CN106184160B - Automatic train stop control method - Google Patents
Automatic train stop control method Download PDFInfo
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- CN106184160B CN106184160B CN201610569453.5A CN201610569453A CN106184160B CN 106184160 B CN106184160 B CN 106184160B CN 201610569453 A CN201610569453 A CN 201610569453A CN 106184160 B CN106184160 B CN 106184160B
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000001133 acceleration Effects 0.000 claims abstract description 47
- 230000008569 process Effects 0.000 claims description 7
- 238000003032 molecular docking Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 3
- 238000013461 design Methods 0.000 description 9
- 230000004888 barrier function Effects 0.000 description 7
- 230000002349 favourable effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 208000010086 Hypertelorism Diseases 0.000 description 1
- 206010020771 Hypertelorism of orbit Diseases 0.000 description 1
- 238000013475 authorization Methods 0.000 description 1
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- PLAIAIKZKCZEQF-UHFFFAOYSA-N methyl 6-chloro-2-oxo-3h-1,2$l^{4},3-benzodithiazole-4-carboxylate Chemical group COC(=O)C1=CC(Cl)=CC2=C1NS(=O)S2 PLAIAIKZKCZEQF-UHFFFAOYSA-N 0.000 description 1
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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 trains
- B61L23/08—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only
- B61L23/14—Control, warning or like safety means along the route or between vehicles or trains for controlling traffic in one direction only automatically operated
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention discloses a kind of automatic train stop control methods, including：It calculates train emergency braking and triggers curve, generate train speed-braking distance relation curve, train aimed acceleration-braking distance relation curve is generated according to velocity-distance graph；By the control thresholding that train is arranged, generate train speed-braking distance relation curve, train acceleration is calculated in real time and whether braking distance meets train aimed acceleration-braking distance relation curve, the braking train if not meeting, to automatically control train with ATO alignment acceleration until parking.The present invention can also reduce train rail construction cost while not reducing train operation efficiency.
Description
Technical field
The present invention relates to rail traffic control fields, more particularly to a kind of automatic train stop control method.
Background technology
In rail traffic/transport, industrial control field, control system have automatically control train by regulation or demand start,
The functional requirement of operation, parking.Train is automatically controlled generally by the acceleration of control traction/braking force or the rotating speed of wheel
It realizes, shows the traction, coasting, braking etc. of train in order to control.
Certain Safety-Critical Systems in above-mentioned field, such as subway system, signal system need to undertake safety traffic
Responsibility will make driving safety various limitations, for example train cannot overshoot mobile authorization terminal, cannot collide end car stop
Deng.Therefore signal system needs to limit according to safe design when travelling control, protects in real time train.
Regulation in IEEE1474 standards based on physical model and signal, vehicle, track as shown in Figure 1, sticked together etc. least
Sharp condition, signal is when protecting train driving, therefore, to assure that before emergency braking triggers curve (EB triggers curve)/tight
It applies the emergency brake (EB) when anxious braking triggering curve, just can ensure that and be parked in obstacle what least favorable situation Train was capable of safety
Before object.Common barrier includes：Train, section boundaries, car stop, track switch etc..
Therefore, the certain distance before barrier, track train automatic control system can design or calculate in real time a parking
Point calculates an objective curve as making as the target location of parking, and by security restriction requirement below EB triggering curves
Train operation stops at the rate curve of stop, and signal system automatically controls train (ATO) or is shown to driver's manual drive
Train then can under the premise that security is guaranteed along target velocity curve driving, and meeting driving process will not be because of the excessively high triggering of speed
Emergency braking stops the accurate availability requirement in stop.
《Urban track traffic CBTC signal system-ATO subsystem specifications》Middle regulation：" ATO equipment control train stops
When point parking, it should be braked using one-time continuous braking mode to target stop, must not be alleviated halfway, and should not had before entering the station
The deceleration step that logicalnot circuit speed limit requires."
Traditional control method is algorithm Brake stop of the signal system control train according to fixed braking ratio, because EB is touched
It is actual when sending out the curve that curve is not a fixed braking ratio, therefore using the stopping brake algorithm of service braking rate
For speed not with the distance and speed in foot EB triggering curves, stop is arranged could use tradition side when from barrier farther out
Formula stops quasi- train.Hypertelorism/excessively close, drop that track train stops before from barrier can be caused using traditional control method
The operational efficiency of low orbit traffic system.Especially exist《It is provided in GB-50157 metro design codes：" turn back line, failure train stop
Fare effective length (be free of car stop length) is no less than train length+50m " traditional control method often cannot be satisfied this
It is required that.
Invention content
The technical problem to be solved in the present invention is to provide a kind of automatic train stop control methods, are ensureing safe operation
Under the premise of make track train parking position as close possible to barrier, save parking circuit design length to reach, improve row
The purpose of vehicle operational efficiency.
Solution above-mentioned technical problem, automatic train stop control method provided by the invention, including：
1) it calculates urgent train braking and triggers curve, abbreviation EB triggers curve；
2) using train braking distance as abscissa, train running speed is ordinate, and EB triggering curves are translated downwards control
Train running speed-braking distance relation curve, abbreviation ATO target velocity curves are obtained after thresholding processed；
Wherein, control thresholding refers to that control train does not touch the EB triggering required velocity amplitudes of curve；
Be further improved, control thresholding automatically control train guarantee do not touch EB triggering curve simultaneously it is specific according to train
Operating condition reserves certain surplus (velocity amplitude)；
3) using the train driving acceleration corresponding to every bit on ATO target velocity curves as ordinate, with train system
Dynamic distance is used as abscissa, generates train aimed acceleration-braking distance relation curve, abbreviation ATO aimed acceleration curves；
4) (refer to less than design standard requirement) when stop is close apart from obstacle object point, set according to project and train feature
Control thresholding is set, train speed-braking distance relationship is generated after train emergency braking triggering curve is translated downwards control thresholding
Curve (i.e. ATO target velocities curve) calculates train acceleration in real time and whether braking distance meets train aimed acceleration-system
Dynamic distance relation curve (i.e. ATO aimed accelerations curve), the braking train if not meeting；
5) when braking train, control train acceleration is run according to aimed acceleration-braking distance relation curve, Zhi Daolie
Vehicle acceleration reaches alignment acceleration (with reference to figure 3, P points)；The alignment acceleration refers to train at stop pre-determined distance
It is totally stationary to start parking arrival stop train, the fixation braking ratio needed for this docking process train；
6) train is reached stops according to alignment acceleration to stop at stop pre-determined distance.In general, train away from
Need integration project experience and vehicle parameter (can be adjusted according to detailed programs with a distance from this to choose from stop pre-determined distance
It is whole, but will cause to elongate the station time apart from too long；Too short to cause to brake during train dwelling too violent, passenger experience is very
Difference, usually 1m-5m) carry out final brake operating (being directed at acceleration).Quasi- acceleration passes through V2=| 2as | it calculates；Example
Such as, when train speed V is 1 to 2m/s, distance s is 3m, and alignment acceleration a is calculated in -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 subtracts downwards control for brake tolerance V (ATO controls thresholding) in EB triggering curves and is used as ATO travel speeds-
Braking distance curve, i.e. ATO target velocities curve.Wherein, ATO controls thresholding and is wanted according to the vehicle feature and project of detailed programs
Ask determining.The control thresholding ensures that ATO travel speeds-braking distance curve will not trigger bent with EB when ATO control train operations
Line intersects, and influences operation so as to cause triggering emergency braking.Acceleration-braking distance curve, that is, ATO targets are formed to accelerate
It writes music line, it is the acceleration of every bit on ATO target velocity curves that ATO aimed acceleration curves are corresponding, it is contemplated that specific item
When train speed is smaller in mesh can not quick response Train Control signal command acceleration (with reference in figure 3 ATO be aligned accelerate
Degree), train is automatically controlled to approach ATO alignment acceleration up to (this usual stage train is at a distance from stop in 1m for parking
To between 5m).This technological means solves the problems, such as train braking, and the run time under lower-speed state is long in the process, and approaches
Vehicle acceleration is relatively low when parking, therefore is more easy to be accurately aligned with stop.
In the control of general train automatic stopping, for the platform of 100 meters of length, the protection that usual stop needs is grown
Degree needs at least 32 meters or more (namely distances of the stop apart from barrier), and the speed that enters the station 45km/h enters the station the time and (refers to row
Vehicle is set from into platform to level is stopped) in 15s or so.
The automatic train stop control method of the present invention is according to the relationship of train-stopping distance and speed/acceleration dynamic
Variation.The present invention is triggered by EB is arranged control for brake thresholding on curve, obtain ATO target velocities curve and calculate in real time to use
In the ATO aimed acceleration curves of control vehicle.Simultaneously in order to ensure running efficiency, ensure safe premise during train braking
Under, maximum travelling speed is used as far as possible.The present invention is that train line stop-working protection (is less than standard requirement apart from too short situation
Stopping train protection apart from when), a kind of safe automatic stop process is provided, to the protection distance (parking in design standard
Put to obstacle distance) it can be foreshortened within 20 meters by original 50 meters.It is analyzed from economic benefit, according to every stop line
Length reduces by 30 meters of construction cost, and every subway line presses 800,000,000 yuans of stop line at 30, every kilometer of cost of subway calculating,
One subway line can save more than 700,000,000 yuan.The present invention, which does not reduce train operation efficiency not only, can also reduce train rail construction cost,
Improve train operation systematic economy income.
Description of the drawings
The present invention is described in further detail with specific implementation mode below in conjunction with the accompanying drawings：
Fig. 1 is EB triggering curve synoptic diagrams.
Fig. 2 is ATO target velocities curve synoptic diagram of the present invention.
Fig. 3 is ATO aimed accelerations curve synoptic diagram of the present invention.
Fig. 4 is real training circuit real-time logs schematic diagram of the present invention.
Specific implementation mode
Driverless train brake control method provided by the invention, including：
1) it calculates urgent train braking and triggers curve, abbreviation EB triggers curve；
First stage is boost phase out of control, A stages shown in Fig. 1, B-stage；
a1=arun–agrade；
d1=vx×t1+(a1×t1 2/2)；
v1=vx+a1×t1；
Second stage is coasting stage, C-stage shown in Fig. 1, D stages；
a2=-agrade；
d2=v1×t2+(a2×t2 2/2)；
v2=v1+a2×t2；
Phase III is the EB deboost phases (including E-stage in Fig. 1)
a3=-agebr-agrade；
d3=v2×v2/(2×a3)；
The meaning 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, the worst emergency braking rate of train；
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 point x (referring to Fig. 2), spot speed v on curvexOne timing, apart from barrier
Terminal distance d=d1+d2+d3As vxF (x) functions, wherein ai,tiIt obtains, that is, exists for signal, vehicle and route parameter calculation
These parameters are all constants in specific project.D=f (vx) it is that required EB triggers curve.
2) as shown in Fig. 2, using train braking distance as abscissa, train running speed is ordinate, and EB is triggered curve
Train running speed-braking distance relation curve, abbreviation ATO target velocity curves are obtained after the thresholding of translation control downwards；
Wherein, control thresholding refers to that control train does not touch the EB triggering required velocity amplitudes of curve；
Be further improved, control thresholding automatically control train guarantee do not touch EB triggering curve simultaneously it is specific according to train
Operating condition reserves certain surplus (velocity amplitude)；
3) using the train driving acceleration corresponding to every bit on ATO target velocity curves as ordinate, with train system
Dynamic distance is used as abscissa, generates train aimed acceleration-braking distance relation curve, abbreviation ATO aimed acceleration curves；
4) (refer to less than design standard requirement) when stop is close apart from obstacle object point, set according to project and train feature
Control thresholding is set, train speed-braking distance relationship is generated after train emergency braking triggering curve is translated downwards control thresholding
Curve (i.e. ATO target velocities curve) calculates train acceleration in real time and whether braking distance meets train aimed acceleration-system
Dynamic distance relation curve (i.e. ATO aimed accelerations curve), the braking train if not meeting；
5) when braking train, control train acceleration is run according to aimed acceleration-braking distance relation curve, Zhi Daolie
Vehicle acceleration reaches alignment acceleration (with reference to figure 3, P points)；The alignment acceleration refers to train at stop pre-determined distance
It is totally stationary to start parking arrival stop train, the fixation braking ratio needed for this docking process train；
6) train is reached stops according to alignment acceleration to stop at stop pre-determined distance.
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 is arranged circuit and vehicle parameter (is examined as shown in table 1 based on safety according to the parameter in actual items
Consider, be provided with speed and locational uncertainty value).
Illustrate (*):All it is the accepted value in design, occurrence is obtained according to project and vehicle feature
Table 1
It is taking control for brake thresholding to be 1m/s, is carrying out calculating as shown in table 2 under different design stop acceleration.
Table 2
It is verified using real equipment and train on the actual real training circuit.As shown in figure 4, can be obtained from figure
The rate of acceleration change for going out accelerating curve-braking distance is small, need not additionally be controlled and be added in braking process using this algorithm
The change rate of speed, train not will produce unexpected acceleration/deceleration situation, keep passenger's ride experience more comfortable.
Above by specific implementation mode and embodiment, invention is explained in detail, but these are not composition 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
Into these also should be regarded as protection scope of the present invention.
Claims (3)
1. a kind of automatic train stop control method, which is characterized in that including：
1) it calculates train emergency braking and triggers curve, abbreviation EB triggers curve；
2) using train braking distance as abscissa, train running speed is ordinate, and EB triggering curves are translated downwards control door
Train running speed-braking distance relation curve, abbreviation ATO target velocity curves are obtained after limit；
Wherein, control thresholding refers to that control train does not touch the EB triggering required velocity amplitudes of curve；
3) using the train driving acceleration corresponding to every bit on ATO target velocity curves as ordinate, with train braking away from
From as abscissa, train aimed acceleration-braking distance relation curve, abbreviation ATO aimed acceleration curves are generated；
4) it calculates train acceleration in real time and whether braking distance meets ATO aimed acceleration curves, if do not met, brake row
Vehicle；
5) when braking train, control train acceleration is according to ATO aimed acceleration curve motions, until train acceleration reaches pair
Quasi- acceleration, the alignment acceleration refer to train start at stop pre-determined distance parking reach stop train it is completely quiet
Only, the fixation braking ratio needed for this docking process train；
6) train is reached stops according to alignment acceleration to stop at stop pre-determined distance.
2. automatic train stop control method as described 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 described 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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| CN201610569453.5A CN106184160B (en) | 2016-07-19 | 2016-07-19 | Automatic train stop control method |
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| CN106184160B true CN106184160B (en) | 2018-11-09 |
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| 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 |
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