CN105329259B - Guiding device and guiding method of rail transit vehicle - Google Patents
Guiding device and guiding method of rail transit vehicle Download PDFInfo
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- CN105329259B CN105329259B CN201510915513.XA CN201510915513A CN105329259B CN 105329259 B CN105329259 B CN 105329259B CN 201510915513 A CN201510915513 A CN 201510915513A CN 105329259 B CN105329259 B CN 105329259B
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Abstract
The invention discloses a guiding device and guiding method of a rail transit vehicle. The guiding device comprises a guiding road segment guiding line embedded below the road surface of a running line fork junction of the rail transit vehicle, a main line road segment guiding line embedded at the remaining positions of a running line, and two induction devices installed on the rail transit vehicle and used for inducting the center line positions of the guiding road segment guiding line or the main line guiding line. Alternating current is supplied to the two ends of the main line guiding line and the two ends of the guiding road segment guiding line. By means of the guiding device and guiding method of the rail transit vehicle, non-contact type guiding and intelligent lane changes of the rail transit vehicle can be achieved, and the problems that wheeltrack mechanical abrasion and vibration noise of traditional mechanical guiding are large, and efficiency is low and energy consumption is large during lane changes of a turnout.
Description
Technical field
The present invention relates to the guiding of rail traffic vehicles and lane change technical field, particularly a kind of rail traffic vehicles guiding
Device and guidance method.
Background technology
Traditional rail traffic vehicles are oriented to and are mechanical type guiding, there is wheel track mechanical wear, and when lane change is turned to
Need to pull track switch, efficiency is low, energy consumption is big, and increase vibration when vehicle runs and noise.
The content of the invention
The technical problem to be solved is, not enough for prior art, there is provided a kind of rail traffic vehicles are oriented to
Device and guidance method.
To solve above-mentioned technical problem, the technical solution adopted in the present invention is：A kind of rail traffic vehicles guider,
Including the guiding section leading line that is embedded under the road surface of rail traffic vehicles working line fork on the road and it is embedded in working line
The main track section leading line of remaining position, on rail traffic vehicles for sensing guiding section leading line or just
Two induction installations of part of path leading line position of center line；Main track section leading line and guiding section leading line two ends lead to
Alternating current.
The guider of the present invention also includes positioner, the wireless communication module being arranged on rail traffic vehicles；Institute
State wireless communication module and be oriented to section leading line and main track section leading line two ends on/off and power supply frequency with for control
The guiding control chamber communication of rate.Conveniently to vehicle location, while convenient be transferred to guiding control by data such as vehicle advanced positions
Case.
Guiding section leading line or main track section leading line are the conductor that surface is provided with insulating barrier.Insulating barrier can be with
Ensure traffic safety.
Present invention also offers a kind of rail traffic vehicles guidance method, comprises the following steps：
1) calculate in rail traffic vehicles running, its centrage is led relative to guiding section leading line or main track section
To the position offset d of line skew：D=c1*Δu2 5+c2*Δu2 4+c3*Δu2 3+c4*Δu2 2+c5*Δu2+c6；Wherein, c1、c2、
c3、c4、c5、c6For quintic algebra curve coefficient；Δu2For the pressure difference of revised two induction installations；The wherein span of d
For -50mm~50mm；Δu2Span be -6.5mV~6.5mV；Δu2=a* Δ u1, Δ u1For rail traffic vehicles fortune
The pressure difference of two induction installations during row disalignment, and have passed through the numerical value after shaping, amplification and A/D conversions；A=b1*v3
+b2*v2+b3*v+b4；V is the rail traffic vehicles speed of service；b1、b2、b3、b4For cubic polynomial coefficient；Δu1Value model
Enclose for -5mV~5mV, the span of v is 0~80km/h, and the span of a is 0.7~1, for weakening pressure difference Δ u1,
Because running velocity is very fast, increase Vehicular vibration and amplification, so that during the upper and lower continuous vibration of magnetic induction coil, due to
Magnetic field intensity Density Distribution inequality causes induced voltage during close leading line to be more than away from induced voltage during leading line, makes Δ
u1It is bigger than normal；
2) the position offset d is sent to into servomotor Jing after D/A conversions and signal are amplified, carries out track traffic
Vehicle steering wheel course changing control；Or the motor of rail traffic vehicles left and right wheelses is sent to, carry out differential control；
3) the rail traffic vehicles position for detecting positioner is compared with the route that prestores, and works as rail traffic vehicles
When driving near fork on the road, wireless communication module is communicated with control chamber is oriented to, by the track traffic after diverted control
Vehicle traveling direction or differential control signal are sent to guiding control chamber；Control chamber is oriented to according to rail traffic vehicles vehicle
Direct of travel or differential control signal behavior are connected and are oriented to section leading line or main track section leading line.
Compared with prior art, the present invention have the advantage that for：Guider simple structure of the present invention, with reference to this
Guider, the present invention can realize that rail traffic vehicles non-contact type is oriented to and intelligent lane change, solve traditional mechanical formula guiding
The wheel track mechanical wear of presence, vibration noise are big, and the problem that efficiency during track switch lane change is low, energy consumption is big.
Description of the drawings
Fig. 1 is apparatus of the present invention arrangement schematic diagram；
Fig. 2 is oriented to schematic diagram for the present invention.
Specific embodiment
The present embodiment illustrates the intelligent transportation mode being oriented to based on magnetic induction, concrete steps by taking a kind of distributor road as an example
For：
The first step, as shown in figure 1, be embedded with segmentation leading line under working line road surface, including main track section leading line and leads
To section leading line.
Leading line is the conductor of tape insulation layer, and its two ends leads to the alternating current of certain frequency, to produce magnetic field.
The leading line that section leading line is that fork on the road is arranged, its length shorter (within 100) are oriented to, and are provided with guiding
Control chamber.
Being oriented to control chamber includes wireless communication module and leading line energy supply control module, and leading line energy supply control module is used for
The break-make of pilot section leading line two ends power supply and the frequency of power supply.
Second step, rubber-tyred vehicle travel on the leading line road surface described in the first step, on vehicle equipped with detection coil module,
Wireless communication module and d GPS locating module.
Detection coil module includes the magnetic induction coil of two horizontal direction arrangements, for sensing the centrage position of leading line
Put, realize that non-contact type is oriented to, as shown in Figure 2.
The rubber-tyred vehicle of indication of the present invention can include that the transports such as tramcar, light rail car, personal traffic, train of travelling are handed over
Rubber-tyred vehicle in way system.
3rd step, when vehicle centre-line relative to geosyncline leading line (main track section leading line or be oriented to section leading line) partially
During shifting, detection coil module also produces skew relative to geosyncline leading line, and the induced voltage of now two detection coils sensing is different,
Its pressure difference is after shaping, amplification and A/D conversion feeding car-mounted computers are modified, then calculates position offset, Jing
After D/A is changed and signal amplifies, servomotor is sent to, carries out steering wheel course changing control, or be sent to the motor of left and right wheelses, entered
Row differential control.
Pressure difference is sent into car-mounted computer and is modified, and refers to the induced voltage of two detection coils by vehicle gait of march
Affect, its amendment relational expression is as shown in (1) formula.
Δu2=a* Δ u1 (1)
In formula, Δ u1For the pressure difference before amendment, Δ u2For revised pressure difference, a is correction factor.
The coil pressure reduction correction factor correspondence table can be fitted with quadratic polynomial, as shown in formula (2).
A=b1*v3+b2*v2+b3*v+b4 (2)
In formula, v is running velocity；b1、b2、b3、b4For cubic polynomial coefficient.
It is described that out position deviant is calculated by revised pressure difference, refer to the pressure difference prestored by computer automatic look-up table
Direct corresponding table between the deviant of position.
Mapping table between the revised pressure difference and position deviant is fitted with conic section,
As shown in formula (3).
D=c1*Δu2 5+c2*Δu2 4+c3*Δu2 3+c4*Δu2 2+c5*Δu2+c6 (3)
In formula, d is position deviant；c1、c2、c3、c4、c5、c6For quintic algebra curve coefficient.
4th step, vehicle has been input into original position and destination locations before setting out, and carries out route planning；By GPS location
The vehicle location that module is obtained is compared with the route that prestores, when vehicle drive to apart from fork on the road it is relatively near (100 meters with
It is interior) apart from when, the wireless communication module for starting automobile wireless communication module and fork on the road guiding control chamber is communicated；Will
Rail traffic vehicles direct of travel or differential control signal after diverted control is sent to guiding control chamber；It is oriented to control chamber
Leading line energy supply control module according to the direct of travel of vehicle selectively switch on be oriented to section leading line, realize intelligence become
The purpose in road.
Coefficient of the present invention is referred to following processes and determines：
D=c1*Δu2 5+c2*Δu2 4+c3*Δu2 3+c4*Δu2 2+c5*Δu2+c6；Wherein, c1、c2、c3、c4、c5、c6For five
Order polynomial coefficient, quintic algebra curve is intended with method of least square by the corresponding data table of pressure difference after position offset and amendment
Close (as shown in table 2) that numerical computations are obtained；Δu2For the pressure difference of revised two induction installations；The value model of wherein d
Enclose and arrive 50mm for -50mm；Δu2Span be -6.5V arrive 6.5V.Δu2=a* Δ u1, Δ u1For rail traffic vehicles fortune
The pressure difference of two induction installations during row disalignment；A=b1*v3+b2*v2+b3*v+b4；V is rail traffic vehicles operation speed
Degree；b1、b2、b3、b4For cubic polynomial coefficient, the cubic polynomial is the corresponding data table by correction factor and road speed
(as shown in table 1) obtained with least square fitting numerical computations；Wherein Δ u1Span be -5V to 5V, the value of v
Scope is 0 to 80km/h, and the span of a is 1 to 1.3.
Table 1
| 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | |
| v(km/h) | 0 | 5 | 10 | 20 | 30 | 40 | 50 | 60 | 70 | 80 |
| a | 1 | 0.99 | 0.97 | 0.95 | 0.91 | 0.86 | 0.81 | 0.77 | 0.74 | 0.72 |
By the data of table 1, fitting obtains b1=0.0000, b2=-0.0001, b3=-0.0009, b4=0.9965.
Table 2
By the data of table 1, fitting obtains c1=-0.0035, c2=-0.0014, c3=0.0511c4=0.0507, c5
=10.3188, c6=0.5196.
Claims (5)
1. a kind of rail traffic vehicles guider, it is characterised in that including being embedded in rail traffic vehicles working line bifurcated
Under the road surface of crossing be oriented to section leading line and be embedded in the main track section leading line of remaining position of working line, installed in track
Two sensing dresses for sensing guiding section leading line or main track section leading line position of center line on vehicular traffic
Put；Main track section leading line and guiding section leading line two ends indirect current；In rail traffic vehicles running, wherein
Heart line is relative to the position offset d=c for being oriented to section leading line or the skew of main track section leading line1*Δu2 5+c2*Δu2 4+
c3*Δu2 3+c4*Δu2 2+c5*Δu2+c6；Wherein, c1、c2、c3、c4、c5、c6For quintic algebra curve coefficient；Δu2For revised
The pressure difference of two induction installations；Wherein the span of d is -50mm~50mm；Δu2Span be -6.5mV~
6.5mV；Δu2=a* Δ u1, Δ u1For rail traffic vehicles Operation Centre line skew when two induction installations pressure difference；A=
b1*v3+b2*v2+b3*v+b4；V is the rail traffic vehicles speed of service；b1、b2、b3、b4For cubic polynomial coefficient；Δu1Take
Value scope is -5mV~5mV, and the span of v is 0~80km/h, and the span of a is 0.7~1.
2. rail traffic vehicles guider according to claim 1, it is characterised in that also include being arranged on track traffic
Positioner, wireless communication module on vehicle；The wireless communication module is oriented to section leading line and main track with for control
The guiding control chamber communication of section leading line two ends on/off and supply frequency.
3. rail traffic vehicles guider according to claim 1, it is characterised in that guiding section leading line or
Main track section leading line is the conductor that surface is provided with insulating barrier.
4. a kind of rail traffic vehicles guidance method, it is characterised in that comprise the following steps：
1) calculate in rail traffic vehicles running, its centrage is relative to guiding section leading line or main track section leading line
The position offset d of skew, d=c1*Δu2 5+c2*Δu2 4+c3*Δu2 3+c4*Δu2 2+c5*Δu2+c6；Wherein, c1、c2、c3、
c4、c5、c6For quintic algebra curve coefficient；Δu2For the pressure difference of revised two induction installations；Wherein the span of d for-
50mm~50mm；Δu2Span be -6.5mV~6.5mV；Δu2=a* Δ u1, Δ u1For in rail traffic vehicles operation
The pressure difference of two induction installations during heart line skew；A=b1*v3+b2*v2+b3*v+b4；V is the rail traffic vehicles speed of service；
b1、b2、b3、b4For cubic polynomial coefficient；Δu1Span be -5mV~5mV, the span of v is 0~80km/h, a
Span be 0.7~1；
2) the position offset d is sent to into servomotor Jing after D/A conversions and signal are amplified, carries out rail traffic vehicles
Steering wheel course changing control；Or the motor of rail traffic vehicles left and right wheelses is sent to, carry out differential control；
3) the rail traffic vehicles position for detecting positioner is compared with the route that prestores, when rail traffic vehicles are expert at
Sail near fork on the road when, wireless communication module is by the rail traffic vehicles direct of travel after diverted control or differential control
Signal processed is sent to guiding control chamber；It is oriented to direct of travel or differential control signal behavior of the control chamber according to rail traffic vehicles
Connect and be oriented to section leading line or main track section leading line.
5. method according to claim 4, it is characterised in that b1=0.0000, b2=-0.0001, b3=-0.0009,
B4=0.9965；C1=-0.0035, c2=-0.0014, c3=0.0511, c4=0.0507, c5=10.3188, c6=
0.5196。
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510915513.XA CN105329259B (en) | 2015-12-10 | 2015-12-10 | Guiding device and guiding method of rail transit vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510915513.XA CN105329259B (en) | 2015-12-10 | 2015-12-10 | Guiding device and guiding method of rail transit vehicle |
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| CN105329259A CN105329259A (en) | 2016-02-17 |
| CN105329259B true CN105329259B (en) | 2017-05-17 |
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| CN107338689B (en) * | 2017-07-19 | 2019-01-18 | 中铁四局集团有限公司 | A kind of construction method of rubber tire rail pivot track switch |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1791527A (en) * | 2003-05-21 | 2006-06-21 | 希尔霍尔茨传送电梯瑞士股份公司 | Rail assembly, rail switch and a transport device provided with a magnetostrictive sensor |
| CN101209677A (en) * | 2006-12-27 | 2008-07-02 | 刘新广 | Permanent magnetic suspension and soft magnetic wheel pushing vehicle |
| CN101531201A (en) * | 2008-03-13 | 2009-09-16 | 上海轨道交通设备发展有限公司 | Induction type guided way based on '8'-shaped measuring coil |
| CN101531200A (en) * | 2008-03-13 | 2009-09-16 | 上海轨道交通设备发展有限公司 | Induction type guided way based on hall transducer |
-
2015
- 2015-12-10 CN CN201510915513.XA patent/CN105329259B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1791527A (en) * | 2003-05-21 | 2006-06-21 | 希尔霍尔茨传送电梯瑞士股份公司 | Rail assembly, rail switch and a transport device provided with a magnetostrictive sensor |
| CN101209677A (en) * | 2006-12-27 | 2008-07-02 | 刘新广 | Permanent magnetic suspension and soft magnetic wheel pushing vehicle |
| CN101531201A (en) * | 2008-03-13 | 2009-09-16 | 上海轨道交通设备发展有限公司 | Induction type guided way based on '8'-shaped measuring coil |
| CN101531200A (en) * | 2008-03-13 | 2009-09-16 | 上海轨道交通设备发展有限公司 | Induction type guided way based on hall transducer |
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| CN105329259A (en) | 2016-02-17 |
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