CN105667542B - Rail transit train wheel footpath calibration method - Google Patents
Rail transit train wheel footpath calibration method Download PDFInfo
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- CN105667542B CN105667542B CN201610066064.0A CN201610066064A CN105667542B CN 105667542 B CN105667542 B CN 105667542B CN 201610066064 A CN201610066064 A CN 201610066064A CN 105667542 B CN105667542 B CN 105667542B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L1/00—Devices along the route controlled by interaction with the vehicle or train
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L1/00—Devices along the route controlled by interaction with the vehicle or train
- B61L1/16—Devices for counting axles; Devices for counting vehicles
- B61L1/162—Devices for counting axles; Devices for counting vehicles characterised by the error correction
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- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of rail transit train wheel footpath calibration method, including, if meeting rail transit train wheel footpath calibration condition, rail transit train wheel footpath error tolerance value increasing degree when being skidded and dallied respectively；Obtain the actual travel distance of wheel-slip train and its correspondence cumulative number of pulses；Obtain actual range between the actual walking cumulative number of pulses of wheel spin train and its correspondence transponder pair；According to velocity sensor each cycle fixed pulse number and transponder to actual distance computation train wheel footpath value, if the absolute value that epicycle calculates the difference for obtaining train wheel footpath value and last round of calibration train wheel footpath value is less than wheel footpath error tolerance value, wheel footpath is calibrated successfully, otherwise it is assumed that calibration failure；If calibrating successfully, train wheel footpath value is that epicycle calculates the arithmetic mean number for obtaining train wheel footpath value and last round of calibration train wheel footpath value；If calibration failure, repeat the above steps recalibration wheel footpath.
Description
Technical field
The present invention relates to field of track traffic, more particularly to a kind of rail transit train wheel footpath calibration method.
Background technology
In safety of urban transit signal field, train speed is positioned with range measurement (ranging of referred to as testing the speed) with train
It is automatic train protection system (the Automatic Train Protection, letter of Safety Integrity Level SIL 4 in cab signal system
Claim ATP) two key technologies, be the basis of other ATP/ATO functions in cab signal system in rail traffic signal system.
Accuracy of the ranging with positioning that test the speed is the key factor for determining rail traffic signal system systemic-function high availability and efficiency
One of.And whether wheel footpath calibrates, wheel footpath calibration error can largely influence to test the speed the accuracy of ranging and positioning function.This
Optimization of the method based on classical transponder wheel footpath calibration method.
Traditional wheel footpath calibration method has manual calibration and automatic calibration.Manual calibration the workman when train time storehouse is static pass through
Various artificial apparatus wheel footpath is measured obtain train wheel diameter (referring to《A kind of wheel footpath measuring appliance calibrating apparatus》And
《Rolling stock wheel's cable diameter gauge》).Automatic calibration has a variety of methods, such as the calibration of GPS wheel footpaths (referring to《Row based on gray theory
Car integrated positioning wheel footpath calibration method is studied》), but more difficult is implemented to the intensive position of Underground Rail Transit or overhead route；
For another example structured light light source project and carry out image approximating method (referring to《Car wheel-set diameter online test method and device》), but
Such a method is required to train speed, influences efficiency of operation, while assuming that wheel is fitted for circle, levels of precision needs
Discussion；Have in addition using pulse ranging device and velocity sensor pulse combination measurement wheel routing method (referring to《The school of train wheel footpath
Quasi- method and calibration system》), but the method has used two kinds of sensors, and fully believe distance measuring sensor device precision, method
There is error, and error has accumulation, and this is not especially to meet to the requirement that high-precision wheel footpath is calibrated.
The automatic calibration process of wheel footpath is described in Chinese patent application 201310654448.0, and this method has several places
Defect：1. measure the initial wheel footpath value of train, may use for factory-default, make between transponder during accumulation displacement
The accumulation displacement calculated with this wheel footpath value has error, and error is larger, because true wheel footpath value may with dispatch from the factory it is silent
Recognizing value has error；2. when measuring wheel footpath value Effective judgement, the preset parameter pre-deposited in database is used, and not
Introduce other equipment and enter Mobile state renewal to error, if preset parameter is excessive, that this mode may tolerate the wheel of mistake
Footpath is calibrated, and may be had security risk, if preset parameter is too small, can be reduced the availability of wheel footpath calibration function；3. basis
1474.1IEEE Standard for Communications-Based Train Control(CBTC)Performance
And FunctionalRequirements (IEEE1474.1 communication-based train control CBTC performances and functional requirement mark
It is accurate) in " train positioning/locomotive velocity measuring " if requiring that positioning is based on wheel footpath with speed measuring function, then in compensation train positioning with surveying
Speed needs to consider two aspect factors when uncertain, and one is wheel spin and skidding, and two be wheel spinning roller, and abrasion or replacement are brought
Error.This patent application does not consider idle running and skidding band in accumulation train between double response device during displacement
The influence come, availability is not enough；Also, abnormal scene is not considered in patent application, processing mode during brake hard such as occurs,
If method as described in the patent application carries out calculating, to may result in result of calculation incorrect and produce security risk.
The content of the invention
The technical problem to be solved in the present invention is to provide the rail transit train wheel footpath that a kind of dynamic calibrates train wheel footpath
Calibration method, it is to avoid train wheel idle running and/or caused error of skidding in train calibration process.
It is general using between two one steel rails or the outside of an one steel rail is not pacified equidistantly in rail traffic signal system
Wiring road transponder (generally passive), the inside, which has been cured, needs the positional information of transmission, and (passes through transponder in train
Top) correspondence position installs inquiry response devices antenna, and when train passes through circuit transponder, inquiry response devices on train will be with
Energy is transmitted to ground transponder by electromagnetic induction form, and ground transponder is activated and by information transmissions such as positions to inquiry response
Device, onboard subsystem finds the beacon message by matching transponder india D in the database prestored, and thus dynamic is more
New train current location.
In rail traffic signal system, one of classical distance measuring method is to be fixedly mounted suddenly on train wheel shaft axle box cover
That formula velocity sensor, wheel often rotates a circle, and sensor produces the pulse square wave N of fixed qty, and continues to build up.Pass through week
Phase property gathers sensor pulse square wave, takes difference and combines wheel wheel footpath, obtains the train monocycle distance travelled.
In order to solve the above technical problems, the rail transit train wheel footpath calibration method that the present invention is provided, including：In transponder
Database selects multipair transponder to calibrate transponder pair as wheel footpath, every a pair as wheel footpath calibrate transponder to the distance between
Preferably 100 meters~150 meters, each wheel footpath calibrates transponder pair, and the selected transponder for calibrating transponder pair as wheel footpath is preferably set
Put without the good orbital segment of gradient track condition；Track condition well refers to that track adhesion coefficient meets design standard, section
The gradient is less than 0.3%, the track section of no superelevation or deficient dished turn.
Actual range between these wheel footpaths calibration transponder pair is by being stored in transponder data storehouse after accurately measuring.Rail
Traffic train in road calibrates transponder pair with identical stabilized speed Speed by all wheel footpaths, certain a pair of wheel footpath calibration transponder
It is S to spacingbalis, wheel footpath initial value is D0, it is N to calibrate transponder to velocity sensor cumulative number of pulses by this pair of wheel footpathwheel；
It is T to calibrate transponder to period train wheel skidding duration by this pair of wheel footpathslip, accumulation travel distance is Sslip, speed
It is N to spend sensor cumulative number of pulsesslip；The duration that dallied during calibrating transponder by this pair of wheel footpath is Tspin, accumulation row
It is S to walk distancespin, velocity sensor cumulative number of pulses Nspin；Sslip=Speed*Tslip, Sspin=Speed*Tspin；At the beginning of train
Beginning error tolerance value isΔDmaxFor the difference of train wheel footpath critical field peak and minimum, Δ DmaxHanded over for track
The logical train wheel footpath error tolerance value upper limit, Δ DminFor rail transit train wheel footpath error tolerance value lower limit, in successful school for the first time
During quasi- wheel footpath and afterwards often by a pair of wheel footpath calibrations pair, and when not losing wheel footpath, set wheel footpath error tolerance value δnormal,
δnormalSet according to detailed programs or design requirement, lose and train initial error tolerance value is used when being calibrated for the first time after wheel footpath
Calculated；
If being unsatisfactory for any one rail transit train wheel footpath calibration condition, the calibration of rail transit train wheel footpath is exited, if
Rail transit train wheel footpath calibration condition is met, then performs following steps：
Judge whether occur to skid or dally, in δnormalOn the basis of adjust train wheel footpath error tolerance value, train wheel beats
Rail traffic train wheel footpath error tolerance value increasing degree isThe rail transit train wheel footpath that dallies error is held
Bearing value increasing degree isG, G ' it is designated ratio coefficient；Designated ratio coefficient G, G ' according to precision not
With requiring to specify, such as test the speed ranging and positioning precision ratio as defined in professional standard, company standard or project.
If there is train wheel skidding, by Sbalis-SslipAs the actual travel distance of train, its correspondence cumulative number of pulses is
Nwheel-Nslip；If dallying, by Nwheel-NspinAs the actual walking cumulative number of pulses of train, it corresponds to reality between transponder pair
Border distance is Sbalis-Sspin；
Actual distance computation is arranged with wheel footpath calibration transponder according to velocity sensor each cycle fixed pulse number
Wheel footpath value Dtest, | Dtest-Dtest' | ＜ δnormalThink that wheel footpath is calibrated successfully, otherwise it is assumed that calibration failure；Wherein, Dtest' be
It is last round of to calculate the train wheel footpath value obtained, judge whether wheel footpath verifies success, D during initial calculationtest'=D0；
If calibrating successfully, train wheel footpath valueDuring train wheel footpath initial calculation, D=Dtest；
If calibration failure, repeat the above steps recalibration wheel footpath；
Rail transit train calibrates transponder by the wheel footpath and resets to δ to rear Train Wheel footpath error tolerance valuenormal。
Wherein, wheel footpath calibrates transponder to SbalisFor 100 meters~150 meters, wheel footpath calibrates transponder to being arranged on no gradient
And on the good section of track condition.
Wherein, rail transit train wheel footpath calibration condition, including：
1)Tslip＜ Tlimit, the time threshold T for skidding or dallyinglimitRequire to determine according to the different of precision, for example, go
Industry standard, company standard or project specified accuracy；
2)Tspin＜ Tlimit；
3) there is train wheel more than twice in the interval of a pair of wheel footpath calibration transponders pair to skid or dally；
4) there is once above train wheel in the interval of a pair of wheel footpath calibration transponders pair to skid and dally
5) occurs the failure that tests the speed or position in calibration process.Positioning failure includes：Localizer beacon is lost, occurs brake hard
Deng the situation of influence positioning.
The present invention it is a technical advantage that：
Based on accurate transponder and database purchase track data, wheel is calculated using the step-by-step counting mode of velocity sensor
Footpath；Due to the step-by-step counting mode using velocity sensor, if fault-free scene occurs in calibration process, step-by-step counting accumulation
Error is very small, therefore higher compared with conventional method accuracy；
Considered in wheel footpath calibration process failure or abnormal conditions (such as skidding/idle period is long, position or test the speed therefore
Barrier etc.), and take and cancel this calibration and continue to use the counter-measure of last time calibration value.Because this kind of scene can cause wheel footpath calibration value not
Accurately, so that ranging of testing the speed is inaccurate with positioning, so handle safer compared with conventional method；
Train idle running and the skidding scene of certain time is considered in a calibration process, with dynamic calculation wheel footpath error amount, together
When set the wheel footpath error amount upper limit and the lower limit to make algorithmic statement, make algorithm covering scene wider with scope, availability is higher.
By the practice in the Zhangjiang test wire of Shanghai, more traditional wheel footpath calibration method, in a calibration process without sky
Turn to improve to speed-position detection precision when skidding, and be significantly improved simultaneously while ensureing safe in availability.
By calculating, it is improved to rate accuracy, to being improved in availability.
In summary, the present invention is higher than conventional method accuracy, safer and availability is higher.
Brief description of the drawings
The present invention is further detailed explanation with embodiment below in conjunction with the accompanying drawings：
Fig. 1 is the schematic flow sheet of invention.
Embodiment
The rail transit train wheel footpath calibration method that the present invention is provided, including：Multipair response is selected in transponder data storehouse
Device as wheel footpath calibrate transponder pair, every a pair as wheel footpath calibrate transponder to the distance between be preferably 100 meters~150
Rice, it is good that the present embodiment selection selected transponder for calibrating transponder pair as wheel footpath is preferably provided at no gradient track condition
Orbital segment；Actual range between these wheel footpaths calibration transponder pair is by being stored in transponder data storehouse after accurately measuring.Rail
Traffic train in road calibrates transponder pair with identical stabilized speed Speed by all wheel footpaths, certain a pair of wheel footpath calibration transponder
It is S to spacingbalis=100 meters, wheel footpath initial value is D0, transponder is calibrated to velocity sensor cumulative number of pulses by this pair of wheel footpath
For Nwheel；It is T to calibrate transponder to period train wheel skidding duration by this pair of wheel footpathslip, accumulation travel distance
For Sslip, velocity sensor cumulative number of pulses is Nslip；Idle running duration is during calibrating transponder by this pair of wheel footpath
Tspin, accumulation travel distance is Sspin, velocity sensor cumulative number of pulses Nspin；Sslip=Speed*Tslip, Sspin=Speed*
Tspin；Train initial error tolerance value isΔDmaxFor the difference of train wheel footpath critical field peak and minimum, Δ
DmaxFor the rail transit train wheel footpath error tolerance value upper limit, Δ DminFor rail transit train wheel footpath error tolerance value lower limit,
During first time successful calibration wheel footpath and afterwards often by a pair of wheel footpath calibrations pair, and when not losing wheel footpath, set wheel footpath error
Tolerance value δnormal, δnormalSet, lost at the beginning of using train when being calibrated for the first time after wheel footpath according to detailed programs or design requirement
Beginning error tolerance value is calculated；
If being unsatisfactory for any one rail transit train wheel footpath calibration condition, the calibration of rail transit train wheel footpath is exited, if
Rail transit train wheel footpath calibration condition is met, then performs following steps：
Judge whether occur to skid or dally, in δnormalOn the basis of adjust train wheel footpath error tolerance value, train wheel beats
Rail traffic train wheel footpath error tolerance value increasing degree isThe rail transit train wheel footpath that dallies error is held
Bearing value increasing degree isG, G ' it is designated ratio coefficient；Designated ratio coefficient G, G ' according to precision not
With requiring to specify, such as test the speed ranging and positioning precision ratio as defined in professional standard, company standard or project.
Rail transit train wheel footpath calibration condition, including：
1)Tslip＜ Tlimit, the time threshold T for skidding or dallyinglimitRequire to determine according to the different of precision, for example, go
Industry standard, company standard or project specified accuracy；The present embodiment TlimitScope be 0.1~1 second, preferably 1 second.
2)Tspin＜ Tlimit；
3) there is train wheel more than twice in the interval of a pair of wheel footpath calibration transponders pair to skid or dally；
4) there is once above train wheel in the interval of a pair of wheel footpath calibration transponders pair to skid and dally；
5) occurs the failure that tests the speed or position in calibration process.Positioning failure includes：Localizer beacon is lost, occurs brake hard
Deng the situation of influence positioning.
If there is train wheel skidding, by Sbalis-SslipAs the actual travel distance of train, its correspondence cumulative number of pulses is
Nwheel-Nslip；If dallying, by Nwheel-NspinAs the actual walking cumulative number of pulses of train, it corresponds to reality between transponder pair
Border distance is Sbalis-Sspin；
Actual distance computation is arranged with wheel footpath calibration transponder according to velocity sensor each cycle fixed pulse number
Wheel footpath value Dtest, | Dtest-Dtest' | ＜ δnormalThink that wheel footpath is calibrated successfully, otherwise it is assumed that calibration failure；Wherein, Dtest' be
It is last round of to calculate the train wheel footpath value obtained, judge whether wheel footpath verifies success, D during initial calculationtest'=D0；
If calibrating successfully, train wheel footpath valueDuring train wheel footpath initial calculation, D=Dtest；
If calibration failure, repeat the above steps recalibration wheel footpath；
Rail transit train calibrates transponder by the wheel footpath and resets to δ to rear Train Wheel footpath error tolerance valuenormal。
The present invention is described in detail above by embodiment and embodiment, but these are not constituted pair
The limitation of the present invention.Without departing from the principles of the present invention, those skilled in the art can also make many deformations and change
Enter, these also should be regarded as protection scope of the present invention.
Claims (3)
1. a kind of rail transit train wheel footpath calibration method, it is characterised in that：
Multipair transponder is selected to calibrate transponder pair as wheel footpath in transponder data storehouse, rail transit train is stable with identical
Speed Speed calibrates transponder pair by all wheel footpaths, and certain a pair of wheel footpath calibration transponder is S to spacingbalis, wheel footpath initial value is
D0, it is N to calibrate transponder to velocity sensor cumulative number of pulses by this pair of wheel footpathwheel；Transponder is calibrated by this pair of wheel footpath
It is T to period train wheel skidding durationslip, accumulation travel distance is Sslip, velocity sensor cumulative number of pulses is
Nslip；The duration that dallied during calibrating transponder by this pair of wheel footpath is Tspin, accumulation travel distance is Sspin, speed biography
Sensor cumulative number of pulses Nspin；Sslip=Speed*Tslip, Sspin=Speed*Tspin；Train initial error tolerance value isΔDmaxFor the difference of train wheel footpath critical field peak and minimum, by Δ DmaxArranged as this method track traffic
The wheel footpath error tolerance value upper limit, Δ DminFor rail transit train wheel footpath error tolerance value lower limit, in first time successful calibration wheel
During footpath and afterwards often by a pair of wheel footpath calibrations pair, and when not losing wheel footpath, set wheel footpath error tolerance value δnormal, lose
Calculated when being calibrated for the first time after wheel footpath using train initial error tolerance value；
If being unsatisfactory for any one rail transit train wheel footpath calibration condition, the calibration of rail transit train wheel footpath is exited, if meeting
Rail transit train wheel footpath calibration condition, then perform following steps：
Judge whether occur to skid or dally, in δnormalOn the basis of adjust train wheel footpath error tolerance value, if train wheel occur
Skidding rail transit train wheel footpath error tolerance value increasing degree isIf idle running occurs for train wheel, track is handed over
Leading to train wheel footpath error tolerance value increasing degree isG, G ' it is designated ratio coefficient；
If there is train wheel skidding, by Sbalis-SslipAs the actual travel distance of train, its correspondence cumulative number of pulses is Nwheel-
Nslip；If dallying, by Nwheel-NspinAs the actual walking cumulative number of pulses of train, it corresponds to actual range between transponder pair
For Sbalis-Sspin；
Transponder is calibrated according to velocity sensor each cycle fixed pulse number and the wheel footpath Train Wheel is obtained to actual distance computation
Footpath value Dtest, | Dtest-Dtest' | ＜ δnormalThink that wheel footpath is calibrated successfully, otherwise it is assumed that calibration failure；Wherein, Dtest' it is upper one
Wheel calculates the train wheel footpath value obtained, judges whether wheel footpath verifies success, D during initial calculationtest'=D0；
If calibrating successfully, train wheel footpath valueDuring train wheel footpath initial calculation, D=Dtest；
If calibration failure, repeat the above steps recalibration wheel footpath；
Rail transit train calibrates transponder by the wheel footpath and resets to δ to rear Train Wheel footpath error tolerance valuenormal。
2. rail transit train wheel footpath calibration method as claimed in claim 1, it is characterized in that：Wheel footpath calibrates transponder to Sbalis
For 100 meters~150 meters, wheel footpath calibrates transponder to being arranged on no gradient and the good section of track condition；
Track condition well refers to that track adhesion coefficient meets design standard, and the section gradient is less than 0.3%, no superelevation or deficient superelevation
The track section of bend.
3. rail transit train wheel footpath calibration method as claimed in claim 1, it is characterized in that：Rail transit train wheel footpath is calibrated
Condition, including：
1)Tslip＜ Tlimit；
2)Tspin＜ Tlimit；
3) there is train wheel more than twice in the interval of a pair of wheel footpath calibration transponders pair to skid or dally；
4) there is once above train wheel in the interval of a pair of wheel footpath calibration transponders pair to skid and dally；
5) occurs the failure that tests the speed or position in calibration process；
Wherein, TlimitIt is the time threshold of skidding or idle running.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106364527A (en) * | 2016-11-08 | 2017-02-01 | 上海自仪泰雷兹交通自动化系统有限公司 | ATPM/WSP operation method without wheel diameter verification |
| CN107054404B (en) * | 2016-12-27 | 2019-08-09 | 株洲中车时代电气股份有限公司 | A kind of Railway wheelset wheel footpath automatic Verification method and device |
| WO2018225335A1 (en) * | 2017-06-09 | 2018-12-13 | 株式会社日立製作所 | Train safety system, train safety control method, and train on-board device |
| CN109703600B (en) * | 2017-10-25 | 2021-05-25 | 株洲中车时代电气股份有限公司 | Method and system for calculating train wheel diameter deviation and train |
| CN110920667B (en) * | 2019-11-14 | 2021-09-10 | 交控科技股份有限公司 | Automatic train wheel diameter correcting method and device |
| CN110871827A (en) * | 2019-11-25 | 2020-03-10 | 通号城市轨道交通技术有限公司 | Speed and distance measuring method for rail train |
| CN112849226B (en) * | 2019-11-27 | 2022-03-18 | 比亚迪股份有限公司 | Speed measuring method of rail vehicle, storage medium and electronic equipment |
| CN110979403B (en) * | 2019-12-16 | 2021-07-16 | 中铁工程机械研究设计院有限公司 | Wheel diameter compensation method for suspension type rail train air tire |
| CN111114583B (en) * | 2019-12-20 | 2021-03-19 | 青岛四方庞巴迪铁路运输设备有限公司 | Control method for automatic wheel diameter calibration of motor train unit |
| CN111267914B (en) * | 2020-02-20 | 2021-08-17 | 山东科技大学 | Intermittent creep and slip overrun detection and separation method for motor train unit wheel set |
| CN112550349B (en) * | 2020-11-24 | 2022-07-15 | 卡斯柯信号有限公司 | Method and device for safely storing and calibrating wheel diameter |
| CN114620096B (en) * | 2020-12-10 | 2023-05-09 | 比亚迪股份有限公司 | Processing method after wheel diameter calibration failure, vehicle-mounted controller, train and medium |
| CN112678035B (en) * | 2021-03-12 | 2021-09-10 | 西门子交通技术(北京)有限公司 | Train operation data analysis method, system, server and computer readable medium |
| CN113060181B (en) * | 2021-04-06 | 2022-04-08 | 中车青岛四方车辆研究所有限公司 | Train wheel diameter calibration system and method |
| CN113799849B (en) * | 2021-11-16 | 2022-03-18 | 比亚迪股份有限公司 | Train wheel diameter calibration method, vehicle-mounted controller, train and storage medium |
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| DE19706021C2 (en) * | 1997-02-07 | 2002-11-07 | Siemens Ag | Track monitoring facility |
| US7283897B2 (en) * | 2002-05-31 | 2007-10-16 | Quantum Engineering, Inc. | Method and system for compensating for wheel wear on a train |
| CN101357644B (en) * | 2008-09-08 | 2010-12-15 | 北京交通大学 | Locomotive wheel diameter automatic calibration system and method based on satellite positioning |
| CN102991489B (en) * | 2012-11-21 | 2015-12-09 | 上海富欣智能交通控制有限公司 | To idle running and the skid safe locomotive velocity measuring ranging system and method that detect and compensate |
| CN103707903B (en) * | 2013-12-05 | 2016-08-17 | 北京交控科技股份有限公司 | A kind of Automatic train wheel diameter bearing calibration |
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