CN106184160A - Automatic train stop control method - Google Patents
Automatic train stop control method Download PDFInfo
- Publication number
- CN106184160A CN106184160A CN201610569453.5A CN201610569453A CN106184160A CN 106184160 A CN106184160 A CN 106184160A CN 201610569453 A CN201610569453 A CN 201610569453A CN 106184160 A CN106184160 A CN 106184160A
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- train
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- acceleration
- stop
- braking
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/128—Self-acting brakes of different types for railway vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
- B60T8/3235—Systems specially adapted for rail vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
- B61L23/08—Control, warning, or like safety means along the route or between vehicles or vehicle trains for controlling traffic in one direction only
- B61L23/14—Control, warning, or like safety means along the route or between vehicles or vehicle trains for controlling traffic in one direction only automatically operated
Abstract
The invention discloses a kind of automatic train stop control method, including: calculate train brake hard and trigger curve, generate train speed braking distance relation curve, generate train aimed acceleration braking distance relation curve according to speed distance curve；By arranging the control thresholding of train, generate train speed braking distance relation curve, calculating train acceleration in real time and whether braking distance meets train aimed acceleration braking distance relation curve, as do not met then braking train, thus automatically controlling train with ATO alignment acceleration until stopping.The present invention can also reduce train rail construction cost while not reducing train operation efficiency.
Description
Technical field
The present invention relates to track traffic control field, particularly relate to a kind of automatic train stop control method.
Background technology
At track traffic/transport, industrial control field, control system has automatically control train by regulation or demand start,
The functional requirement running, stopping.Automatically control train generally by acceleration or the rotating speed of wheel controlling traction/braking force
Realize, show as controlling the traction of train, coasting, braking etc..
In some Safety-Critical System in above-mentioned field, such as subway system, signaling system needs to undertake safety traffic
Responsibility, will make all restrictions, such as train and can not cross and rush mobile authorization terminal, can not collide end car stop driving safety
Deng.Therefore signaling system needs when travelling and controlling to limit according to safe design, protects train in real time.
Regulation in IEEE1474 standard is as it is shown in figure 1, stick together etc. least based on physical model and signal, vehicle, track
Profit condition, signal is when protecting train driving, therefore, to assure that trigger curve (EB triggers curve) in brake hard front/tight
Anxious braking applies the emergency brake (EB) when triggering curve, just can ensure that what train can be safe in the case of least favorable is parked in obstacle
Before thing.Common barrier includes: train, section boundaries, car stop, track switch etc..
Therefore, certain distance before barrier, track train automatic control system can design or calculate a parking in real time
Point, as the target location stopped, and calculates an objective curve as making by security restriction requirement below EB triggering curve
Train operation stops at the rate curve of stop, and signaling system automatically controls train (ATO) or is shown to driver's manual drive
Train, along target velocity curve driving, then can under the premise that security is guaranteed, meeting driving process will not be because of the too high triggering of speed
Brake hard, stop the accurate availability requirement at stop.
Regulation in " urban track traffic CBTC signaling system-ATO subsystem specification ": " ATO equipment controls train and stops
When point stops, the braking of one-time continuous braking mode should be used must not to alleviate to target stop, midway, and should not have before entering the station
The deceleration step that logicalnot circuit speed limit requires.”
Traditional control method is that signaling system controls the train algorithm Brake stop according to fixing braking ratio, because EB touches
Send out the curve that curve itself is not a fixing braking ratio, when therefore using the stopping brake algorithm of service braking rate, actual
Speed triggers the distance in curve and speed with foot EB, stop be arranged on from barrier farther out time could use tradition side
Formula stops quasi-train.Use traditional control method that track train can be caused near at the hypertelorism/excessively stopped before barrier, drop
The operational efficiency of low orbit traffic system.Especially " GB-50157 metro design code is specifying: " turn back line, fault train stop
Fare effective length (without car stop length) is no less than train length+50m " traditional control method often cannot meet this
Requirement.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of automatic train stop control method, is ensureing safe operation
Make under premise track train parking spot as close possible to barrier, thus reach save parking circuit design length, improve row
The purpose of car operational efficiency.
Solve above-mentioned technical problem, the automatic train stop control method that the present invention provides, including:
1) calculate urgent train braking and trigger curve, be called for short EB and trigger curve；
2) with train braking distance as abscissa, train running speed is vertical coordinate, and EB triggers curve pan-down control
Obtain train running speed-braking distance relation curve after thresholding processed, be called for short ATO target velocity curve；
Wherein, control thresholding and refer to that controlling train does not touch the velocity amplitude required for EB triggering curve；
Improve further, control thresholding and ensure not touch EB to trigger curve the most concrete according to train automatically controlling train
Ruuning situation reserves certain surplus (velocity amplitude)；
3) using the train driving acceleration corresponding to every bit on ATO target velocity curve as vertical coordinate, with train system
Dynamic distance, as abscissa, generates train aimed acceleration-braking distance relation curve, is called for short ATO aimed acceleration curve；
4) when stop distance obstacle object point is close (referring to less than design standard-required), set according to project and train feature
Put control thresholding, train brake hard is triggered after curve pan-down controls thresholding and generate train speed-braking distance relation
Curve (i.e. ATO target velocity curve), calculates train acceleration in real time and whether braking distance meets train aimed acceleration-system
Dynamic distance relation curve (i.e. ATO aimed acceleration curve), as do not met then braking train；
5), during braking train, control train acceleration and run according to aimed acceleration-braking distance relation curve, until row
Car acceleration reaches to be directed at acceleration (with reference to Fig. 3, P point)；Described alignment acceleration refers at train distance stop predeterminable range
Starting to stop, it is totally stationary to arrive stop train, the fixing braking ratio needed for this docking process train；
6) train arrives and stops to stop according to alignment acceleration at distance stop predeterminable range.Generally, train away from
(this distance can be adjusted according to detailed programs to need integration project experience and vehicle parameter to choose from stop predeterminable range
Whole, but apart from oversize causing, the station time will be elongated；The shortest will cause train dwelling during brake too violent, passenger experiences very
Difference, usually 1m-5m) carry out final brake operating (being i.e. directed at acceleration).Quasi-acceleration passes through V2=| 2as | calculates；Example
As, when train speed V is 1 to 2m/s, distance s is 3m, is calculated alignment acceleration a at-0.17m/s2To-0.66m/s2It
Between.
Wherein, control for brake thresholding is 0.1m/s to 10m/s.
Wherein, control for brake thresholding is preferably 0.5m/s, 1m/s, 1.5m/s or 2m/s.
The present invention EB trigger curve deduct downwards control for brake tolerance limit V (ATO controls thresholding) as ATO travel speed-
Braking distance curve, i.e. ATO target velocity curve.Wherein, ATO control thresholding is wanted according to vehicle feature and the project of detailed programs
Ask and determine.This control thresholding ensures that ATO controls ATO travel speed-braking distance curve during train operation and will not trigger song with EB
Line occurs to intersect, thus causes triggering brake hard impact operation.Form acceleration-braking distance curve i.e. ATO target to accelerate
Writing music line, what ATO aimed acceleration curve was corresponding is the acceleration of every bit on ATO target velocity curve, it is contemplated that concrete item
The acceleration that cannot quickly respond Train Control signal command when train speed is less in mesh (accelerates with reference to the ATO alignment in Fig. 3
Degree), automatically control train with close to ATO alignment acceleration until stopping that (generally the distance of this stage train and stop is at 1m
To between 5m).This technological means runs the problem of overlong time under lower-speed state during solving train braking, and close
During parking, vehicle acceleration is relatively low, is therefore more easy to be accurately aligned with stop.
In general train automatic stopping controls, for the platform of 100 meters of length, the protection that usual stop needs is long
Degree needs more than at least 32 meters (the namely distance of stop distance barrier), and enter the station speed 45km/h, enters the station the time and (refers to row
Car is put to stopping level from entering platform) at about 15s.
The automatic train stop control method of the present invention is that the relation according to train-stopping distance and speed/acceleration is dynamic
Change.The present invention is triggered by EB and arranges control for brake thresholding on curve, obtains ATO target velocity curve and calculates use in real time
ATO aimed acceleration curve in control car.Simultaneously in order to ensure running efficiency, during train braking, ensure safe premise
Under, use maximum travelling speed as far as possible.The present invention be train line stop-working protection apart from too short situation (less than standard-required
Stopping train protection distance time), it is provided that a kind of safe automatic stop process, thus protection distance in design standard (stops
Point to obstacle distance) 20 meters can be foreshortened to by original 50 meters within.Analyze from economic benefit, according to every stop line
Length reduces by the construction cost of 30 meters, and every subway line presses stop line, every kilometer of subway cost 800,000,000 yuans calculating at 30,
Article one, subway line can save more than 700,000,000 yuan.The present invention does not the most reduce train operation efficiency can also reduce train rail construction cost,
Improve train operation systematic economy income.
Accompanying drawing explanation
The present invention is further detailed explanation with detailed description of the invention below in conjunction with the accompanying drawings:
Fig. 1 is that EB triggers curve synoptic diagram.
Fig. 2 is ATO target velocity curve synoptic diagram of the present invention.
Fig. 3 is ATO aimed acceleration curve synoptic diagram of the present invention.
Fig. 4 is real training circuit real-time logs schematic diagram of the present invention.
Detailed description of the invention
The driverless train brake control method that the present invention provides, including:
1) calculate urgent train braking and trigger curve, be called for short EB and trigger curve；
First stage is boost phase out of control, A stage shown in Fig. 1, B-stage；
a1=arun–agrade；
d1=vx×t1+(a1×t1 2/2)；
v1=vx+a1×t1；
Second stage is the coasting stage, C-stage shown in Fig. 1, D stage；
a2=-agrade；
d2=v1×t2+(a2×t2 2/2)；
v2=v1+a2×t2；
Phase III is EB deboost phase (including E-stage in Fig. 1)
a3=-agebr-agrade；
d3=v2×v2/(2×a3)；
The implication of above-mentioned each parameter value is as follows:
arun, train least favorable acceleration out of control；
agrade, the least favorable gradient of current location；
agebr, train worst brake hard rate；
ai, i=1,2,3. is least favorable acceleration in per stage；
ti, i=1,2. is the least favorable time in per stage；
di, i=1,2,3. is the distance run in the case of least favorable in per stage；
As shown from the above formula, EB triggers certain some x (seeing Fig. 2), this spot speed v on curvexOne timing, distance barrier
Terminal distance d=d1+d2+d3It is vxF (x) function, wherein ai,tiObtain for signal, vehicle and route parameter calculation, i.e. exist
In specific project, these parameters are all constants.D=f (vx) it is required EB triggering curve.
2) as in figure 2 it is shown, with train braking distance as abscissa, train running speed is vertical coordinate, and EB is triggered curve
Pan-down obtains train running speed-braking distance relation curve after controlling thresholding, be called for short ATO target velocity curve；
Wherein, control thresholding and refer to that controlling train does not touch the velocity amplitude required for EB triggering curve；
Improve further, control thresholding and ensure not touch EB to trigger curve the most concrete according to train automatically controlling train
Ruuning situation reserves certain surplus (velocity amplitude)；
3) using the train driving acceleration corresponding to every bit on ATO target velocity curve as vertical coordinate, with train system
Dynamic distance, as abscissa, generates train aimed acceleration-braking distance relation curve, is called for short ATO aimed acceleration curve；
4) when stop distance obstacle object point is close (referring to less than design standard-required), set according to project and train feature
Put control thresholding, train brake hard is triggered after curve pan-down controls thresholding and generate train speed-braking distance relation
Curve (i.e. ATO target velocity curve), calculates train acceleration in real time and whether braking distance meets train aimed acceleration-system
Dynamic distance relation curve (i.e. ATO aimed acceleration curve), as do not met then braking train；
5), during braking train, control train acceleration and run according to aimed acceleration-braking distance relation curve, until row
Car acceleration reaches to be directed at acceleration (with reference to Fig. 3, P point)；Described alignment acceleration refers at train distance stop predeterminable range
Starting to stop, it is totally stationary to arrive stop train, the fixing braking ratio needed for this docking process train；
6) train arrives and stops to stop according to alignment acceleration at distance stop predeterminable range.
Wherein, control for brake thresholding is 0.1m/s to 10m/s.
Wherein, control for brake thresholding is preferably 0.5m/s, 1m/s, 1.5m/s or 2m/s.
The present invention, according to the parameter in actual items, arranges circuit and vehicle parameter (is examined based on safety as shown in table 1
Consider, be provided with speed and locational uncertainty value).
Illustrate (*): being all the accepted value in design, occurrence obtains according to project and vehicle feature
Table 1
It is 1m/s taking control for brake thresholding, carries out calculating as shown in table 2 under different design stop acceleration.
Table 2
Real equipment and train is used to be verified on the real training circuit of this reality.As shown in Figure 4, can obtain from figure
The rate of acceleration change going out accelerating curve-braking distance is little, uses this algorithm to need not additionally control to add in braking procedure
The rate of change of speed, train will not produce unexpected acceleration/deceleration situation, makes passenger's ride experience more comfortable.
Above by detailed description of the invention and embodiment, the present invention has been described in detail, but these not constitute right
The restriction of the present invention.Without departing from the principles of the present invention, those skilled in the art it may also be made that many deformation and changes
Entering, these also should be regarded as protection scope of the present invention.
Claims (3)
1. an automatic train stop control method, it is characterised in that including:
1) calculate train brake hard and trigger curve, be called for short EB and trigger curve；
2) with train braking distance as abscissa, train running speed is vertical coordinate, EB triggers curve pan-down and controls door
Obtain train running speed-braking distance relation curve after limit, be called for short ATO target velocity curve；
Wherein, control thresholding and refer to that controlling train does not touch the velocity amplitude required for EB triggering curve；
3) using the train driving acceleration corresponding to every bit on ATO target velocity curve as vertical coordinate, with train braking away from
From as abscissa, generate train aimed acceleration-braking distance relation curve, be called for short ATO aimed acceleration curve；
4) calculate train acceleration in real time and whether braking distance meets ATO aimed acceleration curve, as do not met, brake row
Car；
5), during braking train, control train acceleration is according to ATO aimed acceleration curve motion, until train acceleration reaches right
Quasi-acceleration, it is the most quiet that described alignment acceleration refers to start parking arrival stop train at train distance stop predeterminable range
Only, the fixing braking ratio needed for this docking process train；
6) train arrives and stops to stop according to alignment acceleration at distance stop predeterminable range.
2. automatic train stop control method as claimed in claim 1, it is characterised in that: control for brake thresholding be 0.1m/s extremely
10m/s。
3. automatic train stop control method as claimed in claim 1, it is characterised in that: preferably control for brake thresholding is
0.5m/s, 1m/s, 1.5m/s or 2m/s.
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| CN107539298A (en) * | 2017-08-31 | 2018-01-05 | 湖南中车时代通信信号有限公司 | A kind of method and device of the air damping control of train |
| CN107804304A (en) * | 2017-09-30 | 2018-03-16 | 上海富欣智能交通控制有限公司 | Automatic Pilot train braking method |
| CN108163018A (en) * | 2017-11-27 | 2018-06-15 | 天津津航计算技术研究所 | A kind of accurate parking method of train based on fixed range generation parking strategy |
| CN108515989A (en) * | 2018-03-14 | 2018-09-11 | 卡斯柯信号有限公司 | The full-automatic means of defence of biserial position parking line bicycle parking based on non-gap guard plot |
| CN109305195A (en) * | 2017-07-28 | 2019-02-05 | 比亚迪股份有限公司 | Train control method and device |
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| CN110968086A (en) * | 2018-09-30 | 2020-04-07 | 郑州宇通客车股份有限公司 | Vehicle arrival control method and system |
| CN111007563A (en) * | 2018-10-08 | 2020-04-14 | 赛赛尔 | Positioning assistance system for a vibrator vehicle and corresponding vibrator vehicle and method |
| CN111891154A (en) * | 2020-07-21 | 2020-11-06 | 通号城市轨道交通技术有限公司 | Train speed control method and device |
| CN112124374A (en) * | 2020-09-04 | 2020-12-25 | 通号城市轨道交通技术有限公司 | Method and system for calculating triggering speed of train emergency braking |
| CN112249096A (en) * | 2020-09-14 | 2021-01-22 | 南京铁道职业技术学院 | Accurate parking method for urban rail transit station |
| CN112334357A (en) * | 2018-06-29 | 2021-02-05 | 株式会社东芝 | Travel control device |
| CN114007921A (en) * | 2019-06-25 | 2022-02-01 | 克诺尔轨道车辆系统有限公司 | Method and device for dynamically optimizing the braking distance of a vehicle, in particular a rail vehicle |
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| CN115416632A (en) * | 2022-09-15 | 2022-12-02 | 交控科技股份有限公司 | Parking control method, parking control device, electronic equipment and storage medium |
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| CN107539298A (en) * | 2017-08-31 | 2018-01-05 | 湖南中车时代通信信号有限公司 | A kind of method and device of the air damping control of train |
| CN107804304A (en) * | 2017-09-30 | 2018-03-16 | 上海富欣智能交通控制有限公司 | Automatic Pilot train braking method |
| CN108163018A (en) * | 2017-11-27 | 2018-06-15 | 天津津航计算技术研究所 | A kind of accurate parking method of train based on fixed range generation parking strategy |
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| CN108515989A (en) * | 2018-03-14 | 2018-09-11 | 卡斯柯信号有限公司 | The full-automatic means of defence of biserial position parking line bicycle parking based on non-gap guard plot |
| CN108515989B (en) * | 2018-03-14 | 2020-09-18 | 卡斯柯信号有限公司 | Double-row-position parking line parking full-automatic protection method based on non-interval protection area |
| CN112334357A (en) * | 2018-06-29 | 2021-02-05 | 株式会社东芝 | Travel control device |
| CN110968086A (en) * | 2018-09-30 | 2020-04-07 | 郑州宇通客车股份有限公司 | Vehicle arrival control method and system |
| CN110968086B (en) * | 2018-09-30 | 2023-05-26 | 宇通客车股份有限公司 | Vehicle arrival control method and system |
| CN111007563A (en) * | 2018-10-08 | 2020-04-14 | 赛赛尔 | Positioning assistance system for a vibrator vehicle and corresponding vibrator vehicle and method |
| CN109532958A (en) * | 2018-11-15 | 2019-03-29 | 中车株洲电力机车有限公司 | A kind of rail traffic vehicles auxiliary is to mark parking system and method |
| CN114007921B (en) * | 2019-06-25 | 2023-08-18 | 克诺尔轨道车辆系统有限公司 | Method and device for dynamically optimizing the braking distance of a vehicle, in particular a rail vehicle |
| CN114007921A (en) * | 2019-06-25 | 2022-02-01 | 克诺尔轨道车辆系统有限公司 | Method and device for dynamically optimizing the braking distance of a vehicle, in particular a rail vehicle |
| CN110949451A (en) * | 2019-12-05 | 2020-04-03 | 中车株洲电力机车有限公司 | Train benchmarking control method and device |
| CN110949451B (en) * | 2019-12-05 | 2022-01-18 | 中车株洲电力机车有限公司 | Train benchmarking control method and device |
| CN111891154A (en) * | 2020-07-21 | 2020-11-06 | 通号城市轨道交通技术有限公司 | Train speed control method and device |
| CN111891154B (en) * | 2020-07-21 | 2021-12-07 | 通号城市轨道交通技术有限公司 | Train speed control method and device |
| CN112124374A (en) * | 2020-09-04 | 2020-12-25 | 通号城市轨道交通技术有限公司 | Method and system for calculating triggering speed of train emergency braking |
| CN112249096B (en) * | 2020-09-14 | 2022-09-27 | 南京铁道职业技术学院 | Accurate parking method for urban rail transit station |
| CN112249096A (en) * | 2020-09-14 | 2021-01-22 | 南京铁道职业技术学院 | Accurate parking method for urban rail transit station |
| CN114506306B (en) * | 2022-01-10 | 2023-01-20 | 北京全路通信信号研究设计院集团有限公司 | Train downhill air braking adjusting method and system |
| CN114506306A (en) * | 2022-01-10 | 2022-05-17 | 北京全路通信信号研究设计院集团有限公司 | Train downhill air braking adjusting method and system |
| CN114802366A (en) * | 2022-04-02 | 2022-07-29 | 浙江众合科技股份有限公司 | Speed limit control method based on cooperative cooperation of signal and braking system |
| CN115416632A (en) * | 2022-09-15 | 2022-12-02 | 交控科技股份有限公司 | Parking control method, parking control device, electronic equipment and storage medium |
| CN115416632B (en) * | 2022-09-15 | 2024-01-30 | 交控科技股份有限公司 | Parking control method and device, electronic equipment and storage medium |
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