing all without activation signal machine
Mark or advance notice beacon.That is, in the case of red light or guiding, train will be read less than dynamic beaconing, and can be according to being passed through
Beacon type apply service braking or brake hard.
Fig. 7 is the schematic flow sheet that present invention train when without switch zones reads beacon.As shown in the figure：
When advance notice 108 position of beacon that train advanced positions are defined by the database of On-board ATC 109, train can lead to
Cross beacon antenna 110 and detect advance notice beacon 108 on circuit herein；
If predicting beacon loss of excitation（Front is red light）, i.e., advance notice beacon is not detected, then train applies conventional system automatically
Dynamic, car slowly will be parked in before semaphore（Close to semaphore, but not cross semaphore beacon）, when semaphore is changed into allowing signal
（Green light）Afterwards, driver's pilot steering train drives towards semaphore, reads after green light signals machine beacon, can be changed into point type ATO and drives automatically
Sail；
If detecting green light advance notice beacon（Front is green light）, then do not slow down, according to ATP/ATO rate curves in database
Continue to move ahead；
When semaphore 107 position of beacon that train position is defined by the database of On-board ATC 109, train can lead to
Cross beacon antenna 110 and detect semaphore beacon 107 on circuit herein；
If semaphore beacon loss of excitation（Front is red light）, i.e., semaphore beacon is not detected, then train applies urgent automatically
Braking.Such case typically occurs in semaphore catastrophic failure, or front meter shaft section such as is disturbed at the unexpected situation, train suddenly
Semaphore can be overshooted and applied the emergency brake, vehicle can be parked in next section（Guarantee is stopped at before next signal machine）.
Because using the distance or each section length between double red light preventing mechanisms, two semaphores, necessarily it is more than train most
Bad operating mode（Situations such as such as train overshoot semaphore, the failure of the brake force of train 1/4, wet rail）Under braking distance, so as to realize
SIL4 grades of security protection；
If detecting green light signals machine beacon（Front is green light）, then do not slow down, it is bent according to ATP/ATO speed in database
Line continues to move ahead.
Fig. 8 is the schematic flow sheet that train of the present invention in switch zones reads beacon.As shown in the figure：
When advance notice 108 position of beacon that train advanced positions are defined by the database of On-board ATC 109, train can lead to
Cross beacon antenna 110 and detect advance notice beacon 108 on circuit herein；
If predicting beacon loss of excitation（Front is red light）, i.e., advance notice beacon is not detected, then train applies conventional system automatically
Dynamic, car slowly will be parked in before semaphore（Close to semaphore, but not cross semaphore beacon）, when semaphore is changed into allowing signal
（Green light）Afterwards, driver's pilot steering train drives towards semaphore, reads after green light signals machine beacon, can be changed into point type ATO and drives automatically
Sail；
If detecting green light advance notice beacon（Front is green light）, then do not slow down, according to ATP/ATO rate curves in database
Continue to move ahead；
If detecting amber light advance notice beacon（Front is amber light）, then apply service braking, train speed dropped to 25km/h,
It is ready to pass through front signal machine 106；
When semaphore 107 position of beacon that train position is defined by the database of On-board ATC 109, train can pass through
Beacon antenna 110 detects the semaphore beacon 107 on circuit herein；
If semaphore beacon loss of excitation（Front is red light）, i.e., semaphore beacon is not detected, then train applies urgent automatically
Braking.Such case typically occurs in semaphore catastrophic failure, or front note axle section such as is disturbed at the unexpected situation, train suddenly
Semaphore can be overshooted and applied the emergency brake, vehicle can be parked in next section（Ensure before next signal machine）.Because
The distance or each section length between double red light preventing mechanisms, two semaphores are used, is necessarily more than train in the worst work
Condition（Situations such as such as train overshoot semaphore, the failure of the brake force of train 1/4, wet rail）Under braking distance, so as to realize SIL4
The security protection of level；
If detecting green light signals machine beacon（Front is green light）, then do not slow down, it is bent according to ATP/ATO speed in database
Line continues to move ahead；
If detecting steady yellow machine beacon（Front is amber light）, then maintain train 25km/h speed not subtract, pass through signal
Machine and reverse track switch, drive into branch-cut bridge.
It should be noted that steady yellow machine beacon and amber light advance notice beacon occur in pairs.Be not in only green
Lamp predicts beacon, and then the situation of steady yellow machine beacon occurs again.In addition, close to switch zones, i.e. Train Approaching road
Branch off before guard signal machine, be also not in that train first reads green light advance notice beacon（Now amber light advance notice beacon loss of excitation）, immediately
And read the situation of steady yellow machine beacon.Its reason is after train reads green light advance notice beacon, to illustrate train
Through occupy route close to section, interlocking can perform approach route locking function, and now dispatcher is can not to be taken in the short time
Disappear straight to route（Delay unblock）To handle reverse route, therefore semaphore will not bright orange lamp, that is to say, that steady yellow machine is believed
Mark can not excitation.
Technical scheme mainly realizes following functions：
1st, protected there is provided double red lights：Expected semaphore beacon is not detected by, On-board ATC can trigger brake hard.Not
Expected advance notice beacon is detected, On-board ATC can trigger service braking.
2nd, overspeed protection：Protected based on the line speed ATP curves that On-board ATC database is defined.
3rd, point type ATC functions：Cooperated by active beacon and vehicle-mounted data storehouse, realize point type ATC automatic Pilots.
4th, train gate and supervision：Train can precisely stop, and send train enabling and enable order.
5th, traffic direction is monitored：Under the point type ATC patterns of standby, train will be run on the traffic direction of mandate.
This point type ATC is invented, simple with system architecture, debugging short time limit and the low advantage of cost.Due to CBTC systems
Altogether with equipment such as interlockings, back-up system can be formed and open operation in advance.And can with CBTC pattern formation mixed operation modes,
Meet single vehicles failure or degraded running demand when single trackside ATP breaks down.If some projects backup mode simultaneously
It is less demanding, if only needing point type ATP functions, then the associated advance notice beacon of green light in scheme is can remove, just can be light
Degradation realizes point type ATP, with very high flexibility.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair
Equivalent structure or equivalent flow conversion that bright description is made, or directly or indirectly it is used in other related technology necks
Domain, is included within the scope of the present invention.
Claims (7)
1. the intermittent train control system under a kind of CBTC fault modes, including：ATS systems for sending various control commands
System；And for monitoring the axle counting system of train position；And for receive the interlock system from ATS system control commands,
Trackside ATO；And for setting up the trackside ATP of train mobile authorization；And for sending the trackside ATP mobile authorization information
Trackside radio station；And for receiving the vehicle radio station of the trackside station information；And for collecting trackside equipment state letter
The target controller of breath；Characterized in that, also including semaphore, semaphore beacon, advance notice beacon and the car containing database
ATC is carried, further comprises some fixed beacons for being used for train precise positioning and wheel to calibration, and the fixed beacon spacer
From less than 150 meters, the On-board ATC can read fixed beacon information and correct train itself when by the fixed beacon
Calculate after the displacement error added up during position, On-board ATC and trackside ATP wireless communication interruptions, train will run supreme
One known mobile authorization limitation point, and using service braking parking, then, train operator switches to limitation pilot steering
（RM）Pattern, then point type ATP patterns can use after train reads semaphore beacon, after train reads advance notice beacon, then can turn
It is changed in the automation driving of point type ATO patterns, whole process, interlock system is believed by semaphore and advance notice beacon and semaphore
Mark to ensure the safe operation interval in the following workshop of backup mode.
2. intermittent train control system according to claim 1, it is characterised in that further comprise being used to detect semaphore
Beacon, the beacon antenna for predicting beacon.
3. a kind of control method of the intermittent train control system under CBTC fault modes as claimed in claim 1 or 2, it is special
Levy and be, when CBTC mode failures evens, train position is detected by the axle counting system and ATS systems, the interlock system is informed
The control command sent according to the ATS systems drives the semaphore, semaphore beacon and advance notice beacon.
4. the control method of intermittent train control system according to claim 3, it is characterised in that when advance notice beacon loss of excitation
When, the On-board ATC can trigger service braking.
5. the control method of intermittent train control system according to claim 3, it is characterised in that when semaphore beacon loses
During magnetic, the On-board ATC can trigger brake hard.
6. the beacon read method of the intermittent train control system under a kind of CBTC fault modes, it is characterised in that without track switch
In the case of：Comprise the following steps：
S1:When the advance notice beacon position that train is defined by On-board ATC database, judge whether the advance notice on circuit herein
Beacon loss of excitation；
S2：When detecting green light advance notice beacon, moved ahead according to set rate curve；When predicting beacon loss of excitation, i.e., front is red
Lamp, applies service braking and is parked in before semaphore；
S3：When detecting green light advance notice beacon in S2, progressed through according to set rate curve defined in On-board ATC database
Semaphore beacon position when, semaphore beacon loss of excitation need to be further determined whether, when detecting green light signals machine beacon, according to
Set rate curve moves ahead；When semaphore beacon loss of excitation, i.e., front is red light, is applied the emergency brake.
7. the beacon read method of the intermittent train control system under a kind of CBTC fault modes, it is characterised in that having track switch
In the case of：Comprise the following steps：
S1：When the advance notice beacon position that train is defined by On-board ATC database, judge whether to detect on circuit herein
Predict beacon；
S2：When detecting amber light advance notice beacon, apply service braking speed and be reduced to 25km/h；When predicting beacon loss of excitation, i.e.,
Front is red light, applies service braking and is parked in before semaphore；
S3：When detected in S2 amber light advance notice beacon when, apply service braking speed be reduced to 25km/h progress through it is vehicle-mounted
During semaphore beacon position defined in ATC databases, it need to further determine whether to detect semaphore beacon, detect amber light
During semaphore beacon, train maintains 25km/h speed to pass through reverse track switch；When semaphore beacon loss of excitation, i.e., front is red light,
Apply the emergency brake.
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| CN110996464A (en) * | 2019-11-29 | 2020-04-10 | 通号城市轨道交通技术有限公司 | System and method for controlling signal lamp |
| CN110996464B (en) * | 2019-11-29 | 2022-04-19 | 通号城市轨道交通技术有限公司 | System and method for controlling signal lamp |
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