CN106672029B - Control the method and device of train operation - Google Patents
Control the method and device of train operation Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/20—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
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Abstract
The present invention provides a kind of method and device for controlling train operation.The method of control train operation of the invention includes: to obtain real time information, current operating conditions information and the aim curve information of train operation；It predicts the first operating status needed for train after the first preset time, and state controller is selected according to the first operating status, so that state controller obtains the first control information using the treatment process of the Nonlinear PI control based on feedforward；The second operating status of train is obtained according to the first operating status, the first security protection rule and current operating conditions；If the first operating status is identical with the second operating status, by the first control information input to Train Control and management system, so that Train Control and management system control train operation.The method and device of control train operation of the invention extends the service life of the controller of control train operating condition, is conducive to the even running of train, improves the riding comfort of passenger.
Description
Technical field
The present invention relates to Train Control Technology more particularly to a kind of method and devices for controlling train operation.
Background technique
With the fast development of China's technology of track traffic, track traffic signal technology achieves significant progress.Train
Automatic control system ATC (Automatic Train Control) uses advanced train auto-matic control technology, improves train
Driving efficiency, therefore, ATC system is essential for China's technology of track traffic.
In the prior art, most widely used train automatic controlling system is using traditional PID control.But it passes
The PID control method bad adaptability of system, and without regular using security protection, so that change working number when train running speed
Excessively, the controller frequent switching for controlling train operating condition, affects the service life of controller, while being unfavorable for the steady of train
Operation and riding comfort.
Summary of the invention
The present invention provides a kind of method and device for controlling train operation, to overcome control method in the prior art to adapt to
Property it is poor, not long without the service life using controller caused by security protection rule and be unfavorable for the even running of train and multiply
The technical issues of sitting comfort level.
The present invention provides a kind of method for controlling train operation, comprising:
Obtain real time information, current operating conditions information and the aim curve information of train operation；The real time information packet
It includes: the maximum speed of the current speed of the current position of train, train and train permission；The current operating conditions information includes
The level information of current train operation；The aim curve information includes target velocity and the target position of train operation；
According to the real time information, current operating conditions information and aim curve information, the first preset time rank rear is predicted
First operating status needed for vehicle, and state controller is selected according to first operating status, so that the state controller
First control information is obtained using the treatment process of the Nonlinear PI control based on feedforward, the first control information is
The corresponding tractive force of first operating status or brake force；
Train is obtained according to first operating status, the first security protection rule and the current operating conditions information
Second operating status；
If first operating status is identical with second operating status, the first control information is sent to column
Vehicle control and management system, so that the Train Control and management system control train operation according to the first control information.
Method as described above, the method also includes:
If first operating status and second operating status be not identical, second is controlled and is arranged described in information input
Vehicle control and management system, so that the Train Control and management system control train operation according to the second control information；
Wherein, it is zero-bit that the second control information, which is the level of train operation,.
Method as described above, it is described bent according to the current operating conditions information, the real time information and the target
Line information predicts the first operating status needed for train after the first preset time, comprising:
Construct train stress model；
According to train after the stress model, the real time information and first preset time of aim curve information prediction
The first required operating status.
Method as described above, the train stress model are specially shown in following formula one:
F=FB+FS+FCFormula one；
Wherein, F is resistance suffered by train, FBFor datum drag suffered by train, FSFor slope suffered by train current location
Road resistance, FCFor curve resistance suffered by train current location.
Method as described above, datum drag F suffered by trainBIt is obtained by formula two:
Wherein, n is the joint number in compartment, miFor the quality in the i-th section compartment, f is basic resistance suffered by the compartment of unit quality
Power, f=c0+c1v+c2v2, v is the speed of train；
Power F in ramp suffered by train current locationSIt is obtained by formula three:
Wherein, M is the gross mass of train, and b is the number in ramp locating for train, and L is the length of train, qjIt is j-th
The gradient in ramp, ljFor length of the train on j-th of ramp；
Curve resistance F suffered by train current locationCIt is obtained by formula four:
Wherein, RjFor the radius of curvature in j-th of ramp.
Method as described above, it is described pre- according to the stress model, the real time information and the aim curve information
Survey the first operating status needed for train after the first preset time, comprising:
The position an of train and the speed of train are predicted every first time interval from current time, until predicting
The position of train after second preset time and the speed of train are predicted especially by formula five and formula six:
Wherein, tuFor first time interval, vkFor the speed for counting train after k first time interval from current time, claim
For predetermined speed, skFor the position of train after k first time interval, vk-1To count k-1 at the first time from current time
The speed of train behind interval；For the acceleration in -1 first time interval of kth, k is positive integer, wherein the
Two preset times include K tu, 1≤k≤K；
According to the v of acquisitionk、skObtain position s on the aim curvekLocate corresponding target velocity v0k:
Compare vkWith v0kIf v0k- vk> e1When, tK <t1, then first operating status is traction state, wherein tk=
k×tu, e1For the target velocity v of permission0kWith predetermined speed vkDifference maximum value, be positive number, t1For target velocity v0kWith it is pre-
Degree of testing the speed vkReach maximum value e1When time for allowing；At this point, tkFor the first preset time；
If vk- v0k> e2When, tK <t2, then first operating status is on-position, wherein e2Pre- for permission is tested the speed
Spend vkWith target velocity v0kDifference maximum value, be positive number, t2For predetermined speed vkWith target velocity v0kDifference reach most
Big value e2When time for allowing；At this point, tkFor the first preset time；
If in the second preset time, v0k- vkIt is consistently less than e1, vk- v0kIt is consistently less than e2, then first operating status
For current state；At this point, first preset time is equal to second preset time.
Method as described above, the preset first default security protection rule include: when train is from running under power shape
When state switchs to brake running state, coasting operating status is switched to by the running under power state, is judged according to coasting operating status
Whether need to switch to brake running state, if so, switching to the brake running state by coasting operating status；Alternatively,
When train needs switch to running under power state from brake running state, coasting is switched to by the brake running state
Operating status judges whether to need to switch to running under power state according to coasting operating status, if so, being turned by coasting operating status
For the traction row state.
Method as described above, described regular and described current according to first operating status, the first security protection
After operating status obtains the second operating status of train, the method also includes:
If first operating status is identical with second operating status, and the tractive force is greater than the first preset threshold
Or the brake force is greater than the second preset threshold, then obtains third according to the first control information and the second security protection rule
Information is controlled, and third control information is sent to Train Control and management system, so that the Train Control and management
System controls information according to the third and controls train operation；
The third control information is that the tractive force is equal to first preset threshold or the brake force equal to described
Second preset threshold；The second security protection rule includes: the tractive force no more than the first preset threshold, the brake force
No more than the second preset threshold.
The present invention also provides a kind of devices for controlling train operation, comprising:
Obtain module, real time information, current operating conditions information and the mesh for obtaining module and being used to obtain train operation
Mark calibration curve information；The real time information includes: the current speed of the current position of train, train and the maximum speed that train allows
Degree；The current operating conditions information includes the level information of current train operation；The aim curve information includes train fortune
Capable target velocity and target position；
Control module, the control module are used for according to the real time information, current operating conditions information and aim curve
Information predicts the first operating status needed for train after the first preset time, and selects state according to first operating status
Controller, so that the state controller obtains the first control using the treatment process of the Nonlinear PI control based on feedforward
Information processed, the first control information is the corresponding tractive force of first operating status or brake force；
Safety protection module, the safety protection module are used for anti-according to first operating status, the first default safety
Shield rule and the current operating conditions information obtain the second operating status of train；
Sending module, if the sending module is identical with second operating status for first operating status,
The first control information is sent to Train Control and management system, so that the Train Control and management system are according to
First control information controls train operation.
The present invention provides a kind of method and device for controlling train operation.The method packet of control train operation of the invention
It includes: obtaining real time information, current operating conditions information and the aim curve information of train operation；Real time information includes that train is current
The maximum speed that allows of position, the current speed of train and train；Current operating conditions information includes what current train was run
Level information；Aim curve information includes target velocity and the target position of train operation；According to real time information, currently run shape
State information and aim curve information predict the first operating status needed for train after the first preset time, and according to the first operation
State selects state controller, so that state controller is obtained using the treatment process of the Nonlinear PI control based on feedforward
To the first control information, the first control information is the corresponding tractive force of the first operating status or brake force；According to the first operation shape
State, the first security protection rule and current operating conditions obtain the second operating status of train；If the first operating status and second
Operating status is identical, then by the first control information input to Train Control and management system, so that Train Control and management system
Train operation is controlled according to the first control information.The method and device of the control train operation of the present embodiment extends control train
The service life of the controller of operating condition is conducive to the even running of train, improves the riding comfort of passenger.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the flow chart of the embodiment of the method one of control train operation provided by the invention；
Fig. 2 is the flow chart of the embodiment of the method two of control train operation provided by the invention；
Fig. 3 is the structural schematic diagram of the Installation practice one of control train operation provided by the invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
During train operation, train can be according to the different operating statuses for adjusting train at any time of travel route, train
The change of operating status is realized by the controller of control train operating condition.Controller has certain service life, cannot be frequent
Switching, and the frequent switching of controller is unfavorable for even running and the riding comfort of train, but controls train in the prior art
The method of operation will lead to the frequent switching of controller.To solve the above-mentioned problems, the present invention provides a kind of control train fortune
Capable method and device, below the present invention will be described in detail.
Fig. 1 is the flow chart of the embodiment of the method one of control train operation provided by the invention, as shown in Figure 1, this implementation
Example method may include:
S101 obtains real time information, current operating conditions information and the aim curve information of train operation；Real time information packet
Include the current speed of the current position of train, train and maximum speed that train allows；Current operating conditions information includes current
The level information of train operation；Aim curve information includes target velocity and the target position of train operation；
S102 predicts the first preset time rank rear according to real time information, current operating conditions information and aim curve information
First operating status needed for vehicle, and state controller is selected according to the first operating status, it is based on so that state controller uses
The treatment process of the Nonlinear PI control of feedforward obtains the first control information, and the first control information is the first operating status
Corresponding tractive force or brake force；
S103 obtains the second fortune of train according to the first operating status, the first security protection rule and current operating conditions
Row state；
S104, if the first operating status is identical with the second operating status, by the first control information input to Train Control
And management system, so that Train Control and management system control train operation according to the first control information.
Specifically, the aim curve in the present embodiment refers to the operating status of perfect condition Train, i.e. train driving road
Ideal velocity in line at each position, each position is known as target position, target in train driving route in the present embodiment
Corresponding ideal velocity is known as target velocity at position.Wherein aim curve can be used following method and obtain: control train operation
System in safe computing unit according to its pre-stored vehicle-mounted basic data, time-table data, and from bus
On headstock information, car information, train operation route information, mileage and the velocity information etc. that receive, calculate " a position in real time
Set-speed " curve, method in the prior art can be used in calculation method, and details are not described herein again.
The real time information of train operation, current operating conditions information are obtained from Train Control and management system, target
Calibration curve information is that the safe computing unit VCU from the system of control train operation is obtained, and real time information includes that train is current
The maximum speed that allows of position, the current speed of train and train；Current operating conditions information includes what current train was run
Level information, wherein level information is brake range information, traction gear information and zero message.
It, can after the real time information for the operation for obtaining train, current operating conditions information and aim curve information
According to real time information, current operating conditions information and aim curve information, predict after the first preset time first needed for train
Operating status, and state controller is selected according to the first operating status, so that state controller is used based on the non-linear of feedforward
The treatment process of proportional plus integral control obtains the first control information；For example, current state is system if current state is brake range
Dynamic operating status, if the first operating status of prediction is that running under power state makes to lead then just needing replacing to traction controller
Draw controller and the first control information is obtained using the treatment process of the Nonlinear PI control based on feedforward；If current state
To draw gear, current state is running under power state, if the first operating status of prediction is also running under power state, then not
State controller is replaced, or selection traction controller is obtained using the treatment process of the Nonlinear PI control based on feedforward
To the first control information；If current state is traction gear, current state is running under power state, if the first operation shape of prediction
State is coasting operating status, then a state controller, such as traction state controller can arbitrarily be chosen, obtains coasting fortune
Corresponding first control information under row state, wherein the first control information is tractive force or brake force needed for train operation, column
Tractive force or brake force under vehicle coasting operating status in corresponding first control information are zero.
State controller obtains the first control information using the treatment process of the Nonlinear PI control based on feedforward,
The service life of controller can be extended to avoid the controller frequent switching of control train operating condition.
After prediction finishes the first operating status, can according to the first operating status, the first default security protection rule and
Current operating conditions obtain the second operating status of train.
Wherein, the first security protection rule as shown in table 1, referring to table 1, the first default protection rule include: when train from
When running under power state switchs to brake running state, coasting operating status is switched to by running under power state, shape is run according to coasting
State judges whether to need to switch to brake running state, if so, switching to brake running state by coasting operating status；Alternatively, working as
When train needs switch to running under power state from brake running state, coasting operating status is switched to by brake running state, according to
Coasting operating status judges whether to need to switch to running under power state, if so, being switched to draw row state by coasting operating status.
That is it cannot mutually be converted between brake running state and running under power state, if current shape in step 102
State is running under power state, predicts that the first operating status for needing to use after the first preset time, can only for brake running state
Coasting operating status is first switched to by running under power state, coasting operating status at this time is the second operating status, then using step
Identical prediction technique predicts the first operating status after the first preset time in rapid S102, if there is still a need for be converted to braking fortune
Row state, then replacement is controlled to on-position controller to obtain the first control information, if not needing to be converted to braking fortune
Row state uses current state controller to be controlled still then to obtain the first control information.
It will be appreciated by those skilled in the art that: according to the first security protection rule, if current state is running under power state,
First operating status be brake running state, then coasting operating status be the second operating status, at this time the first operating status and
Second operating status is not identical；If current state is coasting operating status, the first operating status is brake running state, then the
Two operating statuses are also brake running state, and the first operating status is identical with the second operating status at this time；That is, when needing
When converting between traction and brake running state, the first operating status and the second operating status be not identical, when needing running under power
When converting between state or brake running state and coasting operating status, the first operating status is identical with the second operating status.
Using the first security protection rule, train can be prevented to be converted to brake running state from running under power state suddenly
Cause the phenomenon that train operation is unstable, and the riding comfort of passenger declines.
Table 1
After the first operating status and the second operating status obtain, the first operating status and the second operating status are judged
It is whether identical, if the first operating status is identical with the second operating status, by the first control information input to Train Control and pipe
Reason system, so that Train Control and management system control train operation according to the first control information；If the first operating status and
Two operating statuses are not identical, then by the second control information input Train Control and management system, so that Train Control and management system
System controls train operation according to the second control information；Wherein, it is zero-bit that the second control information, which is the level of train operation,.Namely
The second operating status for saying the instruction of the second control information is coasting operating status.
It will be appreciated by persons skilled in the art that when train is according to the first control information or the second control information operation
Afterwards, train is just real time information and current operation according to the first control information or the second control postrun operation information of information
Status information, then according at this time real time information and current operating conditions information and aim curve information start next stage
Prediction process, that is, repeat " step S102: according to real time information, current operating conditions information and aim curve information,
It predicts the first operating status needed for train after the first preset time, and state controller is selected according to the first operating status, with
State controller is set to obtain the first control information, the first control using the treatment process of the Nonlinear PI control based on feedforward
Information processed is the corresponding tractive force of the first operating status or brake force；S103 is advised according to the first operating status, the first security protection
The second operating status of train is then obtained with current operating conditions；S104, if the first operating status is identical with the second operating status,
Then by the first control information input to Train Control and management system, so that Train Control and management system are believed according to the first control
Breath control train operation." and step " if the first operating status and the second operating status be not identical, by second control information it is defeated
Enter Train Control and management system, so that Train Control and management system control train operation according to the second control information；Wherein,
Second control information is that the level of train operation is zero-bit.That is the second operating status of the second control information instruction is lazy
Row operating status ".
The method of the control train operation of the present embodiment includes: the real time information for obtaining train operation, current operating conditions
Information and aim curve information；Real time information includes the current speed of the current position of train, train and the maximum that train allows
Speed；Current operating conditions information includes the level information of current train operation；Aim curve information includes the mesh of train operation
Mark speed and target position；According to real time information, current operating conditions information and aim curve information, the first preset time is predicted
First operating status needed for train afterwards, and state controller is selected according to the first operating status, so that state controller uses
The treatment process of Nonlinear PI control based on feedforward obtains the first control information, and the first control information is the first operation
The corresponding tractive force of state or brake force；It is obtained according to the first operating status, the first security protection rule and current operating conditions
Second operating status of train；If the first operating status is identical with the second operating status, by the first control information input to column
Vehicle control and management system, so that Train Control and management system control train operation according to the first control information.The present embodiment
Control train operation method extend control train operating condition controller service life, be conducive to the steady fortune of train
Row, improves the riding comfort of passenger.
Specific embodiment is used below, and the technical solution of embodiment of the method shown in Fig. 1 is described in detail.
Fig. 2 is the flow chart of the embodiment of the method two of control train operation provided by the invention, as shown in Fig. 2, this implementation
The method of example is to the step in upper embodiment " according to real time information, current operating conditions information and aim curve information, prediction
First operating status needed for train after first preset time " illustrates, and the method for this implementation may include:
S201, building train stress model；
S202, according to needed for train after the first preset time of stress model, real time information and aim curve information prediction
First operating status.
In the actual process, the stress model in the present embodiment is constructed premised on train coasting operating status, i.e.,
No matter which kind of operating status train is currently, think that train is not towed power or brake force, resultant force suffered by train is to hinder
Power；Specifically, train stress model is specially shown in following formula one:
F=FB+FS+FCFormula one；
Wherein, F is resistance suffered by train, FBFor datum drag suffered by train, FSFor slope suffered by train current location
Road resistance, FCFor curve resistance suffered by train current location.
Wherein, datum drag F suffered by trainBIt is obtained by formula two:
Wherein, n is the joint number in compartment, miFor the quality in the i-th section compartment, f is basic resistance suffered by the compartment of unit quality
Power, f=c0+c1v+c2v2, v is the speed of train.
Power F in ramp suffered by train current locationSIt is obtained by formula three:
Wherein, M is the gross mass of train, and b is the number in ramp locating for train, and L is the length of train, qjIt is j-th
The gradient in ramp, ljFor length of the train on j-th of ramp.
Wherein, the calculation method of length l of the train on ramp is as follows:
Wherein, s1For the initial position in ramp, s2For the final position in ramp, seFor position of the headstock on ramp of train
It sets, ssFor position of the tailstock on ramp of train.
Curve resistance F suffered by train current locationCIt is obtained by formula four:
Wherein, RjFor the radius of curvature in j-th of ramp.
Separately below to the step in a upper embodiment " according to stress model, real time information and aim curve information prediction
First operating status needed for train after first preset time ", and the step implemented in one " select shape according to the first operating status
State controller, so that state controller obtains the first control using the treatment process of the Nonlinear PI control based on feedforward
Information, the first control information is the corresponding tractive force of the first operating status or brake force " it is described in detail.
First to the step in a upper embodiment one " according to stress model, real time information and aim curve information prediction
First operating status needed for train after one preset time " is illustrated, which can be real using following two embodiment
It is existing.
A kind of achievable embodiment are as follows: predict the position of a train every first time interval from current time
And the speed of train, until the position of the train after the second preset time and the speed of train are predicted, especially by formula five
It is predicted with formula six:
Wherein, tuFor first time interval, vkFor the speed for counting train after k first time interval from current time, sk
For the position of train after k first time interval, vk-1For the speed for counting train after k-1 first time interval from current time
Degree；For the acceleration in -1 first time interval of kth, k is positive integer, wherein the second preset time includes
K tu, 1≤k≤K；
According to the v of acquisitionk、skObtain position s on the aim curvekLocate corresponding target velocity v0k:
Compare vkWith v0kIf v0k- vk> e1When, tK <t1, then the first operating status is traction state, wherein tk=k ×
tu, e1For the target velocity v of permission0kWith predetermined speed vkDifference maximum value, be positive number, t1For target velocity v0kWith prediction
Speed vkDifference reach maximum value e1When time for allowing；At this point, tkFor the first preset time；
If vk- v0k> e2When, tK <t2, then first operating status is on-position, wherein e2Pre- for permission is tested the speed
Spend vkWith target velocity v0kDifference maximum value, be positive number, t2For predetermined speed vkWith target velocity v0kDifference reach most
Big value e2When time for allowing；At this point, tkFor the first preset time；
If in the second preset time, v0k- vkIt is consistently less than e1, vk- v0kIt is consistently less than e2, then first operating status
For current state, at this point, the first preset time is equal to the second preset time.
Specifically, the embodiment be the second preset time is divided into using the length of first time interval as interval it is multiple
Time point predicts the speed v at each time pointkWith position sk, speed v at all time pointskWith position skPrediction finishes
Afterwards, position s on aim curve is obtainedkLocate corresponding target velocity v0k, then by the v at all time pointskWith corresponding v0kInto
Row compares.
T is provided in the present embodiment1And t2, wherein t1It is properly termed as super lower bound time, super lower bound time refers to setting
When the target velocity of train and the difference of predetermined speed start to be greater than e1When time for allowing, e1For the target velocity of permission and pre-
The maximum value of the difference for degree of testing the speed is positive number；t2Be properly termed as the super upper bound time, the super upper bound time refer to setting when train
The difference of predetermined speed and target velocity starts to be greater than e2When time for allowing, e2For predetermined speed and target velocity of permission
The maximum value of difference is positive number.Predetermined speed vkFor the speed for counting train after k first time interval from current time.
V at predicting each time pointkDuring, the target velocity v of train0kWith predetermined speed vkDifference start greatly
In e1Time tkLess than the t of setting1, illustrate also to be less than time t1, target velocity v0kWith predetermined speed vkDifference have been above
The maximum value e of the difference of the target velocity and predetermined speed that allow1, predetermined speed is less than normal, needs train using traction at this time
Operating status, the first operating status, that is, running under power state, to increase the increment rate of following instant train speed, at this point, immediately
Traction state controller is selected to carry out state control, tkFeelings in upward slope usually occur for as the first preset time, such situation
Condition.Similarly, the v at predicting each time pointkDuring, predetermined speed v of trainkWith target velocity v0kDifference start greatly
In e2Time tkLess than the t of setting2, illustrate also to be less than time t2, predetermined speed vkWith target velocity v0kDifference have been above
The maximum value e of the difference of predetermined speed and target velocity for allowing2, predetermined speed is bigger than normal, needs train using braking at this time
Operating status, the first operating status, that is, brake running state, to reduce the increment rate of following instant train speed, at this point, immediately
On-position controller is selected to carry out state control, tkFeelings in descending usually occur for as the first preset time, such situation
Condition.
If during prediction, v0k- vkIt is consistently less than e1, vk- v0kIt is consistently less than e2, then the first operating status is
It for current operating conditions, does not need to convert, there is no need to replace state controller, still uses current state controller yet,
At this point, the first preset time is equal to the second preset time.
Another achievable embodiment are as follows: count from current time every tuThe speed v of train of time predictionk
With skV is predicted in positionkWith skAs soon as method it is identical as upper embodiment, predicted primary with corresponding target velocity v0kThan
Compared in t1V is found in time range0k- vk> e1When, tK <t1When stop prediction, determine the first operating status, the first operation shape
State is determined as running under power state, and usually there is a situation where going up a slope for such situation；Or in t2V is found in time rangek?
v0k> e2When, tK <t2, stop prediction, determine that the first operating status, the first operating status are determined as brake running state, such feelings
Usually there is a situation where in descending for condition；Both the above situation, tkAs the first preset time.
If during prediction, if train is in uphill way or horizontal section, in t1V in time range0k- vkBegin
It is less than e eventually1, then the first operating status is current operating conditions, do not need to convert, at this time t1For the first preset time；Or
If train is in descending section or horizontal section, in t2V in time rangek- v0kIt is consistently less than e2, then the first operating status is
For current operating conditions, do not need to convert, at this time t2For the first preset time.
Then " state controller is selected according to the first operating status, so that state controller is adopted to the step implemented in one
The first control information is obtained with the treatment process that the Nonlinear PI based on feedforward controls, the first control information is the first fortune
The corresponding tractive force of row state or brake force " is illustrated.
Step " selects state controller according to the first operating status, so that state controller is used based on the non-thread of feedforward
The treatment process of sex ratio integration control obtains the first control information, and the first control information is the corresponding traction of the first operating status
Power or brake force " includes:
If the first operating status is brake running state, controlled to obtain the first control letter using brake monitor
Breath is controlled to obtain the first control information if the first operating status is running under power state using traction controller.
Wherein, the process of the first control information is obtained using the treatment process of the Nonlinear PI control based on feedforward
It is as follows:
By aim curve information input to state controller, learn that the current target of train accelerates according to aim curve information
Degree, train is calculated according to aimed acceleration, and in required tractive force, perhaps brake force referred to as refers to tractive force or ginseng
Examine brake force；
Then by real-time speed and corresponding target velocity (the corresponding speed at real-time speed position on aim curve)
Difference be input to the Nonlinear PI controller in state controller, obtain correction tractive force or correct brake force；
With reference to tractive force and correction tractive force and with reference to brake force and correct brake force and as first control
Information.
In order to further ensure that the service life for the controller for controlling train operating condition, base of the present embodiment in above-described embodiment
Further improvement is made on plinth, the method for the control train operation in the present embodiment is " according to the first operating status, first
Security protection rule and current operating conditions obtain the second operating status of train " carry out later, the method packet of the present embodiment
It includes:
If the first operating status is identical with the second operating status, and tractive force is greater than the first preset threshold or brake force is greater than
Second preset threshold then obtains third control information according to the first control information and the second security protection rule, and by third control
Information processed is sent to Train Control and management system, so that Train Control and management system control information according to third and control train
Operation；
It is that tractive force is equal to the first preset threshold or brake force is equal to the second preset threshold that third, which controls information,；Second safety
Protection rule includes: tractive force no more than the first preset threshold, and brake force is not more than the second preset threshold.
Specifically, if the first operating status is identical with the second operating status, and the first control letter that state controller obtains
Tractive force in breath is greater than the first preset threshold, then is become according to the tractive force that the second security protection rule obtains state controller
For the first preset threshold, the first preset threshold is the value of the tractive force in third control information, then by the first preset threshold
It is sent to Train Control and management system, so that Train Control and management system control train operation according to the first preset threshold；
If the first operating status is identical with the second operating status, and the first brake force controlled in information that state controller obtains is greater than
Second preset threshold then becomes the second preset threshold according to the brake force that the second security protection rule obtains state controller,
Second preset threshold be third control information in brake force value, then by the second preset threshold be sent to Train Control and
Management system, so that Train Control and management system control train operation according to the second preset threshold.
The present embodiment ensure that the traction for being input to Train Control and management system by setting the second security protection rule
Power or brake force do not exceed the maximum value that the controller of control train operating condition can bear, the control of protection control train operating condition
Device is not damaged.
Fig. 3 is the structural schematic diagram of the Installation practice one of control train operation provided by the invention, as shown in figure 3, this
The device of embodiment may include: to obtain module 31, control module 32, safety protection module 33, sending module 34, wherein obtain
Modulus block 31 is used to obtain real time information, current operating conditions information and the aim curve information of train operation；Real time information packet
It includes: the maximum speed of the current speed of the current position of train, train and train permission；Current operating conditions information includes current
The level information of train operation；Aim curve information includes target velocity and the target position of train operation；
Control module 32 is used for according to real time information, current operating conditions information and aim curve information, and prediction first is pre-
If the first operating status needed for train after the time, and state controller is selected according to the first operating status, so that state controls
Device obtains the first control information using the treatment process of the Nonlinear PI control based on feedforward, and the first control information is the
The corresponding tractive force of one operating status or brake force；
Safety protection module 33 is used for according to the first operating status, the first default security protection rule and current operating conditions
Obtain the second operating status of train；
If sending module 34 is identical with the second operating status for the first operating status, the first control information is sent to
Train Control and management system, so that Train Control and management system control train operation according to the first control information.
The device of the present embodiment can be used for executing the technical solution of embodiment of the method shown in Fig. 1, realization principle and skill
Art effect is similar, and details are not described herein again.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer readable storage medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned include: ROM, RAM, magnetic disk or
The various media that can store program code such as person's CD.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (8)
1. a kind of method for controlling train operation characterized by comprising
Obtain real time information, current operating conditions information and the aim curve information of train operation；The real time information includes: column
The maximum speed that the current speed of the current position of vehicle, train and train allow；The current operating conditions information includes current
The level information of train operation；The aim curve information includes target velocity and the target position of train operation；
According to the real time information, current operating conditions information and aim curve information, train institute after the first preset time is predicted
The first operating status needed, and state controller is selected according to first operating status, so that the state controller uses
The treatment process of Nonlinear PI control based on feedforward obtains the first control information, and the first control information is described
The corresponding tractive force of first operating status or brake force；
The second of train is obtained according to first operating status, the first security protection rule and the current operating conditions information
Operating status；
If first operating status is identical with second operating status, the first control information is sent to train control
System and management system, so that the Train Control and management system control train operation according to the first control information；
The first security protection rule includes: to be led when train switchs to brake running state from running under power state by described
Draw operating status and switch to coasting operating status, judges whether to need to switch to brake running state according to coasting operating status, if so,
The brake running state is then switched to by coasting operating status；Alternatively,
When train needs switch to running under power state from brake running state, coasting operation is switched to by the brake running state
State judges whether to need to switch to running under power state according to coasting operating status, if so, switching to institute by coasting operating status
State running under power state.
2. the method according to claim 1, wherein the method also includes:
If first operating status and second operating status be not identical, train control described in information input is controlled by second
System and management system, so that the Train Control and management system control train operation according to the second control information；Wherein,
Second control information is that the level of train operation is zero-bit.
3. the method according to claim 1, wherein according to the real time information, current operating conditions information and
Aim curve information predicts the first operating status needed for train after the first preset time, comprising:
Construct train stress model；
According to needed for train after the stress model, the real time information and first preset time of aim curve information prediction
The first operating status.
4. according to the method described in claim 3, it is characterized in that, the train stress model is specially following one institute of formula
Show:
F=FB+FS+FCFormula one；
Wherein, F is resistance suffered by train, FBFor datum drag suffered by train, FSFor the resistance of ramp suffered by train current location
Power, FCFor curve resistance suffered by train current location.
5. according to the method described in claim 4, it is characterized in that, datum drag F suffered by trainBIt is obtained by formula two:
Wherein, n is the joint number in compartment, miFor the quality in the i-th section compartment, f is datum drag suffered by the compartment of unit quality, f=
c0+c1v+c2v2, v is the speed of train；
Power F in ramp suffered by train current locationSIt is obtained by formula three:
Wherein, M is the gross mass of train, and b is the number in ramp locating for train, and L is the length of train, qjFor j-th ramp
The gradient, ljFor length of the train on j-th of ramp；
Curve resistance F suffered by train current locationCIt is obtained by formula four:
Wherein, RjFor the radius of curvature in j-th of ramp.
6. according to the method described in claim 5, it is characterized in that, it is described according to the stress model, the real time information and
First operating status needed for train after first preset time of aim curve information prediction, comprising:
The position an of train and the speed of train are predicted every first time interval from current time, until predicting second
The position of train after preset time and the speed of train are predicted especially by formula five and formula six:
Wherein, tuFor first time interval, vkFor the speed for counting train after k first time interval from current time, referred to as in advance
Degree of testing the speed, skFor the position of train after k first time interval, vk-1To count k-1 first time interval from current time
The speed of train afterwards；For the acceleration in -1 first time interval of kth, k is positive integer, wherein second is pre-
If the time includes K tu, 1≤k≤K；
According to the v of acquisitionk、skObtain position s on the aim curvekLocate corresponding target velocity v0k:
Compare vkWith v0kIf v0k- vk> e1When, tK <t1, then first operating status is traction state, wherein tk=k ×
tu, e1For the target velocity v of permission0kWith predetermined speed vkDifference maximum value, be positive number, t1For target velocity v0kWith prediction
Speed vkReach maximum value e1When time for allowing；At this point, tkFor first preset time；
If vk- v0k> e2When, tk< t2, then first operating status is on-position, wherein e2For predetermined speed v of permissionk
With target velocity v0kDifference maximum value, be positive number, t2For predetermined speed vkWith target velocity v0kDifference reach maximum value
e2When time for allowing；At this point, tkFor the first preset time；
If in the second preset time, v0k- vkIt is consistently less than e1, vk- v0kIt is consistently less than e2, then first operating status is to work as
Preceding state, at this point, first preset time is equal to second preset time.
7. the method according to claim 1, wherein described according to first operating status, the first safety
After protection rule and the current operating conditions obtain the second operating status of train, the method also includes:
If first operating status is identical with second operating status, and the tractive force is greater than the first preset threshold or institute
Brake force is stated greater than the second preset threshold, then third control is obtained according to the first control information and the second security protection rule
Information, and third control information is sent to Train Control and management system, so that the Train Control and management system
Information, which is controlled, according to the third controls train operation；
The third control information is that the tractive force is equal to first preset threshold or the brake force is equal to described second
Preset threshold；The second security protection rule includes: the tractive force no more than the first preset threshold, and the brake force is little
In the second preset threshold.
8. a kind of device for controlling train operation characterized by comprising
Obtain module, real time information, current operating conditions information and the target song for obtaining module and being used to obtain train operation
Line information；The real time information includes: the current speed of the current position of train, train and the maximum speed that train allows；Institute
State the level information that current operating conditions information includes current train operation；The aim curve information includes the mesh of train operation
Mark speed and target position；
Control module, the control module are used for according to the real time information, current operating conditions information and aim curve information,
It predicts the first operating status needed for train after the first preset time, and state control is selected according to first operating status
Device, so that the state controller obtains the first control letter using the treatment process of the Nonlinear PI control based on feedforward
Breath, the first control information is the corresponding tractive force of first operating status or brake force；
Safety protection module, the safety protection module be used for according to first operating status, the first security protection rule and
The current operating conditions information obtains the second operating status of train；
Sending module, if the sending module is identical with second operating status for first operating status, by institute
It states the first control information and is sent to Train Control and management system, so that the Train Control and management system are according to described first
It controls information and controls train operation；
The first security protection rule includes: to be led when train switchs to brake running state from running under power state by described
Draw operating status and switch to coasting operating status, judges whether to need to switch to brake running state according to coasting operating status, if so,
The brake running state is then switched to by coasting operating status；Alternatively,
When train needs switch to running under power state from brake running state, coasting operation is switched to by the brake running state
State judges whether to need to switch to running under power state according to coasting operating status, if so, switching to institute by coasting operating status
State running under power state.
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| CN107776588B (en) * | 2017-10-30 | 2019-10-25 | 中车唐山机车车辆有限公司 | Tractive force of train determines method and train control system |
| CN108791367B (en) * | 2018-06-01 | 2020-09-15 | 广州地铁设计研究院有限公司 | Energy-saving operation method for train |
| CN110654420A (en) * | 2018-06-29 | 2020-01-07 | 株洲中车时代电气股份有限公司 | Constant-speed control method and system for train |
| CN109693688B (en) * | 2018-12-24 | 2020-08-25 | 北京交通大学 | Automatic train driving control system with preset performance and control method |
| CN110196065A (en) * | 2019-06-04 | 2019-09-03 | 北京磁浮交通发展有限公司 | A kind of speed measuring and calculating of magnetic suspension train and Method for Calculate Mileage and system |
| CN110654404B (en) * | 2019-11-01 | 2020-09-29 | 河北京车轨道交通车辆装备有限公司 | Rail train starting method and system |
| CN112550255B (en) * | 2020-12-17 | 2021-12-10 | 上海富欣智能交通控制有限公司 | Double proportional integral controller parking control method and device, electronic equipment and storage medium |
| CN112706802B (en) * | 2021-01-14 | 2022-11-22 | 中车青岛四方机车车辆股份有限公司 | Method and device for safety protection of magnetic-levitation train |
| CN114919549A (en) * | 2022-04-21 | 2022-08-19 | 宁波市轨道交通集团有限公司运营分公司 | Train braking planning method based on predicted speed |
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| CN101439728B (en) * | 2008-12-18 | 2011-01-19 | 北京交通大学 | Distributed train operation control system and control method |
| CN101734265B (en) * | 2009-12-23 | 2012-02-29 | 卡斯柯信号有限公司 | Method and device for monitoring state of embedded vehicle-mounted signal device |
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